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公开(公告)号：EP3045273B1
公开(公告)日：2018-12-12
申请号：EP16154439.0
申请日：2007-03-02
申请人： Universal Robots A/S
发明人： KASSOW, Kristian, c/o Universal Robots A/S , ØSTERGAARD, Esben Hallundbæk , STØY, Kasper, c/o Universal Robots A/S
CPC分类号： B25J18/00 , B25J9/1671 , B25J19/0004 , G05B2219/37138 , Y10S901/23 , Y10T74/20317 , Y10T74/20329
摘要： The invention relates to a joint for a robot comprising a safety brake comprising a solenoid which upon activation of the brake displaces a ratchet (142) into engagement with an annular member (135) mounted on the motor axle (143), where the annular member (135) can rotate relative to the motor axle (143), but with friction between the annular member (135) and the motor axle (143).
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公开(公告)号：EP3623113A1
公开(公告)日：2020-03-18
申请号：EP18194683.1
申请日：2018-09-14
申请人： Universal Robots A/S
发明人： MADSEN, Emil
IPC分类号： B25J9/16
摘要： A method of obtaining the gear stiffness of a robot joint gear of a robot joint of a robot arm, where the robot joint is connectable to at least another robot joint. The robot joint comprises a joint motor having a motor axle configured to rotate an output axle via the robot joint gear. The method comprises the steps of: - applying a motor torque to the motor axle using the joint motor; -obtaining the angular position of the motor axle; -obtaining the angular position of the output axle; -determining the gear stiffness based on at least the angular position of the motor axle, the angular position of the output axle and a dynamic model of the robot arm.
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13.发明公开METHOD AND MEANS FOR CONTROLLING A ROBOT 审中-公开VERFAHREN UND VORRICHTUNG ZUR STEUERUNG EINES ROBOTERS
公开(公告)号：EP3015932A1
公开(公告)日：2016-05-04
申请号：EP15176362.0
申请日：2011-11-16
申请人： Universal Robots A/S
IPC分类号： G05B19/401 , B25J9/16
摘要： The present invention relates to a user friendly method for controlling a robot, where the method comprises placing the robot at a given position P 0 in the surroundings and using a portion or point P of the robot (for instance the point to which a tool is attached during use of the robot) to define one or more geometrical features relative to the surroundings of the robot and establishing a relationship between the geometrical features and first coordinates of a robot-related coordinate system, whereby the robot is subsequently instructed to carry out movements of specified portions of the robot relative to said surroundings by reference to said one or more geometrical features. By these means it becomes easy for users that are not experts in robot programming to program and use the robot. The geometrical features can according to the invention be stored in storage means and used subsequently also in other settings than the specific setting in which the programming took place.
摘要翻译： 本发明涉及一种用于控制机器人的用户友好的方法，其中所述方法包括将机器人放置在周围的给定位置P 0处并且使用机器人的一部分或点P（例如，工具所在的点 在机器人的使用期间附接）来定义相对于机器人的周围的一个或多个几何特征，并且建立几何特征与机器人相关坐标系的第一坐标之间的关系，由此机器人随后被指示进行运动 通过参考所述一个或多个几何特征，所述机器人相对于所述周围环境的指定部分。 通过这些方式，机器人编程中不是专家的用户对于机器人进行编程和使用变得容易。 根据本发明的几何特征可以存储在存储装置中，并且随后也被用于除了编程发生的具体设置之外的其他设置中。
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公开(公告)号：EP3530420B1
公开(公告)日：2023-09-06
申请号：EP18211415.7
申请日：2007-03-02
IPC分类号： B25J9/16 , B25J19/00 , G05B19/425
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公开(公告)号：EP3348361B1
公开(公告)日：2022-03-09
申请号：EP17151442.5
申请日：2017-01-13
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公开(公告)号：EP3498433A1
公开(公告)日：2019-06-19
申请号：EP17207387.6
申请日：2017-12-14
申请人： Universal Robots A/S
发明人： Brandt, David
IPC分类号： B25J9/16
摘要： A method for conditionally stopping a robot, wherein a maximum stopping time and/or distance are defined by a user or integrator through a user interface as safety limits based on the risk assessment. The method provides the continuous calculation of the time and/or distance, which the robot would need to stop under maximum motor torque and/or brake appliance. The robot is stopped if the calculated time and/or distance exceeds the maximum limit values set by the user or integrator.
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公开(公告)号：EP3348361A1
公开(公告)日：2018-07-18
申请号：EP17151442.5
申请日：2017-01-13
申请人： Universal Robots A/S
CPC分类号： B25J17/00 , B23Q1/0063 , B25J15/0408
摘要： There is provided a releasable joint between two component flanges (1, 3). The flanges (1, 3) have a number of teeth (2) on each part that is pressed into contact by clamps, screws or other means. The releasable joint assembly is suitable for establishing a robot joint between a first and second component each having interlocking annular flange with respective contact surfaces, and where these flanges are held in place by a clamp (5).
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公开(公告)号：EP3113914A1
公开(公告)日：2017-01-11
申请号：EP15758889.8
申请日：2015-02-26
申请人： Universal Robots A/S
CPC分类号： B25J13/088 , B25J9/1674 , B25J13/08 , B25J19/06
摘要： A safety system for an industrial robot, specifically an industrial robot and a method for implementing a safety system via predefined safety functions. To perform such safety functions the robot comprises in a joint connecting two robot arm sections a first position sensor (132) for sensing the angular orientation on an input side of a gear in the joint, and a second position sensor (133) for sensing an angular orientation on an output side of the gear.
摘要翻译： 用于工业机器人的安全系统，特别是工业机器人，以及通过预定义的安全功能实现安全系统的方法。 为了执行这样的安全功能，机器人包括连接两个机器人臂部分的接头，用于感测接头中的齿轮的输入侧上的角度定向的第一位置传感器（132）和用于感测接头中的齿轮的第二位置传感器（133） 齿轮输出侧的角度定位。
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公开(公告)号：EP3045273A1
公开(公告)日：2016-07-20
申请号：EP16154439.0
申请日：2007-03-02
申请人： Universal Robots A/S
CPC分类号： B25J18/00 , B25J9/1671 , B25J19/0004 , G05B2219/37138 , Y10S901/23 , Y10T74/20317 , Y10T74/20329
摘要： The invention relates to a joint for a robot comprising a safety brake comprising a solenoid which upon activation of the brake displaces a ratchet (142) into engagement with an annular member (135) mounted on the motor axle (143), where the annular member (135) can rotate relative to the motor axle (143), but with friction between the annular member (135) and the motor axle (143).
摘要翻译： 本发明涉及一种用于机器人的接头，其包括安全制动器，该安全制动器包括螺线管，当致动制动器时，使棘轮（142）与安装在马达轴（143）上的环形构件（135）接合， （135）可以相对于马达轴（143）旋转，但是在环形构件（135）和马达轴（143）之间具有摩擦。
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