Patents Assigned to Kuka
  • Patent number: 9149927
    Abstract: A robot arrangement has a movable, programmable robot (2), which has a plurality of links (4, 5, 6, 7) and axes of motion (I-VII) and is arranged on a movable, drivable carrying device (15). The robot arrangement (1) has a robot arrangement drive (16), which can be actuated by the robot (2), for the carrying means (15).
    Type: Grant
    Filed: February 26, 2013
    Date of Patent: October 6, 2015
    Assignee: KUKA Systems GmbH
    Inventor: Thomas Sturm
  • Patent number: 9144902
    Abstract: The invention relates to a method for determining possible positions of a robot arm of a robot. The robot arm comprises a frame, numerous links, disposed successively, which can move in relation to one another, with respect to axes. First, a target position and target orientation in space for a robot arm or a tool center point assigned to an end effector attached to the robot arm, are defined, to which a reference coordinate system having polar coordinates is assigned. Subsequently, potential possible positions of the frame of the robot arm in space and in the polar coordinates of the reference coordinate system are determined on the basis of the geometry of the robot arm, such that the tool center point can assume the defined target position and target orientation.
    Type: Grant
    Filed: April 18, 2013
    Date of Patent: September 29, 2015
    Assignee: KUKA Roboter GmbH
    Inventors: Christian Scheurer, Uwe E. Zimmermann, Shashank Sharma
  • Patent number: 9145286
    Abstract: The invention relates to a method for operating an autonomous industrial truck (1), having the following method steps: determining, by means of a measuring apparatus (6) of the autonomous industrial truck (1), whether the industrial truck potentially hits at least one obstacle (7) on the basis of the present movement of said industrial truck (1), determining that point (14) of the industrial truck (1), and determining a maximum velocity for the present movement of the industrial truck (1) on the basis of the determined distance (d), with the result that the industrial truck reliably comes to a standstill in front of the obstacle (7) on the basis of possible braking of the industrial truck (1).
    Type: Grant
    Filed: March 14, 2011
    Date of Patent: September 29, 2015
    Assignee: KUKA Roboter GmbH
    Inventors: Patrick Pfaff, Christoph Sprunk
  • Patent number: 9132873
    Abstract: A conveyance system includes a plurality of feed-forward track segments aligned end-to end, each having an upwardly facing channel and at least one linear motor disposed in the channel. At least one carrier is supported for movement along the track segments. Each carrier includes at least one magnet that cooperates with the linear motors to move the carrier along the respective feed-forward track segments.
    Type: Grant
    Filed: June 1, 2015
    Date of Patent: September 15, 2015
    Assignee: KUKA Systems Corporation North America
    Inventors: Kevin J. Laurence, Michael P. LaRose
  • Patent number: 9120174
    Abstract: The invention relates to a welding robot for resistance welding, which exhibits a welding tongs (21), a welding current generator (1) connected to the welding electrodes (24, 25) of the welding tongs (21), for supplying the welding electrodes (24, 25) with electric energy during the resistance welding, and an industrial robot. The industrial robot comprises a robot arm (2) and a robot control device (9) for moving the robot arm (2). The welding tongs (21) is connected to the robot arm (2) and the robot control device (9) is connected to the welding current generator (1) and a tongs drive (26, 27) of the welding tongs (21).
    Type: Grant
    Filed: December 7, 2012
    Date of Patent: September 1, 2015
    Assignee: KUKA Roboter GmbH
    Inventors: Tanja Birner-Such, Simon Dietrich
  • Patent number: 9120229
    Abstract: The invention is concerning a robotic arm that features several consecutive mobile links and motors associated with axes relative to one another for the moving of the links. At least one of the links is selectively mountable in at least two configurations relative to its adjacent links.
    Type: Grant
    Filed: December 12, 2013
    Date of Patent: September 1, 2015
    Assignee: KUKA Roboter GmbH
    Inventor: Stefan Roth
  • Patent number: 9114528
    Abstract: An invention-based control system for at least one robot comprises a, especially symmetric, multi-core architecture with a first virtual machine (V1) with at least one computing engine (C3), which has been provided for controlling at least one process application (P) of this robot.
    Type: Grant
    Filed: July 13, 2012
    Date of Patent: August 25, 2015
    Assignee: KUKA Roboter GmbH
    Inventors: Michael Haag, Heinrich Munz, Dirk Jacob, Hans-Peter Klüger
  • Patent number: 9107633
    Abstract: The invention relates to a medical work station which has a medical technology apparatus and a patient support device. The medical technology apparatus includes a medical technology device and at least one first robot, which has a first robot arm, having a plurality of members and a first control device that controls a motion of the first robot arm. The medical technology device is attached to a first attaching device of the first robot arm. The patient support device includes a patient table and a second robot, which has a second robot arm having a plurality of members, and a second control device that controls a motion of the second robot arm. The patient table is attached to a second attaching device of the second robot arm.
    Type: Grant
    Filed: April 29, 2011
    Date of Patent: August 18, 2015
    Assignee: KUKA Roboter GmbH
    Inventor: Michael Muller
  • Patent number: 9102065
    Abstract: An industrial robot has a robot arm with a linkage and an arm extension that is pivotable at the linkage. The arm extension has an arm enclosure that is pivotable at the linkage. The arm extension has a primary hand enclosure that can rotate, means of a first actuator that has a first drive shaft, at the arm enclosure around an arm axle extending in the longitudinal dimension of the arm extension. The arm extension has a first hand element that is adjustable around a first hand axle relative to the primary hand enclosure by means of a second actuator that has a second drive shaft, and a second hand element that is adjustable around a second hand axle relative to the first-hand element by means of a third actuator that has a third drive shaft. The first, second and third actuators are arranged in the primary hand enclosure with their respective drive shafts extending essentially parallel to and at a distance from the arm axle.
    Type: Grant
    Filed: May 21, 2013
    Date of Patent: August 11, 2015
    Assignee: Kuka Roboter GmbH
    Inventor: Rainer Krumbacher
  • Patent number: 9102061
    Abstract: A process module library according to the invention for programming a manipulator process, in particular an assembly process, comprises a plurality of parametrisable process modules (“search( )”, “peg_in_hole( )”, “gear( )”, “screw( )”) for carrying out a sub-process which in particular is common to different manipulator processes. Each of the process modules comprises a plurality of basic commands of a common set of basic commands for carrying out a basic operation, in particular an atomic or molecular operation, and a process module can be linked, in particular mathematically, to a further process module and/or a basic command. During programming, a manipulator can be controlled by means of a functional module of a graphic programming environment (100).
    Type: Grant
    Filed: February 25, 2011
    Date of Patent: August 11, 2015
    Assignee: KUKA Roboter GmbH
    Inventors: Volker Schmirgel, Gerhard Hietmann, Sebastian Reitelshofer, Simon Klumpp, Johannes Kurth
  • Patent number: 9102060
    Abstract: In a method and device to control a multiple-machine arrangement with at least one first controller and one second controller, specific data packages for the controllers are generated, these specific data packages are transferred to the controllers, the transferred data packages are selectively activated, and downloading of the data packages is implemented in the controllers as a result of an activation, in particular installation of at least one program and/or one configuration file.
    Type: Grant
    Filed: October 25, 2010
    Date of Patent: August 11, 2015
    Assignee: Kuka Roboter GmbH
    Inventors: Christian Tarragona, Eiko Allmann
  • Patent number: 9102058
    Abstract: A method for executing a manipulator process with at least two manipulator poses with a manipulator, in particular a robot, wherein the manipulator comprises at least one drive means having a motor and a brake, comprising the steps of: (S10) Assuming a manipulator pose; (S20) Stopping at least one drive means; (S30) Closing at least one brake of this drive means; (S40) Reduction of the energy supply to the drive means; (S50) Increasing the energy supply to the drive means; (S60) Opening the closed brake; (S70) Assuming another manipulator pose.
    Type: Grant
    Filed: February 18, 2013
    Date of Patent: August 11, 2015
    Assignee: KUKA Roboter GmbH
    Inventor: Josef Hofmann
  • Publication number: 20150210174
    Abstract: The invention relates to a charging system for a motor vehicle, in particular a passenger car (2), provided with a robot (1) having a control means (1.1), a force detecting means (5), and a plug (4.1) fastened to the robot, configured to establish a detachable plug connection with the mating plug (4.2) on the vehicle side for charging an electric energy store of the motor vehicle, wherein the control means is configured to communicate with the force detecting means, and to connect the robot-guided plug to the mating plug based on a force detected by the force detecting means.
    Type: Application
    Filed: July 25, 2013
    Publication date: July 30, 2015
    Applicant: KUKA ROBOTER GMBH
    Inventor: Norbert Settele
  • Patent number: 9086690
    Abstract: Control programs for robotic systems are synchronized through the use of synchronization objects which control access to shared resources and allow for sequencing of events in separate program threads. Where necessary, partner objects generate between control programs and synchronization objects to assure uniform interaction between control program threads and synchronization objects. As all synchronization objects contain searchable partner lists, actual simulated and runtime deadlocks including any type of synchronization object can be detected, and the full system can be analyzed to identify potential deadlocks.
    Type: Grant
    Filed: January 15, 2014
    Date of Patent: July 21, 2015
    Assignee: KUKA Roboter GmbH
    Inventor: Kenneth A. Stoddard
  • Patent number: 9067322
    Abstract: An invention-based method for controlling a robot arrangement having at least one robot (R) and comprising the following steps: Establishing at least one general fault model (1) for a group of different treatment processes with predetermined processing errors (S1); Configuring the fault model for at least one specific processing error of a process of the group (S2); and Transmitting the configured fault model (1?) to a control system of the robot arrangement.
    Type: Grant
    Filed: April 13, 2012
    Date of Patent: June 30, 2015
    Assignee: KUKA Roboter GmbH
    Inventors: Andreas Keibel, Thomas Kohler
  • Patent number: 9061424
    Abstract: The invention relates to a method for positioning an effector (12) in relation to a surface (14), said effector (12) comprising at least one tool for performing an assembly step such as drilling or riveting, and being attached to the end of an articulated arm (10) which is able to apply an effort against the surface (14) by means of the effector (12), the effector (12) comprising a front wall (22) facing the surface (14). The inventive method is characterized in that it involves measuring a relative movement between the front wall (22) and a support plate (30) comprising at least one part which can be supported directly or indirectly against the surface (14) and can be immobile in relation to the surface and connected to the front plate (22) in such a way as to be able to be displaced in at least one direction and to control the articulated arm (10) such that it performs a movement for compensating the measured relative movement.
    Type: Grant
    Filed: February 2, 2007
    Date of Patent: June 23, 2015
    Assignee: KUKA Aktiengesellschaft
    Inventors: Philippe Prat, Jean Malvaut, Franck Villegoureix
  • Patent number: 9061419
    Abstract: A processing tool, especially drilling tool, includes a processing element (5) acting on a workpiece (3) and a connection (9) for a handling device (10), especially a robot. The processing tool (1) has a feed device (8) connected to the connection (9) for feeding the processing element (5) by a motion of the handling device (10) connected to the connection (9). The handling device (1) moves and actuates the feed device (8) of the processing tool (1) for feeding the processing element (5).
    Type: Grant
    Filed: December 20, 2012
    Date of Patent: June 23, 2015
    Assignee: KUKA SYSTEMS GMBH
    Inventors: Josef Kranz, Robert Haman
  • Patent number: 9063539
    Abstract: In a method and a device for entering control commands into a controller of a manipulator, such as a robot, a first force or movement or sequence of forces or movements is detected, and the detected force, movement or sequence is electronically compared with stored forces, movements or sequences, respectively. Each of the stored forces or movements or sequences has a control command associated therewith. Upon the comparison indicating a coincidence between the detected force or movement or sequence with one of the stored forces or movements or sequences, the control command associated with that one of the stored forces, stored movements or stored sequences is automatically supplied as an input to the controller for operating the manipulator.
    Type: Grant
    Filed: November 3, 2009
    Date of Patent: June 23, 2015
    Assignee: Kuka Laboratories GmbH
    Inventors: Günter Schreiber, Uwe Zimmermann
  • Patent number: 9045183
    Abstract: A conveyance system includes a plurality of feed-forward track segments aligned end-to end, each having an upwardly facing channel and at least one linear motor disposed in the channel. At least one carrier is supported for movement along the track segments. Each carrier includes at least one magnet that cooperates with the linear motors to move the carrier along the respective feed-forward track segments. The conveyance system may further include a plurality of return track segments spaced from the plurality of feed-forward track segments.
    Type: Grant
    Filed: March 14, 2014
    Date of Patent: June 2, 2015
    Assignee: KUKA Systems Corporation North America
    Inventors: Kevin J. Laurence, Michael P. LaRose
  • Patent number: 9030674
    Abstract: A device according to the invention (1) for monitoring the safety of at least one robot (2), having a non-contact detection apparatus (3A, 3B) for monitoring a working space (A) of at least one robot (2) in a monitoring mode (FIG. 1), is characterized by a switching means (1) for switching the detection apparatus into a measuring mode (FIG. 2) to measure at least one robot (2).
    Type: Grant
    Filed: October 12, 2011
    Date of Patent: May 12, 2015
    Assignee: KUKA Roboter GmbH
    Inventor: Uwe Bonin