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公开(公告)号：US10789775B2
公开(公告)日：2020-09-29
申请号：US15650277
申请日：2017-07-14
Applicant: BECKHOFF AUTOMATION GMBH
Inventor： Clemens Maier , Armin Pehlivan , Thomas Morscher , Stefan Wapelhorst , Christian Henke
IPC: G06T19/00 , G06F3/01 , G06F3/0346 , G05B19/409 , G05B23/02 , H04N21/40
Abstract: Method for controlling an object, wherein the object is arranged in the real space and is linked to at least one virtual element of a character space, wherein the object, a depiction device, an operator control device and/or a control device are functionally connected to one another, having the steps of ascertaining a position and an orientation of the operator control device and/or of the depiction device in relation to the object, generating a virtual pointer from the ascertained position and the ascertained orientation of the operator control device and/or of the depiction device, selecting the object by means of the virtual pointer, depicting the object, augmented with the at least one element of the character space, by means of the depiction device, and/or controlling the object by means of the operator control device.
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公开(公告)号：US20180222042A1
公开(公告)日：2018-08-09
申请号：US15941722
申请日：2018-03-30
Applicant: BECKHOFF AUTOMATION GMBH
Inventor： Uwe Prüssmeier , Armin Pehlivan , Christian Henke , Stefan Sonderegger , Thomas Morscher , Clemens Maier
IPC: B25J9/10
CPC classification number: B25J9/106 , B65G54/02 , Y10S901/02 , Y10S901/27
Abstract: A robot for a linear transport system includes a carriage guide rail and first and second XY tables, each with first and second carriages arranged to move independently on the carriage guide rail, and first and second linear guides, each having first and second guide elements which can be moved relative to one another and are configured with an angular offset. The first guide elements of the first and second linear guides are connected via a support structure. The second guide elements of the first and second linear guides are connected to the first and second carriages. The robot can include first and second arm systems connected to one another via an articulated system, with an attached work tool. The first and second arm systems can connect to the support structures of the first and second XY tables via corresponding first and second joints.
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公开(公告)号：US20180018826A1
公开(公告)日：2018-01-18
申请号：US15650277
申请日：2017-07-14
Applicant: BECKHOFF AUTOMATION GMBH
Inventor： Clemens Maier , Armin Pehlivan , Thomas Morscher , Stefan Wapelhorst , Christian Henke
Abstract: Method for controlling an object, wherein the object is arranged in the real space and is linked to at least one virtual element of a character space, wherein the object, a depiction device, an operator control device and/or a control device are functionally connected to one another, having the steps of ascertaining a position and an orientation of the operator control device and/or of the depiction device in relation to the object, generating a virtual pointer from the ascertained position and the ascertained orientation of the operator control device and/or of the depiction device, selecting the object by means of the virtual pointer, depicting the object, augmented with the at least one element of the character space, by means of the depiction device, and/or controlling the object by means of the operator control device.
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公开(公告)号：US12208518B2
公开(公告)日：2025-01-28
申请号：US17581382
申请日：2022-01-21
Applicant: Beckhoff Automation GmbH
Inventor： Peter Kastler , Clemens Maier , Thomas Morscher , Armin Pehlivan , Christoph Zech
Abstract: An arm module, modular robot arm or industrial robot has a housing with first and second connection sides. The first connection side has a first connection plate, a first fluid contact device and a first contact device. The second connection side is mechanically connected to the housing in a torque-proof manner, and has a second connection plate. The first fluid contact device and first contact device are arranged on the first connection plate, parallel to a mounting axis. The first connection side is connectable to another arm module. An external thread is arranged about the first mounting axis, on an outer circumferential side of the first connection plate. The second connection plate is circumferentially embraced by a fastening ring with an internal thread corresponding to the external thread. The fastening ring is connected to the housing in an axially fixed manner, rotatable about a second mounting axis.
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Patent Agency Ranking
公开(公告)号：US12109690B2
公开(公告)日：2024-10-08
申请号：US17881303
申请日：2022-08-04
Applicant: Beckhoff Automation GmbH
Inventor： Peter Kastler , Clemens Maier , Thomas Morscher , Armin Pehlivan , Christoph Zech
CPC classification number: B25J19/0054 , B25J9/08 , B25J18/00 , B25J19/0075
Abstract: An active arm module and modular robot arm for an industrial robot comprises a housing, a heat exchanger, a drive device, and a connecting side with a connecting plate. The connecting plate can be mechanically connected to a further arm module or to a robot base for transmitting drive and support forces. The housing defines an interior space for receiving the drive device. The heat exchanger accommodates the drive device at least in sections, and is thermally coupled to the drive device. The heat exchanger has a fluid channel and can exchange heat between the drive device and the fluid. The arm module comprises a fluid contact device arranged at the connecting plate. Fluid can be exchanged with the further arm module or robot base via the fluid contact device; e.g., the fluid channel can be filled with the fluid for exchanging the fluid with the first fluid contact device.
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公开(公告)号：US20230082028A1
公开(公告)日：2023-03-16
申请号：US17991048
申请日：2022-11-21
Applicant: Beckhoff Automation GmbH
Inventor： Peter Kastler , Clemens Maier , Christoph Zech , Thomas Morscher , Armin Pehlivan , Michael Jäger , Peter Fischer , Thomas Rettig , Thorsten Bunte , Christopher Pohl
Abstract: An arm module includes a housing with a first connection side controllably rotatable relative to a second connection side, about an axis of rotation. The first connection side has a rotatable first connection device. The second connection side has a second connection device fixed to the housing, with a rotation-compatible data transmission device for transmitting data signals along at least one transmission path between the first and second connection sides. The transmission path includes at least one wireless transmission sub-path for wireless transmission of data signals, and at least one wire-guided transmission sub-path for wire-guided transmission of data signals. The rotation-compatible data transmission device includes at least one first wireless transmission unit and at least one second wireless transmission unit, interconnected via the transmission path and arranged to wirelessly transmit and receive data signals along the wireless transmission sub-path. An industrial robot can have a plurality of such arm modules.
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公开(公告)号：US20220410412A1
公开(公告)日：2022-12-29
申请号：US17881303
申请日：2022-08-04
Applicant: Beckhoff Automation GmbH
Inventor： Peter Kastler , Clemens Maier , Thomas Morscher , Armin Pehlivan , Christoph Zech
Abstract: An active arm module and modular robot arm for an industrial robot comprises a housing, a heat exchanger, a drive device, and a connecting side with a connecting plate. The connecting plate can be mechanically connected to a further arm module or to a robot base for transmitting drive and support forces. The housing defines an interior space for receiving the drive device. The heat exchanger accommodates the drive device at least in sections, and is thermally coupled to the drive device. The heat exchanger has a fluid channel and can exchange heat between the drive device and the fluid. The arm module comprises a fluid contact device arranged at the connecting plate. Fluid can be exchanged with the further arm module or robot base via the fluid contact device; e.g., the fluid channel can be filled with the fluid for exchanging the fluid with the first fluid contact device.
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公开(公告)号：US10926406B2
公开(公告)日：2021-02-23
申请号：US15941722
申请日：2018-03-30
Applicant: BECKHOFF AUTOMATION GMBH
Inventor： Uwe Prüssmeier , Armin Pehlivan , Christian Henke , Stefan Sonderegger , Thomas Morscher , Clemens Maier
Abstract: A robot for a linear transport system includes a carriage guide rail and first and second XY tables, each with first and second carriages arranged to move independently on the carriage guide rail, and first and second linear guides, each having first and second guide elements which can be moved relative to one another and are configured with an angular offset. The first guide elements of the first and second linear guides are connected via a support structure. The second guide elements of the first and second linear guides are connected to the first and second carriages. The robot can include first and second arm systems connected to one another via an articulated system, with an attached work tool. The first and second arm systems can connect to the support structures of the first and second XY tables via corresponding first and second joints.
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公开(公告)号：US20200254610A1
公开(公告)日：2020-08-13
申请号：US16786636
申请日：2020-02-10
Applicant: Beckhoff Automation GmbH
Inventor： Clemens Maier , Armin Pehlivan , Christoph Zech , Peter Kastler , Thomas Morscher
Abstract: A method for controlling an industrial robot provides that position data of the industrial robot are detected and environment data of an object in an environment of the industrial robot are captured with an environment detection unit. The position data and the environment data are transformed into a common figure space, in which a control figure is defined for the industrial robot and an object figure of the object is represented. A parameter set is created which takes a dimensioning of the control figure in the figure space into account. The parameter set comprises a temporal and spatial correlation of the position data and the environment data and takes into account the movement history of the industrial robot and/or of the object. An action instruction is generated for the industrial robot if the control figure and the object figure satisfy a predefined criterion in relation to each other.
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