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1. CN108367437 - METHOD FOR DETECTING COLLISION OF ROBOTIC ARM HAVING OBJECT, AND ROBOT HAVING ROBOTIC ARM

Office Chine
Numéro de la demande 201680071924.8
Date de la demande 01.12.2016
Numéro de publication 108367437
Date de publication 03.08.2018
Type de publication A
CIB
B25J 9/16
BTECHNIQUES INDUSTRIELLES; TRANSPORTS
25OUTILS À MAIN; OUTILS PORTATIFS À MOTEUR; MANCHES POUR USTENSILES À MAIN; OUTILLAGE D'ATELIER; MANIPULATEURS
JMANIPULATEURS; ENCEINTES À DISPOSITIFS DE MANIPULATION INTÉGRÉS
9Manipulateurs à commande programmée
16Commandes à programme
B25J 19/06
BTECHNIQUES INDUSTRIELLES; TRANSPORTS
25OUTILS À MAIN; OUTILS PORTATIFS À MOTEUR; MANCHES POUR USTENSILES À MAIN; OUTILLAGE D'ATELIER; MANIPULATEURS
JMANIPULATEURS; ENCEINTES À DISPOSITIFS DE MANIPULATION INTÉGRÉS
19Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
06Dispositifs de sécurité
CPC
B25J 9/1676
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1674characterised by safety, monitoring, diagnostic
1676Avoiding collision or forbidden zones
G05B 2219/37624
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
37Measurements
37624Detect collision, blocking by measuring change of velocity or torque
G05B 2219/37629
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
37Measurements
37629Detect sudden change of direction due to collision
G05B 2219/49141
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
49Nc machine tool, till multiple
49141Detect near collision and slow, stop, inhibit movement tool
B25J 9/047
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
02characterised by movement of the arms, e.g. cartesian coordinate type
04by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
046Revolute coordinate type
047the pivoting axis of the first arm being offset to the vertical axis
B25J 9/1651
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1651acceleration, rate control
Déposants KUKA ROBOTER GMBH
库卡德国有限公司
Inventeurs KOGAN YEVGEN
Y·库甘
WALTHER STEFFEN
S·沃尔瑟
Mandataires 隆天知识产权代理有限公司 72003
隆天知识产权代理有限公司 72003
Données relatives à la priorité 102015224641 08.12.2015 DE
Titre
(EN) METHOD FOR DETECTING COLLISION OF ROBOTIC ARM HAVING OBJECT, AND ROBOT HAVING ROBOTIC ARM
(ZH) 识别机器人臂与物体相撞的方法和具有机器人臂的机器人
Abrégé
(EN)
The invention relates to a method for detecting a collision of a robotic arm (2) with an object (13), and to a correspondingly designed robot (1). The robotic arm (2) is part of the robot (1) and comprises a plurality of members (3-8), which are arranged one behind the other and mounted relative to axes (A1-A6), and position sensors (12), which are associated with the individual axes (A1-A6) and are provided to determine the positions of every two adjacent members (3-8) relative to each other. The robot (1) comprises an electronic control device (10) connected to the position devices (12) anddrives actuated by the electronic control device (10) for automatically moving the members (3-8) of the robotic arm (2) relative to each other.

(ZH)
本发明涉及一种用于识别机器人臂(2)与物体(13)相撞的方法和一种相应设计的机器人(1)。机器人臂(2)是机器人(1)的一部分,并包括多个依次设置的、关于轴(A1‑A6)安装的节肢(3‑8)和对应于各个轴(A1‑A6)的、用于确定两个相邻节肢(3‑8)相对于彼此的姿势的位置传感器(12)。机器人(1)包括与位置装置(12)连接的电子控制装置(10)和由电子控制装置(10)操控的、用于使机器人臂(2)的节肢(3‑8)相对于彼此自动地运动的驱动器。

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