公开(公告)号：US20110037839A1

公开(公告)日：2011-02-17

申请号：US12528549

申请日：2008-01-25

Applicant: Johannes Kurth ,  Andreas Sedlmayr

Inventor： Johannes Kurth ,  Andreas Sedlmayr

IPC: H04N7/18

CPC classification number: G05B19/4083 ,  G05B2219/35506 ,  G05B2219/37572 ,  G05B2219/39393

Abstract: The invention relates to methods for determining the position of an industrial robot (1, 81) relative to an object (M, 82) as well as correspondingly equipped industrial robots (1, 81). In one of said methods, a 2D camera (17) that is mounted on the industrial robot (1) is moved into at least two different positions, an image (20, 30) of an object (M) that is stationary relative to the surroundings of the industrial robot (1) is generated in each of the positions, the images (20, 30) are displayed, a graphic model (16) of the object (M) is superimposed on the images (20, 30), points (21A, 22A, 31A, 32A) of the graphic model (16) are manually assigned to corresponding points (21A, 21B, 31A, 31B) in the two images (20, 30), and the position of the industrial robot (1) relative to the object (M) is determined on the basis of the points (21A, 22A, 31A, 32A) of the model (16) assigned to the corresponding points (21B, 22B, 31B, 32B).

Abstract translation: 本发明涉及用于确定工业机器人（1,81）相对于物体（M，82）以及相应配备的工业机器人（1,81）的位置的方法。 在所述方法之一中，安装在工业机器人（1）上的2D摄像机（17）被移动到至少两个不同的位置，即相对于所述工业机器人（1）静止的物体（M）的图像（20,30） 在每个位置产生工业机器人（1）的周围，显示图像（20,30），物体（M）的图形模型（16）叠加在图像（20,30）上，点 将图形模型（16）的图形（21A，22A，31A，32A）手动分配给两个图像（20,30）中的对应点（21A，21B，31A，31B），并且工业机器人 ）基于分配给对应点（21B，22B，31B，32B）的模型（16）的点（21A，22A，31A，32A）来确定。

公开(公告)号：US08649906B2

公开(公告)日：2014-02-11

申请号：US12809837

申请日：2008-12-11

Applicant: Rainer Bischoff ,  Eugen Heinze ,  Ralf Koeppe ,  Johannes Kurth ,  Gunter Schreiber ,  Uwe Zimmermann

Inventor： Rainer Bischoff ,  Eugen Heinze ,  Ralf Koeppe ,  Johannes Kurth ,  Gunter Schreiber ,  Uwe Zimmermann

IPC: B25J9/04

CPC classification number: B25J19/06 ,  B25J13/085 ,  G01L3/108

Abstract: In order to increase the safety of a robot that may come into contact with other robots, objects or humans, the invention provides that said robot comprises at least two joints and parts that are moveable in relation to each other via at least one joint. At least one sensor (31) is arranged on at least one moveable part (3, 4, 5′, 6, 7), detecting torque. Sensor components (21′, 22.1, 22.2) of the sensor (31) are designed for the redundant detection of a torque, or for the redundant detection of a torque of at least two sensors (31) are provided, and redundant evaluation units are provided for the redundant evaluation. In order to increase safety, the invention further provides a method for monitoring torque on a robot of said kind, wherein at least a torque on at least one movable part (3, 4, 5′, 6, 7) is redundantly detected and redundantly evaluated on at least one moveable part (3, 4, 5′, 6, 7) by means of two sensor components of a sensor (31) or by means of two sensors (31).

Abstract translation: 为了增加可能与其他机器人，物体或人接触的机器人的安全性，本发明提供了所述机器人包括至少两个接头和可经由至少一个接头相对于彼此移动的部件。 至少一个传感器（31）布置在至少一个可移动部件（3,4,5'，6,7）上，检测扭矩。 传感器（31）的传感器部件（21'，22.1,22.2）被设计用于扭矩的冗余检测，或用于至少两个传感器（31）的扭矩的冗余检测，冗余评估单元 提供冗余评估。 为了增加安全性，本发明还提供了一种用于监视所述类型的机器人的扭矩的方法，其中至少一个可移动部分（3,4,5'，6,7）上的至少一个扭矩被冗余地检测和冗余 通过传感器（31）的两个传感器部件或借助于两个传感器（31）在至少一个可移动部分（3,4,5'，6,7）上进行评估。

公开(公告)号：US10173318B2

公开(公告)日：2019-01-08

申请号：US13989604

申请日：2011-10-31

Applicant: Johannes Kurth

Inventor： Johannes Kurth

IPC: G05B15/00 ,  G05B19/00 ,  B25J9/16

Abstract: In a method according to the invention for controlling a peripheral component (1) of a robot system (2), a power output, in particular a force, of the peripheral component is adjusted on the basis of an ascertained force (F1; m3g+m3d(x3)2/dt2), said force acting dependent on at least one robot pose, in particular a robot path (x3(t)).

公开(公告)号：US09102061B2

公开(公告)日：2015-08-11

申请号：US13578678

申请日：2011-02-25

Applicant: Volker Schmirgel ,  Gerhard Hietmann ,  Sebastian Reitelshofer ,  Simon Klumpp ,  Johannes Kurth

Inventor： Volker Schmirgel ,  Gerhard Hietmann ,  Sebastian Reitelshofer ,  Simon Klumpp ,  Johannes Kurth

IPC: B25J9/16 ,  G05B19/04 ,  G05B19/042

CPC classification number: B25J9/1661 ,  B25J9/1671 ,  B25J9/1687 ,  G05B19/0426 ,  G05B2219/23258 ,  G05B2219/36025 ,  G05B2219/40032 ,  G05B2219/40099 ,  G05B2219/40392 ,  G05B2219/40395

Abstract: A process module library according to the invention for programming a manipulator process, in particular an assembly process, comprises a plurality of parametrisable process modules (“search( )”, “peg_in_hole( )”, “gear( )”, “screw( )”) for carrying out a sub-process which in particular is common to different manipulator processes. Each of the process modules comprises a plurality of basic commands of a common set of basic commands for carrying out a basic operation, in particular an atomic or molecular operation, and a process module can be linked, in particular mathematically, to a further process module and/or a basic command. During programming, a manipulator can be controlled by means of a functional module of a graphic programming environment (100).

Abstract translation: 根据本发明的用于编程机械手过程，特别是组装过程的过程模块库包括多个可参数的过程模块（“search（）”，“peg_in_hole（）”，“gear（）”，“screw（） “），用于执行特别是不同的操纵器过程通用的子过程。 每个处理模块包括用于执行基本操作，特别是原子或分子操作的共同基本命令集合的多个基本命令，并且处理模块可以特别地在数学上链接到另一处理模块 和/或基本命令。 在编程期间，可以通过图形编程环境（100）的功能模块来控制操纵器。

公开(公告)号：US20130238132A1

公开(公告)日：2013-09-12

申请号：US13989604

申请日：2011-10-31

Applicant: Johannes Kurth

Inventor： Johannes Kurth

IPC: B25J9/16

CPC classification number: B25J9/1612 ,  G05B2219/39115 ,  G05B2219/39505 ,  G05B2219/39558

Abstract: In a method according to the invention for controlling a peripheral component (1) of a robot system (2), a power output, in particular a force, of the peripheral component is adjusted on the basis of an ascertained force (F1; m3g+m3d(x3)2/dt2), said force acting dependent on at least one robot pose, in particular a robot path (x3(t)).

Abstract translation: 在根据本发明的用于控制机器人系统（2）的外围部件（1）的方法中，基于确定的力（F1; m3g + m3d（x3）2 / dt2），所述力取决于至少一个机器人姿势，特别是机器人路径（x3（t））。

公开(公告)号：US20110098855A1

公开(公告)日：2011-04-28

申请号：US12993670

申请日：2009-06-03

Applicant: Johannes Kurth ,  Günter Schreiber ,  Mario Selic

Inventor： Johannes Kurth ,  Günter Schreiber ,  Mario Selic

IPC: G06F19/00 ,  B62B3/00

CPC classification number: B66F9/063 ,  B60Q1/326

Abstract: The present invention relates to a multi-directionally movable vehicle (10, 20) and to a method for operating the multi-directionally movable vehicle (10, 20). The vehicle (10, 20) has a vehicle body (11, 12), a plurality of multi-directionally movable wheels (13) which are rotatably arranged on the vehicle body (11, 12) and have the purpose of moving the vehicle (10), and a plurality of lighting devices (14, 15) which are each assigned to one of the wheels (13) and which can be activated as a function of the selected or intended direction of travel of the vehicle (10) in order to indicate visually to the outside the direction of travel of the vehicle (10) by means of one or more activated lighting devices (14, 15).

Abstract translation: 本发明涉及一种多方位移动车辆（10,20）以及一种用于操作多向移动车辆（10,20）的方法。 车辆（10,20）具有车体（11,12），多个可旋转地布置在车身（11,12）上的多方位可动轮（13），并且具有使车辆（ 10）和多个照明装置（14,15），每个照明装置（14,15）被分配给一个车轮（13），并且可以根据车辆（10）的选定或预期的行进方向按顺序被启动 通过一个或多个激活的照明装置（14,15）向车外（10）的行进方向向外部目视地指示。

公开(公告)号：US20100324733A1

公开(公告)日：2010-12-23

申请号：US12809837

申请日：2008-12-11

Applicant: Rainer Bischoff ,  Eugen Heinze ,  Ralf Koeppe ,  Johannes Kurth ,  Gunter Schreiber ,  Uwe Zimmermann

Inventor： Rainer Bischoff ,  Eugen Heinze ,  Ralf Koeppe ,  Johannes Kurth ,  Gunter Schreiber ,  Uwe Zimmermann

IPC: B25J13/08

CPC classification number: B25J19/06 ,  B25J13/085 ,  G01L3/108

Abstract: In order to increase the safety of a robot that may come into contact with other robots, objects or humans, the invention provides that said robot comprises at least two joints and parts that are moveable in relation to each other via at least one joint. At least one sensor (31) is arranged on at least one moveable part (3, 4, 5′, 6, 7), detecting torque. Sensor components (21′, 22.1, 22.2) of the sensor (31) are designed for the redundant detection of a torque, or for the redundant detection of a torque of at least two sensors (31) are provided, and redundant evaluation units are provided for the redundant evaluation. In order to increase safety, the invention further provides a method for monitoring torque on a robot of said kind, wherein at least a torque on at least one movable part (3, 4, 5′, 6, 7) is redundantly detected and redundantly evaluated on at least one moveable part (3, 4, 5′, 6, 7) by means of two sensor components of a sensor (31) or by means of two sensors (31).

Abstract translation: 为了增加可能与其他机器人，物体或人接触的机器人的安全性，本发明提供了所述机器人包括至少两个接头和可经由至少一个接头相对于彼此移动的部件。 至少一个传感器（31）布置在至少一个可移动部件（3,4,5'，6,7）上，检测扭矩。 传感器（31）的传感器部件（21'，22.1,22.2）被设计用于扭矩的冗余检测，或用于至少两个传感器（31）的扭矩的冗余检测，冗余评估单元 提供冗余评估。 为了增加安全性，本发明还提供了一种用于监视所述类型的机器人的扭矩的方法，其中至少一个可移动部分（3,4,5'，6,7）上的至少一个扭矩被冗余地检测和冗余 通过传感器（31）的两个传感器部件或借助于两个传感器（31）在至少一个可移动部分（3,4,5'，6,7）上进行评估。

公开(公告)号：US4139050A

公开(公告)日：1979-02-13

申请号：US825028

申请日：1977-08-16

Applicant: Josef Glaser ,  Karl H. Koch ,  Johannes Kurth

Inventor： Josef Glaser ,  Karl H. Koch ,  Johannes Kurth

IPC: B22D11/10 ,  B22D11/18 ,  B22D41/20

CPC classification number: B22D11/181

Abstract: The plug lifting structure for a stopper in a tundish is coupled, via a single, mechanical connection point, to a hydraulic actuator rod being part of the casting stand, so that removal of the tundish merely requires lowering of that rod to separate the control connection.

Abstract translation: 用于中间包中的止动器的塞子提升结构通过单个机械连接点连接到作为铸造台的一部分的液压致动器杆，使得中间包的移除仅需要降低该杆以分离控制连接 。

公开(公告)号：US08682487B2

公开(公告)日：2014-03-25

申请号：US12993670

申请日：2009-06-03

Applicant: Johannes Kurth ,  Günter Schreiber ,  Mario Selic

Inventor： Johannes Kurth ,  Günter Schreiber ,  Mario Selic

IPC: G05B19/18 ,  G06F17/00

CPC classification number: B66F9/063 ,  B60Q1/326

Abstract: The present invention relates to a multi-directionally movable vehicle (10, 20) and to a method for operating the multi-directionally movable vehicle (10, 20). The vehicle (10, 20) has a vehicle body (11, 12), a plurality of multi-directionally movable wheels (13) which are rotatably arranged on the vehicle body (11, 12) and have the purpose of moving the vehicle (10), and a plurality of lighting devices (14, 15) which are each assigned to one of the wheels (13) and which can be activated as a function of the selected or intended direction of travel of the vehicle (10) in order to indicate visually to the outside the direction of travel of the vehicle (10) by means of one or more activated lighting devices (14, 15).

Abstract translation: 本发明涉及一种多方位移动车辆（10,20）以及一种用于操作多向移动车辆（10,20）的方法。 车辆（10,20）具有车体（11,12），多个可旋转地布置在车身（11,12）上的多方位可动轮（13），并且具有使车辆（ 10）和多个照明装置（14,15），每个照明装置（14,15）被分配给一个车轮（13），并且可以根据车辆（10）的选定或预期的行进方向按顺序被启动 通过一个或多个激活的照明装置（14,15）向车外（10）的行进方向向外部目视地指示。

公开(公告)号：US20120317535A1

公开(公告)日：2012-12-13

申请号：US13578678

申请日：2011-02-25

Applicant: Volker Schmirgel ,  Gerhard Hietmann ,  Sebastian Reitelshofer ,  Simon Klumpp ,  Johannes Kurth

Inventor： Volker Schmirgel ,  Gerhard Hietmann ,  Sebastian Reitelshofer ,  Simon Klumpp ,  Johannes Kurth

IPC: G06F9/44

CPC classification number: B25J9/1661 ,  B25J9/1671 ,  B25J9/1687 ,  G05B19/0426 ,  G05B2219/23258 ,  G05B2219/36025 ,  G05B2219/40032 ,  G05B2219/40099 ,  G05B2219/40392 ,  G05B2219/40395

Abstract: A process module library according to the invention for programming a manipulator process, in particular an assembly process, comprises a plurality of parametrisable process modules (“search( )”, “peg_in_hole( )”, “gear( )”, “screw( )”) for carrying out a sub-process which in particular is common to different manipulator processes. Each of the process modules comprises a plurality of basic commands of a common set of basic commands for carrying out a basic operation, in particular an atomic or molecular operation, and a process module can be linked, in particular mathematically, to a further process module and/or a basic command. During programming, a manipulator can be controlled by means of a functional module of a graphic programming environment (100).

Abstract translation: 根据本发明的用于编程机械手过程，特别是组装过程的过程模块库包括用于执行子操作的多个可参数化的处理模块（search（），peg_in_hole（），gear（），screw（） 过程特别是不同的机械手过程是共同的。 每个处理模块包括用于执行基本操作，特别是原子或分子操作的共同基本命令集合的多个基本命令，并且处理模块可以特别地在数学上链接到另一处理模块 和/或基本命令。 在编程期间，可以通过图形编程环境（100）的功能模块来控制操纵器。