公开(公告)号：EP3359350B1

公开(公告)日：2024-05-15

申请号：EP16791317.7

申请日：2016-10-10

IPC分类号： B25J9/16 ,  G05B19/409 ,  G05B19/425 ,  B25J13/06

CPC分类号： B25J9/1656 ,  G05B19/409 ,  G05B19/425 ,  G05B2219/3616220130101 ,  G05B2219/3942720130101 ,  G05B2219/4009920130101 ,  G05B2219/4039220130101 ,  G05B2219/4039520130101 ,  B25J9/0081 ,  B25J13/06

公开(公告)号：EP3359350A1

公开(公告)日：2018-08-15

申请号：EP16791317.7

申请日：2016-10-10

申请人： Kastanienbaum GmbH

发明人： Haddadin, Sami, Prof.Dr.

IPC分类号： B25J9/16 ,  G05B19/409 ,  G05B19/425 ,  B25J13/06

CPC分类号： B25J13/06 ,  B25J9/0081 ,  B25J9/1656 ,  B25J9/1664 ,  B25J11/005 ,  G05B19/409 ,  G05B19/425 ,  G05B2219/33034 ,  G05B2219/36162 ,  G05B2219/39427 ,  G05B2219/40099 ,  G05B2219/40392 ,  G05B2219/40395

摘要： The invention relates to a robot system comprising at least one robot arm and a control unit which is designed such that it can pre-set at least one pre-defined operation that can be carried out by the robot system. The robot system also comprises a display device and at least one input device applied to the robot arm, which is designed such that the sequence of operations of the robot system can be set and/or the pre-defined operations of the robot system can be parameterised by means of the input device, and which is also designed such that it allows the user to control, on a graphic user interface, represented by the control unit on the display device, the setting of the pre-defined operations of the robot system, the setting of the sequence of operations and/or the parameterisation of the pre-defined operations for the robot system.

公开(公告)号：EP3359347A1

公开(公告)日：2018-08-15

申请号：EP16775253.4

申请日：2016-10-04

申请人： Kastanienbaum GmbH

发明人： HADDADIN, Sami

IPC分类号： B25J9/16 ,  B25J9/00 ,  G05B19/423 ,  B25J17/02

CPC分类号： B25J9/1656 ,  B25J9/0009 ,  B25J9/0081 ,  B25J9/041 ,  B25J9/163 ,  B25J9/1664 ,  B25J13/088 ,  B25J17/0291 ,  G05B19/423 ,  G05B2219/36433 ,  G05B2219/39439 ,  G05B2219/39529

摘要： The invention relates to a robot arm with a number N of arm elements A
n which can be connected to a robot body via a number N of actuator-drivable joint connections GV
n , where n = 1, 2,..., N; wherein the proximal end of the distal arm element A
N of the robot arm is connected to the arm element A
N-1 via the joint connection GV
N ; the proximal end of the proximal arm element can be connected to the robot body via the joint connection GV
1 ; the joint connection GV
N allows a rotation of the arm element A
N about a rotational axis D
N , the arm element A
N of the robot arm extends along an axis L1, and the axis L1 and the rotational axis D
N form an angle of 50 to 130°; the distal end of the arm element A
N can be connected to an effector E via an actuator-drivable joint connection GV
N+1 ; the joint connection GV
N+1 allows a rotation of the effector E about a rotational axis
N+1 ; the rotational axes D
N and D
N+1 form an angle W1 ranging from 50 to 130°; the rotational axis D
N+1 and the axis L1 form an angle W2 ranging from 50 to 130°; the arm element A
N has a grip-like protrusion F1 which is rigidly connected to the arm element and which extends concentrically to the rotational axis D
N+1 ; a free end FE of the protrusion F1 can be rotated relative to the rest of the protrusion F1 about the rotational axis D
N+1 or can be arranged so as to be rotatable about the rotational axis D
N+1 ; and the free end FE has input elements EE for manually entering data. The proposed robot arm allows an improved ergonomic operation during a learning programming process of a robot comprising such a robot arm.

公开(公告)号：EP3342563A1

公开(公告)日：2018-07-04

申请号：EP16838718.1

申请日：2016-05-27

申请人： Kawasaki Jukogyo Kabushiki Kaisha

发明人： HASHIMOTO, Yasuhiko ,  KAMON, Masayuki

IPC分类号： B25J13/08 ,  B25J5/00 ,  B25J19/04

CPC分类号： A61B34/37 ,  A61B34/32 ,  B23P19/04 ,  B23P21/00 ,  B23P21/002 ,  B23Q15/12 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0081 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/1602 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/1628 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1646 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1674 ,  B25J9/1682 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/008 ,  B25J13/00 ,  B25J13/003 ,  B25J13/006 ,  B25J13/02 ,  B25J13/025 ,  B25J13/06 ,  B25J13/065 ,  B25J13/08 ,  B25J13/084 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088 ,  B25J18/00 ,  B25J19/023 ,  B25J19/028 ,  B25J19/04 ,  G06F3/017 ,  G06T7/62 ,  G06T7/70 ,  H04N5/23219 ,  H04N7/181 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/10 ,  Y10S901/27 ,  Y10S901/41 ,  Y10S901/46 ,  Y10S901/47

摘要： A robot main body (1) having a robotic arm (10), a remote control device (2) that includes a robotic arm operational instruction input part (70) for an operator to control by touching, to input an operational instruction for the robotic arm, and a contactless action detecting part (71) configured to detect a contactless action including at least one given operation instructing action of the operator, and a control device (3) communicably connected to the remote control device and configured to control operation of the robot main body, are provided. The control device includes a memory part (32) configured to store operational instruction content data defining an operation mode of the robot main body corresponding to the at least one operation instructing action, an operational instruction content identifying module (34) configured to identify the operation mode of the robot main body corresponding to one of the operation instructing action detected by the contactless action detecting part based on the operational instruction content data, and a motion controlling module (33) configured to control operation of the robot main body based on the operation mode identified by the operational instruction content identifying module.

公开(公告)号：EP3342561A1

公开(公告)日：2018-07-04

申请号：EP16838711.6

申请日：2016-05-27

申请人： Kawasaki Jukogyo Kabushiki Kaisha

发明人： HASHIMOTO, Yasuhiko ,  KAMON, Masayuki

IPC分类号： B25J13/08

CPC分类号： A61B34/37 ,  A61B34/32 ,  B23P19/04 ,  B23P21/00 ,  B23P21/002 ,  B23Q15/12 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0081 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/1602 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/1628 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1646 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1674 ,  B25J9/1682 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/008 ,  B25J13/00 ,  B25J13/003 ,  B25J13/006 ,  B25J13/02 ,  B25J13/025 ,  B25J13/06 ,  B25J13/065 ,  B25J13/08 ,  B25J13/084 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088 ,  B25J18/00 ,  B25J19/023 ,  B25J19/028 ,  B25J19/04 ,  G06F3/017 ,  G06T7/62 ,  G06T7/70 ,  H04N5/23219 ,  H04N7/181 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/10 ,  Y10S901/27 ,  Y10S901/41 ,  Y10S901/46 ,  Y10S901/47

摘要： A remote control robot system is provided, which includes a robotic arm configured to perform a given work, a remote control device for an operator to remotely manipulate operation of the robotic arm, a plurality of cameras configured to image the work of the robotic arm, a monitor configured to display a captured image that is sent, a camera selecting device configured to generate, in response to receiving an operator's selection of one camera from the plurality of cameras, camera selection information for switching the captured image displayed on the monitor to the captured image from the selected camera, a storage device configured to store information where operational information related to operation of the robotic arm in the work is associated with the camera selection information, as automatic switching information, and an image processor configured to send to the monitor the captured image from the camera selected from the plurality of cameras based on the automatic switching information stored in the storage device.

公开(公告)号：EP3342556A1

公开(公告)日：2018-07-04

申请号：EP16838715.7

申请日：2016-05-27

申请人： Kawasaki Jukogyo Kabushiki Kaisha

发明人： HASHIMOTO, Yasuhiko ,  SHIMOMURA, Nobuyasu ,  MAEHARA, Tsuyoshi ,  KAMON, Masayuki ,  KUROSAWA, Yasushi ,  TANAKA, Shigetsugu

IPC分类号： B25J13/00 ,  B25J19/06

CPC分类号： A61B34/37 ,  A61B34/32 ,  B23P19/04 ,  B23P21/00 ,  B23P21/002 ,  B23Q15/12 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0081 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/1602 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/1628 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1646 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1674 ,  B25J9/1682 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/008 ,  B25J13/00 ,  B25J13/003 ,  B25J13/006 ,  B25J13/02 ,  B25J13/025 ,  B25J13/06 ,  B25J13/065 ,  B25J13/08 ,  B25J13/084 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088 ,  B25J18/00 ,  B25J19/023 ,  B25J19/028 ,  B25J19/04 ,  G06F3/017 ,  G06T7/62 ,  G06T7/70 ,  H04N5/23219 ,  H04N7/181 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/10 ,  Y10S901/27 ,  Y10S901/41 ,  Y10S901/46 ,  Y10S901/47

摘要： A robot system according to the present disclosure includes a master device configured to receive an operating instruction from an operator, a slave arm, a storage device configured to store operating sequence information that defines processing carried out by the slave arm, and a control device configured to control operation of the slave arm. The control device includes a receiver configured to receive an input signal, a motion controller configured to determine whether an operating mode of the slave arm is to be an automatic mode, a manual mode or a correctable automatic mode and control the operation of the slave arm in the determined operating mode, and a continuation determinator configured to determine whether a continuation of the automatic mode is permitted. In a process at which the slave arm is scheduled to operate in the automatic mode, after the motion controller suspends the operation of the slave arm in the automatic mode at a given step of the process, the continuation determinator determines whether the continuation of the automatic mode is permitted based on the input signal received by the receiver when the operation is suspended. Thus, the slave arm is appropriately operated in a process at which the slave arm is scheduled to operate in the automatic mode.

公开(公告)号：EP3342545A1

公开(公告)日：2018-07-04

申请号：EP16838732.2

申请日：2016-06-24

申请人： Kawasaki Jukogyo Kabushiki Kaisha

发明人： HASHIMOTO, Yasuhiko ,  KAMON, Masayuki

IPC分类号： B25J3/00 ,  B25J13/00 ,  B25J19/06

CPC分类号： A61B34/37 ,  A61B34/32 ,  B23P19/04 ,  B23P21/00 ,  B23P21/002 ,  B23Q15/12 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0081 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/1602 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/1628 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1646 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1674 ,  B25J9/1682 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/008 ,  B25J13/00 ,  B25J13/003 ,  B25J13/006 ,  B25J13/02 ,  B25J13/025 ,  B25J13/06 ,  B25J13/065 ,  B25J13/08 ,  B25J13/084 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088 ,  B25J18/00 ,  B25J19/023 ,  B25J19/028 ,  B25J19/04 ,  G06F3/017 ,  G06T7/62 ,  G06T7/70 ,  H04N5/23219 ,  H04N7/181 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/10 ,  Y10S901/27 ,  Y10S901/41 ,  Y10S901/46 ,  Y10S901/47

摘要： A robot system (100) includes a robot (1) including a tactile sensor (5) and a hand (1c) having the tactile sensor, a robot controller (6) configured to control operation of the hand of the robot according to robot manipulating information, a manipulator (2), a tactile information processor (7) configured to generate tactile information defined by a pressure distribution based on pressures detected by at least the plurality of pressure sensors and spatial positions of the plurality of pressure sensors, convert the tactile information into sensible tactile information that is sensible by the operator, and output the sensible tactile information, a sensible tactile information presenting part (10) configured to present to the operator the sensible tactile information outputted from the tactile information processor.

公开(公告)号：EP3109012A1

公开(公告)日：2016-12-28

申请号：EP16001269.6

申请日：2016-06-06

申请人： KUKA Roboter GmbH

发明人： Ueberle, Marc-Walter ,  Rohmer, Matthias ,  Reichl, Tobias ,  Schreiber, Günter ,  Mueller-Sommer, Martin ,  Bonin, Uwe

IPC分类号： B25J9/16

CPC分类号： B25J13/085 ,  B25J9/0081 ,  B25J9/1674 ,  G05B2219/39319 ,  G05B2219/39346 ,  G05B2219/39433

摘要： Bei einem erfindungsgemäßen Verfahren zum Umschalten einer Steuerung (1) eines Roboters (2) in einen Handführ-Betriebsmodus (H) zum Bewegen des Roboters durch manuelles Aufprägen von Kräften und/oder Drehmomenten auf den Roboter wird infolge des Umschaltens und in Abhängigkeit von erfassten und/oder Soll-Gelenkkräften und/oder -drehmomenten und/oder einer Pose des Roboters eine Fehlerreaktion (R) ausgelöst (S40).

摘要翻译： 一种用于将机器人的控制切换为手动操作模式的方法，其中所述机器人可由用户手动地施加至所述机器人上的力或扭矩中的至少一个来移动，所述方法包括：检测所述机器人的关节力或关节扭矩中的至少一个 并且基于检测到的关节力和/或关节扭矩，目标关节力和/或目标关节扭矩或机器人的姿态中的至少一个来触发响应于切换的错误反应。

公开(公告)号：EP2987591A2

公开(公告)日：2016-02-24

申请号：EP15150597.1

申请日：2015-01-09

申请人： Korea Institute of Science and Technology

发明人： Kim, Doik ,  Park, Jung Min ,  Lee, Sungon ,  Park, Jaeyoung ,  Hong, Seokmin

IPC分类号： B25J9/16

CPC分类号： B25J9/1664 ,  B25J9/0081 ,  B25J9/163 ,  B25J9/1689 ,  G05B2219/40435 ,  G05B2219/40512 ,  Y10S901/03

摘要： A robot motion data processing system has a data extraction module for intermittently extracting restoration motion data from a successive input motion trajectory formed for controlling a motion of a robot, and a data restoration module for restoring an output motion trajectory approximate to the input motion trajectory by using restoration motion data extracted from the data extraction module. The output motion trajectory is restored to satisfy a condition that the robot operating according to the output motion trajectory does not exceed a hardware operation limit of the robot.

摘要翻译： 一种机器人运动数据处理系统具有用于间歇地从形成有用于控制机器人的运动的连续的输入运动轨迹提取恢复运动数据的数据提取模块，以及用于恢复到输出运动轨迹近似到由输入的运动轨迹的数据恢复模块 使用从数据提取模块提取的运动数据恢复。 输出运动轨迹被恢复到满足条件并在机器人操作gemäß到输出运动轨迹大小限制机器人的硬件操作限制。

公开(公告)号：EP2712714A2

公开(公告)日：2014-04-02

申请号：EP13156801.6

申请日：2013-02-26

申请人： Kabushiki Kaisha Yaskawa Denki

发明人： Kihara, Eiji ,  Nakagawa, Jiro ,  Yoshida, Osamu

IPC分类号： B25J9/00

CPC分类号： B25J9/0081 ,  B25J9/0096

摘要： A robot system (1) according to an aspect of an embodiment includes a robot (2) and a work bench (3, 3a, 3b, 3c, or 3d). The robot (2) has a plurality of joints including a first joint (22) that is provided so as to be rotatable relative to an installation surface. On the work bench (3, 3a, 3b, 3c, or 3d), a fixing part (32, 33, 34, 35, 36, 37), by which a work member used in operations of the robot (2) is fixed, is provided on a plate surface of a top plate (31, 31a, 31b, or 31c) with a rotation axis (20) of the first joint (22) serving as a normal line thereof, along a circular arc (30) having a center at an intersection between the plate surface and the rotation axis (20).

摘要翻译： 根据实施例的一个方面的机器人系统（1）包括机器人（2）和工作台（3,3a，3b，3c或3d）。 机器人（2）具有包括第一接头（22）的多个接头，第一接头（22）设置成相对于安装面可旋转。 在工作台（3,3a，3b，3c或3d）上，固定部件（32,33,34,35,36,37）固定在机器人（2）的操作中使用的工件 设置在具有第一接头（22）的旋转轴线（20）作为其法线的顶板（31,31a，31b或31c）的板表面上，沿着圆弧（30） 在所述板表面和所述旋转轴线（20）之间的交叉点处的中心。