公开(公告)号：US07783386B2

公开(公告)日：2010-08-24

申请号：US11661290

申请日：2005-08-23

申请人： Rolf Merte ,  Björn Matthias ,  Sönke Kock

发明人： Rolf Merte ,  Björn Matthias ,  Sönke Kock

IPC分类号： G05B19/04 ,  G05B19/18

CPC分类号： F16P3/147 ,  F16P3/141 ,  F16P3/144 ,  Y10T307/773

摘要： An apparatus and method is disclosed for protection of a machine-controlled handling appliance having moving parts, having a safety sensor system for detection of objects in the working area of the handling appliance, having a safety controller which interacts with the handling appliance controller and in the process controls safety-relevant handling appliance functions as a function of signals from the safety sensor system. The safety sensor system has non-contacting proximity sensors so that a safety-relevant part of the working area of the handling appliance is covered by the detection areas of the proximity sensors.

摘要翻译： 公开了一种用于保护具有运动部件的机器控制的处理装置的装置和方法，所述装置和方法具有用于检测处理装置的工作区域中的物体的安全传感器系统，具有与处理装置控制器相互作用的安全控制器 该过程控制与安全传感器系统的信号相关的安全相关处理设备功能。 安全传感器系统具有非接触式接近传感器，使得处理装置的工作区域的安全相关部分被接近传感器的检测区域覆盖。

公开(公告)号：US08046178B2

公开(公告)日：2011-10-25

申请号：US11922091

申请日：2006-06-12

申请人： Fan Dai ,  Björn Matthias ,  Sönke Kock

发明人： Fan Dai ,  Björn Matthias ,  Sönke Kock

IPC分类号： G01B5/28 ,  G01B5/30

CPC分类号： B23K9/0956

摘要： A defect detection system identifies defects in weld seams. An exemplary system includes a scanner device, mounted on a displacement device of a processing unit and which can be displaced by the unit over at least one weld seam that is to be examined. The scanner unit scans the weld seam using a predefinable frequency, each scanning sweep being correlated with a time signal. The time signal is used to record the point in time when at least one location containing defects is scanned. An analysis module determines the co-ordinates of the defects from the signals that are obtained by the scanning sweeps and stores the co-ordinates of the defects and transmits them to a localisation module. The localisation module determines the spatial arrangement of the defects of the weld seam by evaluating a speed profile of the displacement device during the scanning sweeps, the time signal and the co-ordinates.

摘要翻译： 缺陷检测系统识别焊缝中的缺陷。 示例性系统包括安装在处理单元的位移装置上的扫描器装置，并且该扫描器装置可以通过至少一个待检查的焊缝被该单元移位。 扫描仪单元使用预定义频率扫描焊缝，每个扫描扫描与时间信号相关。 时间信号用于记录至少一个包含缺陷位置的时间点。 分析模块通过扫描扫描获得的信号确定缺陷的坐标并存储缺陷的坐标并将其发送到定位模块。 定位模块通过在扫描扫描，时间信号和坐标期间评估位移装置的速度分布来确定焊缝缺陷的空间排列。

公开(公告)号：US20090312958A1

公开(公告)日：2009-12-17

申请号：US11922091

申请日：2006-06-12

申请人： Fan Dai ,  Björn Matthias ,  Sönke Kock

发明人： Fan Dai ,  Björn Matthias ,  Sönke Kock

IPC分类号： G01B11/30

CPC分类号： B23K9/0956

摘要： The disclosure relates to a defect detection system for identifying defects in weld seams. An exemplary system comprises a scanner device, which is mounted on a displacement device of a processing unit and which can be displaced by said unit over at least one weld seam that is to be examined. The scanner unit scans the weld seam using a predefinable frequency, each scanning sweep being correlated with a time signal and the time signal being used to record the point in time when at least one location containing defects is scanned. The system is equipped with an analysis module to determine the co-ordinates of the defects from the signals that are obtained by means of the scanning sweeps. The analysis module also stores the co-ordinates of the defects and transmits them to a localisation module. The localisation module determines the spatial arrangement of the defects of the weld seam by evaluating the speed profile of the displacement device during the scanning sweeps, the time signal that is assigned to the scanned location containing defects and the co-ordinates of the defects that are provided by the analysis module.

摘要翻译： 本公开涉及一种用于识别焊缝中的缺陷的缺陷检测系统。 示例性系统包括扫描仪装置，其安装在处理单元的位移装置上，并且可由所述单元移动至少一个待检查的焊缝。 扫描仪单元使用预定义频率扫描焊缝，每个扫描扫描与时间信号相关联，并且当至少一个包含缺陷的位置被扫描时，用于记录时间点的时间信号。 该系统配备有分析模块，以通过扫描扫描获得的信号确定缺陷的坐标。 分析模块还存储缺陷的坐标并将其传送到定位模块。 定位模块通过在扫描扫描期间评估位移装置的速度分布来确定焊缝的缺陷的空间排列，分配给包含缺陷的扫描位置的时间信号和缺陷的坐标 由分析模块提供。

公开(公告)号：US08618759B2

公开(公告)日：2013-12-31

申请号：US13563213

申请日：2012-07-31

申请人： Sönke Kock ,  Jens Hofschulte

发明人： Sönke Kock ,  Jens Hofschulte

IPC分类号： G05D23/32

CPC分类号： B25J19/00 ,  B25J9/126 ,  H02P29/62

摘要： A method and system are disclosed for heating of robots in cold environments, whereby the robot possesses permanent magnet brushless or three-phase synchronous motors with three motor phases including three stator coils (L1, L2, L3) connected to an inverter controllable by a control-unit and with a rotor with permanent magnet excitation. A current can be applied to at least one phase of the stator coil (L1, L2, L3) of the motor such that, if the motor stands still, a directed magnetic flux (Φ) is created which interacts with the permanent magnets of the rotor in such a way that the resulting torque will be close to zero.

摘要翻译： 公开了一种用于在寒冷环境中加热机器人的方法和系统，由此机器人具有三个电动机相的永磁无刷或三相同步电动机，该三相电动机相包括三个定子线圈（L1，L2，L3），该三个定子线圈连接到由控制器 并配有带永磁激励的转子。 可以将电流施加到电动机的定子线圈（L1，L2，L3）的至少一个相位，使得如果电动机静止，则产生与磁体的永磁体相互作用的定向磁通（Phi） 转子，使得所得到的转矩将接近零。

公开(公告)号：US20120204674A1

公开(公告)日：2012-08-16

申请号：US13410742

申请日：2012-03-02

申请人： Ivan Lundberg ,  Jan Larsson ,  Daniel Sirkett ,  Sönke Kock

发明人： Ivan Lundberg ,  Jan Larsson ,  Daniel Sirkett ,  Sönke Kock

IPC分类号： F16H49/00

CPC分类号： F16H49/001 ,  H01L41/193 ,  H02N2/105 ,  Y10T74/19

摘要： A harmonic motor with a circular and internally geared stator, a flex spline coaxially arranged within the stator which comprises both external and internal gears, and a geared output shaft coaxially arranged within the flex spline. A drive assembly that includes a motor with a motor housing, a rotor, a rotor shaft, and a rear bearing for supporting the rotor shaft in the motor housing at a rear side of the rotor; and a strain wave gearing including a circular spline secured to the motor housing, a flex spline engaging the circular spline, a wave generator engaging the flex spline and secured to a drive end of the rotor shaft, and a wave generator bearing between the circular spline and the wave generator. The wave generator bearing serves as an exclusive drive end bearing for supporting the rotor shaft in the motor housing at a front side of the rotor.

摘要翻译： 具有圆形和内部齿轮定子的谐波电动机，同轴地布置在定子内的包括外部和内部齿轮的挠曲花键以及同轴地布置在所述挠曲花键内的齿轮输出轴。 一种驱动组件，其包括具有马达壳体的马达，转子，转子轴和用于将转子轴支撑在转子后侧的马达壳体中的后轴承; 以及应变波传动装置，其包括固定到马达壳体上的圆形花键，接合圆形花键的挠曲花键，接合所述挠曲花键并固定到所述转子轴的驱动端的波发生器，以及在所述圆形花键 和波发生器。 波浪发生器轴承用作在转子前侧的马达壳体中支撑转子轴的专用驱动端轴承。

公开(公告)号：US08627558B2

公开(公告)日：2014-01-14

申请号：US12794246

申请日：2010-06-04

申请人： Ivan Lundberg ,  Mats Källman ,  Sönke Kock

发明人： Ivan Lundberg ,  Mats Källman ,  Sönke Kock

IPC分类号： B21D39/00 ,  B23P19/04

CPC分类号： B23P21/004 ,  H05K13/0053 ,  Y10T29/49828 ,  Y10T29/49829 ,  Y10T29/534 ,  Y10T74/20305

摘要： A production line for manipulating objects is provided. The production line has working stations for performing consecutive working steps on the objects by a stationary operator. At least one working station is arranged to be operated by a stationary operator that is a human and at least one working station is operated by a stationary operator that is a robot. The at least one working station being arranged for a stationary operator that is a human and the at least one working station being operated by a stationary operator that is a robot are arranged such that transfer of objects from one working station to the other working station is performed by one or both of the stationary operators. The robot has at least two arms. A method for operating a production line applying a corresponding concept is also provided.

摘要翻译： 提供了一种用于操作物体的生产线。 生产线具有工作站，用于通过固定操作者对物体执行连续的工作步骤。 至少一个工作站被布置成由作为人的固定操作者操作，并且至少一个工作站由作为机器人的固定操作器操作。 所述至少一个工作站被布置为作为人的固定操作者，并且由作为机器人的固定操作者操作的所述至少一个工作站被布置成使得物体从一个工作站转移到另一工作站是 由一个或两个固定操作员执行。 机器人至少有两个臂。 还提供了应用相应概念来操作生产线的方法。

公开(公告)号：US07872436B2

公开(公告)日：2011-01-18

申请号：US10557774

申请日：2004-05-19

申请人： Sönke Kock ,  Christian H Müller ,  Torgny Brogårdh ,  Jesper Bergsjö ,  Andreas Olevik ,  Stig Moberg

发明人： Sönke Kock ,  Christian H Müller ,  Torgny Brogårdh ,  Jesper Bergsjö ,  Andreas Olevik ,  Stig Moberg

IPC分类号： G05B19/404

CPC分类号： B25J9/1641 ,  G05B13/025 ,  G05B2219/41156

摘要： An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.

摘要翻译： 一种用于控制具有至少一个旋转轴和/或平移轴的工业机器人的装置，方法和控制系统。 机器人在每个轴线处包括至少一个致动器或电动机，用于驱动机器人的臂的运动和每个可旋转轴上的至少一个传感器。 用于产生周期信号的抖动信号发生器用于向致动器的伺服器提供变化的抖动信号。 提供抖动信号的自动适配。 用于执行该方法和图形用户界面的计算机程序。

公开(公告)号：US20090271032A1

公开(公告)日：2009-10-29

申请号：US12426504

申请日：2009-04-20

申请人： Sönke Kock ,  Per Norlin

发明人： Sönke Kock ,  Per Norlin

IPC分类号： G06F19/00

CPC分类号： G05B19/4061 ,  G05B2219/37631 ,  G05B2219/49152

摘要： A system for controlling a movement device is disclosed. The system includes a movement device with a tool provided on the movement device, a movement device controller, a safety controller, a tool maintenance station and a movement detection unit for calculating a position of the movement device in the safety controller. The system includes a position detection module for generating a signal corresponding to a positioning of the tool in the tool maintenance station, which signal is made available to the safety controller by a transmission unit for the signal.

摘要翻译： 公开了一种用于控制移动装置的系统。 该系统包括具有设置在移动装置上的工具的移动装置，移动装置控制器，安全控制器，工具维护站和用于计算安全控制器中的移动装置的位置的移动检测单元。 该系统包括位置检测模块，用于产生对应于工具在工具维护站中的定位的信号，该信号由该信号的传输单元提供给安全控制器。

公开(公告)号：US20100217434A1

公开(公告)日：2010-08-26

申请号：US12085145

申请日：2006-11-14

申请人： Magnus Hellberg ,  Mats Thulin ,  Michael Fors ,  Pierre Mikaelsson ,  Tommy Thors ,  Sönke Kock ,  Kevin Behnisch ,  Peter Eriksson ,  Jan Bredahl ,  Bo Toressen

发明人： Magnus Hellberg ,  Mats Thulin ,  Michael Fors ,  Pierre Mikaelsson ,  Tommy Thors ,  Sönke Kock ,  Kevin Behnisch ,  Peter Eriksson ,  Jan Bredahl ,  Bo Toressen

IPC分类号： B25J9/16

CPC分类号： B25J9/1674

摘要： A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit. The robot or the control unit includes at least one first computer running a servo controller. A motion limit is configured for at least one axis of the robot arm. A reference signal for a robot position is sent to a robot controller together with a measurement of a position of the robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator for the purpose of limiting the motion of an arm of the robot.

摘要翻译： 一种用于控制布置有机器人控制单元的多轴工业机器人或机械手的方法。 机器人或控制单元包括运行伺服控制器的至少一个第一计算机。 对于机器人手臂的至少一个轴构造运动限制。 将机器人位置的参考信号与机器人手臂的位置的测量一起发送到机器人控制器。 处理参考位置，然后在评估器中比较测量位置和处理过的参考位置，以限制机器人臂的运动。

公开(公告)号：US20090319081A1

公开(公告)日：2009-12-24

申请号：US12443582

申请日：2007-09-28

申请人： Sönke Kock ,  Löschner Adam ,  Christoph Winterhalter ,  Kevin Behnisch ,  Roland Krieger

发明人： Sönke Kock ,  Löschner Adam ,  Christoph Winterhalter ,  Kevin Behnisch ,  Roland Krieger

IPC分类号： G05B19/4061 ,  G06G7/66 ,  G06F19/00

CPC分类号： G05B19/4061 ,  G05B2219/39082 ,  G05B2219/39098 ,  G05B2219/49138

摘要： A method for simulating a movement zone of a robot having at least one data processing installation, simulating at least one movement path of the robot, comprises providing a number of selectable points on the at least one movement path of the robot, calculating a braking path for each of the selectable points, calculating a virtual movement zone based on the braking paths and a maximum position reachable by the robot for the respective at least one movement path, and carrying out the simulation of functions of the robot off-line using a software module.

摘要翻译： 一种用于模拟具有至少一个数据处理装置的机器人的移动区域的方法，模拟所述机器人的至少一个移动路径，包括在所述机器人的所述至少一个移动路径上提供多个可选点，计算制动路径 对于每个可选点，基于制动路径计算虚拟移动区域和针对相应的至少一个移动路径的机器人可达到的最大位置，并且使用软件对离线机器人的功能进行模拟 模块。