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1. 发明公开

EP4382262A1 ROBOT DRIVE MODULE 审中-公开
公开(公告)号：EP4382262A1
公开(公告)日：2024-06-12
申请号：EP22211538.8
申请日：2022-12-05
申请人： Hexagon Technology Center GmbH
发明人： STEFFEN, Roman , GOHL, Pascal , HEINZLE, Lukas , WENK, Markus
IPC分类号： B25J9/12 , B25J13/08 , B25J17/00
CPC分类号： B25J13/088 , B25J9/126 , B25J17/00
摘要： The invention relates to robot drive module (1, 1') for driving a rotary joint movement of a robot with at least a rotary drive and at least a rotary encoder (6, 6o, 6i) arrangement and a method for a robot having such a robot drive module (1, 1').

2. 发明公开

EP3385813A1 CONTROL DEVICE, CONTROL METHOD, AND CONTROL PROGRAM 审中-实审
公开(公告)号：EP3385813A1
公开(公告)日：2018-10-10
申请号：EP16870363.5
申请日：2016-10-31
申请人： Omron Corporation
发明人： MORINO, Koji
IPC分类号： G05D3/12 , H02P5/50
CPC分类号： B25J9/1628 , B25J9/026 , B25J9/126 , G05D3/12 , H02P5/50
摘要： The objective of the present invention is to provide a control device capable of suppressing trajectory misalignment due to deviation between the response delay times of a plurality of axes (a plurality of servomotors). In this control device, which issues commands to a plurality of servo drivers corresponding to a plurality of servomotors, the servo driver corresponding to a standard servomotor for which the response delay time is the greatest among the plurality of servomotors is set as a standard servo driver, and the command timing for the other servo drivers is delayed more than the command timing for the standard servo driver, by an amount equal to the difference between the response delay time of the standard servomotor and the response delay time of the servomotors corresponding to the other servo drivers.

3. 发明公开

EP3211494A3 MOTOR CONTROL SYSTEM, ROBOT SYSTEM, AND COMMUNICATION METHOD FOR MOTOR CONTROL SYSTEM 有权
公开(公告)号：EP3211494A3
公开(公告)日：2017-11-15
申请号：EP17157556.6
申请日：2017-02-23
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： KOBAYASHI, Kazutoshi , MIWA, Takuya , FUKUDA, Mamoru , KASHIWAGI, Yoshitaka , KOGA, Hidetsugu , IMANAGA, Kazuhiro , OKUBO, Tadashi
IPC分类号： G05B19/042
CPC分类号： B25J9/126 , G05B19/041 , G05B19/0428 , G05B2219/37285
摘要： A motor control system 1 includes a motor controller 20 to control a motor 30. An upper-level communication path 80 connects an upper-level communication port 24A of the motor controller 20 to an upper-level controller 10 that sends an instruction to the motor controller 20. A lower-level communication path 90 is connected to a lower-level communication port 24C of the motor controller 20 and connects a plurality of devices 40, 50, 60, 70 in series to each other. The devices 40, 50, 60, 70 include a rotational angle detector 40 and an output device 50, 60, 70. The rotational angle detector 40 detects a rotation angle of the motor 30. The output device 50, 60, 70 outputs associated information that is associated with the motor 20 and is different from the rotational angle or that is associated with an industrial device associated with the motor 30. The motor controller 20 performs a predetermined processing based on the rotational angle and the associated information, and sends a result of the predetermined processing to the upper-level controller 10.

4. 发明公开

EP3128291A1 COORDINATE MEASURING MACHINE WITH BELT DRIVE GUIDED PROBE HEAD 有权
标题翻译： KOORDINATENMESSMASCHINE MITRIEMENTRIEBGEFÜHRTEMSONDENKOPF
公开(公告)号：EP3128291A1
公开(公告)日：2017-02-08
申请号：EP15179579.6
申请日：2015-08-03
申请人： Hexagon Technology Center GmbH
发明人： JORDIL, Pascal
IPC分类号： G01B21/04 , G01B5/008
CPC分类号： G01B5/008 , B25J9/1035 , B25J9/104 , B25J9/126 , B25J9/1615 , B25J15/0019 , G01B21/04 , Y10S901/21
摘要： The invention relates to a coordinate-measuring machine (1) for determining at least one spatial coordinate of a measurement point on a measuring object, comprising a base (2), a carrier (3) comprising at least one carrier segment (3', 3", 3"', 3"", 3""'), a proximal end of the carrier being mounted pivotably about a base axis (8) in the base, a measuring probe (4) being arranged on a distal end of the carrier, and an angle measuring system for determining pivot angles of the at least one carrier segment, and/or rotation angles of the measuring probe, wherein at least one belt drive comprising • a base pulley (5) being arranged in the base (2), at least one follower pulley (6,6',6",6"',6"") being arranged on at least one carrier segment, and at least one belt (7,7',7") binding the rotatory behaviour of said pulleys.
摘要翻译：本发明涉及一种用于确定测量对象上的测量点的至少一个空间坐标的坐标测量机（1），包括基座（2），载体（3），其包括至少一个载体段（3'， 3“，3”'，3“”，3“”），所述载体的近端围绕所述基座中的基部轴线（8）可枢转地安装;测量探针（4）所述载体和用于确定所述至少一个载体段的枢转角度的角度测量系统和/或所述测量探针的旋转角度，其中至少一个带驱动器包括基部滑轮（5），所述基部滑轮布置在所述基部（2），至少一个从动滑轮（6,6'，6“，6”'，6“”）布置在至少一个载体段上，并且至少一个带（7,7'，7“）结合所述滑轮的旋转行为。

5. 发明公开

EP3127661A1 ROBOT FOR INDUSTRIAL USE 审中-公开
标题翻译： ROBOTER ZUR INDUSTRIELLEN VERWENDUNG
公开(公告)号：EP3127661A1
公开(公告)日：2017-02-08
申请号：EP16178479.8
申请日：2016-07-07
申请人： Comau S.p.A.
发明人： BORDEGNONI, Stefano , CINIELLO, Francesco
IPC分类号： B25J9/04 , B25J19/00
CPC分类号： B25J9/044 , B25J9/126 , B25J19/0029
摘要： Described herein is a SCARA robot that is characterized in that the terminal body that identifies the operating axis (I) of the robot comprises telescopic elements (6 i ) which can be driven in translation along said axis (I) and are available in a condition of minimum encumbrance.
摘要翻译：这里描述的是一种SCARA机器人，其特征在于，识别机器人的操作轴线（I）的终端主体包括伸缩元件（6i），其可以沿着所述轴线（I）被平移地驱动并且在条件的最小产权负担。

6. 发明公开

EP3067164A3 JOINT DRIVING APPARATUS AND ROBOT APPARATUS 有权
标题翻译：关节驱动装置和机械手设备
公开(公告)号：EP3067164A3
公开(公告)日：2017-01-18
申请号：EP16159566.5
申请日：2016-03-10
申请人： Canon Kabushiki Kaisha
发明人： OGATA, Masaru
IPC分类号： B25J17/02 , B25J9/12 , B25J13/08 , B25J17/00
CPC分类号： B25J17/00 , B25J9/126 , B25J13/085 , B25J17/0208
摘要： The present invention allows a joint driving apparatus (71-76) of a robot apparatus (1) to measure joint driving torque with high accuracy and perform joint torque control accurately and reliably using a simple, inexpensive, small, lightweight and sturdy configuration without being affected by cross-axis disturbance forces. A joint driving apparatus includes a housing unit (55) fixed to a first link (62); a bearing (54) mounted in the housing unit (55) and adapted to rotatably support a second link (63); a driving unit (80) housed in the housing unit (55) and adapted to rotationally drive the second link (63); a supporting unit (532, 56, 52) installed between the driving unit (80) and the housing unit (55) and adapted to support the driving unit (80) on the housing unit (55); and a torque sensor (52s) adapted to detect torque generated on the supporting unit (532, 56, 52) .

7. 发明公开

EP3064324A1 ROBOT 有权
标题翻译：机器人
公开(公告)号：EP3064324A1
公开(公告)日：2016-09-07
申请号：EP16158158.2
申请日：2016-03-02
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： KINOSHITA, Yusuke , FUJITSU, Eiji , NOGAMI, Kazuyoshi
IPC分类号： B25J9/04 , B25J9/10 , B25J19/00 , B25J15/00 , B25J9/12 , B25J9/00
CPC分类号： B25J9/12 , B23K37/02 , B25J9/0024 , B25J9/0027 , B25J9/046 , B25J9/126 , B25J11/005 , B25J15/0019 , B25J18/005 , B25J18/007 , B25J19/0025 , Y10S901/27 , Y10S901/42
摘要： A robot (2) includes a first arm (30), a second arm (40), a third arm (50), a distal end (80), a first actuator (M2), a second actuator (M3), a third actuator (M4), and a plurality of posture adjustment actuators (M5, M6, M7). The first arm (30), the second arm (40), the third arm (50), and the distal end (80) are coupled in series to each other. The first actuator (M2) is configured to swing the first arm (30) about a first axis line. The second actuator (M3) is disposed on a side on which the first actuator (M2) is disposed in a direction along the first axis line. The second actuator (M3) is configured to swing the second arm (40) about a second axis line parallel to the first axis line. The third actuator (M4) is configured to swing the third arm (50) about a third axis line parallel to the first axis line. The plurality of posture adjustment actuators (M5, M6, M7) are configured to adjust a posture of the distal end (80).
摘要翻译：机器人（2）包括第一臂（30），第二臂（40），第三臂（50），远端（80），第一致动器（M2），第二致动器（M3）执行器（M4）和多个姿势调节致动器（M5，M6，M7）。第一臂（30），第二臂（40），第三臂（50）和远端（80）彼此串联连接。第一致动器（M2）构造成围绕第一轴线摆动第一臂（30）。第二致动器（M3）设置在沿着第一轴线的方向上设置有第一致动器（M2）的一侧。第二致动器（M3）构造成围绕平行于第一轴线的第二轴线摆动第二臂（40）。第三致动器（M4）构造成围绕平行于第一轴线的第三轴线摆动第三臂（50）。多个姿势调整促动器（M5，M6，M7）构成为调整前端（80）的姿势。

8. 发明公开

EP2976549A1 CURVED BEARING CONTACT SYSTEM 审中-公开
标题翻译：带着狡黠的CAMP接触系统
公开(公告)号：EP2976549A1
公开(公告)日：2016-01-27
申请号：EP14770930.7
申请日：2014-03-24
申请人： Northeastern University
发明人： BRASSITOS, Elias , WEINBERG, Brian , KONG, Qingchao , MAVROIDIS, Constantinos
IPC分类号： F16H1/28
CPC分类号： F16H1/28 , B25J9/0009 , B25J9/102 , B25J9/126 , F16H57/02004 , F16H2001/2872
摘要： In some embodiments, systems and methods are described for a gear contact system configured to support radial, thrust, and moment loads, the system comprising a first gear comprising a first roller having a first roller bearing surface, the first roller bearing surface having a convex curvature defined by a first radius of curvature; and a second gear comprising a second roller having a second roller bearing surface, the second roller bearing surface having a concave curvature defined by a second radius of curvature.

9. 发明授权

EP2422936B1 Magnetic-controlled actuator with auto-locking function for joints of manipulation arm 有权
标题翻译：磁致动器控制的具有自锁功能，用于操纵臂的关节
公开(公告)号：EP2422936B1
公开(公告)日：2015-03-04
申请号：EP10008821.0
申请日：2010-08-24
申请人： Delta Electronics, Inc. , National Cheng Kung University
发明人： Hsu, Liang-Yi , Wang, Po-Kung , Tsai, Mi-Ching , Cheng, Ming-Yang , Huang, Chien-Chin , Tsai, Ching-Shiong , Sheu, Hong-Cheng
IPC分类号： H02K7/106 , B25J9/12
CPC分类号： B25J9/126 , H02K7/106

10. 发明公开

EP2700481A4 ACTUATOR DEVICE, MULTI-AXIS DRIVE DEVICE, AND ROBOT DEVICE 有权
标题翻译：致动器装置，多驱动装置和机器人装置
公开(公告)号：EP2700481A4
公开(公告)日：2014-12-03
申请号：EP12792871
申请日：2012-04-16
申请人： SONY CORP
发明人： TANAKA AKICHIKA
IPC分类号： B25J9/08 , B25J9/06 , B25J9/12 , B25J13/08 , H02K11/00
CPC分类号： B25J9/02 , B25J9/06 , B25J9/08 , B25J9/126 , B25J13/085 , F16H21/40 , H02K7/116 , H02K11/215 , H02K11/24 , Y10S901/23 , Y10T74/18568 , Y10T74/20317

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