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1. 发明授权

US11524405B2 Screwing device 有权
公开(公告)号：US11524405B2
公开(公告)日：2022-12-13
申请号：US16606998
申请日：2018-04-18
申请人： Franka Emika GmbH
发明人： Tobias Ende , Michael Haas , Saskia Golz , Sven Parusel , Simon Haddadin
IPC分类号： B25J9/16
摘要： A screwing device including: a container for screws; a manipulator having an effector to pick up a screw; an isolating unit connected to the container to provide the screw from the container at an interface such that a head of the screw is accessible to the effector; and a control unit to control the manipulator in executing a control program to perform operations including: guiding the effector along a trajectory having an orientation to the screw head at the interface, wherein the orientation is defined for locations along the trajectory; and executing force-regulated, impedance-regulated, and/or admittance-regulated periodic and closed tilting movements of the effector in relation to its orientation until a condition for a torque, a force, or a time for carrying out the tilting movements is reached or exceeded, and/or a force/torque and/or a position/speed signature at the effector is reached or exceeded, indicating successful pick-up of the screw.

2. 发明授权

US11247339B2 Device and method for plugging an expansion board into a plug-in coupling 有权
公开(公告)号：US11247339B2
公开(公告)日：2022-02-15
申请号：US16606989
申请日：2018-04-18
申请人： Franka Emika GmbH
发明人： Tobias Ende , Michael Haas , Saskia Golz , Sven Parusel , Simon Haddadin
IPC分类号： B25J9/16 , B25J9/00
摘要： Device for plugging a plug-in region of an expansion board into a plug-in coupling including: a first interface providing the coupling; a second interface providing the board; a robot manipulator having an effector; and a controller controlling the robot manipulator to plug the region into the coupling, the controller configured to execute a program for the robot manipulator to perform operations including: picking up the board at the second interface using the effector; guiding the board along a trajectory and target orientation of the region to the coupling; carrying out tilting motions of the region until reaching or exceeding a limit value condition G1 for a torque acting on the effector and/or a limit value condition G2 of a force acting on the effector, and/or reaching or exceeding a force/torque signature and/or a position/velocity/acceleration signature at the effector, indicating completion of plugging the region into the coupling within predefined tolerances.

3. 发明申请

US20200039069A1 DEVICE AND METHOD FOR THE ELECTRICAL TESTING OF AN ELECTRICAL COMPONENT 审中-公开
公开(公告)号：US20200039069A1
公开(公告)日：2020-02-06
申请号：US16606831
申请日：2018-04-18
申请人： Franka Emika GmbH
发明人： Tobias Ende , Michael Haas , Saskia Golz , Sven Parusel , Simon Haddadin
IPC分类号： B25J9/16
摘要： The invention relates to a device and method for electrical testing of an electrical component, the component including at least one electrical contact point. The device includes: an interface for providing the electrical component; a first robot manipulator having an effector, which is configured and constructed for picking up, handling and releasing the electrical component; a mechanical receiving interface into which the electrical component is insertable; a contacting device having at least one electrical counter contact, the contacting device being positioned in a first state in such a manner that space is available for the first robot manipulator to be able to insert/remove the electrical component into/from the receiving interface, and the contacting device being positioned in a second condition in such a manner that the at least one counter contact is connected to the at least one contact point of the electrical component which has been inserted into the receiving interface; an analysis unit connected to the at least one counter contact, the analysis unit being configured and constructed to perform electrical testing of the electrical component using the electrical connection of the at least one counter contact and the at least one contact point in the second state and to provide and/or output a test result; and a control unit for automated control of the first robot manipulator and the contacting device.

4. 发明授权

US11845185B2 Device and method for the electrical testing of an electrical component 有权
公开(公告)号：US11845185B2
公开(公告)日：2023-12-19
申请号：US16606831
申请日：2018-04-18
申请人： Franka Emika GmbH
发明人： Tobias Ende , Michael Haas , Saskia Golz , Sven Parusel , Simon Haddadin
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1679 , G05B2219/39129 , G05B2219/40082 , G05B2219/45089
摘要： A device and method for electrical testing of a component, the component including a contact point, wherein the device includes: an interface to provide the component; a robot manipulator having an effector configured to pick up, handle, and release the component; a receiving interface into which the component is insertable; a contacting device having a counter contact, the contacting device positioned in a first state so that the robot manipulator is able to insert/remove the component into/from the receiving interface, and positioned in a second state so that the counter contact is connected to the contact point of the component inserted into the receiving interface; an analysis unit connected to the counter contact and configured to perform electrical testing of the component using connection of the counter contact and the contact point in the second state; and a control unit to control the robot manipulator and the contacting device.

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