Patents Assigned to Kuka
  • Method and system for operating and/or monitoring a machine, in particular a robot
    Patent number: 9999975
    Abstract: A method for operating and/or monitoring a machine, in particular, a multiple axis robot, includes determining whether an outer border of a first spatial area and an outer border of a second spatial area intersect each other, and detecting a penetration of the first spatial area by the second spatial area, in the event that the two outer borders intersect each other, wherein one of the two spatial areas is machine-fixed.
    Type: Grant
    Filed: June 8, 2016
    Date of Patent: June 19, 2018
    Assignee: KUKA Deutschland GmbH
    Inventors: Ewald Frensch, Torsten Geiler
  • Method and device for controlling manipulators
    Patent number: 9999973
    Abstract: According to a method according to the invention for controlling at least one manipulator, in particular a robot, a plurality of control commands (P, B, F) are worked through, in that in a state machine (ZM) the respective command runs through an active state (-A), wherein in a state machine at least one control command runs through a preliminary state (-E) that is placed ahead of its active state and/or a post-operational state (-P) that is placed after its active state, and/or a plurality of control commands are processed at the same time.
    Type: Grant
    Filed: November 19, 2010
    Date of Patent: June 19, 2018
    Assignee: KUKA Deutschland GmbH
    Inventor: Bernd Finkemeyer
  • Robotic surgery system and surgical instrument
    Patent number: 9993307
    Abstract: A robotic surgery system includes a robot and an instrument assembly. The instrument assembly includes a drive unit with at least one rotary drive having an electric motor and a drive shaft that has a coupling part for coupling to a drive shaft of the instrument; an instrument including an instrument shaft and a drive shaft that has a coupling part for coupling to a drive shaft of the drive unit; and an instrument interface including a sheath that encompasses the drive unit. In order to detachably couple an instrument module to an instrument part of a surgical instrument, an electromagnet in a magnet assembly of the instrument module is activated or deactivated, a permanent magnet of said magnet assembly is moved into a locking position and/or an angular position of a coupled counter element assembly of the instrument part is detected by an angle sensor of the instrument module.
    Type: Grant
    Filed: October 24, 2014
    Date of Patent: June 12, 2018
    Assignee: KUKA Deutschland GmbH
    Inventors: Sebastian Lohmeier, Wolfgang Schober
  • Handheld robot operation unit with an adapter device for a mobile terminal device
    Patent number: 9981378
    Abstract: A handheld robot operation unit comprises a basic safety control device, a mobile terminal device, and a holder configured to mount the mobile terminal device on the basic safety control device. The holder comprises at least one adapter device configured to mechanically connect the mobile terminal device to the basic safety control device.
    Type: Grant
    Filed: April 13, 2016
    Date of Patent: May 29, 2018
    Assignee: KUKA Deutschland GmbH
    Inventors: Yevgen Kogan, Martin Riedel
  • Workstation
    Patent number: 9981394
    Abstract: A human-robot cooperation (HRC) workstation has a programmable industrial robot (4) and a manual working area (14) for a worker (5) in a region surrounding the industrial robot (4). In the HRC workstation (1), the working areas of the industrial robot (4) and the worker (5) overlap. Contact between the worker (5) and the industrial robot (4) is possible. The workstation (1) is divided into a plurality of different zones (17, 18, 19, 20) having differently high levels of risk of hazard from the industrial robot (4) for the worker (5). The industrial robot (4) is suitable for human-robot cooperation.
    Type: Grant
    Filed: September 17, 2014
    Date of Patent: May 29, 2018
    Assignee: KUKA SYSTEMS GMBH
    Inventors: Robert Haman, Richard Zunke, Willi Klumpp, Michael Zürn, Ralf Kühnemann, Otmar Honsberg, Matthias Reichenbach, Simon Klumpp, Andreas Domke, Konrad Wirth, Christian Eberdt, Kurt Strauss, Alexander Gürtler, Reinhard Neureiter, Thomas Rau, Julian Stockschläder
  • Detection device and detection method
    Patent number: 9962836
    Abstract: A detection device and a detection method are provided for robot-induced loads that can act upon the human body in contact with the robot during a working process. The robot-induced loads, in particular forces, are measured by the measuring device (16) of an external sensing device (2). The measuring device (16) is suitably positioned and oriented in this process in the working area of an industrial robot (3) by means of a positioning device (15).
    Type: Grant
    Filed: November 6, 2014
    Date of Patent: May 8, 2018
    Assignee: KUKA SYSTEMS GMBH
    Inventors: Richard Zunke, Andreas Domke, Konrad Wirth, Thomas Rau, Julian Stockschläder
  • Method and device for decelerating a robot axis arrangement
    Patent number: 9956693
    Abstract: A method for decelerating a robot axis arrangement having at least one output link includes steps of applying a braking force on the output link with a brake and, in so doing, controlling a driving force of a drive that acts on the output link, and/or controlling the braking force on the basis of a dynamic variable of the output link, wherein the dynamic variable is a function of the braking force.
    Type: Grant
    Filed: July 23, 2014
    Date of Patent: May 1, 2018
    Assignee: KUKA Deutschland GmbH
    Inventors: Hartmut Keyl, Michael Thummel, Dietmar Tscharnuter, Tobias Weiser
  • Industrial robot with a drive arrangement arranged on an arm extension
    Patent number: 9950423
    Abstract: An industrial robot includes a robot arm with multiple elements connected via joints, one element of which is designed as a linkage and another designed as an arm extension. The arm extension is mounted on one side of the linkage in a pivotal manner about a rotational axis by one of the joints and supports at least two other elements which form hand elements of the robot arm. An arm extension drive on the arm extension pivots the arm extension relative to the linkage, and a first hand element drive on the arm extension moves one of the hand elements relative to the arm extension. A motor shaft of the arm extension drive on the arm extension is offset from and runs parallel to the rotational axis, and a motor shaft of the first hand element drive on the arm extension is perpendicular to and spaced from the rotational axis.
    Type: Grant
    Filed: April 11, 2014
    Date of Patent: April 24, 2018
    Assignee: KUKA Deutschland GmbH
    Inventors: Rainer Krumbacher, Andre Reekers
  • Method and system for stopping of axes of an industrial robot
    Patent number: 9943968
    Abstract: The invention relates to a method or a system for the dependable stopping of axes of an industrial robot. The industrial robot comprises a control device (501, 502), power electronics (201, 202, 203) and a DC source (300), as well as at least one axis (700), which is assigned to an electric motor (100) and to a mechanical brake (600). In order to stop the axis a direct current is supplied by the DC source in at least one motor phase of the motor, which generates a braking torque.
    Type: Grant
    Filed: November 2, 2015
    Date of Patent: April 17, 2018
    Assignee: KUKA Roboter GmbH
    Inventors: Torsten Geiler, Richard Rudolf
  • Robot System And Method For Operating A Teleoperative Process
    Publication number: 20180085926
    Abstract: A system and a method for carrying out a teleoperative process, wherein an image recording device and a tool are used. The tool may be guided by a first manipulator, and a currently captured region of the image recording device is determined. Monitoring the position of the tool relative to the currently captured region of the image recording device makes it possible to prevent the tool from unintentionally leaving the captured region. The axes of the manipulator are provided with sensors for detecting the forces and/or torques acting on the axes.
    Type: Application
    Filed: March 17, 2016
    Publication date: March 29, 2018
    Applicant: KUKA Roboter GmbH
    Inventor: Yevgen Kogan
  • Altering an initially predetermined robot path
    Patent number: 9902065
    Abstract: A method for altering an initially predetermined path of a robot arrangement having at least one robot includes selecting a portion of the initially predetermined path, altering the selected portion of the path, and predetermining an altered path based on the altered portion of the path. A deviation between the initially predetermined path and the altered path is determined, and a reaction is triggered if the deviation fulfills a predetermined condition for a reaction. In another aspect, a computer programming product, when executed by a computer, causes the computer to select a portion of the initially predetermined path, alter the selected portion of the path, predetermine an altered path based on the altered portion of the path, determine a deviation between the initially predetermined and the altered path, and trigger a reaction if the deviation fulfills a predetermined condition for a reaction.
    Type: Grant
    Filed: February 23, 2016
    Date of Patent: February 27, 2018
    Assignee: KUKA Roboter GmbH
    Inventors: Christoph Dzierzega, Markus Dinkhoff
  • Telepresence system
    Patent number: 9902072
    Abstract: A telepresence system includes a man-machine interface and a teleoperator configured to communicate bidirectionally with the man-machine interface via a communications channel. The teleoperator performs actions based on first signals generated due to a manual operation of the man-machine interface and transmitted over the communication channel, and sends second signals to the man-machine interface over a second communication channel. At least one buffer device buffers signals transferred through the communication channel and releases the signals delayed so that the signals coming from the man-machine interface and the signals coming from the teleoperator each are transmitted through the communication channel with an effective constant time delay.
    Type: Grant
    Filed: December 1, 2011
    Date of Patent: February 27, 2018
    Assignee: KUKA Roboter GmbH
    Inventors: Dirk Jacob, Marc-Walter Ueberle, Thomas Neff, Martin Kuschel, Tobias Ortmaier
  • Setting synchronized robot movements
    Patent number: 9895807
    Abstract: An inventive programming means for programming a movement of a robot axis arrangement and a movement of at least one further robot axis arrangement is adapted to synchronize the pair of positions of the movement of the robot axis arrangement and the pairs of positions of the movement of at least one more robot axis arrangement, and while maintaining this synchronization, to specify at least another position between either one of these pairs of positions, which is not synchronized with another position of the hereby synchronized pair of positions.
    Type: Grant
    Filed: June 13, 2013
    Date of Patent: February 20, 2018
    Assignee: KUKA Roboter GmbH
    Inventors: Guenther Wiedemann, Manfred Huettenhofer, Stefanie Deller, Andreas Hagenauer, Martin Weiss
  • Industrial robot with at least one drive
    Patent number: 9895814
    Abstract: A robotic arm of an industrial robot includes successive links connected by joints having respective drives and associated transmissions for moving the links. First and second links have respective first and second housings that transfer forces and moments arising from the weight of the robotic arm, or a load carried by the arm, to adjacent links. A first drive rotatably connecting the first and second links includes a drive housing, a rotor, and a stator connected to the drive housing. The drive housing is fastened to the first housing of the first link and forms an external wall of the robotic arm. The transmission associated with the first drive includes an input link that is joined with the rotor of the first drive. An output of the first drive is connected to a flange that is fastened to the second housing and rotatable relative to the drive housing.
    Type: Grant
    Filed: August 12, 2014
    Date of Patent: February 20, 2018
    Assignee: KUKA Roboter GmbH
    Inventor: Rainer Krumbacher
  • Manufacturing Device, Manufacturing Plant And Method
    Publication number: 20180036845
    Abstract: The invention relates to an automatic manufacturing device (18-22) for vehicle body parts (2, 2?), comprising at least one program-controlled manufacturing means (28, 29) and a processing zone (26) designed to sequentially receive at least two different load accepting means (6). A detection device (36) detects a type designation (37) of one of the load accepting means (6), and a control device (38) ascertains the type (A, B, C, D) of the load accepting means (6) on the basis of the detected type designation (37) and selects and executes a control program (40) for the manufacturing means (28, 29) on the basis of the ascertained type.
    Type: Application
    Filed: February 19, 2016
    Publication date: February 8, 2018
    Applicant: KUKA Systems GmbH
    Inventor: Paul Thorwarth
  • Determination of object-related gripping regions using a robot
    Patent number: 9878446
    Abstract: The invention relates to a method and a system for determining gripping regions on an object. The object is to be gripped, based on the determined gripping regions, by means of a robot. At least one first gripping pose of the robot is taught at the object, and additional gripping poses are determined at the object. Based on these gripping poses, a first gripping region is configured.
    Type: Grant
    Filed: November 6, 2015
    Date of Patent: January 30, 2018
    Assignee: KUKA Roboter GmbH
    Inventors: Christian Scheurer, Stephanie Bobert, Uwe Zimmermann
  • Medical workstation
    Patent number: 9872651
    Abstract: The invention relates to a medical work station which has a medical instrument which is intended to be inserted at least partially into the interior of a lying being for treating the latter, an imaging device which is set up to create image data records of the interior of the living being during the treatment, and a robot. The robot includes a robot arm having a plurality of members situated one after another, on which the imaging device or the medical instrument may be situated, and a control device intended for moving the robot arm, which is set up to move the robot arm in such a way that the imaging device attached to the robot arm follows a motion of the medical instrument, or the medical instrument attached to the robot arm follows a motion of the imaging device.
    Type: Grant
    Filed: March 14, 2012
    Date of Patent: January 23, 2018
    Assignee: KUKA Roboter GmbH
    Inventor: Ralph Berke
  • Parting device and parting method
    Patent number: 9849594
    Abstract: A parting device and a parting method are provided, in particular for trimming workpieces (2), in particular solar modules. The parting device has a multi-member (12, 13, 14, 15) programmable robot (6) which is in the form of a tactile robot, in particular a force/torque-regulated robot. The robot guides a parting tool (8) which is in the form of a knife.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: December 26, 2017
    Assignee: KUKA SYSTEMS GMBH
    Inventor: Markus Keese
  • PRESSURE WELDING DEVICE AND PRESSURE WELDING METHOD
    Publication number: 20170348793
    Abstract: A pressure welding method and to a pressure welding device (1) are provided. The pressure welding device (1) includes a plastification device (7), an upsetting device (8) and component mountings (34, 35, 36, 37) for the components (2, 3, 3?, 4) to be welded together and a machine frame (12). The pressure welding device (1) includes a machine head (13) which is arranged so as to move on the machine frame (12). The machine head (13) includes a rotatable spindle (54) and a component mounting element (34, 35) as well as an associated spindle drive (56). The machine head (13, 14) and the spindle drive (56) are separated from each other on the machine frame (12). A controllable mass decoupling (79) including an axially tolerant coupling (80), is arranged in the drive train (57) between the fixed or moveable spindle drive (56) arranged on the machine frame (12).
    Type: Application
    Filed: November 12, 2015
    Publication date: December 7, 2017
    Applicant: KUKA INDUSTRIES GMBH
    Inventors: Michael BÜCHLER, Otmar FISCHER, Harald MEYER, Klaus SCHNEIDER
  • Method for robot-assisted measurement of measurable objects
    Patent number: 9833904
    Abstract: A method for carrying out a robot-assisted measurement of measurable objects. The paths of a sensor are defined and transmitted to a robot co-ordinate system. The actual paths of the sensor guided on the robot are recorded. A plurality of measurable objects is measured, the sensor being guided with the robot along the actual paths. A compensating device makes it possible to compensate internal and/or external influences produced on the robot. The compensation stage is carried out after a determined number of measurements.
    Type: Grant
    Filed: November 24, 2015
    Date of Patent: December 5, 2017
    Assignee: KUKA Roboter GmbH
    Inventor: Alexander Verl