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公开(公告)号：US20240123610A1
公开(公告)日：2024-04-18
申请号：US17769419
申请日：2020-10-15
申请人： Franka Emika GmbH
CPC分类号： B25J9/1605 , B25J9/106 , B25J9/1607 , B25J19/0004 , B25J13/085
摘要： The invention relates to a robot manipulator, wherein a braking device arranged on at least one of the joints of the manipulator is activated by a control unit in order to generate such a residual torque that a maximum torque is not exceeded at the joint, and the residual torque is determined on the basis of sensor determination and/or estimation of the torque currently present at the joint, wherein the estimation is based on a measure, multiplied by a first predefined factor, of a gravitational influence acting on the at least one of the joints, or is based on a dynamic model of the robot manipulator, the dynamic model having the gravitational influence, wherein the control unit determines the gravitational influence on the basis of a joint angle vector with joint angles between the at least one of the joints and a distal end of the robot manipulator.
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公开(公告)号：US20230025318A1
公开(公告)日：2023-01-26
申请号：US17778097
申请日：2020-11-19
申请人： Franka Emika GmbH
发明人： Andreas Spenninger , Marco Morganti
摘要： A method of calibrating an impedance control of a robot manipulator, the method including: deflecting a reference point of the robot manipulator from a zero position to a deflected position, wherein the robot manipulator applies a counterforce dependent on a spring constant of the impedance control and on a first determined deflection, wherein the first determined deflection is determined based on joint angles detected by joint angle sensors of the robot manipulator; detecting a second determined deflection by an external position measuring unit; and adapting the spring constant of the impedance control in such a way that the counterforce applied by the robot manipulator corresponds to a predetermined counterforce of the robot manipulator based on the second determined deflection.
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公开(公告)号：US20220212354A1
公开(公告)日：2022-07-07
申请号：US17609598
申请日：2020-05-07
申请人： FRANKA EMIKA GMBH
IPC分类号： B25J19/00
摘要： A braking device for a drive device of a joint between two links of a robot arm including a brake activating device and a locking element, wherein the brake activating device is designed to bring the locking element into engagement with a rotor of the drive device as required in order to halt rotation of the rotor, the locking element being designed as a bolt and the braking element being designed as a braking star with webs which have a defined impact surface for the bolt.
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公开(公告)号：US20220080578A1
公开(公告)日：2022-03-17
申请号：US17415450
申请日：2019-12-19
申请人： FRANKA EMIKA GMBH
发明人： Benjamin Loinger
摘要： A robot container including a computer housing and a protective housing, wherein a plurality of rollers and a first computer housing interface are arranged on a first outer side of the computer housing and wherein a robot manipulator and a second computer housing interface are arranged on a second outer side of the computer housing opposite to the first outer side, and wherein a control unit connected to the robot manipulator is arranged in the interior of the computer housing, wherein at least one setup element for mounting the protective housing on a floor is arranged on a first outer side of the protective housing and an opening to a cavity enclosed by the protective housing and protective housing interface are arranged on a second outer side of the protective housing opposite to the first outer side, wherein the protective housing interface is reversibly connectable alternately to the first computer housing interface or to the second computer housing interface, having the following steps, so that by introducing the robot manipulator into the cavity of the protective housing and by joining the protective housing interface to the second computer housing interface, the protective housing and the computer housing form a transport container displaceable via the rollers, and so that by joining the protective housing interface to the first computer housing interface, the protective housing forms a base for the computer housing which is non-displaceable due to the at least one setup element.
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公开(公告)号：US20220024027A1
公开(公告)日：2022-01-27
申请号：US17414240
申请日：2019-12-19
申请人： FRANKA EMIKA GMBH
发明人： Tobias Ende , Martin Kulzer
摘要： A robot fixture to secure a robot manipulator to a tabletop, including a base unit having an interface to secure the robot manipulator on the base unit, wherein the base unit introduces, over a surface, a weight force of the robot manipulator to an upper face of the tabletop, wherein a first end of a clamping arm is arranged on an end face of the base unit and the clamping arm has a first portion leading away from the base unit and a second portion extending parallel to the base unit, such that, when mounting the base unit on the tabletop, the second portion extends under the tabletop, and a clamping slide, which is movable relative to the clamping arm in the direction of the base unit, is arranged on a second end of the clamping arm, and, on an end of the clamping slide facing the base unit, a cushion is arranged on the clamping slide, wherein the cushion is mounted about at least one axis in a torque-free manner relative to the clamping slide and wherein the cushion presses the robot fixture against a lower face of the tabletop.
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公开(公告)号：US20220009104A1
公开(公告)日：2022-01-13
申请号：US17288812
申请日：2019-10-28
申请人： FRANKA EMIKA GMBH
发明人： Daniel WAHRMANN LOCKHART , Andreas SPENNINGER , Mohamadreza SABAGHIAN , Christoph JÄHNE , Zheng QU , Thore GOLL , Ahmed WAFIK , Benjamin LOINGER , Christoph KUGLER , Carles CALAFELL GARCIA
摘要： A mobile robot including a mobile base element and at least one multi-jointed manipulator, wherein the robot includes several telemedical devices. The invention also relates to a robot for performing a movement sequence together with a limb of a human with the help of a manipulator.
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公开(公告)号：US20200086480A1
公开(公告)日：2020-03-19
申请号：US16610714
申请日：2018-05-29
申请人： FRANKA EMIKA GMBH
发明人： Sami Haddadin , Lars Johannsmeier
摘要： The invention relates to a system for controlling actuators of an articulated robot and for enabling the robot executing a given task, including a first unit providing a specification of robot skills s selectable from a skill space depending on the task, a second unit, wherein the second unit is connected to the first unit and further to a learning unit and to an adaptive controller, wherein the adaptive controller receives skill commands χcmd, wherein the skill commands χcmd include the skill parameters Pl, wherein based on the skill commands χcmd the controller controls the actuators of the robot, wherein the actual status of the robot is sensed by respective sensors and/or estimated by respective estimators and fed back to the controller and to the second unit, wherein based on the actual status, the second unit determines the performance Q(t) of the skill carried out by the robot, and wherein the learning unit receives PD, and Q(t) from the second unit, determines updated skill parameters Pl(t) and provides Pl(t) to the second unit to replace hitherto existing skill parameters Pl.
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公开(公告)号：US20200039069A1
公开(公告)日：2020-02-06
申请号：US16606831
申请日：2018-04-18
申请人： Franka Emika GmbH
发明人： Tobias Ende , Michael Haas , Saskia Golz , Sven Parusel , Simon Haddadin
IPC分类号： B25J9/16
摘要： The invention relates to a device and method for electrical testing of an electrical component, the component including at least one electrical contact point. The device includes: an interface for providing the electrical component; a first robot manipulator having an effector, which is configured and constructed for picking up, handling and releasing the electrical component; a mechanical receiving interface into which the electrical component is insertable; a contacting device having at least one electrical counter contact, the contacting device being positioned in a first state in such a manner that space is available for the first robot manipulator to be able to insert/remove the electrical component into/from the receiving interface, and the contacting device being positioned in a second condition in such a manner that the at least one counter contact is connected to the at least one contact point of the electrical component which has been inserted into the receiving interface; an analysis unit connected to the at least one counter contact, the analysis unit being configured and constructed to perform electrical testing of the electrical component using the electrical connection of the at least one counter contact and the at least one contact point in the second state and to provide and/or output a test result; and a control unit for automated control of the first robot manipulator and the contacting device.
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公开(公告)号：US20190143519A1
公开(公告)日：2019-05-16
申请号：US16095185
申请日：2017-04-24
申请人： Franka Emika GmbH
发明人： Sami Haddadin
IPC分类号： B25J9/16
摘要： The invention relates to a method of controlling a movable robot manipulator for screwing in a screw at least already plugged into a thread, wherein the screw has a screw head with a tool engagement interface, the robot manipulator has at its distal end a tool designed to engage the tool engagement interface, the screw has a screw central axis, and the tool has a tool central axis about which the tool of the robot manipulator is rotatable. The proposed method includes the following steps of: defining a position of the tool engagement interface of the screw at least plugged into the thread, positioning the tool over the tool engagement interface and orienting the tool central axis with a maximum deviation of 8° concentrically with the screw central axis, with force-regulated and/or impedance-regulated closed tilting movement of the tool central axis, moving the tool along the tool central axis into the tool engagement interface until there is a connection between the tool and the tool engagement interface, screwing in the screw in a first direction of rotation of the tool until a defined limit value G1 of a torque/force acting on the tool has been reached or exceeded, once the limit value G1 has been reached or exceeded, turning back the tool counter to the first direction of rotation through a defined angle in the range of [0.01° to 10°], and removing the tool from the tool engagement interface along the tool central axis.
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公开(公告)号：US20180272545A1
公开(公告)日：2018-09-27
申请号：US15765037
申请日：2016-09-23
申请人： FRANKA EMIKA GmbH
发明人： Sami HADDADIN , Björn PIETSCH , Tim ROKAHR
IPC分类号： B25J19/00 , H02P29/00 , H02P29/024
CPC分类号： B25J19/0004 , F16D63/006 , H02P3/12 , H02P3/16 , H02P3/22 , H02P3/26 , H02P29/0022 , H02P29/024 , H02P29/0241
摘要： The invention relates to a joint device, comprising an electric motor, an electrically controllable blocking apparatus), various control apparatuses, and a brake system, in the case of which brake system, in various alternatives, the brake system takes maximum energy from the system by means of active closed-loop/open-loop control or by triggering a (cycled) short circuit whenever possible and only triggers the mechanical blocking as a last resort in order to protect the mechanical and electrical system itself, but nevertheless ensures that the system is securely shut down after a maximum time.
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