Patents Assigned to Kuka
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Patent number: 6711946Abstract: For monitoring the state of a motor brake, the invention provides a method by means of which in a measuring sequence in speed-regulated operation, the brake is applied for a short time and over this time a motor current is measured and the brake torque determined on the basis of the thus obtained measuring data.Type: GrantFiled: December 6, 2001Date of Patent: March 30, 2004Assignee: Kuka Roboter GmbHInventor: Joseph Hofmann
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Patent number: 6684731Abstract: A robot with at least partly externally located cables, particularly robot tool supply cables having a length reserve in the area of the A3 axis of the robot is characterized by a base part located on the robot and having elements for guiding the supply cables and with a leg pivotable against the latter on which is located at least one of the elements for supply cable guidance.Type: GrantFiled: May 12, 2000Date of Patent: February 3, 2004Assignee: Kuka Roboter GmbHInventor: Stefan Karlinger
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Patent number: 6678582Abstract: A method of avoiding collisions between a robot and at least one other object such as another robot is provided in which the user does not need to make any provisions in a robot program for avoiding collisions and defining common work-areas. Furthermore, the method allows for automatic configuration of the workcell from a collision avoidance standpoint. It determines automatically which components have potential collisions with which other components. Since the inventive method is based on predicting the configurations of the moving components over a period of time sufficient enough to allow the machines to stop safely and checks for interference, a priori knowledge of trajectories is not required. If a collision is predicted the machines are commanded to a stop on or off their paths. In this way the inventive collision avoidance method can also be used as a safeguard with other explicit methods.Type: GrantFiled: May 30, 2002Date of Patent: January 13, 2004Assignee: Kuka Roboter GmbHInventor: El-Houssaine Waled
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Patent number: 6649867Abstract: The invention relates to a blowing device (4) for a laser system (1) used for separating or welding workpieces (17). The blowing device (4) has at least one nozzle assembly (5), which generates a gas stream (7) that is oriented at an angle to the laser beam (3). The blowing device also has an air supply (8) which, on one side of the nozzle, leads into the proximity of the nozzle opening (6) and which is provided for an air supply stream (10) that is fed to the gas stream (7) in an essentially parallel manner or at an apex angle. A second air supply (9) is arranged on the other side of the nozzle. Said second air supply leads into the proximity of the nozzle opening (6) and is provided for a second air supply stream (11) that is fed to the gas steam (7) in an essentially parallel manner or at an apex angle. A protecting glass (13), which is oriented toward the gas stream (7) in an essentially parallel manner, can be alternatively or additionally placed in the proximity of the nozzle opening (6).Type: GrantFiled: June 20, 2002Date of Patent: November 18, 2003Assignee: Kuka Schweissanlagen GmbHInventors: Peter Rippl, Rudolf Huber
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Patent number: 6622756Abstract: A protective hose, particularly cable guidance hose, for a robot having at least partly externally positioned cables, particularly supply cables for robot tools is characterized by a flexible hose end piece terminally positionable on the protective hose and whose wall thickness at least zonally differs over its length, its wall thickness having a minimum value in the central area.Type: GrantFiled: March 21, 2001Date of Patent: September 23, 2003Assignee: Kuka Roboter GmbHInventors: Alwin Berninger, Stefan Karlinger
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Patent number: 6615112Abstract: A method and device is provided for multistage calibration of multiple-axis measuring robots (6) and associated optical measuring devices (10), especially 3D sensors, in a measuring station (1) for workpieces (2), preferably the bodyshells of motor vehicles. Calibration occurs in a measuring cascade comprising at least three calibrating steps, whereby the optical measuring device (10) and the operating point (28) thereof, the manipulator (6) and the axes thereof and the allocation of the manipulator (6) with respect to the workpiece (2) are successively calibrated. The calibration device (47) includes a control and a calibration system (27) for the operating point (28), a calibration body (15) for the axes of the manipulator and a calibration device (12) for the allocation of the manipulator with respect to the workpiece.Type: GrantFiled: April 1, 2002Date of Patent: September 2, 2003Assignee: Kuka Schweissanlagen GmbHInventor: Eberhard Roos
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Patent number: 6612011Abstract: A flexible work station (1) and an operating method for processing, especially the joining and geometric welding of two or more different types of components (4, 5). The work station (1) has a component feed device (6, 7), one or more flexible processing places (2) with a plurality of movable and type-related positioning devices (14, 15) with a clamping device (16), as well as one or more processing devices (13) and at least one transport device (9). The transport device (9), which is preferably designed as a robot, has a plurality of replaceable and type-related gripping tools (10, 11), with which it transports the components (4, 5) from the component feed device (6, 7) to the positioning devices (14, 15). In the case of a change from one component to another, the gripping tool (10, 11) is changed as well, and the old gripping tool (10, 11) is laid down on a gripper rest (22) at or on the components (4, 5), which are just located on the positioning device (14, 15) or on the component feed means (6, 7).Type: GrantFiled: January 29, 2001Date of Patent: September 2, 2003Assignee: KUKA Schweissanlagen GmbHInventors: Georg Mayr, Martin Stedele
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Patent number: 6578800Abstract: The invention relates to an apparatus for fixing a cable guidance hose to a device, such as in particular a robot. In order to ensure an optimum, damage-free fixing of a cable guidance hose and in particular the cables guided therein, the cable guidance hose (19) is held in axially fixed manner and at least one holding part (8, 21) connected thereto is held in axially fixed, non-rotary manner on the device (R).Type: GrantFiled: June 11, 2001Date of Patent: June 17, 2003Assignee: Kuka Roboter GmbHInventor: Karlinger Stefan
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Publication number: 20030106390Abstract: A robot is provided with a robot weight compensation device having at least one hose element including an internally pressurized gas-tight inner hose portion cooperating with a high tensile strength outer portion. The high tensile strength outer portion includes non-elongatable fibers oriented relative to an axis of the at least one hose element by an angle not equal to 0° and 90°. An outer flexible protective jacket covers the fibers. A first fixing element is fixed to a first end of the hose element. The fixing element is connected to a first part of the robot. A second fixing element is fixed to a second end of the hose element. The second fixing element is articulated to a second part of the robot being movable relatively to the first robot element.Type: ApplicationFiled: January 22, 2003Publication date: June 12, 2003Applicant: KUKA ROBOTER GmbHInventor: Wolfgang Bohlken
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Patent number: 6577918Abstract: For optimizing data processing in a safety system for a machine, such as a robot or the like, while permitting a simple, safety-uncritical diagnosis, the invention provides a process for processing safety-relevant data in a safety system for a machine, such as a robot or the like, with several nodes connected in a ring and which is characterized in that in parallel in each node are processed the data received by it, which are retransmitted to the next node and for diagnosis purposes a diagnostic unit is provided which passively receives the data present in at least one node.Type: GrantFiled: February 9, 2000Date of Patent: June 10, 2003Assignee: Kuka Roboter GmbHInventor: Stefan Roth
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Patent number: 6564667Abstract: A device for compensating the weight of a robot arm of a robot with a spring cylinder and having at least one helical spring is characterized in that there is at least one mechanism for the insertion and removal of at least one further, replaceable helical spring and preferably a pretension of at least the replaceable helical spring is adjustable. The device according to the invention makes it possible to modify the spring constant of the spring cylinder in order to individually adjust the compensating force desired for compensating the weight of the robot.Type: GrantFiled: February 2, 2001Date of Patent: May 20, 2003Assignee: Kuka Roboter GmbHInventors: Albert Bayer, Wolfgang Bohlken, Alwin Berninger
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Patent number: 6556891Abstract: An apparatus system is provided with at least one robot and with a control unit accommodated in a control cabinet. To improve the integration of robot and technology control units and to utilize synergistic effects, at least one additional, independent electronic system different from the control unit for the robot is provided accommodated in the control cabinet.Type: GrantFiled: June 28, 2001Date of Patent: April 29, 2003Assignee: Kuka Roboter GmbHInventors: Gerhard Hietmann, Thomas Finsterwalder
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Patent number: 6541932Abstract: In a robot area monitoring device, in which at least one area of a rotary movement about at least one robot axis is monitored, initiators cooperating with part annular cams arranged coaxially to the axis to be monitored are provided, the initiators being connected to an evaluating device.Type: GrantFiled: May 18, 2001Date of Patent: April 1, 2003Assignee: Kuka Roboter GmbHInventor: Georg Gerum
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Patent number: 6522951Abstract: A method and a device for controlling a robot on the basis of data from sensors with their own sensor data structures. For solving the problem of adapting to different sensors and their data structures and consequently permitting in simple manner the use of different sensors without intervening in the actual robot control program, according to the system the sensor data are processed to robot control data with a control data structure usable by a system control program and a processing device suitable for the same is provided.Type: GrantFiled: December 8, 2000Date of Patent: February 18, 2003Assignee: Kuka Roboter GmbHInventors: Hans Born, Johannes Stelter, Bernhard-Michael Steinmetz, Jens Bunsendahl, Ralf Koeppe
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Patent number: 6522096Abstract: A mechanism controller for controlling power to motors of a mechanism having several motors, such as a robot. Each motor has a resolver for indicating the motor position. A driver unit is associated with each motor to supply power to the motor. Each driver unit includes a monitoring unit to monitor indications from the resolver of the associated motor. In one embodiment a control unit is connected to the driver units in a series circuit to control power to the motors and to receive the monitored indications from the monitoring units. In a second embodiment, the control unit is connected to the driver units in a ring circuit, rather than in a series circuit. Preferably, each driver unit also includes a memory device, and the control unit can send commands to the driver units and receive data from the driver units in sets equal in number to the number of driver units so that the commands and data do not need to include the addresses of the specific driver units.Type: GrantFiled: February 28, 2000Date of Patent: February 18, 2003Assignee: Kuka Roboter GmbHInventor: Stefan Roth
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Patent number: 6511247Abstract: The invention relates to a multiaxis robot with at least one gear associated with a robot axis and having a gearbox with positional retaining strips for fixing control cams for monitoring the swivel angle of the robot axis, the retaining strips having a substantially arcuate construction with an inner circumference roughly corresponding to the outer circumference of the gearbox and the retaining strips can be frontally braced against one another for fixing on the gearbox.Type: GrantFiled: February 9, 2001Date of Patent: January 28, 2003Assignee: Kuka Roboter GmbHInventor: Stefan Karlinger
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Patent number: 6477880Abstract: A flanging or hemming device (1) is provided with an external flanging unit (6) and/or an internal flanging unit (7) as well as a clamping device (3). The clamping device (3) has one or more leading pressing and clamping elements (71) which are movable or deformable and can be adjusted in accordance with the place or time and/or force with which they act on the workpiece or work-pieces (9). The pressing and clamping elements (71) are notably elastically deformable. They can also comprise a spring (72) or be fluidically pre-stressed.Type: GrantFiled: July 18, 2000Date of Patent: November 12, 2002Assignee: Kuka Schweissanlagen GmbHInventor: Ernst Zimmer
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Patent number: 6471189Abstract: A robot with at least one at least partly externally positioned protective hose, particularly a cable guidance hose receiving robot tool supply cables has a winding guide located in the vicinity of a tool assembly flange for winding and unwinding the protective hose length necessary as a function of the tool positions.Type: GrantFiled: April 12, 2001Date of Patent: October 29, 2002Assignee: Kuka Roboter GmbHInventor: Stefan Karlinger
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Patent number: 6457574Abstract: The present invention pertains to a handling device (36) for one or more clamping frames (14) for components (3), especially shells of vehicles, in processing stations (1). The handling device (36) has one or more rotatably driven connecting rods (10), which are mounted in a carriage (5) that can be moved by a motor along a transfer line (2) at one of their ends and have a holding device (13) for receiving the clamping frame (14) at their other ends. Two connecting rods (10), which are arranged in two coupled carriages (5) in the manner of a four-bar chain and are rotatable around parallel axes (11), are preferably present. The handling device preferably generates a feed movement of the clamping frames (14) which is essentially linear and is directed at right angles to the transfer line (2).Type: GrantFiled: October 13, 2000Date of Patent: October 1, 2002Assignee: Kuka Schweissanlagen GmbHInventors: Wilfried Semmlinger, Botho Kikut, Gerhard Kraus, Günther-Eberhard Tauchen
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Patent number: 6438838Abstract: A method for repairing/manufacturing an integrally bladed rotor for a turbine or turbo engine, in which, in the case of a repair, at least one vane section to be replaced is removed leaving a stub section to which a replacement vane section is to be welded, and, in the case of manufacturing, a carrier to be provided with vanes has stubs projecting over its peripheral surface, to each of which a vane is to be welded, includes the steps of: arranging an inductor around the front face of the stub section or stub; positioning a replacement vane section or vane at a small radial distance from and aligned with the stub section or stub; and welding the replacement vane section or vane to the stub section or stub, respectively, in a protective gas atmosphere by exciting the inductor with high-frequency current and moving the opposing heated part surfaces together.Type: GrantFiled: May 14, 2001Date of Patent: August 27, 2002Assignees: MTU Aero Engines GmbH, KUKA Schweissanlagen GmbHInventors: Reinhold Meier, Wilfried Schütte, Mario Schmidt, Karel Mazac