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1. 发明授权

US06419211B1 Manipulator and method for manufacturing the manipulator 失效
标题翻译：机械手及其制造方法
公开(公告)号：US06419211B1
公开(公告)日：2002-07-16
申请号：US09831638
申请日：2001-06-20
申请人： Hakan Hvittfeldt , Jan Larsson , Pierre Mikaelsson , Fredik Persson
发明人： Hakan Hvittfeldt , Jan Larsson , Pierre Mikaelsson , Fredik Persson
IPC分类号： B25J1702
CPC分类号： B25J17/0275
摘要： A manipulator comprising a linkage with at least two links (1, 4) which have ball joints (3, 6) at their ends, and a spring device (10) which exerts a tensile force between the links. The spring device (10) comprises a first drawing device (11) with a first angle device (18), a second drawing device (12) with a second angle device (19), which are arranged, displaceable in parallel, side-by-side, and a spring member (13) arranged between the angle devices. The tensile force arises by the spring member exerting a compressive force against the angle devices.
摘要翻译：一种操纵器，包括具有在其端部具有球形接头（3,6）的至少两个连杆（1,4）的连杆机构，以及在连杆之间施加张力的弹簧装置（10）。弹簧装置（10）包括具有第一角度装置（18）的第一牵引装置（11），具有第二角度装置（19）的第二牵引装置（12）和设置在角度装置之间的弹簧构件（13）。拉力由弹簧构件产生抵抗角度装置的压缩力。

2. 发明申请

US20100217434A1 Method and Device for Controlling Motion of an Industrial Robot With a Position Switch 有权
标题翻译：用于通过位置开关控制工业机器人运动的方法和装置
公开(公告)号：US20100217434A1
公开(公告)日：2010-08-26
申请号：US12085145
申请日：2006-11-14
申请人： Magnus Hellberg , Mats Thulin , Michael Fors , Pierre Mikaelsson , Tommy Thors , Sönke Kock , Kevin Behnisch , Peter Eriksson , Jan Bredahl , Bo Toressen
发明人： Magnus Hellberg , Mats Thulin , Michael Fors , Pierre Mikaelsson , Tommy Thors , Sönke Kock , Kevin Behnisch , Peter Eriksson , Jan Bredahl , Bo Toressen
IPC分类号： B25J9/16
CPC分类号： B25J9/1674
摘要： A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit. The robot or the control unit includes at least one first computer running a servo controller. A motion limit is configured for at least one axis of the robot arm. A reference signal for a robot position is sent to a robot controller together with a measurement of a position of the robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator for the purpose of limiting the motion of an arm of the robot.
摘要翻译：一种用于控制布置有机器人控制单元的多轴工业机器人或机械手的方法。机器人或控制单元包括运行伺服控制器的至少一个第一计算机。对于机器人手臂的至少一个轴构造运动限制。将机器人位置的参考信号与机器人手臂的位置的测量一起发送到机器人控制器。处理参考位置，然后在评估器中比较测量位置和处理过的参考位置，以限制机器人臂的运动。

3. 发明申请

US20090114053A1 Arm part of an industrial robot as well as an industrial robot provided therewith 审中-公开
标题翻译：工业机器人的一部分以及与其一起提供的工业机器人
公开(公告)号：US20090114053A1
公开(公告)日：2009-05-07
申请号：US11991453
申请日：2006-10-23
申请人： Pierre Mikaelsson , Bo Toresson , Magnus Hellberg , Michael Fors , Mats Thulin
发明人： Pierre Mikaelsson , Bo Toresson , Magnus Hellberg , Michael Fors , Mats Thulin
IPC分类号： B25J18/00
CPC分类号： B25J18/00 , B25J9/0009 , Y10T74/20317 , Y10T74/20329
摘要： An arm part of a manipulator of an industrial robot has at each end thereof a connector for connecting the arm part to a gear and a stiffener for stiffening the end region of the arm part. At least one aperture is arranged in a hollow structure of the stiffener for providing access to connecting members.
摘要翻译：工业机器人的操纵器的臂部分在其每个端部具有用于将臂部连接到齿轮的连接器和用于加强臂部的端部区域的加强件。至少一个孔布置在加强件的中空结构中，用于提供对连接构件的通路。

4. 发明申请

US20090050411A1 Industrial Robot Lubricated with a polyglycol-Based Lubricant 审中-公开
标题翻译：用聚乙二醇润滑剂润滑的工业机器人
公开(公告)号：US20090050411A1
公开(公告)日：2009-02-26
申请号：US11795879
申请日：2006-01-23
申请人： Staffan Ellqvist , Pierre Mikaelsson , Per Lindblom
发明人： Staffan Ellqvist , Pierre Mikaelsson , Per Lindblom
IPC分类号： F16H57/04 , B25J11/00
CPC分类号： C10M107/34 , B25J9/102 , B25J19/00 , B25J19/0062 , C10M2209/1033 , C10N2230/72 , C10N2240/00 , C10N2240/04
摘要： An industrial robot including a plurality of power transmission units. At least one of the power transmission units is a compact transmission unit including a rotary vector gear reducer arranged to be lubricated with a polyglycol-based lubricant.
摘要翻译：一种包括多个动力传递单元的工业机器人。动力传递单元中的至少一个是紧凑的传动单元，其包括布置成用聚乙二醇基润滑剂润滑的旋转矢量齿轮减速器。

5. 发明授权

US06577093B1 Manipulator 失效
标题翻译：机械手
公开(公告)号：US06577093B1
公开(公告)日：2003-06-10
申请号：US09831741
申请日：2001-06-25
申请人： Hakan Hvittfeldt , Jan Larsson , Pierre Mikaelsson , Fredik Persson
发明人： Hakan Hvittfeldt , Jan Larsson , Pierre Mikaelsson , Fredik Persson
IPC分类号： B25J918
CPC分类号： B25J17/0266 , B25J9/0051 , B25J19/0054
摘要： A manipulator for an environment with hygienic requirements, comprising a stationary element (1) with a plurality of drive means (2), and arms (3) attached to the drive means, which arms, via a respective linkage (4), support a movable element (5). The drive means (2) are enclosed in an enclosure (6) which encloses a gaseous coolant which, by a forced flow, takes up heat from the motors of the drive means.
摘要翻译：一种用于具有卫生要求的环境的操纵器，包括具有多个驱动装置（2）的固定元件（1）和附接到所述驱动装置的臂（3），所述臂（3）经由相应的联动装置（4）支撑可移动元件（5）。驱动装置（2）被封闭在包围气态冷却剂的外壳（6）中，该冷却剂通过强制流动从驱动装置的马达吸收热量。

6. 发明授权

US08036776B2 Method and device for controlling motion of an industrial robot with a position switch 有权
标题翻译：用于通过位置开关来控制工业机器人运动的方法和装置
公开(公告)号：US08036776B2
公开(公告)日：2011-10-11
申请号：US12085145
申请日：2006-11-14
申请人： Magnus Hellberg , Mats Thulin , Michael Fors , Pierre Mikaelsson , Tommy Thors , Sönke Kock , Kevin Behnisch , Peter Eriksson , Jan Bredahl , Bo Toresson
发明人： Magnus Hellberg , Mats Thulin , Michael Fors , Pierre Mikaelsson , Tommy Thors , Sönke Kock , Kevin Behnisch , Peter Eriksson , Jan Bredahl , Bo Toresson
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： B25J9/1674
摘要： A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit. The robot or the control unit includes at least one first computer running a servo controller. A motion limit is configured for at least one axis of the robot arm. A reference signal for a robot position is sent to a robot controller together with a measurement of a position of the robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator for the purpose of limiting the motion of an arm of the robot.
摘要翻译：一种用于控制布置有机器人控制单元的多轴工业机器人或机械手的方法。机器人或控制单元包括运行伺服控制器的至少一个第一计算机。对于机器人手臂的至少一个轴构造运动限制。将机器人位置的参考信号与机器人手臂的位置的测量一起发送到机器人控制器。处理参考位置，然后在评估器中比较测量位置和处理过的参考位置，以限制机器人臂的运动。

7. 发明授权

US07188544B2 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US07188544B2
公开(公告)日：2007-03-13
申请号：US10700057
申请日：2003-11-04
申请人： Fredrik Persson , Hakan Hvittfeldt , Jan Larsson , Pierre Mikaelsson
发明人： Fredrik Persson , Hakan Hvittfeldt , Jan Larsson , Pierre Mikaelsson
IPC分类号： B25J17/00
CPC分类号： B25J19/0062 , B23Q1/5462 , B25J9/0051 , B25J17/0266 , B25J18/025 , Y10T74/20305 , Y10T74/20317
摘要： An industrial delta robot with an arm system rotatable in space and including a base section, a moveable plate, several multi-jointed pull rods and a telescopic axle arranged between the base section and the moveable plate, opposite ends of the pull rods and of the telescopic axle being connected with the base section and the moveable plate respectively, and the telescopic axle comprising an inner axle and an outer tube arranged on the inner axle and displaceable in a longitudinal direction where a pair of end-to-end torsional rigid bushings are arranged in a stationary manner on the outer tube in which the inner axle is mounted to be displaceable, the bushings being spaced apart at confronting inner ends to form a transversely extending lubrication pocket for continuous lubrication of the inner axle during movement relative to the bushings.
摘要翻译：一种工业三角机器人，其具有在空间中可旋转的臂系统，包括基部，可移动板，多个多接头拉杆和布置在基部和可移动板之间的伸缩轴，拉杆的相对端和伸缩轴分别与基部和可动板连接，并且伸缩轴包括内轴和布置在内轴上的外管，并且在纵向方向上可移位，其中一对端对端扭转刚性衬套是以固定的方式布置在其中内轴被安装成可移动的外管上，衬套在相对的内端处间隔开以形成横向延伸的润滑腔，用于在相对于衬套移动期间内轴的连续润滑。

8. 发明授权

US06766711B2 Industrial robot device 有权
标题翻译：工业机器人装置
公开(公告)号：US06766711B2
公开(公告)日：2004-07-27
申请号：US10203425
申请日：2002-09-26
申请人： Håkan Hvittfeldt , Pierre Mikaelsson
发明人： Håkan Hvittfeldt , Pierre Mikaelsson
IPC分类号： B25J1700
CPC分类号： B25J18/025 , B25J9/0051 , B25J17/0266 , Y10T74/20305 , Y10T74/20317 , Y10T74/20329
摘要： The present invention concerns an industrial robot according to the delta concept with an arm system (2) intended for rotation in space that comprises a base section (4), a movable plate (6), several jointed struts (8) and a telescopic shaft (10, 40) arranged between the base section and the movable plate, in which opposite ends (12, 14) of the struts and the telescopic shaft are connected to the base section and to the movable plate, respectively, and in which the telescopic shaft (10, 40) comprises a first telescopic arm (16, 46) and a second telescopic arm (18, 48) that are arranged longitudinally displaceable relative to each other, that each telescopic arm (16, 18; 46, 48) comprises at least two rods (20, 22; 50, 52) that are attached to holders (24-27; 54-57) at their respective end sections. The present invention also includes a method and an application.

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