专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明专利

JP2004284004A Method and device for controlling movement of manipulator 有权
标题翻译：用于控制操纵器运动的方法和装置
公开(公告)号：JP2004284004A
公开(公告)日：2004-10-14
申请号：JP2003375999
申请日：2003-11-05
申请人： Kuka Roboter Gmbh , クーカ・ロボター・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツングKuka Roboter Gmbh
发明人： HUTTENHOFER MANFRED , WIEDEMANN GUNTHER , BURKHARDT STEPHAN
IPC分类号： B25J9/10 , B25J9/16 , G05B19/4103
CPC分类号： G05B19/4103 , B25J9/1664 , G05B2219/34135
摘要： PROBLEM TO BE SOLVED: To provide a method and a device for controlling movements of a manipulator such as an industrial robot whereby undesirable path motion such as a loop can be prevented.
SOLUTION: In this method for controlling the movement of the manipulator, such as the industrial robot, associated with interpolation of a given point sequence of poses (positions and orientations) by splines, the motion components are separately parameterized. Thus, marked, subsequent changes to the orientation of robot axes have no undesired effects on the Cartesian movement path of the robot. The invention also proposes suitable algorithms for orientation control by means of quaternions or Euler angles.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于控制诸如工业机器人的机械手的运动的方法和装置，由此可以防止诸如环路的不期望的路径运动。解决方案：在用于通过样条线控制与给定点姿势（位置和取向）的插值相关联的操作器（例如工业机器人）的运动的方法中，运动分量被单独参数化。因此，对机器人轴的取向的标记的随后的改变对机器人的笛卡尔移动路径没有不期望的影响。本发明还提出了通过四元数或欧拉角进行定向控制的合适算法。版权所有（C）2005，JPO＆NCIPI

2. 发明专利

JP2004243516A Method for fading-in information created by computer into image of real environment, and device for visualizing information created by computer to image of real environment 有权
公开(公告)号：JP2004243516A
公开(公告)日：2004-09-02
申请号：JP2004033927
申请日：2004-02-10
申请人： Kuka Roboter Gmbh , クーカ・ロボター・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツングKuka Roboter Gmbh
发明人： KAZI ARIF , BISCHOFF RAINER , KUEPELI BAHADIR
IPC分类号： B25J9/22 , B25J9/16 , G06T1/00 , G06T7/00 , G06T15/70 , G06T17/40
CPC分类号： B25J9/1671 , G05B2219/35422 , G05B2219/35506 , G05B2219/36167 , G05B2219/39443 , G05B2219/39449 , G06T7/73 , G06T19/006
摘要： PROBLEM TO BE SOLVED: To simplify one or a plurality of robot actions for teaching a sequence of setup, programming, and movement by a robot. SOLUTION: For the purpose of improving re-programming and emptying a sequence to be performed by the robot in equipment, computer-assisted information is visualized to an image of an real environment on a viewing device. The determination of orientation and directioning, or a pose of an image receiving device is made and robot-specific information corresponding to the determination is faded over the image of the real environment on the viewing device. COPYRIGHT: (C)2004,JPO&NCIPI

3. 发明专利

JP2005342885A Method for controlling operation instrument 审中-公开
标题翻译：控制操作仪器的方法
公开(公告)号：JP2005342885A
公开(公告)日：2005-12-15
申请号：JP2005161570
申请日：2005-06-01
申请人： Kuka Roboter Gmbh , クーカ・ロボター・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツングKuka Roboter Gmbh
发明人： BISCHOFF RAINER
IPC分类号： B25J9/10 , B25J9/16 , B25J13/00 , G05B19/18
CPC分类号： B25J9/1692 , B25J9/1682 , G05B2219/39008 , G05B2219/39045 , G05B2219/39046 , G05B2219/39051 , G05B2219/39114 , G05B2219/39397 , Y10T74/20207 , Y10T74/20305 , Y10T74/20311 , Y10T74/20329 , Y10T74/20335
摘要： PROBLEM TO BE SOLVED: To provide a method for correcting a parameter model of a plurality of operation instruments. SOLUTION: At least one operation instrument functions as a reference-operation instrument and is operated at a plurality of positions previously set in a range of an operation space of the operation instrument and an internal adjustment value is specified as a first definition-position at these positions. A first measurement-position of the reference-operation instrument is specified by a measurement device externally attached regarding the individual definition-position. Thereafter, at least one separate operation instrument moves the specified position of the reference-operation instrument to a second definition-position and at this time the measurement-position of the separate operation instrument is specified by an externally attached measurement device regarding the individual position. The parameter model is calculated between the definition-position and the measurement-position measured in such a manner of the two operation instrument for the separate operation instrument by measurement-definition-deviation and inconvenience of the respective operation instruments can be corrected by the parameter model. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于校正多个操作装置的参数模型的方法。解决方案：至少一个操作仪器用作参考操作仪器，并且在预先设置在操作仪器的操作空间的范围内的多个位置操作，并且将内部调整值指定为第一定义 - 在这些位置的位置。参考操作仪器的第一测量位置由关于个别定义位置的外部附接的测量装置指定。此后，至少一个单独的操作仪器将参考操作仪器的指定位置移动到第二定义位置，此时，单独的操作仪器的测量位置由关于单独位置的外部测量装置指定。通过测量清晰度偏差和相应操作仪器的不便，可以通过参数模型校正分离操作仪器的两台操作仪器测量的定义位置与测量位置之间的参数模型。版权所有（C）2006，JPO＆NCIPI

4. 发明专利

JP2005138278A Method of controlling robot, method of carrying load, system for controlling robot, and system of at least two robots for carrying load 有权
标题翻译：控制机器人的方法，携带方法，用于控制机器人的系统，以及用于承载载荷的至少两个机器人的系统
公开(公告)号：JP2005138278A
公开(公告)日：2005-06-02
申请号：JP2004319410
申请日：2004-11-02
申请人： Kuka Roboter Gmbh , クーカ・ロボター・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツングKuka Roboter Gmbh
发明人： STODDARD KENNETH A , MARTIN DAVID
IPC分类号： B25J9/16
CPC分类号： B25J9/1607 , B25J9/1682 , G05B2219/39069 , G05B2219/39109 , G05B2219/40333
摘要： PROBLEM TO BE SOLVED: To increase available working volume and to reduce the stress of a component and a robot due to excessive constraint.
SOLUTION: This method of controlling a robot during interpolation of a track or movement to a predetermined position comprises the step (a) of neglecting at least one of the orientation values of three original predetermined or interpolated tool center points, the step (b) of finding the orientation value of a new tool center point for positioning the robot wrist center point to be the closest to the base, the step (c) of keeping the place values of the original predetermined or interpolated tool center points, and the step (d) of keeping the orientation values of the un-neglected original predetermined or interpolated tool center points. This method can be used for carrying a load using a plurality of robots. The main advantage is increase in available working volume.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：增加可用的工作量并减少由于过度约束而导致的部件和机器人的应力。解决方案：在轨迹或运动的内插期间控制机器人到预定位置的方法包括忽略三个原始预定或内插刀具中心点的至少一个取向值的步骤（a），步骤 b）找到用于将机器人手腕中心点定位成最靠近底座的新工具中心点的定向值，保持原始预定或内插刀具中心点的位置值的步骤（c），以及步骤（d）保持未被忽略的原始预定或内插工具中心点的取向值。该方法可以用于使用多个机器人承载负载。主要优点是可用工作量的增加。版权所有（C）2005，JPO＆NCIPI

5. 发明专利

JP2005106825A Method and apparatus for determining position and orientation of image receiving device 审中-公开
标题翻译：用于确定图像接收装置的位置和方位的方法和装置
公开(公告)号：JP2005106825A
公开(公告)日：2005-04-21
申请号：JP2004286914
申请日：2004-09-30
申请人： Kuka Roboter Gmbh , クーカ・ロボター・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツングKuka Roboter Gmbh
发明人： KAZI ARIF , BISCHOFF RAINER
IPC分类号： G01B11/00 , B25J9/16 , G01B11/03 , G01B11/26 , G06T7/00
CPC分类号： B25J9/1697 , G05B2219/36167 , G05B2219/39045 , G05B2219/39046 , G05B2219/39057 , G05B2219/39114 , G05B2219/39449 , G05B2219/39451 , G06T7/73 , G06T2207/30244
摘要： PROBLEM TO BE SOLVED: To provide a method and apparatus for determining a position and orientation, as an entire posture of an image receiving device.
SOLUTION: The method includes utilizing a measurement device inherent in at least one robot to determine the posture of the image receiving device. The apparatus includes a robot having a built-in measurement device inherent in the robot. A multi-axis industrial robot 1 having a tool 4 in a hand area 2 located in a front end part of a robot arm 3 is used. The tool 4 includes a image detection device 5.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于确定位置和方位的方法和装置，作为图像接收装置的整个姿势。解决方案：该方法包括利用至少一个机器人固有的测量装置来确定图像接收装置的姿势。该装置包括具有机器人固有的内置测量装置的机器人。使用具有位于机器人手臂3的前端部的手区域2中的工具4的多轴工业用机器人1。工具4包括图像检测装置5.版权所有（C）2005，JPO＆NCIPI

6. 发明专利

JP2004174709A Method and device for machining workpiece 审中-公开
标题翻译：用于加工工艺的方法和装置
公开(公告)号：JP2004174709A
公开(公告)日：2004-06-24
申请号：JP2003393827
申请日：2003-11-25
申请人： Kuka Roboter Gmbh , クーカ・ロボター・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツングKuka Roboter Gmbh
发明人： GMEINER PETER
IPC分类号： B25J13/00 , B23K26/08 , B25J9/16 , G05B19/18
CPC分类号： B23K26/0884 , B23K26/082 , B25J9/1664 , G05B2219/40416 , G05B2219/40456 , G05B2219/40523
摘要： PROBLEM TO BE SOLVED: To provide a method for machining a workpiece by a multi-axial manipulator such as an industrial robot having a tool proportionally moved by a control unit of the manipulator and performing a specific movement at several degrees of freedom. SOLUTION: A degree of freedom of a tool 3 is evaluated with a degree of freedom of a shaft of a manipulator in real time, and a tool tip (TCP) is moved according to a predetermined continuous processing path or a partially continuous processing geometry (step function), so as to decide the movement of a manipulator. This invention proposes a device suitable for performing the above-mentioned method, and the movements of a tool 3 and the tool tip can be controlled by the manipulator control units 2, 3 at the time of processing a workpiece. Thus, an overall processing time is drastically reduced. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种通过诸如工业机器人的多轴操纵器来加工工件的方法，该工业机器人具有通过操纵器的控制单元成比例地移动的工具，并且以几个自由度执行特定的运动。解决方案：以机械手的轴的自由度实时地评估工具3的自由度，并且工具尖端（TCP）根据预定的连续处理路径或部分连续的方式移动处理几何（步骤功能），以便决定机械手的运动。本发明提出了一种适于执行上述方法的装置，并且在加工工件时可以通过操纵器控制单元2,3来控制工具3和工具尖端的移动。因此，整体处理时间大大降低。版权所有（C）2004，JPO

7. 发明专利

JP2004195644A Method and device for positioning components to be assembled 审中-公开
公开(公告)号：JP2004195644A
公开(公告)日：2004-07-15
申请号：JP2003416868
申请日：2003-12-15
申请人： Kuka Roboter Gmbh , クーカ・ロボター・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツングKuka Roboter Gmbh
发明人： BERNINGER ALWIN
IPC分类号： B23P19/00 , B23K37/04 , B23K37/047 , B23P21/00 , B25J9/00 , B25J9/06 , B25J9/16 , B62D65/02
CPC分类号： B25J9/0087 , B23K37/0435 , B23K37/047 , B23P21/00 , B25J9/0084 , B25J9/06 , B25J9/1669 , B62D65/02 , Y10T29/49622 , Y10T29/49771 , Y10T29/49778 , Y10T29/4978 , Y10T29/49826 , Y10T29/49895 , Y10T29/49899 , Y10T29/49902 , Y10T29/49998 , Y10T29/53978
摘要： PROBLEM TO BE SOLVED: To carve out a new preparing technique and to provide method and device for positioning vehicle components to be combined for enabling high model adaptability, space saving, excellent accessibility and high speed of a preparing process, in particular. SOLUTION: This device 1 positions the components to be assembled such as the vehicle components, etc. of an automobile. The device 1 is provided with at least a movable center module 1.1 and a plurality of arms 1.2 and 1.2' connected to the center module 1.1 to be movable within a space. Each of the arms 1.2 and 1.2' has at least a holding element 1.3 to hold the components. The device 1 is directly supported on a floor 2.2 on an unprocessed vehicle body 2 by the lower side joint type arm 1.2'. The center module 1.1 has measuring signal and control signal, that is, a transmission/reception unit 1.4 to transmit/receive electromagnetic energy. COPYRIGHT: (C)2004,JPO&NCIPI

8. 发明专利

JP2014139483A Speed reducer 有权
标题翻译：减速机
公开(公告)号：JP2014139483A
公开(公告)日：2014-07-31
申请号：JP2014088543
申请日：2014-04-22
申请人： Sumitomo Heavy Ind Ltd , 住友重機械工業株式会社 , Kuka Roboter Gmbh , クーカ・ロボター・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツングKuka Roboter Gmbh
发明人： ISHIKAWA TETSUZO , HAGA TAKU , TAMENAGA ATSUSHI , JOACHIM MARKERT , RAINER KRUMBACHER
IPC分类号： F16H1/32 , F16C19/36 , F16C33/46 , F16C33/58
摘要： PROBLEM TO BE SOLVED: To provide a speed reducer which has high processability of a main bearing and, further, can reduce a cost thereof.SOLUTION: A speed reducer 2 includes a casing 16, an internal teeth gear 48, an external teeth gear 44 which is inscribed and mated to the internal teeth gear 48, and a main bearing 18 interposed between the casing 16 and a flange body 12. Therein, a pair of cylindrical roller arrays 60, 61 comprising a plurality of cylindrical rollers 60A, 61A having rotation shafts O2, O3 inclined to an axial line O1 of the internal teeth gear 48 are provided as rolling bodies of the main bearing 18, inner races 64, 66 and outer races 68, 70 which provide rolling surfaces of the cylindrical rollers 60A, 61A are provided, there are not flange parts which restrain the movement of the cylindrical rollers 60A, 61A in the axial direction on the inner races 64, 66 and the outer races 68, 70, the movement of the cylindrical rollers 60A, 61A in the axial direction is restrained by retainers 74, 76, and the retainers 74, 76 are in contact with members besides the main bearing 18.
摘要翻译：要解决的问题：提供一种主轴承具有高加工性的减速器，并且还可以降低成本。解决方案：减速器2包括壳体16，内齿齿轮48，外齿齿轮44 内齿齿轮48与内齿轮48啮合，主轴承18插在壳体16和凸缘体12之间。其中，一对圆柱滚子阵列60,61包括多个圆柱滚子60A，61A，其具有旋转设置有与内齿齿轮48的轴线O1倾斜的轴O2，O3作为主轴承18，内圈64,66以及提供圆柱滚子60A，61A的滚动面的外圈68,70的滚动体不存在限制圆筒滚子60A，61A在内圈64,66和外圈68,70的轴向上的运动的凸缘部，圆柱滚子60A，61A在轴向上的移动是克制由保持器74,76固定，并且保持器74,76与主轴承18之外的构件接触。

9. 发明专利

JP2005305644A Method and device to control multi-axis handling equipment 审中-公开
标题翻译：控制多轴处理设备的方法和设备
公开(公告)号：JP2005305644A
公开(公告)日：2005-11-04
申请号：JP2005125104
申请日：2005-04-22
申请人： Kuka Roboter Gmbh , クーカ・ロボター・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツングKuka Roboter Gmbh
发明人： BISCHOFF RAINER
IPC分类号： B25J9/22 , B25J13/02 , G05B19/427
CPC分类号： G05B19/427 , G05B19/423 , G05B2219/33207 , G05B2219/36451 , G05B2219/36452 , G05B2219/37388
摘要： PROBLEM TO BE SOLVED: To provide a method and device to accurately, safely, and intuitively operate robots, and particularly to conduct programming for the purpose.
SOLUTION: This invention concerns a method of operating multi-axis handling equipment, such as multi-axis industrial-use robots, by means of a manual control device. The operating method, in which the position and method for placement (positioning) of the control device are measured in the air, and measurement results are used in operation of the handling equipment, is characterized by the reciprocating execution of corresponding movements of the control device and handling equipment. By dividing the movement of robots into short, individually operable partial movements through the control device, as proposed herein, the stated target can be achieved despite inaccuracy that unavoidably arises in the sensor unit used.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种准确，安全和直观地操作机器人的方法和装置，特别是为了目的进行编程。解决方案：本发明涉及通过手动控制装置来操作诸如多轴工业用机器人的多轴处理设备的方法。其中在空气中测量控制装置的放置（定位）的位置和方法的操作方法，以及在处理设备的操作中使用测量结果的特征在于，控制装置的相应运动的往复执行和处理设备。通过将机器人的运动通过控制装置分离成短的单独可操作的部分运动，如本文所提出的，尽管不可避免地在所使用的传感器单元中出现了不准确度，但是可以实现所述目标。版权所有（C）2006，JPO＆NCIPI

10. 发明专利

JP2010099478A Holding device, medical robot, and method of regulating tool center point of the medical robot 有权
标题翻译：医疗机器人的控制装置，医疗机器人的调节工具和方法
公开(公告)号：JP2010099478A
公开(公告)日：2010-05-06
申请号：JP2009244201
申请日：2009-10-23
申请人： Kuka Roboter Gmbh , クーカ・ロボター・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツングKuka Roboter Gmbh
发明人： JACOB DIRK
IPC分类号： A61F11/00
CPC分类号： B25J11/00 , A61B6/0421 , A61B6/0457 , A61N5/1049
摘要： PROBLEM TO BE SOLVED: To provide a device capable of arranging a premise condition for an improved result when treating a postural vertigo (BPLS).
SOLUTION: This holding device has a fixing device (20) for fixing a head (K) of a person (P) held by a patient couch (L) of the holding device. The fixing device (20) is worked to allow estimation of a relative position of an opening part of an auditory meatus in each of ears (18a, 18b) of the person (P) with respect to the holding device, based on regulation of the fixing device allocated to the head (K) of the person (P).
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种当处理姿势性眩晕（BPLS）时能够设置改善结果的前提条件的装置。解决方案：该保持装置具有用于固定由保持装置的患者沙发（L）保持的人（P）的头部（K）的定影装置（20）。加工定影装置（20），以便基于对于（P）的耳朵（18a，18b）的耳朵（18a，18b）相对于保持装置的耳朵的开口部分的相对位置的估计，分配给人（P）的头（K）的固定装置。版权所有（C）2010，JPO＆INPIT

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式