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1. 发明授权

US07872436B2 Control method for a robot 有权
标题翻译：机器人的控制方法
公开(公告)号：US07872436B2
公开(公告)日：2011-01-18
申请号：US10557774
申请日：2004-05-19
申请人： Sönke Kock , Christian H Müller , Torgny Brogårdh , Jesper Bergsjö , Andreas Olevik , Stig Moberg
发明人： Sönke Kock , Christian H Müller , Torgny Brogårdh , Jesper Bergsjö , Andreas Olevik , Stig Moberg
IPC分类号： G05B19/404
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。

2. 发明授权

US07300240B2 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US07300240B2
公开(公告)日：2007-11-27
申请号：US11012614
申请日：2004-12-16
申请人： Torgny Brogårdh
发明人： Torgny Brogårdh
IPC分类号： B25J5/00
CPC分类号： B25J17/0266 , B25J9/0072 , Y10T74/20305 , Y10T74/20335
摘要： An industrial robot including a platform arranged for carrying an object. A first arm is arranged for influencing the platform in a first movement and includes a first actuator having a first path and a first carriage linearly movable along the first path. A second arm is arranged for influencing the platform in a second movement, and includes a second actuator having a second path and a second carriage linearly movable along the first path. A third arm is arranged for influencing the platform in a third movement. A control unit controls the movements of the platform. The first and second arms are arranged rotatable in such way that the platform is movable between opposite sides of a second plane passing through and continuously following the first and second carriage. The control unit includes a control adapted to upon command perform a reconfiguration of the platform and the arms of the robot. The reconfiguration includes moving the platform between opposite sides of the second plane.
摘要翻译：一种工业机器人，包括用于承载物体的平台。第一臂布置成用于在第一运动中影响平台，并且包括具有第一路径的第一致动器和沿着第一路径线性移动的第一托架。第二臂布置成用于在第二运动中影响平台，并且包括具有第二路径的第二致动器和沿着第一路径线性移动的第二托架。第三臂被布置成在第三运动中影响平台。控制单元控制平台的移动。第一和第二臂被布置成可旋转，使得平台能够在通过并连续跟随第一和第二托架的第二平面的相对侧之间移动。控制单元包括适于根据命令执行机器人的平台和臂的重新配置的控制。重新配置包括在第二平面的相对侧之间移动平台。

3. 发明授权

US06230079B1 Method for control of an industrial robot 失效
标题翻译：一种工业机器人的控制方法
公开(公告)号：US06230079B1
公开(公告)日：2001-05-08
申请号：US09077733
申请日：1998-06-09
申请人： Torgny Brogårdh , Håkan Dahlquist , Staffan Elfving , Tord Henriksson
发明人： Torgny Brogårdh , Håkan Dahlquist , Staffan Elfving , Tord Henriksson
IPC分类号： G05B1500
CPC分类号： B25J9/1628 , G05B2219/37252 , G05B2219/39247
摘要： A method for control of an industrial robot, which has a plurality of movement axes with a position sensor for each of said axes which is adapted to deliver an output signal which defines the current position of the axis, and a control system for control of the axes of the robot. Continuously during operation of the robot for at least one mechanically critical point (i) of the robot, the relevant load (&tgr;i) during a predetermined period of time (&Dgr;t) is calculated on the basis of the output signals (&phgr;1,&phgr;2 . . . &phgr;6) from the position sensors and a mathematical model of the robot. Further, the rate of fatigue ( Δ ⁢ ⁢ D i Δ ⁢ ⁢ t ) of the point is calculated on the basis of the calculated load and with knowledge of the fatigue strength (Nij) of the material at the critical point. The performance (&phgr;axis,max, &tgr;axis,max) of the robot is adjusted in dependence on the rate of fatigue and the desired service life (tlife) of the robot.
摘要翻译：一种用于控制工业机器人的方法，所述工业机器人具有多个运动轴，所述运动轴具有用于每个所述轴的位置传感器，所述位置传感器适于传送限定所述轴的当前位置的输出信号，以及用于控制所述轴的控制系统机器人的轴。在机器人的至少一个机械临界点（i）的操作期间连续地，在预定时间段（DELTAt）期间，基于输出信号（phi1，phi2）计算相关负载（i） ... phi6）和机器人的数学模型。此外，该点的疲劳速率是根据计算出的载荷和在临界点的材料的疲劳强度（Nij）的知识来计算的。机器人的性能（phiaxis，max，＆tgr，axis，max）根据机器人的疲劳速率和所需的使用寿命（tlife）进行调整。

4. 发明申请

US20110142534A1 METHOD FOR MANUFACTURING A JOINT AND A JOINT OBTAINABLE BY THE METHOD 审中-公开
标题翻译：通过该方法制造接头和接头的方法
公开(公告)号：US20110142534A1
公开(公告)日：2011-06-16
申请号：US12996172
申请日：2009-06-03
申请人： Torgny Brogårdh , Ove Kullborg , Ove Ode
发明人： Torgny Brogårdh , Ove Kullborg , Ove Ode
IPC分类号： F16C11/06 , B23P25/00
CPC分类号： F16C11/069 , F16C11/0647 , Y10T29/49886 , Y10T403/32786
摘要： A method for manufacturing a joint. A ball is mounted on a pin. Spherical surfaces on at least two socket parts are machined. Grinding paste is applied on the ball and/or on the surfaces of the socket parts. The pin is connected to an equipment that rotates the ball. The ball is assembled between the socket parts. A pressure is applied between the socket parts and the ball. The ball is rotated and tilted over the working range of the joint. The ball and the socket parts are cleaned from the grinding paste. The joint is assembled by mounting the socket parts on a ball. A robot obtainable with the method.
摘要翻译：一种接头的制造方法。一个球安装在一个销上。在至少两个插座部件上的球面被加工。研磨膏应用在球和/或插座部件的表面上。引脚连接到旋转球的设备。球体组装在插座部件之间。在插座部分和球之间施加压力。球旋转并在接头的工作范围内倾斜。将球和插座部件从研磨膏中清除。通过将插座部件安装在球上来组装接头。可以用该方法获得的机器人。

5. 发明授权

US07756608B2 System for calibration of an industrial robot and a method thereof 失效
标题翻译：工业机器人校准系统及其方法
公开(公告)号：US07756608B2
公开(公告)日：2010-07-13
申请号：US11885234
申请日：2006-02-21
申请人： Torgny Brogårdh
发明人： Torgny Brogårdh
IPC分类号： G05B19/04
CPC分类号： B25J9/1623 , B25J9/1692 , G05B2219/39032 , G05B2219/39053 , G05B2219/40267
摘要： A method for calibration of an industrial robot including a plurality of movable links and a plurality of actuators effecting movement of the links and thereby of the robot. The method includes mounting a measuring tip on or in the vicinity of the robot, moving the robot such that the measuring tip is in contact with a plurality of measuring points on the surface of at least one geometrical structure on or in the vicinity of the robot, reading and storing the positions of the actuators for each measuring point, and estimating a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators for the measuring points.
摘要翻译：一种用于校准工业机器人的方法，所述工业机器人包括多个可移动链节和多个致动器，所述致动器执行所述连杆和所述机器人的移动。该方法包括将测量尖端安装在机器人上或附近，使机器人移动，使得测量尖端与机器人上或其附近的至少一个几何结构的表面上的多个测量点接触读取和存储每个测量点的致动器的位置，并且基于几何结构的几何模型，机器人的运动学模型以及用于该机器人的致动器的存储位置来估计机器人的多个运动学参数测量点。

6. 发明授权

US06563281B1 Device for controlling the operation of driving apparatus 失效
标题翻译：用于控制驱动装置的操作的装置
公开(公告)号：US06563281B1
公开(公告)日：2003-05-13
申请号：US09889285
申请日：2001-07-16
申请人： Karl-Gustav Ramström , Torgny Brogårdh
发明人： Karl-Gustav Ramström , Torgny Brogårdh
IPC分类号： B25J1906
CPC分类号： B25J19/066 , Y10S388/903 , Y10S388/909
摘要： A device for monitoring operation of a driving arrangement including at least a servo-mechanism, which includes a regulator, a driving motor controlled by the regulator, and an element which can be set in motion by the driving motor. A detection arrangement detects deviations between intended and actual movement positions of the element and an operation inhibiting and/or alarming arrangement inhibits operation of the driving arrangement and/or starts an alarm when impermissible deviations are detected. The monitoring device includes a redundant driving arrangement, which include at least one auxiliary servomechanism including a redundant regulator, a redundant driving motor controlled by the redundant regulator, and a redundant element which can be set in motion by the redundant driving motor. The regulator and the redundant regulator are connected to an arrangement delivering control information or imparting to the element and the redundant element the same movements or movements having a predetermined relation to each other. The detection arrangement is arranged to detect the deviations concerning the relative position or movements of the element or an object connected thereto, and the redundant element.
摘要翻译：一种用于监视包括至少一个包括调节器的调节器，由调节器控制的驱动马达的伺服机构的驱动装置的操作装置和可由驱动马达设置运动的元件。检测装置检测元件的预期移动位置和实际移动位置之间的偏差，并且操作禁止和/或报警装置禁止驱动装置的操作和/或当检测到不允许的偏差时开始报警。监视装置包括冗余驱动装置，其包括至少一个辅助伺服机构，其包括冗余调节器，由冗余调节器控制的冗余驱动电机，以及冗余元件，该冗余元件可由冗余驱动电机设置运动。调节器和冗余调节器连接到传送控制信息或赋予元件和冗余元件相同的具有彼此具有预定关系的移动或移动的布置。检测装置被布置成检测关于元件或与其连接的物体的相对位置或移动以及冗余元件的偏差。

7. 发明授权

US06425303B1 Device for relative movement of two elements 失效
标题翻译：两个元件相对运动的装置
公开(公告)号：US06425303B1
公开(公告)日：2002-07-30
申请号：US09486487
申请日：2000-06-02
申请人： Torgny Brogårdh , Jan Smede
发明人： Torgny Brogårdh , Jan Smede
IPC分类号： B25J1700
CPC分类号： B25J17/0283 , B25J9/1065 , B25J11/00 , Y10S414/13 , Y10T74/20317
摘要： A robot for movement of a moveable element (2) relative to a base element (1) comprises at least two link devices (4, 5, 6) coupled between the elements. These link devices comprise each at least two mutually articulated link units (7, 8; 9, 10; 11, 12) and power exerting arrangements (13, 14, 15) adapted to pivot the link devices for changing the relative position of the elements. A first (4) of the link devices is connected with the moveable element (2) via a hinge connection (16) so that there are, on consideration of the robot in its entirety, at least two degrees of freedom in the form of relative pivotability about two pivot axes, real or imaginary, extending at an angle relative to each other between the first link device (4) and said element (2). A further (5) of the link devices is connected to the base element (1) via a hinge connection (32, 33, 28) which on consideration of the robot in its entirety provide for freedom of movement between the further link device (5) and the base element (1) with respect to at least two degrees of freedom consisting of pivotability about two different pivot axes, real or imaginary.
摘要翻译：用于可移动元件（2）相对于基座元件（1）移动的机器人包括耦合在所述元件之间的至少两个连杆装置（4,5,6）。这些连杆装置包括每个至少两个相互铰接的连杆单元（7,8; 9,10; 11,12）和适于枢转连杆装置的动力施加装置（13,14,15），用于改变元件的相对位置。连杆装置的第一（4）通过铰链连接件（16）与可移动元件（2）连接，使得在整个机器人整体上考虑至少两个相对自由度的自由度在第一连杆装置（4）和所述元件（2）之间相对于彼此以一定角度延伸的实心或虚拟的两个枢转轴的可枢转性。另一个（5）的连接装置经由铰链连接件（32,33,28）连接到基座元件（1）上，该铰链连接器考虑到机器人整体提供了另一个连杆装置（5））和基本元件（1）相对于至少两个自由度组成，所述至少两个自由度由围绕两个不同的枢轴的实心或虚拟的可枢转性组成。

8. 发明授权

US06301988B1 Device for relative movement of two elements 失效
标题翻译：两个元件相对运动的装置
公开(公告)号：US06301988B1
公开(公告)日：2001-10-16
申请号：US09142581
申请日：1998-09-11
申请人： Torgny Brogårdh
发明人： Torgny Brogårdh
IPC分类号： B23Q125
CPC分类号： B25J9/1065 , Y10S414/13 , Y10T74/20317
摘要： A device for relative movement of two elements comprises two link arrangements coupled in series using a connection arrangement. A first link arrangement comprises at least three links which are substantially equal in length and parallel. The links are positioned in a substantially triangular relation viewed along the longitudinal direction of the links, between the connection arrangement and a second of the elements. A second link arrangement comprises at least one parallelogram acting between the connection arrangement and a first of the elements. First and second force applying arrangements are adapted to cause the first link arrangement to pivot. A third force applying arrangement is adapted to cause the second link arrangement to pivot.
摘要翻译：用于两个元件的相对运动的装置包括使用连接装置串联耦合的两个连杆装置。第一连杆装置包括至少三个在长度上相等且平行的连杆。连接件沿着连杆的纵向方向被定位成基本上三角形的关系，在连接装置和第二元件之间。第二连杆装置包括在连接装置和第一元件之间作用的至少一个平行四边形。第一和第二力施加装置适于使第一连杆装置枢转。第三力施加装置适于使第二连杆装置枢转。

9. 发明授权

US07011489B2 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US07011489B2
公开(公告)日：2006-03-14
申请号：US10466348
申请日：2002-01-15
申请人： Torgny Brogårdh , Daniel Wäppling , Feng Xialong , Bo Holmgren
发明人： Torgny Brogårdh , Daniel Wäppling , Feng Xialong , Bo Holmgren
IPC分类号： B25J17/02
CPC分类号： B25J17/0266 , B23Q1/5462 , Y10S414/13 , Y10T74/20305 , Y10T74/20335
摘要： An industrial robot for movement of an object in space comprising a stationary platform, a movable platform adapted for supporting the object, and a first, a second and a third arm to which the platforms are joined. The first arm comprises a first actuator, a first supporting arm influenced by the first actuator and rotatable around a first axis, and a first linkage. The second arm comprises a second actuator, a second supporting arm influenced by the second actuator and rotatable around a second axis, and a second linkage. The third arm comprises a third actuator, a third supporting arm influenced by the third actuator and rotatable around a third axis, and a third linkage. The second supporting arm is freely mounted around a cross-beam that is arranged at right angles to the second axis.
摘要翻译：一种用于空间中的物体的移动的工业机器人，包括固定平台，适于支撑物体的可移动平台以及平台连接到的第一臂，第二臂和第三臂。第一臂包括第一致动器，受第一致动器影响并可围绕第一轴线旋转的第一支撑臂和第一连杆。第二臂包括第二致动器，受第二致动器影响的第二支撑臂并可围绕第二轴线旋转，以及第二连杆。第三臂包括第三致动器，受第三致动器影响的第三支撑臂并可围绕第三轴线旋转，以及第三连杆。第二支撑臂围绕与第二轴成直角布置的横梁自由地安装。

10. 发明授权

US06836702B1 Method for fine tuning of a robot program 有权
标题翻译：微调机器人程序的方法
公开(公告)号：US06836702B1
公开(公告)日：2004-12-28
申请号：US10458785
申请日：2003-06-11
申请人： Torgny Brogårdh , Håkan Brantmark , Zhongxue Gan , Gregory Rossano , Xiongzi Li , Yunquan Sun , Quing Tang
发明人： Torgny Brogårdh , Håkan Brantmark , Zhongxue Gan , Gregory Rossano , Xiongzi Li , Yunquan Sun , Quing Tang
IPC分类号： G06F1900
CPC分类号： B25J9/1664 , B23K26/04 , B23K26/0884 , B25J9/1692 , G05B19/4083 , G05B19/425 , G05B2219/36404 , G05B2219/36407
摘要： A method for fine tuning of a robot program for a robot application comprising an industrial robot, a tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft′, Yft′, Zft′.
摘要翻译：一种用于机器人应用的机器人程序的微调方法，所述机器人程序包括工业机器人，工具和工具，所述工具由所述工具沿着包括所述工件上的多个所需姿势的路径处理，所述机器人程序包括：包含与期望姿势相对应的程序化姿势的程序指令，其中该方法包括：定义微调坐标系Xft，Yft，Zft，选择所述编程姿态pi中的一个，在微调坐标系中计算所述选定姿势，产生程序用于在微调坐标系中的所述选定姿态的指令，由机器人运行所述一个或多个程序指令，确定在运行程序指令之后获得的姿态与所需姿势之间的差异，根据所述姿势调整微调坐标系在调整的微调坐标系Xft'，Yft'中产生用于所述选定姿态的程序指令，，Zft'。

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