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1. 发明申请

US20180290022A1 DEVICE FOR TRAINING COORDINATIVE FACULTIES 审中-公开
公开(公告)号：US20180290022A1
公开(公告)日：2018-10-11
申请号：US15947982
申请日：2018-04-09
申请人： Ferrobotics Compliant Robot Technology GmbH
发明人： Ronald Naderer , Paolo Ferrara
IPC分类号： A63B24/00 , A63B22/16 , A63B22/00 , A61B5/103 , A61B5/00 , A63B26/00 , A63B22/18
摘要： The invention relates to a device for training coordinative faculties. The device has at least one movable standing plate; at least one static base plate; at least two connecting elements, the height of which can be modified and which act between the at least one movable standing plate and the at least one static base plate, a user interface; and a control element. The device is designed to specify a sequence of various setpoint positions of the centre of gravity of a user standing on the at least one movable standing plate, each of the setpoint positions being specified for a determined duration, and to continuously measure the actual position of the centre of gravity of the person standing on the moving plate. The device is further designed to compare each measured actual position to the setpoint position specified at the time of the measurement, to generate control signals taking into consideration the measured actual positions and/or the results of the comparisons of actual positions and setpoint positions, and to control the at least two connecting elements with the control signals.

2. 发明申请

US20160288325A1 Robot Arm 有权
标题翻译：机器人手臂
公开(公告)号：US20160288325A1
公开(公告)日：2016-10-06
申请号：US15037194
申请日：2014-11-18
申请人： FERROBOTICS COMPLIANT ROBOT TECHNOLOGY GMBH
发明人： Ronald Naderer , Paolo Ferrara
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1641 , G05B2219/39186 , G05B2219/39197 , G05B2219/39342 , G05B2219/39345
摘要： A robot includes a yielding element for mechanically coupling first and second arm segments of a robot arm. A motor moves the second arm segment relative to the first arm segment. A sensor determines a relative position of the first arm segment in relation to the second arm segment and outputs a position sensor signal representing the relative position. A control unit controls the motor in accordance with the position sensor signal such that the first arm segment is moved into a desired relative position in relation to the second arm segment, when no external force is applied to the robot arm, and when an external force is applied to the robot arm, the motor generates a counterforce which depends on the deviation between the actual and desired positions. The control unit has a predetermined time constant so that changes in the external force are substantially absorbed by damping elements.
摘要翻译：机器人包括用于机械地联接机器人臂的第一和第二臂段的屈服元件。电动机相对于第一臂段移动第二臂段。传感器确定第一臂段相对于第二臂段的相对位置，并输出表示相对位置的位置传感器信号。控制单元根据位置传感器信号来控制马达，使得当没有外力施加到机器人手臂时，第一臂段相对于第二臂段移动到期望的相对位置，并且当外力被施加到机器人臂，电动机产生取决于实际位置和期望位置之间的偏差的反作用力。控制单元具有预定的时间常数，使得外力的变化基本上被阻尼元件所吸收。

3. 发明申请

US20210146535A1 APPARATUS AND METHOD FOR AUTOMATED CONTACT TASKS 有权
公开(公告)号：US20210146535A1
公开(公告)日：2021-05-20
申请号：US17158261
申请日：2021-01-26
申请人： FerRobotics Compliant Robot Technology GmbH
发明人： Ronald Naderer , Paolo Ferrara , Andreas Rohrhofer
IPC分类号： B25J9/16 , B25J11/00 , B25J17/02
摘要： An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.

4. 发明授权

US10478883B2 Apparatus and method for robotic roller hamming 有权
公开(公告)号：US10478883B2
公开(公告)日：2019-11-19
申请号：US14940504
申请日：2015-11-13
申请人： FerRobotics Compliant Robot Technology GmbH
发明人： Ronald Naderer , Paolo Ferrara
IPC分类号： B21D19/04 , B21D39/02
摘要： A roller hemming apparatus for robot-supported roller hemming with a manipulator, as well as with a roller hemming apparatus, is described. The apparatus includes a frame, a first roller and a second roller which, when in operation, contact two opposite sides of a workpiece, and at least one first actuator mechanically coupled to the frame and to at least one of the first and the second rollers and controlled so that opposing process forces that are applied over the first and the second rollers and that lie approximately along one effective line of force are applied to the workpiece at opposite sides.

5. 发明授权

US10906177B2 Active handling apparatus and method for contact tasks 有权
公开(公告)号：US10906177B2
公开(公告)日：2021-02-02
申请号：US16004877
申请日：2018-06-11
申请人： FerRobotics Compliant Robot Technology GmbH
发明人： Ronald Naderer , Paolo Ferrara , Andreas Rohrhofer
IPC分类号： B25J9/16 , B25J11/00 , B25J17/02
摘要： An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.

6. 发明授权

US10005182B2 Robot arm 有权
公开(公告)号：US10005182B2
公开(公告)日：2018-06-26
申请号：US15037194
申请日：2014-11-18
申请人： FerRobotics Compliant Robot Technology GmbH
发明人： Ronald Naderer , Paolo Ferrara
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16
CPC分类号： B25J9/1633 , B25J9/1641 , G05B2219/39186 , G05B2219/39197 , G05B2219/39342 , G05B2219/39345
摘要： A robot includes a yielding element for mechanically coupling first and second arm segments of a robot arm. A motor moves the second arm segment relative to the first arm segment. A sensor determines a relative position of the first arm segment in relation to the second arm segment and outputs a position sensor signal representing the relative position. A control unit controls the motor in accordance with the position sensor signal such that the first arm segment is moved into a desired relative position in relation to the second arm segment, when no external force is applied to the robot arm, and when an external force is applied to the robot arm, the motor generates a counterforce which depends on the deviation between the actual and desired positions. The control unit has a predetermined time constant so that changes in the external force are substantially absorbed by damping elements.

7. 发明授权

US09993922B2 Active handling apparatus and method for contact tasks 有权
公开(公告)号：US09993922B2
公开(公告)日：2018-06-12
申请号：US15168650
申请日：2016-05-31
申请人： FerRobotics Compliant Robot Technology GmbH
发明人： Ronald Naderer , Paolo Ferrara , Andreas Rohrhofer
IPC分类号： B25J9/16 , B25J11/00 , B25J17/02
CPC分类号： B25J9/1633 , B25J9/1687 , B25J11/0065 , B25J17/0208 , G05B2219/39319 , G05B2219/39349 , G05B2219/39577 , G05B2219/49356 , Y10S901/09
摘要： An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.

8. 发明申请

US20160271797A1 Active Handling Apparatus and Method for Contact Tasks 有权
标题翻译：主动处理装置和接触任务方法
公开(公告)号：US20160271797A1
公开(公告)日：2016-09-22
申请号：US15168650
申请日：2016-05-31
申请人： FerRobotics Compliant Robot Technology GmbH
发明人： Ronald Naderer , Paolo Ferrara , Andreas Rohrhofer
IPC分类号： B25J9/16 , B25J17/02 , B25J11/00
CPC分类号： B25J9/1633 , B25J9/1687 , B25J11/0065 , B25J17/0208 , G05B2219/39319 , G05B2219/39349 , G05B2219/39577 , G05B2219/49356 , Y10S901/09
摘要： An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.
摘要翻译：描述了用于自动化接触任务的装置和相关方法。该设备包括用于将设备连接到机械手的机械接口，用于接收工具并且可相对于机械接口移动的保持器，用于相对于机械接口定位保持器的至少一个致动器，感测单元由所述至少一个致动器提供的致动器力，以及控制单元，其将所述致动器力设定为期望的最小力，以将所述保持器抵靠止动件按压，同时所述工具与表面之间没有接触，并且当支架相对于机械接口相对于期望的最小力的方向移动。当检测到工具和表面之间的接触时，控制单元还根据预编程的接触力时间特性进一步调节致动器的力。

9. 发明授权

US11752626B2 Apparatus and method for automated contact tasks 有权
公开(公告)号：US11752626B2
公开(公告)日：2023-09-12
申请号：US17158261
申请日：2021-01-26
申请人： FerRobotics Compliant Robot Technology GmbH
发明人： Ronald Naderer , Paolo Ferrara , Andreas Rohrhofer
IPC分类号： B25J9/16 , B25J17/02 , B25J11/00
CPC分类号： B25J9/1633 , B25J9/1687 , B25J11/0065 , B25J17/0208 , G05B2219/39319 , G05B2219/39577 , G05B2219/49356 , Y10S901/09
摘要： An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.

10. 发明授权

US10737141B2 Device for training coordinative faculties 有权
公开(公告)号：US10737141B2
公开(公告)日：2020-08-11
申请号：US15947982
申请日：2018-04-09
申请人： Ferrobotics Compliant Robot Technology GmbH
发明人： Ronald Naderer , Paolo Ferrara
IPC分类号： A63B24/00 , A61B5/103 , A63B22/00 , A63B22/16 , A63B69/00 , A61B5/00 , A63B22/18 , A63B26/00 , A63B71/06
摘要： The invention relates to a device for training coordinative faculties. The device has at least one movable standing plate; at least one static base plate; at least two connecting elements, the height of which can be modified and which act between the at least one movable standing plate and the at least one static base plate, a user interface; and a control element. The device is designed to specify a sequence of various setpoint positions of the centre of gravity of a user standing on the at least one movable standing plate, each of the setpoint positions being specified for a determined duration, and to continuously measure the actual position of the centre of gravity of the person standing on the moving plate. The device is further designed to compare each measured actual position to the setpoint position specified at the time of the measurement, to generate control signals taking into consideration the measured actual positions and/or the results of the comparisons of actual positions and setpoint positions, and to control the at least two connecting elements with the control signals.

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