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

IPC: B25J9/10 ,  B25J5/02 ,  B25J5/00 ,  B25J9/00 ,  B65G54/02

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.

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

IPC: B25J9/16 ,  B25J19/04 ,  B25J19/02 ,  B25J13/08

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.