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1. 发明申请

US20100145519A1 INDUSTRIAL ROBOT AND METHOD TO OPERATE AN INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人和操作工业机器人的方法
公开(公告)号：US20100145519A1
公开(公告)日：2010-06-10
申请号：US12633876
申请日：2009-12-09
申请人： Hartmut Keyl , Gernot Nitz
发明人： Hartmut Keyl , Gernot Nitz
IPC分类号： G05B15/00 , H02P6/16
CPC分类号： B25J9/1694 , B25J9/1674 , G05B19/4062 , G05B2219/37317 , G05B2219/42318 , G05B2219/42329
摘要： In an industrial robot and a method for operating an industrial robot, a robot arm is pivotable with respect to multiple axes. At least one of the axes has an drive associated therewith for controlling movement of the robot arm with respect to that axis. The electrical drive includes a three-phase synchronous motor that is operated with associated electrical currents and electrical voltages. A signal representing at least one of said electrical currents and electrical voltages is supplied to a computerized control unit that determines, from the signal, the position of the axis associated with the electrical drive. The computerized control unit controls operation of the electrical drive dependent on this determined position.
摘要翻译：在工业机器人和用于操作工业机器人的方法中，机器人手臂可相对于多个轴线枢转。至少一个轴具有与之相关联的驱动器，用于控制机器人臂相对于该轴的移动。电驱动器包括三相同步电动机，其以相关联的电流和电压运行。表示至少一个所述电流和电压的信号被提供给计算机控制单元，该控制单元根据信号确定与电驱动相关联的轴的位置。计算机控制单元根据该确定的位置控制电驱动器的操作。

2. 发明授权

US08319467B2 Manipulator with an external rotor motor 有权
标题翻译：带外转子电机的机械手
公开(公告)号：US08319467B2
公开(公告)日：2012-11-27
申请号：US12691346
申请日：2010-01-21
申请人： Daniel Kos , Andreas Weingaertner , Gernot Nitz
发明人： Daniel Kos , Andreas Weingaertner , Gernot Nitz
IPC分类号： G05B19/19
CPC分类号： B25J9/102 , B25J17/025 , F16H1/46 , Y10T74/20317
摘要： A manipulator, in particular a small robot, has at least two motor mutually movable limbs with a motion axis of both limbs being acted on by an axle drive that has an external rotor motor, a position transmitter and a transmission. The transmission has at least one planetary gear set with a center gear and at least one planet meshing with it that also meshes with a ring gear and is mounted on a planet carrier. One of both limbs of the manipulators is torque proof connected with the ring gear and is mounted by this radial and/or axially, and the other is torque proof connected by both limbs of the manipulator with the planet carrier and is mounted by this radial and/or axially.
摘要翻译：操纵器，特别是小型机器人，具有至少两个电机相互移动的四肢，两个肢体的运动轴线由具有外部转子电动机，位置传感器和变速器的车轴驱动器作用。变速器具有至少一个具有中心齿轮的行星齿轮组和至少一个与其啮合的行星齿轮组，其与环形齿轮啮合并安装在行星架上。操纵器的两个肢体之一是与环形齿轮连接的扭矩，并且通过该径向和/或轴向安装，另一个由操纵器的两个臂与行星架连接，并且通过该径向和 /或轴向。

3. 发明申请

US20120232694A1 Method For Creating A Robot Model And Industrial Robot 有权
标题翻译：创建机器人模型和工业机器人的方法
公开(公告)号：US20120232694A1
公开(公告)日：2012-09-13
申请号：US13508685
申请日：2010-11-15
申请人： Gernot Nitz , Dietmar Tscharnuter , Wolfgang Michel , Rene Rossig , Michael Muller
发明人： Gernot Nitz , Dietmar Tscharnuter , Wolfgang Michel , Rene Rossig , Michael Muller
IPC分类号： G05B19/401
CPC分类号： G05B19/4015
摘要： The invention relates to a method for creating a robot model (17) of an industrial robot (1) which has a robotic arm (2) having a plurality of successive limbs (3-8) which are adjustable by means of drives (11-16) via transmissions (5) in relation to axes (A1-A2), controlled by a control device (10) of the industrial robot (1). According to the invention, the robotic arm (2) is moved in a plurality of poses. At least one of the limbs (4) is moved in the same first movement direction (18) by means of the drive (11) thereof at least upon approaching the individual poses. In order to obtain the robot model (17), the robotic arm (2) is measured at each of the poses thereof.
摘要翻译：本发明涉及一种用于创建工业机器人（1）的机器人模型（17）的方法，所述机器人模型（17）具有机器臂（2），所述机器人臂具有多个连续的四肢（3-8） 16）通过相对于由工业机器人（1）的控制装置（10）控制的轴线（A1-A2）的变速器（5）。根据本发明，机器人臂（2）以多个姿势移动。至少一个肢体（4）通过至少一个接近个体姿势的驱动器（11）在相同的第一移动方向（18）上移动。为了获得机器人模型（17），在每个姿势测量机器人手臂（2）。

4. 发明授权

US08829895B2 Machine with position determination of relative rotatable members 有权
标题翻译：具有相对可旋转构件位置确定的机器
公开(公告)号：US08829895B2
公开(公告)日：2014-09-09
申请号：US13444499
申请日：2012-04-11
申请人： Gernot Nitz , Stefan Roth , Dietmar Tscharnuter
发明人： Gernot Nitz , Stefan Roth , Dietmar Tscharnuter
IPC分类号： G01B7/30 , G01D5/249 , B25J17/02 , G05B19/401 , G01D5/14 , B25J9/16
CPC分类号： G05B19/4015 , B25J9/1692 , B25J17/025 , G01D5/145 , G01D5/2492 , G05B2219/37094
摘要： The invention relates to a machine comprising a first member, a rotatable second member rotatable relative to the first member relative to an axis, a control device, a drive connected with the control device for moving the two members relative to one another, and a first Hall sensor connected with the control device and arranged on the first member. On the second member, a first, second and third magnet are arranged next to each other on a common circular trajectory such, that during a rotation of the two members relative to one another, the first Hall sensor is located at a specific position in the detection zone of the magnets. The second magnet which is developed as the center magnet is facing towards the first Hall sensor with another magnetic pole than the first and third magnet.
摘要翻译：本发明涉及一种包括第一构件，相对于第一构件相对于轴可旋转的可旋转第二构件的机器，控制装置，与控制装置连接的用于使两个构件相对于彼此移动的驱动装置，霍尔传感器与控制装置连接并布置在第一部件上。在第二构件上，第一，第二和第三磁体彼此相邻地布置在共同的圆形轨迹上，使得在两个构件相对于彼此旋转期间，第一霍尔传感器位于磁铁的检测区域。作为中心磁体显影的第二磁体面向具有比第一和第三磁体另外的磁极的第一霍尔传感器。

5. 发明授权

US09008837B2 Method for creating a robot model and industrial robot 有权
标题翻译：创建机器人模型和工业机器人的方法
公开(公告)号：US09008837B2
公开(公告)日：2015-04-14
申请号：US13508685
申请日：2010-11-15
申请人： Gernot Nitz , Dietmar Tscharnuter , Wolfgang Michel , Rene Rossig , Michael Muller
发明人： Gernot Nitz , Dietmar Tscharnuter , Wolfgang Michel , Rene Rossig , Michael Muller
IPC分类号： G06F19/00 , G05B19/401
CPC分类号： G05B19/4015
摘要： The invention relates to a method for creating a robot model (17) of an industrial robot (1) which has a robotic arm (2) having a plurality of successive limbs (3-8) which are adjustable by means of drives (11-16) via transmissions (5) in relation to axes (A1-A2), controlled by a control device (10) of the industrial robot (1). According to the invention, the robotic arm (2) is moved in a plurality of poses. At least one of the limbs (4) is moved in the same first movement direction (18) by means of the drive (11) thereof at least upon approaching the individual poses. In order to obtain the robot model (17), the robotic arm (2) is measured at each of the poses thereof.
摘要翻译：本发明涉及一种用于创建工业机器人（1）的机器人模型（17）的方法，所述机器人模型（17）具有机器臂（2），所述机器人臂具有多个连续的四肢（3-8） 16）通过相对于由工业机器人（1）的控制装置（10）控制的轴线（A1-A2）的变速器（5）。根据本发明，机器人臂（2）以多个姿势移动。至少一个肢体（4）通过至少一个接近个体姿势的驱动器（11）在相同的第一移动方向（18）上移动。为了获得机器人模型（17），在每个姿势测量机器人手臂（2）。

6. 发明申请

US20120262156A1 Machine With Relative Rotatable Members 有权
标题翻译：机器与相对可旋转的成员
公开(公告)号：US20120262156A1
公开(公告)日：2012-10-18
申请号：US13444499
申请日：2012-04-11
申请人： Gernot Nitz , Stefan Roth , Dietmar Tscharnuter
发明人： Gernot Nitz , Stefan Roth , Dietmar Tscharnuter
IPC分类号： G01B7/14
CPC分类号： G05B19/4015 , B25J9/1692 , B25J17/025 , G01D5/145 , G01D5/2492 , G05B2219/37094
摘要： The invention relates to a machine (R) comprising a first member (1c), a rotatable second member (1c) rotatable relative to the first member (1c) relative to an axis (A), a control device (S), a drive connected with the control device (S) for moving the two members (1c, 1d) relative to one another, and a first Hall sensor (21) connected with the control device (S) and arranged on the first member (1c). On the second member (1d), a first, second and third magnet (31-33) are arranged next to each other on a common circular trajectory (14) such, that during a rotation of the two members (1c, 1d) relative to one another, the first Hall sensor (21) is located at a specific position (P) in the detection zone of the magnets (31-33). The second magnet (32) which is developed as the center magnet is facing towards the first Hall sensor (21) with another magnetic pole than the first and third magnet (31, 33).
摘要翻译：本发明涉及一种机器（R），包括第一构件（1c），相对于轴线（A）可相对于第一构件（1c）旋转的可旋转第二构件（1c），控制装置（S），驱动与用于使两个构件（1c，1d）相对移动的控制装置（S）连接，以及与控制装置（S）连接并布置在第一构件（1c）上的第一霍尔传感器（21）。在第二构件（1d）上，第一，第二和第三磁体（31-33）在共同的圆形轨迹（14）上彼此相邻布置，使得在两个构件（1c，1d）相对于第一霍尔传感器（21）位于磁体（31-33）的检测区域中的特定位置（P）处。作为中心磁体显影的第二磁体（32）面向具有比第一和第三磁体（31,33）的另一个磁极的第一霍尔传感器（21）。

7. 发明申请

US20100180708A1 MANIPULATOR WITH AN EXTERNAL ROTOR MOTOR 有权
标题翻译：带外部转子电机的操纵器
公开(公告)号：US20100180708A1
公开(公告)日：2010-07-22
申请号：US12691346
申请日：2010-01-21
申请人： Daniel Kos , Andreas Weingaertner , Gernot Nitz
发明人： Daniel Kos , Andreas Weingaertner , Gernot Nitz
IPC分类号： B25J18/00 , F16H57/08
CPC分类号： B25J9/102 , B25J17/025 , F16H1/46 , Y10T74/20317
摘要： A manipulator, in particular a small robot, has at least two motor mutually movable limbs with a motion axis of both limbs being acted on by an axle drive that has an external rotor motor, a position transmitter and a transmission. The transmission has at least one planetary gear set with a center gear and at least one planet meshing with it that also meshes with a ring gear and is mounted on a planet carrier. One of both limbs of the manipulators is torque proof connected with the ring gear and is mounted by this radial and/or axially, and the other is torque proof connected by both limbs of the manipulator with the planet carrier and is mounted by this radial and/or axially.
摘要翻译：操纵器，特别是小型机器人，具有至少两个电机相互移动的四肢，两个肢体的运动轴线由具有外部转子电动机，位置传感器和变速器的车轴驱动器作用。变速器具有至少一个具有中心齿轮的行星齿轮组和至少一个与其啮合的行星齿轮组，其与环形齿轮啮合并安装在行星架上。操纵器的两个肢体之一是与环形齿轮连接的扭矩，并且通过该径向和/或轴向安装，另一个由操纵器的两个臂与行星架连接，并且通过该径向和 /或轴向。

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