公开(公告)号：US20040260481A1

公开(公告)日：2004-12-23

申请号：US10766769

申请日：2004-01-28

发明人： Peter Heiligensetzer ,  Alwin Berninger ,  Norbert Settele

IPC分类号： G01B003/00 ,  G06F019/00

CPC分类号： B25J9/1674 ,  G05B2219/40226 ,  G05B2219/40228 ,  G05B2219/40229

摘要： In order to improve the monitoring of a machine with movable parts, such as in particular an industrial robot, and for increasing safety, the invention provides a method for monitoring movable parts of a machine, such as an industrial robot, in which at least two different measured quantities are detected and at least one of these measured quantities is processed to a first measure result in such a way that it is comparable with another measured quantity or a second measure result obtained on the basis thereof, that the first measure result is compared with another measured quantity or a measure result obtained on the basis thereof and that a signal characterizing the comparison result is provided. The invention also provides a machine with movable parts, such as in particular an industrial robot, which is characterized by at least two measuring devices for detecting different measured quantities on movable parts of the machine, a processing unit for at least one measured quantity for the processing thereof into a first measure result comparable with another measured quantity or a second measure result obtained therefrom and a comparison unit for comparing the first measure result with at least one other measured quantity or a second measure result obtained on the basis thereof.

摘要翻译： 为了改进对可移动部件，特别是工业机器人的机器的监视，并且为了增加安全性，本发明提供了一种用于监视诸如工业机器人的机器的可移动部件的方法，其中至少两个 检测不同的测量量，并将这些测量量中的至少一个处理成第一测量结果，使得其与另一测量量或基于其获得的第二测量结果相比较，比较第一测量结果 具有基于其获得的另一测量量或测量结果，并且提供表征比较结果的信号。 本发明还提供了一种机器，其具有诸如特别是工业机器人的可移动部件，其特征在于至少两个用于检测机器可移动部件上的不同测量量的测量装置，用于至少一个测量量的处理单元 将其处理成与由其获得的另一测量量或第二测量结果相当的第一测量结果;以及比较单元，用于将第一测量结果与至少一个其他测量量或基于其获得的第二测量结果进行比较。

公开(公告)号：US08588975B2

公开(公告)日：2013-11-19

申请号：US12362686

申请日：2009-01-30

申请人： Katsuhiro Komuro ,  Toshio Aono

发明人： Katsuhiro Komuro ,  Toshio Aono

IPC分类号： G05B19/18 ,  G05B9/02 ,  G05B23/02 ,  G06K7/00 ,  B23Q15/22 ,  B23Q3/155

CPC分类号： B25J9/1674 ,  G05B2219/39399 ,  G05B2219/40228 ,  G05B2219/40375 ,  G05B2219/43203 ,  G05B2219/50198 ,  G05B2219/50275

摘要： It is determined whether the first tool identification information that is output from a robot control device, and that indicates a present tool and the second tool identification information for detecting and identifying a tool attached to the robot are unequal to each other. The position coordinates of the taught reference point in an actual space of the robot occurring at the time when the unequalness therebetween is first detected are set as reference coordinates, and a region that contains the reference coordinates is set as a predetermined region. If the position coordinates of the taught reference point have come to exist outside the predetermined region during a period during which it is determined that the foregoing two pieces of information are unequal, an emergency stop signal for causing the robot to be in a safe state is output.

摘要翻译： 确定从机器人控制装置输出的并且指示当前工具的第一工具识别信息和用于检测和识别附接到机器人的工具的第二工具识别信息是否彼此不相等。 在第一次检测到它们之间的不平等的时刻发生的机器人的实际空间中所教导的参考点的位置坐标被设置为参考坐标，并且将包含基准坐标的区域设置为预定区域。 如果在确定前述两条信息不相等的时间段期间教导的参考点的位置坐标已经在预定区域之外存在，则使机器人处于安全状态的紧急停止信号是 输出。

公开(公告)号：US06476574B1

公开(公告)日：2002-11-05

申请号：US09763526

申请日：2001-02-26

申请人： Mats Nilsson ,  Bohao Liao

发明人： Mats Nilsson ,  Bohao Liao

IPC分类号： B25J918

CPC分类号： G05B19/311 ,  A01J5/0175 ,  G05B2219/40228 ,  G05B2219/45113 ,  Y02P90/265

摘要： A method and device (1) for controlling the movement of a movable part such as a robot arm (3) in a milking robot (1). A control (7) controls the movement of the arm (3) from an actual position (Pxa, Pya, Pza) to a desired position (Pxd, Pyd, Pzd) A detector (45, 47, 49) detects the actual position of the robot arm (3) and transmits signals corresponding to the actual position to the control (7). The predicted position (Pxp, Pyp, PyP), that the robot arm (3) will pass through as it moves from the actual position to the desired position our model (S). The control (7) makes a comparison (S) of the actual positions of the arm (3) against to the predicted positions, and the movement of the robot arm (3) is modified if its actual position at any time differs by more than a predetermined amount from the predicted position at the same time.

摘要翻译： 一种用于控制在挤奶机器人（1）中的诸如机器人手臂（3）的可移动部件的运动的方法和装置（1）。 控制器（7）控制臂（3）从实际位置（Pxa，Pya，Pza）到期望位置（Pxd，Pyd，Pzd）的移动。检测器（45,47,49）检测到 所述机器人臂（3）将与所述实际位置对应的信号发送到所述控制装置（7）。 当机器人臂（3）从实际位置移动到期望位置时，机器人手臂（3）将穿过的预测位置（Pxp，Pyp，PyP），我们的模型（S）。 控制器（7）对臂（3）的实际位置与预测位置进行比较（S），并且如果机器人手臂（3）的实际位置在任何时间的差异大于 与预测位置相同的预定量。

公开(公告)号：US20160279795A1

公开(公告)日：2016-09-29

申请号：US15175472

申请日：2016-06-07

申请人： Seiko Epson Corporation

发明人： Shigenori SASAI

IPC分类号： B25J9/16 ,  G05B9/03 ,  B25J13/08

CPC分类号： B25J9/1674 ,  B25J9/1633 ,  B25J13/088 ,  G01C25/005 ,  G05B9/03 ,  G05B2219/40228

摘要： A robotic device having an arm including an actuator and inertial sensor, a first calculator adapted to calculate an angular velocity and an angular acceleration of the actuator based on a rotational angle data from an angle sensor, a second calculator adapted to calculate one of an angular velocity and an angular acceleration of the arm based on an output detected by the inertial sensor, and a comparator adapted to compare one of the angular velocity and the angular acceleration calculated by the first calculator and one of the angular velocity and the angular acceleration calculated by the second calculator with each other, and it is determined that the inertial sensor is at fault if an absolute value of the difference between the actuator and the arm in one of the angular velocity and the angular acceleration in the comparison section is larger than a threshold value.

摘要翻译： 一种具有包括致动器和惯性传感器的臂的机器人装置，第一计算器，其适于基于来自角度传感器的旋转角度数据计算致动器的角速度和角加速度，第二计算器适于计算角度 基于由惯性传感器检测到的输出的臂的速度和角加速度，以及比较器，其适于比较由第一计算器计算的角速度和角加速度之一以及由第一计算器计算的角速度和角加速度之一 第二计算器，并且如果比较部分中的角速度和角加速度之一中的致动器和手臂之间的差的绝对值大于阈值，则确定惯性传感器是故障的 值。

公开(公告)号：US08649904B2

公开(公告)日：2014-02-11

申请号：US13179894

申请日：2011-07-11

申请人： Shigenori Sasai

发明人： Shigenori Sasai

IPC分类号： G05B19/18

CPC分类号： B25J9/1674 ,  B25J9/1633 ,  B25J13/088 ,  G01C25/005 ,  G05B9/03 ,  G05B2219/40228

摘要： A robotic device having an arm including an actuator and inertial sensor, a first calculator adapted to calculate an angular velocity and an angular acceleration of the actuator based on a rotational angle data from an angle sensor, a second calculator adapted to calculate one of an angular velocity and an angular acceleration of the arm based on an output detected by the inertial sensor, and a comparator adapted to compare one of the angular velocity and the angular acceleration calculated by the first calculator and one of the angular velocity and the angular acceleration calculated by the second calculator with each other, and it is determined that the inertial sensor is at fault if an absolute value of the difference between the actuator and the arm in one of the angular velocity and the angular acceleration in the comparison section is larger than a threshold value.

摘要翻译： 一种机器人装置，其具有包括致动器和惯性传感器的臂，第一计算器适于基于来自角度传感器的旋转角度数据计算致动器的角速度和角加速度，第二计算器适于计算角度 基于由惯性传感器检测到的输出的臂的速度和角加速度，以及比较器，其适于比较由第一计算器计算的角速度和角加速度之一以及由第一计算器计算的角速度和角加速度之一 第二计算器，并且如果比较部分中的角速度和角加速度之一中的致动器和手臂之间的差的绝对值大于阈值，则确定惯性传感器是故障的 值。

公开(公告)号：US20150019016A1

公开(公告)日：2015-01-15

申请号：US14332196

申请日：2014-07-15

申请人： KIRO ROBOTICS, S.L.

发明人： Jean-Philippe Aguerre ,  Borja Lizari Illarramendi ,  Naiara Telleria Garay ,  Ekhi Amilibia Zubeldia ,  Amaia Belloso Arsuaga

IPC分类号： B25J9/16

CPC分类号： B25J9/1674 ,  B25J9/1633 ,  G05B2219/40073 ,  G05B2219/40228 ,  Y10S901/09 ,  Y10S901/49

摘要： Method for controlling the action of a robotic arm which comprises the following stages: a) moving the robotic arm by means of an action programmed in a controller; b) measuring the force which the robotic arm applies at specific points in the movement in stage a); c) comparing the force applied at each of the points in stage b) with force profile data stored in the controller; d) as a result of the comparison in paragraph c), generating an alarm signal if the force measured in stage b) is outside the limits defined in the force profile and carrying out stage a) if the force measured in stage b) is within the limits defined in the force profile.

摘要翻译： 一种用于控制机器臂的动作的方法，包括以下阶段：a）通过在控制器中编程的动作来移动机器人手臂; b）测量机器人臂在阶段a）中运动的特定点处施加的力; c）将在阶段b）中的每个点施加的力与存储在控制器中的力分布数据进行比较; d）作为c）段的比较的结果，如果在阶段b）中测量的力超出力分布中定义的极限并且执行阶段a），则如果在阶段b）中测量的力在 力分布中定义的极限。

公开(公告)号：US20090198379A1

公开(公告)日：2009-08-06

申请号：US12362686

申请日：2009-01-30

申请人： Katsuhiro KOMURO ,  Toshio Aono

发明人： Katsuhiro KOMURO ,  Toshio Aono

IPC分类号： G05B19/048

CPC分类号： B25J9/1674 ,  G05B2219/39399 ,  G05B2219/40228 ,  G05B2219/40375 ,  G05B2219/43203 ,  G05B2219/50198 ,  G05B2219/50275

摘要： It is determined whether the first tool identification information that is output from a robot control device, and that indicates a present tool and the second tool identification information for detecting and identifying a tool attached to the robot are unequal to each other. The position coordinates of the taught reference point in an actual space of the robot occurring at the time when the unequalness therebetween is first detected are set as reference coordinates, and a region that contains the reference coordinates is set as a predetermined region. If the position coordinates of the taught reference point have come to exist outside the predetermined region during a period during which it is determined that the foregoing two pieces of information are unequal, an emergency stop signal for causing the robot to be in a safe state is output.

摘要翻译： 确定从机器人控制装置输出的并且指示当前工具的第一工具识别信息和用于检测和识别附接到机器人的工具的第二工具识别信息是否彼此不相等。 在第一次检测到它们之间的不平等的时刻发生的机器人的实际空间中所教导的参考点的位置坐标被设置为参考坐标，并且将包含基准坐标的区域设置为预定区域。 如果在确定前述两条信息不相等的时间段期间教导的参考点的位置坐标已经在预定区域之外存在，则使机器人处于安全状态的紧急停止信号是 输出。

公开(公告)号：US07086293B2

公开(公告)日：2006-08-08

申请号：US10766769

申请日：2004-01-28

申请人： Peter Heiligensetzer ,  Alwin Berninger ,  Norbert Settele

发明人： Peter Heiligensetzer ,  Alwin Berninger ,  Norbert Settele

IPC分类号： G01N3/00

CPC分类号： B25J9/1674 ,  G05B2219/40226 ,  G05B2219/40228 ,  G05B2219/40229

摘要： In order to improve the monitoring of a machine with movable parts, such as in particular an industrial robot, and for increasing safety, the invention provides a method for monitoring movable parts of a machine, such as an industrial robot, in which at least two different measured quantities are detected and at least one of these measured quantities is processed to a first measure result in such a way that it is comparable with another measured quantity or a second measure result obtained on the basis thereof, that the first measure result is compared with another measured quantity or a measure result obtained on the basis thereof and that a signal characterizing the comparison result is provided.The invention also provides a machine with movable parts, such as in particular an industrial robot, which is characterized by at least two measuring devices for detecting different measured quantities on movable parts of the machine, a processing unit for at least one measured quantity for the processing thereof into a first measure result comparable with another measured quantity or a second measure result obtained therefrom and a comparison unit for comparing the first measure result with at least one other measured quantity or a second measure result obtained on the basis thereof.

摘要翻译： 为了改进对可移动部件，特别是工业机器人的机器的监视，并且为了增加安全性，本发明提供了一种用于监视诸如工业机器人的机器的可移动部件的方法，其中至少两个 检测不同的测量量，并将这些测量量中的至少一个处理成第一测量结果，使得其与另一测量量或基于其获得的第二测量结果相比较，比较第一测量结果 具有基于其获得的另一测量量或测量结果，并且提供表征比较结果的信号。 本发明还提供了一种机器，其具有诸如特别是工业机器人的可移动部件，其特征在于至少两个用于检测机器可移动部件上的不同测量量的测量装置，用于至少一个测量量的处理单元 将其处理成与由其获得的另一测量量或第二测量结果相当的第一测量结果;以及比较单元，用于将第一测量结果与至少一个其他测量量或基于其获得的第二测量结果进行比较。

公开(公告)号：US09403274B2

公开(公告)日：2016-08-02

申请号：US14146778

申请日：2014-01-03

申请人： Seiko Epson Corporation

发明人： Shigenori Sasai

IPC分类号： G05B19/18 ,  B25J9/16 ,  B25J13/08 ,  G01C25/00 ,  G05B9/03

CPC分类号： B25J9/1674 ,  B25J9/1633 ,  B25J13/088 ,  G01C25/005 ,  G05B9/03 ,  G05B2219/40228

摘要： A robotic device having an arm including an actuator and inertial sensor, a first calculator adapted to calculate an angular velocity and an angular acceleration of the actuator based on a rotational angle data from an angle sensor, a second calculator adapted to calculate one of an angular velocity and an angular acceleration of the arm based on an output detected by the inertial sensor, and a comparator adapted to compare one of the angular velocity and the angular acceleration calculated by the first calculator and one of the angular velocity and the angular acceleration calculated by the second calculator with each other, and it is determined that the inertial sensor is at fault if an absolute value of the difference between the actuator and the arm in one of the angular velocity and the angular acceleration in the comparison section is larger than a threshold value.

摘要翻译： 一种具有包括致动器和惯性传感器的臂的机器人装置，第一计算器，其适于基于来自角度传感器的旋转角度数据计算致动器的角速度和角加速度，第二计算器适于计算角度 基于由惯性传感器检测到的输出的臂的速度和角加速度，以及比较器，其适于比较由第一计算器计算的角速度和角加速度之一以及由第一计算器计算的角速度和角加速度之一 第二计算器，并且如果比较部分中的角速度和角加速度之一中的致动器和手臂之间的差的绝对值大于阈值，则确定惯性传感器是故障的 值。

公开(公告)号：US20140121832A1

公开(公告)日：2014-05-01

申请号：US14146778

申请日：2014-01-03

申请人： Seiko Epson Corporation

发明人： Shigenori SASAI

IPC分类号： B25J9/16

CPC分类号： B25J9/1674 ,  B25J9/1633 ,  B25J13/088 ,  G01C25/005 ,  G05B9/03 ,  G05B2219/40228

摘要： A robotic device having an arm including an actuator and inertial sensor, a first calculator adapted to calculate an angular velocity and an angular acceleration of the actuator based on a rotational angle data from an angle sensor, a second calculator adapted to calculate one of an angular velocity and an angular acceleration of the arm based on an output detected by the inertial sensor, and a comparator adapted to compare one of the angular velocity and the angular acceleration calculated by the first calculator and one of the angular velocity and the angular acceleration calculated by the second calculator with each other, and it is determined that the inertial sensor is at fault if an absolute value of the difference between the actuator and the arm in one of the angular velocity and the angular acceleration in the comparison section is larger than a threshold value.

摘要翻译： 一种具有包括致动器和惯性传感器的臂的机器人装置，第一计算器，其适于基于来自角度传感器的旋转角度数据计算致动器的角速度和角加速度，第二计算器适于计算角度 基于由惯性传感器检测到的输出的臂的速度和角加速度，以及比较器，其适于比较由第一计算器计算的角速度和角加速度之一以及由第一计算器计算的角速度和角加速度之一 第二计算器，并且如果比较部分中的角速度和角加速度之一中的致动器和手臂之间的差的绝对值大于阈值，则确定惯性传感器是故障的 值。