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1. 发明授权

US08776616B2 Multiaxial force-torque sensors 有权
标题翻译：多轴力矩传感器
公开(公告)号：US08776616B2
公开(公告)日：2014-07-15
申请号：US13492136
申请日：2012-06-08
申请人： Paul Szasz , Manfred Wetzko , Peter Krippner , Torgny Brogardh , Markus Roos
发明人： Paul Szasz , Manfred Wetzko , Peter Krippner , Torgny Brogardh , Markus Roos
IPC分类号： G01L1/22
CPC分类号： G01L5/161
摘要： The disclosure relates to a multiaxial force-torque sensor having a transducer structure, with strain gauges placed in defined areas to measure the strain, from which the forces and torques are calculated, and where the transducer structure can include (e.g., consist of) two concentric rings connected with spokes. The transducer structure can be a planar mechanical structure, and all strain gauges can be applied to the same surface of the transducer structure to measure non-radial strain components.
摘要翻译：本发明涉及一种具有换能器结构的多轴力矩传感器，其中应变计放置在限定的区域中以测量应变，计算力和扭矩，以及换能器结构可以包括（例如由...组成）两个与辐条连接的同心环。传感器结构可以是平面机械结构，并且所有应变计可以应用于换能器结构的相同表面以测量非径向应变分量。

2. 发明授权

US08726741B2 Set of multiaxial force and torque sensor and assembling method 有权
标题翻译：多轴力矩传感器和组合方法
公开(公告)号：US08726741B2
公开(公告)日：2014-05-20
申请号：US13204129
申请日：2011-08-05
申请人： Peter Krippner , Paul Szasz , Manfred Wetzko , Torgny Brogardh
发明人： Peter Krippner , Paul Szasz , Manfred Wetzko , Torgny Brogardh
IPC分类号： G01L5/10 , G01L1/04
CPC分类号： G01L3/1457
摘要： A multiaxial force/torque sensor assembly and method for assembling such a sensor assembly are disclosed. The sensor assembly includes a set of at least two sensors each being made of strain gauges, which are each arranged at a definite angle and distance relative to each other and which are each fixed to a transducer body, which is mechanical contact with a printed circuit board. The printed circuit board includes clearances for each strain gauge as well as associated electronic components and wiring located on the remaining area of the printed circuit board which will monitor compressive and tensile stresses in the measurement directions of the sensors. The method includes positioning the strain gauges on the plane measurement surface of a transducer body in a definite arrangement; fixing the strain gauges to the transducer body by means of adhesives, and connecting the strain gauges to respective conductors by means of electrically bonding.
摘要翻译：公开了用于组装这种传感器组件的多轴力/扭矩传感器组件和方法。传感器组件包括一组至少两个传感器，每个传感器由应变计制成，每个传感器各自以相对于彼此以确定的角度和距离布置，并且各自固定到与印刷电路机械接触的换能器主体板。印刷电路板包括每个应变计的间隙以及位于印刷电路板的剩余区域上的相关联的电子部件和布线，其将监测传感器的测量方向上的压缩和拉伸应力。该方法包括将应变仪定位在换能器本体的平面测量表面上; 通过粘合剂将应变片固定到换能器主体上，并通过电粘合将应变仪连接到相应的导体。

3. 发明申请

US20110314935A1 SET OF MULTIAXIAL FORCE AND TORQUE SENSOR AND ASSEMBLING METHOD 有权
标题翻译：多轴力和扭矩传感器组合装配方法
公开(公告)号：US20110314935A1
公开(公告)日：2011-12-29
申请号：US13204129
申请日：2011-08-05
申请人： Peter KRIPPNER , Paul Szasz , Manfred Wetzko , Torgny Brogardh
发明人： Peter KRIPPNER , Paul Szasz , Manfred Wetzko , Torgny Brogardh
IPC分类号： G01L1/22 , H05K13/00
CPC分类号： G01L3/1457
摘要： A multiaxial force/torque sensor assembly and method for assembling such a sensor assembly are disclosed. The sensor assembly includes a set of at least two sensors each being made of strain gauges, which are each arranged at a definite angle and distance relative to each other and which are each fixed to a transducer body, which is mechanical contact with a printed circuit board. The printed circuit board includes clearances for each strain gauge as well as associated electronic components and wiring located on the remaining area of the printed circuit board which will monitor compressive and tensile stresses in the measurement directions of the sensors. The method includes positioning the strain gauges on the plane measurement surface of a transducer body in a definite arrangement; fixing the strain gauges to the transducer body by means of adhesives, and connecting the strain gauges to respective conductors by means of electrically bonding.
摘要翻译：公开了用于组装这种传感器组件的多轴力/扭矩传感器组件和方法。传感器组件包括一组至少两个传感器，每个传感器由应变计制成，每个传感器各自以相对于彼此以确定的角度和距离布置，并且各自固定到与印刷电路机械接触的换能器主体板。印刷电路板包括每个应变计的间隙以及位于印刷电路板的剩余区域上的相关联的电子部件和布线，其将监测传感器的测量方向上的压缩和拉伸应力。该方法包括将应变仪定位在换能器本体的平面测量表面上; 通过粘合剂将应变片固定到换能器主体上，并通过电粘合将应变仪连接到相应的导体。

4. 发明申请

US20090211390A1 Joint For Industrial Robots 审中-公开
标题翻译：工业机器人接头
公开(公告)号：US20090211390A1
公开(公告)日：2009-08-27
申请号：US12437147
申请日：2009-05-07
申请人： Torgny Brogardh , Ove Kullborg , Ove Ode
发明人： Torgny Brogardh , Ove Kullborg , Ove Ode
IPC分类号： B25J17/00 , F16C11/06
CPC分类号： F16C11/0647 , B25J9/0072 , B25J17/0266 , F16C11/086 , Y10T74/20317 , Y10T74/20329 , Y10T403/32762
摘要： The invention relates to a joint having a male unit and a female unit. The external surface of the male unit is of complementary shape to the internal surface of the female unit. The units cooperate and have shapes allowing rotational movement in at least one degree of freedom of the male unit within the female unit. The female unit has two socket parts. According to the invention biasing means is provided for biasing each of the socket parts towards the male unit.
摘要翻译：本发明涉及一种具有阳单元和阴单元的接头。阳单元的外表面与阴单元的内表面互补形状。这些单元配合并具有允许在阴单元内的阳单元的至少一个自由度中的旋转运动的形状。母单元有两个插座部分。根据本发明，提供了偏置装置，用于将每个插座部件朝向阳单元偏置。

5. 发明申请

US20090125146A1 Method of and Apparatus for Automated Path Learning 有权
标题翻译：自动路径学习的方法和装置
公开(公告)号：US20090125146A1
公开(公告)日：2009-05-14
申请号：US11884809
申请日：2006-02-10
申请人： Hui Zhang , Torgny Brogardh , Jianjun Wang , George Zhang
发明人： Hui Zhang , Torgny Brogardh , Jianjun Wang , George Zhang
IPC分类号： G06F19/00
CPC分类号： G05B19/423 , B25J9/1664 , G05B2219/36404 , G05B2219/36409 , G05B2219/40385
摘要： A robot having a force sensor and a tool fixture for operating on a workpiece that may have a complex surface contour is programmed by an operator first teaching the robot by a suitable technique such as lead through teaching a few gross points of the contour. These points, known as guiding points, are used to generate a program to be followed by the robot under the control of the robot controller and using force control during which the robot finalizes the guiding points and teaches one or more points on the contour intermediate adjacent guiding points. The controller or other computing device uses the points so taught to generate the path the robot tool fixture will follow when the tool is to operate on the workpiece.
摘要翻译：具有力传感器和用于在可能具有复杂表面轮廓的工件上操作的工具夹具的机器人由操作者编程，首先通过教导轮廓的几个总点的合适技术（例如导线）来教导机器人。这些点被称为引导点，用于在机器人控制器的控制下产生机器人跟随的程序，并且使用力控制，在该控制期间，机器人完成引导点并且教导轮廓上的一个或多个点在中间相邻指导点。控制器或其他计算设备使用所教导的点来产生当工具在工件上操作时机器人工具夹具将遵循的路径。

6. 发明申请

US20080252248A1 Device and Method for Calibrating the Center Point of a Tool Mounted on a Robot by Means of a Camera 审中-公开
标题翻译：用于通过相机校准安装在机器人上的工具的中心点的装置和方法
公开(公告)号：US20080252248A1
公开(公告)日：2008-10-16
申请号：US11883127
申请日：2006-01-24
申请人： Ivan Lundberg , Niklas Durinder , Torgny Brogardh
发明人： Ivan Lundberg , Niklas Durinder , Torgny Brogardh
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1697 , G05B2219/39394 , G05B2219/40607 , G05B2219/40611
摘要： A device and a method for tool center point calibration of an industrial robot. The device is intended to calibrate an industrial robot with respect to a tool mounted on the robot. The device includes a camera designed to take a plurality of images of at least part of the robot tool for a plurality of different tool orientations, an image-processing unit designed to determine the positions of the robot tool in the orientations based on the images, a calculation module adapted to calculate the position of the center point of the robot tool, based on the determined positions, and a control module adapted to calculate the corrective movements of the robot.
摘要翻译：一种用于工业机器人的工具中心点校准的装置和方法。该装置旨在相对于安装在机器人上的工具校准工业机器人。所述装置包括被设计成拍摄所述机器人工具的至少一部分的多个图像以用于多个不同的刀具取向的相机，图像处理单元，被设计成基于所述图像确定所述方位上的所述机器人工具的位置，计算模块，其适于基于所确定的位置来计算所述机器人工具的中心点的位置，以及适于计算所述机器人的校正运动的控制模块。

7. 发明申请

US20070260356A1 Control Method for a Robot 有权
标题翻译：机器人控制方法
公开(公告)号：US20070260356A1
公开(公告)日：2007-11-08
申请号：US10557774
申请日：2004-05-19
申请人： Sonke Kock , Christian Muller , Torgny Brogardh , Jesper Bergsjo , Andreas Olevik , Stig Moberg
发明人： Sonke Kock , Christian Muller , Torgny Brogardh , Jesper Bergsjo , Andreas Olevik , Stig Moberg
IPC分类号： G05B15/00
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。

8. 发明申请

US20070225862A1 Industrial robot with controlled flexibility and simulated force for automated assembly 有权
标题翻译：具有控制灵活性和模拟力的工业机器人，用于自动组装
公开(公告)号：US20070225862A1
公开(公告)日：2007-09-27
申请号：US11653638
申请日：2007-01-16
申请人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
发明人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
IPC分类号： G05B19/00
CPC分类号： B25J9/1687 , B25J9/1633 , G05B2219/36437 , G05B2219/39339 , G05B2219/39529 , G05B2219/40032 , G05B2219/45058 , Y02P80/114 , Y10S414/136 , Y10T74/20317
摘要： An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.
摘要翻译：一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动其工件与其他工件接触。搜索模式和速度命令一直持续到两个工件交配。

9. 发明授权

US4539473A Optically excitable luminescent sensor elements 失效
标题翻译：光学可激发的发光传感元件
公开(公告)号：US4539473A
公开(公告)日：1985-09-03
申请号：US625619
申请日：1984-06-28
申请人： Torgny Brogardh , Christer Ovren
发明人： Torgny Brogardh , Christer Ovren
IPC分类号： G01J5/08 , G01J5/58 , G01K11/20 , G01L1/00 , G01L1/24 , G01L11/02 , H01L31/10 , H01L31/14 , H01L33/00
CPC分类号： G01L11/02 , G01K11/20 , G01L1/24
摘要： A sensor element adaptable for measurement of a physical parameter formed of a crystalline material and emitting luminescent spectra upon excitation by light spectra and the influence of said physical parameter. A first layer emitting luminescent spectra is formed of a semiconductor material containing dopant providing shallow energy levels and recombination centers with a concentration between 10.sup.15 to 10.sup.18 cm.sup.-3, and sandwiched between second and third layers of semiconductor material having low absorption for light excitation of the first layer, and the respective lattice constants of the second and third layers being substantially coincidental with the lattice constant of the first layer. The sensor element is formed of GaAs for the substrate and AlGaAs for the semiconductor layers, with appropriate variation in the concentration Al, Ga, and As for the various layers. Generally, the energy band gap of the layers sandwiching the luminescent emitting layer are higher than that of the emitting layer. In a modified embodiment, GaAs is used as the luminescence emitting layer with covering semiconductor layers of AlGaAs, with appropriate variation in the concentration of Al, Ga and As. In a further modification an additional semiconductor layer of AlGaAs is sandwiched between the active semiconductor layer and a non-active semiconductor layer to reduce or eliminate a shift in the wavelength emission of the sensor element.
摘要翻译：一种传感器元件，适用于测量由结晶材料形成的物理参数，并通过光谱激发后发射发光光谱以及所述物理参数的影响。发射发光光谱的第一层由含有提供浅能级的掺杂剂的半导体材料和浓度在1015至1018cm-3之间的复合中心形成，并且被夹在具有低吸收的第二和第三半导体层之间，用于光激发第一层和第二层和第三层的各自的晶格常数基本上与第一层的晶格常数一致。传感器元件由用于衬底的GaAs和用于半导体层的AlGaAs形成，并且各层的浓度Al，Ga和As的适当变化。通常，夹着发光层的层的能带隙高于发光层的能带隙。在修改实施例中，GaAs被用作具有AlGaAs覆盖半导体层的发光发射层，Al，Ga和As的浓度具有适当的变化。在另外的修改中，将AlGaAs的附加半导体层夹在有源半导体层和非有源半导体层之间以减少或消除传感器元件的波长发射的偏移。

10. 发明授权

US4498004A Fiber optical measuring device, employing a sensor material with a non-linear intensity response characteristic for measuring physical quantities 失效
标题翻译：光纤光学测量装置，采用具有非线性强度响应特性的传感器材料，用于测量物理量
公开(公告)号：US4498004A
公开(公告)日：1985-02-05
申请号：US379026
申请日：1982-05-17
申请人： Morgan Adolfsson , Torgny Brogardh , Sture Goransson , Christer Ovren
发明人： Morgan Adolfsson , Torgny Brogardh , Sture Goransson , Christer Ovren
IPC分类号： G01D3/028 , G01D5/26 , G01D5/353 , G08C23/04 , G08C25/00 , G02B5/14
CPC分类号： G01D5/268
摘要： The invention relates to a measuring device for measuring physical and/or chemical quantities, comprising a measuring transducer and an evaluating electronic unit interconnected by at least one light-conducting fiber, said evaluating electronic unit comprising one or more light sources for transmitting light via said fiber/fibers to at least one sensor element, forming a part of said transducer, said evaluating electronic unit also comprising one or more light detectors for detecting light emitted from said sensor element(s). The invention is characterized in that said at least one sensor element possesses a non-linear relationship between the incident light intensity illuminating the sensor element and the intensity of the light emitted from the sensor element, that said light source/light sources are arranged to emit light having at least two, non-identical light intensities, and that at the same time said detector/detectors are arranged to measure the light coming from the sensor element.
摘要翻译：本发明涉及一种用于测量物理和/或化学量的测量装置，包括测量传感器和由至少一个光导纤维相互连接的评估电子单元，所述评估电子单元包括一个或多个光源，用于经由所述光导纤维透过光纤维/纤维到至少一个传感器元件，形成所述换能器的一部分，所述评估电子单元还包括一个或多个光检测器，用于检测从所述传感器元件发射的光。本发明的特征在于，所述至少一个传感器元件在照射传感器元件的入射光强度和从传感器元件发射的光的强度之间具有非线性关系，所述光源/光源被布置成发射光具有至少两个不相同的光强度，并且同时所述检测器/检测器被布置成测量来自传感器元件的光。

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