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1. 发明授权

US08326590B2 Method and system for designing and checking safety zones of a robot 有权
标题翻译：设计和检查机器人安全区域的方法和系统
公开(公告)号：US08326590B2
公开(公告)日：2012-12-04
申请号：US12443582
申请日：2007-09-28
申请人： Soenke Kock , Adam Loeschner , Christoph Winterhalter , Kevin Behnisch , Roland Krieger
发明人： Soenke Kock , Adam Loeschner , Christoph Winterhalter , Kevin Behnisch , Roland Krieger
IPC分类号： G06G7/48
CPC分类号： G05B19/4061 , G05B2219/39082 , G05B2219/39098 , G05B2219/49138
摘要： A method for simulating a movement zone of a robot having at least one data processing installation, simulating at least one movement path of the robot, comprises providing a number of selectable points on the at least one movement path of the robot, calculating a braking path for each of the selectable points, calculating a virtual movement zone based on the braking paths and a maximum position reachable by the robot for the respective at least one movement path, and carrying out the simulation of functions of the robot off-line using a software module.
摘要翻译：一种用于模拟具有至少一个数据处理装置的机器人的移动区域的方法，模拟所述机器人的至少一个移动路径，包括在所述机器人的所述至少一个移动路径上提供多个可选点，计算制动路径对于每个可选点，基于制动路径计算虚拟移动区域和针对相应的至少一个移动路径的机器人可达到的最大位置，并且使用软件对离线机器人的功能进行模拟模块。

2. 发明申请

US20090271036A1 METHOD FOR INCREASING SAFETY WHEN OPERATING A ROBOT 审中-公开
标题翻译：运行机器人时增加安全的方法
公开(公告)号：US20090271036A1
公开(公告)日：2009-10-29
申请号：US12443536
申请日：2007-09-04
申请人： Soenke Kock , Roland Krieger
发明人： Soenke Kock , Roland Krieger
IPC分类号： G06F19/00
CPC分类号： B25J9/1666 , B25J15/04 , B25J19/06 , G05B2219/49137 , G05B2219/49304 , G05B2219/49305
摘要： A method for operating a robot with a tool changer comprises providing a plurality of different kinds of tools, associating each of the plurality of tools with an unique explicit signature, producing at least one safe signal using the tool changer, wherein the at least one safe signal is a two-channel signal corresponding to one of the unique explicit signatures, and identifying the at least one tool using the at least one safe signal.
摘要翻译：一种用工具更换器操作机器人的方法，包括提供多种不同类型的工具，将多个工具中的每一个与唯一的显性签名相关联，使用该工具更换器产生至少一个安全信号，其中该至少一个安全信号是对应于唯一显性签名中的一个的双信道信号，以及使用所述至少一个安全信号来识别所述至少一个工具。

3. 发明授权

US08700914B2 Method and system for changing safety-relevant data for a control device 有权
标题翻译：用于改变控制装置的安全相关数据的方法和系统
公开(公告)号：US08700914B2
公开(公告)日：2014-04-15
申请号：US12301197
申请日：2007-04-26
申请人： Soenke Kock , Peter Eriksson , Jan Bredahl , Michael Niehaus
发明人： Soenke Kock , Peter Eriksson , Jan Bredahl , Michael Niehaus
IPC分类号： G06F11/30 , G05B19/04 , G06F21/57
CPC分类号： G05B19/04 , G05B19/0426 , G05B2219/23214 , G05B2219/24155 , G05B2219/24159 , G05B2219/24163 , G05B2219/25068 , G06F21/572
摘要： A system and method for changing safety-relevant data for a control device is provided wherein an authorized user inputs new or altered safety-relevant data, which is received on a data processing installation. A first checksum for the safety-relevant data is established and stored along with the safety-relevant data in at least one data record on the data processing installation. An enable code may also be stored in the at least one data record. This enable code may be produced by a code generator and encrypted by a key module. The data processing installation then reads back the safety-relevant data from a memory in the data processing installation, thereby allowing a comparison of the received safety-relevant data and the read back safety-relevant data. A second checksum is generated in a case where the comparison resulted in no differences. The second checksum may also be stored in the at least one data record. At least one new data record containing the safety-relevant data, the encrypted enable code and the first and second checksums is created and transmitted to the control device. The new data record is checked against prior data records and prior checksums stored on a storage medium to determine that the at least one new data record is known to the control device.
摘要翻译：提供了一种用于改变控制装置的安全相关数据的系统和方法，其中授权用户输入在数据处理装置上接收的新的或改变的安全相关数据。建立安全相关数据的第一个校验和，并与安全相关的数据一起存储在数据处理设备的至少一个数据记录中。启用代码也可以存储在至少一个数据记录中。该启用代码可以由代码生成器产生并由密钥模块加密。然后，数据处理装置从数据处理装置中的存储器读回与安全相关的数据，从而允许对所接收的安全相关数据和回读安全相关数据进行比较。在比较结果没有差异的情况下产生第二校验和。第二校验和也可以存储在至少一个数据记录中。至少一个包含安全相关数据，加密启用码以及第一和第二校验和的新数据记录被创建并发送到控制设备。根据存储在存储介质上的先前数据记录和先前校验和来检查新数据记录，以确定控制装置已知至少一个新的数据记录。

4. 发明申请

US20080078266A1 Jig particularly for the positioning of articles 审中-公开
标题翻译：夹具特别适用于定位物品
公开(公告)号：US20080078266A1
公开(公告)日：2008-04-03
申请号：US11902866
申请日：2007-09-26
申请人： Sven Soetebier , Soenke Kock , Waldi Wolfgang
发明人： Sven Soetebier , Soenke Kock , Waldi Wolfgang
IPC分类号： G05G11/00 , B25B11/00 , B25J9/06
CPC分类号： B25J17/0216 , Y10T74/20378
摘要： A jig particularly for the positioning of articles (1), with length-adjustable props (2), with a base part (3), with a receptacle (4) for the article (1), the props (2) being arranged between the base part (3) and the receptacle (4) and being in each case mounted movably there, and with a drive and control for adjusting the props (2), is specified. At least one pair of props (5) is formed from two props (2) in such a way that the two props (2) of the pair of props (5) extend parallel, thus resulting in the form of a parallelogram.
摘要翻译：特别是用于定位具有长度可调的道具（2）的物品（1）的夹具，具有基部（3）以及用于制品（1）的容器（4）），所述道具（2）布置在基座部分（3）和插座（4），并且每一种情况都可以安装在那里，并且具有用于调节道具（2）的驱动和控制。至少一对道具（5）由两个道具（2）形成，使得一对道具（5）的两个道具（2）平行延伸，从而形成平行四边形。

5. 发明申请

US20090313481A1 METHOD AND SYSTEM FOR CHANGING SAFETY-RELEVANT DATA FOR A CONTROL DEVICE 有权
标题翻译：用于更改用于控制设备的安全相关数据的方法和系统
公开(公告)号：US20090313481A1
公开(公告)日：2009-12-17
申请号：US12301197
申请日：2007-04-26
申请人： Soenke Kock , Peter Eriksson , Jan Bredahl , Michael Niehaus
发明人： Soenke Kock , Peter Eriksson , Jan Bredahl , Michael Niehaus
IPC分类号： G06F12/14 , G05B19/042
CPC分类号： G05B19/04 , G05B19/0426 , G05B2219/23214 , G05B2219/24155 , G05B2219/24159 , G05B2219/24163 , G05B2219/25068 , G06F21/572
摘要： A system and method for changing safety-relevant data for a control device is provided wherein an authorized user inputs new or altered safety-relevant data, which is received on a data processing installation. A first checksum for the safety-relevant data is established and stored along with the safety-relevant data in at least one data record on the data processing installation. An enable code may also be stored in the at least one data record. This enable code may be produced by a code generator and encrypted by a key module. The data processing installation then reads back the safety-relevant data from a memory in the data processing installation, thereby allowing a comparison of the received safety-relevant data and the read back safety-relevant data. A second checksum is generated in a case where the comparison resulted in no differences. The second checksum may also be stored in the at least one data record. At least one new data record containing the safety-relevant data, the encrypted enable code and the first and second checksums is created and transmitted to the control device. The new data record is checked against prior data records and prior checksums stored on a storage medium to determine that the at least one new data record is known to the control device.
摘要翻译：提供了一种用于改变控制装置的安全相关数据的系统和方法，其中授权用户输入在数据处理装置上接收的新的或改变的安全相关数据。建立安全相关数据的第一个校验和，并与安全相关的数据一起存储在数据处理设备的至少一个数据记录中。启用代码也可以存储在至少一个数据记录中。该启用代码可以由代码生成器产生并由密钥模块加密。然后，数据处理装置从数据处理装置中的存储器读回与安全相关的数据，从而允许对所接收的安全相关数据和回读安全相关数据进行比较。在比较结果没有差异的情况下产生第二校验和。第二校验和也可以存储在至少一个数据记录中。至少一个包含安全相关数据，加密启用码以及第一和第二校验和的新数据记录被创建并发送到控制设备。根据存储在存储介质上的先前数据记录和先前校验和来检查新数据记录，以确定控制装置已知至少一个新的数据记录。

6. 发明授权

US08249747B2 Robot safety system and a method 有权
标题翻译：机器人安全系统和方法
公开(公告)号：US08249747B2
公开(公告)日：2012-08-21
申请号：US13131267
申请日：2008-12-03
申请人： Soenke Kock
发明人： Soenke Kock
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： B25J9/1676 , G05B2219/40202 , G05B2219/40203
摘要： A robot safety system configured to protect humans in the vicinity of a working robot (1, 11, 21, 31) against harmful impacts by said robot (1, 11, 21, 31), said safety system comprising a sensor system (3, 13, 23) and a safety controller (4, 14, 24) configured to establish an impact risk profile of the robot (1, 11, 21, 31) and deliver an operating signal to a robot controller (2, 12, 22) based on said impact risk profile, wherein the safety controller (4, 14, 24) is configured to establish the impact risk profile based on stored data and input signals, and that the stored data and input signals comprise stored impact data, stored data related to the path of the robot (1, 11, 21, 31), and signals from the sensor system of events in the vicinity of the robot (1, 11, 21, 31), such as a detected human (P1, P11, P21, P22, P31, P32) in the vicinity of the robot (1, 11, 21, 31).
摘要翻译：一种机器人安全系统，其被配置为保护工作机器人附近的人（1,11,21,31）免受所述机器人（1,11,21,31）的有害冲击，所述安全系统包括传感器系统（3，被配置为建立所述机器人（1,11,21,31）的冲击风险特性的安全控制器（4,14,24），并将操作信号传递给机器人控制器（2,12,22）基于所述影响风险简档，其中所述安全控制器（4,14,24）被配置为基于存储的数据和输入信号建立所述影响风险简档，并且所存储的数据和输入信号包括存储的冲击数据，存储的数据相关到机器人（1,11,21,31）的路径，以及来自传感器系统的信号，例如机器人（1,11,21,31）附近的事件，例如检测到的人（P1，P11， P21，P22，P31，P32）在机器人附近（1,11,21,31）。

7. 发明申请

US20110264266A1 Robot safety system and a method 有权
标题翻译：机器人安全系统和方法
公开(公告)号：US20110264266A1
公开(公告)日：2011-10-27
申请号：US13131267
申请日：2008-12-03
申请人： Soenke Kock
发明人： Soenke Kock
IPC分类号： B25J9/16
CPC分类号： B25J9/1676 , G05B2219/40202 , G05B2219/40203
摘要： A robot safety system configured to protect humans in the vicinity of a working robot (1, 11, 21, 31) against harmful impacts by said robot (1, 11, 21, 31), said safety system comprising a sensor system (3, 13, 23) and a safety controller (4, 14, 24) configured to establish an impact risk profile of the robot (1, 11, 21, 31) and deliver an operating signal to a robot controller (2, 12, 22) based on said impact risk profile, wherein the safety controller (4, 14, 24) is configured to establish the impact risk profile based on stored data and input signals, and that the stored data and input signals comprise stored impact data, stored data related to the path of the robot (1, 11, 21, 31), and signals from the sensor system of events in the vicinity of the robot (1, 11, 21, 31), such as a detected human (P1, P11, P21, P22, P31, P32) in the vicinity of the robot (1, 11, 21, 31).
摘要翻译：一种机器人安全系统，其被配置为保护工作机器人附近的人（1,11,21,31）免受所述机器人（1,11,21,31）的有害冲击，所述安全系统包括传感器系统（3，被配置为建立所述机器人（1,11,21,31）的冲击风险特性的安全控制器（4,14,24），并将操作信号传递给机器人控制器（2,12,22）基于所述影响风险简档，其中所述安全控制器（4,14,24）被配置为基于存储的数据和输入信号建立所述影响风险简档，并且所存储的数据和输入信号包括存储的冲击数据，存储的数据相关到机器人（1,11,21,31）的路径，以及来自传感器系统的信号，例如机器人（1,11,21,31）附近的事件，例如检测到的人（P1，P11， P21，P22，P31，P32）在机器人附近（1,11,21,31）。

8. 发明授权

US08225692B2 Positioning device 有权
标题翻译：定位装置
公开(公告)号：US08225692B2
公开(公告)日：2012-07-24
申请号：US12282827
申请日：2007-03-06
申请人： Soenke Kock , Sven Soetebier , Wolfgang Waldi
发明人： Soenke Kock , Sven Soetebier , Wolfgang Waldi
IPC分类号： B25J18/02
CPC分类号： B23Q1/5462 , B25J17/0216 , Y10T74/20317 , Y10T74/20329
摘要： A positioning device includes a supporting structure, a work carrier, at least six length-adjustable struts arranged in strut pairs, each strut being moveably mounted to the supporting structure and to the work carrier and at least one drive configured to adjust a length of at least one of the struts. The struts of each strut pair are disposed parallel to each other and each strut pair has a pivot bearing disposed at a first end of each strut and a second bearing disposed at a second end of each strut.
摘要翻译：定位装置包括支撑结构，工作载体，至少六个长度可调节的支柱，其布置成支柱对，每个支柱可移动地安装到支撑结构和工作载体上，并且至少一个驱动器构造成调节至少一个支柱。每个支柱对的支柱彼此平行设置，并且每个支柱对具有设置在每个支柱的第一端处的枢轴轴承和设置在每个支柱的第二端处的第二轴承。

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