Patents by Inventor Dietmar Tscharnuter
Dietmar Tscharnuter has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
-
Patent number: 11752643Abstract: A robot hand guide device includes a first connection flange configured to connect the robot hand guide device to a tool flange of a robot arm, a second connection flange configured to fasten a tool to be handled by the robot arm to the robot hand guide device, and a transfer apparatus configured to transfer forces and torques between the first connection flange and the second connection flange. A sensor device attached to the transfer apparatus is configured to detect forces and torques transferred via the transfer apparatus. The robot hand guide device further includes at least a first connection element connected to the first connection flange and configured for detachably connecting a guide handle of the robot hand guide device to the first connection flange.Type: GrantFiled: September 10, 2019Date of Patent: September 12, 2023Assignee: KUKA Deutschland GmbHInventors: Gernot Nitz, Sergiy Ostrovski, Dietmar Tscharnuter
-
Patent number: 11633858Abstract: A method for simulating a braking operation of a robot wherein a dynamic model of the robot is used to determine, for a given initial state of the robot, a final state range with a plurality of possible final states of the robot as a result of the simulated braking operation.Type: GrantFiled: October 24, 2018Date of Patent: April 25, 2023Assignee: KUKA Deutschland GmbHInventors: Dietmar Tscharnuter, Uwe Bonin, Oliver Klaffenbach, Thomas Rohrer
-
Publication number: 20220040866Abstract: A robot hand guide device includes a first connection flange configured to connect the robot hand guide device to a tool flange of a robot arm, a second connection flange configured to fasten a tool to be handled by the robot arm to the robot hand guide device, and a transfer apparatus configured to transfer forces and torques between the first connection flange and the second connection flange. A sensor device attached to the transfer apparatus is configured to detect forces and torques transferred via the transfer apparatus. The robot hand guide device further includes at least a first connection element connected to the first connection flange and configured for detachably connecting a guide handle of the robot hand guide device to the first connection flange.Type: ApplicationFiled: September 10, 2019Publication date: February 10, 2022Inventors: Gernot Nitz, Sergiy Ostrovski, Dietmar Tscharnuter
-
Publication number: 20210323169Abstract: The invention relates to a robot arm (2), having a plurality of joints (5) and a plurality of links (4), which each connect two adjacent joints (5) to one another, wherein at least one of said links (4) has a human-machine interface (6), comprising at least one display means (7, 7.2), which is designed to display at least one system state of the robot arm (2) and/or of a control device (3) connected in terms of control technology to the robot arm (2), and comprising at least one input means (8), which is designed to supply at least one manual input via the human-machine interface (6) to the robot arm (2) and/or to a control device (3) connected in terms of control technology to the robot arm (2), wherein the at least one input means (8) comprises a tactile sensor surface (8.1) arranged on an outer casing wall (M) of the link (4) and the at least one display means (7, 7.2) comprises a display surface (7.1) superimposed on the tactile sensor surface (8.1).Type: ApplicationFiled: October 30, 2019Publication date: October 21, 2021Applicant: KUKA Deutschland GmbHInventor: Dietmar Tscharnuter
-
Publication number: 20200384649Abstract: A method for simulating a braking operation of a robot wherein a dynamic model of the robot is used to determine, for a given initial state of the robot, a final state range with a plurality of possible final states of the robot as a result of the simulated braking operation.Type: ApplicationFiled: October 24, 2018Publication date: December 10, 2020Inventors: Dietmar Tscharnuter, Uwe Bonin, Oliver Klaffenbach, Thomas Rohrer
-
Patent number: 10836031Abstract: A plug-in adapter includes a thread designed to screw the plug-in adapter to an adjustment instrument, a plug-in device designed for detachably connecting the plug-in adapter to a counter plug-in device of an access opening on a robot for a reference position marking of the robot, and a stylus designed to couple a measuring tip of the adjustment instrument to the reference position marking. The plug-in device has a plug-in section that is designed for axially plugging of the plug-in section into the counter plug-in device of the robot.Type: GrantFiled: July 19, 2017Date of Patent: November 17, 2020Assignee: KUKA Deutschland GmbHInventors: Dietmar Tscharnuter, Gernot Nitz, Gerhard Brändle
-
Patent number: 10792821Abstract: 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: GrantFiled: March 19, 2018Date of Patent: October 6, 2020Assignee: KUKA Deutschland GmbHInventors: Hartmut Keyl, Michael Thummel, Dietmar Tscharnuter, Tobias Weiser
-
Patent number: 10352793Abstract: A torque sensor (10), in particular for detecting torques occurring on or in a joint of an articulated-arm robot. The sensor has several measuring spokes (1, 2, 3, 4) that are designed to deform under the effects of torque; and several strain gauges (DR11, DR12, DR21, DR22, DR31, DR32, DR41, DR42), with two strain gauges being arranged on two opposite sides of the several measuring spokes (1, 2, 3, 4). The several strain gauges are each connected in one of at least two bridge circuits (A, B). The at least two bridge circuits (A, B) are each configured to generate a bridge voltage (Ua, Ub). By detecting and comparing differences in the bridge voltage signals (Ua, Ub) generated by the at least two bridge circuits (A, B); a reliability of the detected bridge voltage signals is determined.Type: GrantFiled: June 1, 2015Date of Patent: July 16, 2019Assignee: KUKA Roboter GmbHInventors: Gernot Nitz, Dietmar Tscharnuter
-
Publication number: 20190168381Abstract: A plug-in adapter includes a thread designed to screw the plug-in adapter to an adjustment instrument, a plug-in device designed for detachably connecting the plug-in adapter to a counter plug-in device of an access opening on a robot for a reference position marking of the robot, and a stylus designed to couple a measuring tip of the adjustment instrument to the reference position marking. The plug-in device has a plug-in section that is designed for axially plugging of the plug-in section into the counter plug-in device of the robot.Type: ApplicationFiled: July 19, 2017Publication date: June 6, 2019Inventors: Dietmar Tscharnuter, Gernot Nitz, Gerhard Brändle
-
Publication number: 20180207815Abstract: 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: ApplicationFiled: March 19, 2018Publication date: July 26, 2018Inventors: Hartmut Keyl, Michael Thummel, Dietmar Tscharnuter, Tobias Weiser
-
Patent number: 9956693Abstract: 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: GrantFiled: July 23, 2014Date of Patent: May 1, 2018Assignee: KUKA Deutschland GmbHInventors: Hartmut Keyl, Michael Thummel, Dietmar Tscharnuter, Tobias Weiser
-
Publication number: 20170153156Abstract: A torque sensor (10), in particular for detecting torques occurring on or in a joint of an articulated-arm robot. The sensor has several measuring spokes (1, 2, 3, 4) that are designed to deform under the effects of torque; and several strain gauges (DR11, DR12, DR21, DR22, DR31, DR32, DR41, DR42), with two strain gauges being arranged on two opposite sides of the several measuring spokes (1, 2, 3, 4). The several strain gauges are each connected in one of at least two bridge circuits (A, B). The at least two bridge circuits (A, B) are each configured to generate a bridge voltage (Ua, Ub). By detecting and comparing differences in the bridge voltage signals (U2, Ub) generated by the at least two bridge circuits (A, B); a reliability of the detected bridge voltage signals is determined.Type: ApplicationFiled: June 1, 2015Publication date: June 1, 2017Applicant: KUKA Roboter GmbHInventors: Gernot NITZ, Dietmar TSCHARNUTER
-
Patent number: 9619619Abstract: A method for error recognition in a control system of a medical treatment and/or diagnosis device includes processing, by the control system, data in a regular operating mode and supplying, by the control system, test data of a test data record to a safety-critical component of the control system in a test mode of the control system. The safety-critical component of the control system is also checked in the test mode of the control system.Type: GrantFiled: December 15, 2008Date of Patent: April 11, 2017Assignees: Siemens Aktiengesellschaft, KUKA Roboter GmbHInventors: Lorenz Bewig, Till Engelmann, Andreas Hagenauer, Torsten Hasenzahl, Dirk Jacob, Matthias Mühlhäusser, Tobias Ortmaier, Dietmar Tscharnuter
-
Patent number: 9199378Abstract: A measuring apparatus (1; 1?) for measuring a manipulator (10), with a measuring body (2; 2?) having at least one measurement point (3; 3?) that is fixed in relation to the measuring body for determining a position (TTCP,3; TTCP,3?) relative to a reference point (TCP) that is fixed in relation to the manipulator, and an attaching device connected to the measuring body (2) for fixing on the surroundings, includes at least one calibration point (7; 7?) connected to the measuring apparatus for determining a position (TR, M; TR,M?) relative to the surroundings and/or at least one measurement point (6) positioned on the attaching device.Type: GrantFiled: September 16, 2010Date of Patent: December 1, 2015Assignee: KUKA Roboter GmbHInventors: Michael Groll, Thomas Purrucker, Dietmar Tscharnuter
-
Patent number: 9008837Abstract: The invention relates to a method for creating a robot model (17) of an industrial robot (1) which has a robotic arm (2) having a plurality of successive limbs (3-8) which are adjustable by means of drives (11-16) via transmissions (5) in relation to axes (A1-A2), controlled by a control device (10) of the industrial robot (1). According to the invention, the robotic arm (2) is moved in a plurality of poses. At least one of the limbs (4) is moved in the same first movement direction (18) by means of the drive (11) thereof at least upon approaching the individual poses. In order to obtain the robot model (17), the robotic arm (2) is measured at each of the poses thereof.Type: GrantFiled: November 15, 2010Date of Patent: April 14, 2015Assignee: KUKA Roboter GmbHInventors: Gernot Nitz, Dietmar Tscharnuter, Wolfgang Michel, Rene Rossig, Michael Muller
-
Publication number: 20150032263Abstract: 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: ApplicationFiled: July 23, 2014Publication date: January 29, 2015Inventors: Hartmut Keyl, Michael Thummel, Dietmar Tscharnuter, Tobias Weiser
-
Patent number: 8829895Abstract: The invention relates to a machine comprising a first member, a rotatable second member rotatable relative to the first member relative to an axis, a control device, a drive connected with the control device for moving the two members relative to one another, and a first Hall sensor connected with the control device and arranged on the first member. On the second member, a first, second and third magnet are arranged next to each other on a common circular trajectory such, that during a rotation of the two members relative to one another, the first Hall sensor is located at a specific position in the detection zone of the magnets. The second magnet which is developed as the center magnet is facing towards the first Hall sensor with another magnetic pole than the first and third magnet.Type: GrantFiled: April 11, 2012Date of Patent: September 9, 2014Assignee: KUKA Roboter GmbHInventors: Gernot Nitz, Stefan Roth, Dietmar Tscharnuter
-
Patent number: 8406921Abstract: A method according to the invention for operating a manipulator, in particular a robot (1), includes the following steps: determining (S10) parameters (c?, c?) of an exactly positioned manipulator model (M) with various nominal loads (m?, m?); specifying parameters (c) of the manipulator model on the basis of which the manipulator is operated, depending on a payload (m) of the manipulator (S20); and operating the manipulator on the basis of the manipulator model (S30, S40).Type: GrantFiled: June 29, 2010Date of Patent: March 26, 2013Assignee: KUKA Roboter GmbHInventors: Wolfgang Michel, Thomas Purrucker, Rene Rossig, Dietmar Tscharnuter
-
Publication number: 20120262156Abstract: The invention relates to a machine (R) comprising a first member (1c), a rotatable second member (1c) rotatable relative to the first member (1c) relative to an axis (A), a control device (S), a drive connected with the control device (S) for moving the two members (1c, 1d) relative to one another, and a first Hall sensor (21) connected with the control device (S) and arranged on the first member (1c). On the second member (1d), a first, second and third magnet (31-33) are arranged next to each other on a common circular trajectory (14) such, that during a rotation of the two members (1c, 1d) relative to one another, the first Hall sensor (21) is located at a specific position (P) in the detection zone of the magnets (31-33). The second magnet (32) which is developed as the center magnet is facing towards the first Hall sensor (21) with another magnetic pole than the first and third magnet (31, 33).Type: ApplicationFiled: April 11, 2012Publication date: October 18, 2012Applicant: KUKA ROBOTER GMBHInventors: Gernot Nitz, Stefan Roth, Dietmar Tscharnuter
-
Publication number: 20120232694Abstract: The invention relates to a method for creating a robot model (17) of an industrial robot (1) which has a robotic arm (2) having a plurality of successive limbs (3-8) which are adjustable by means of drives (11-16) via transmissions (5) in relation to axes (A1-A2), controlled by a control device (10) of the industrial robot (1). According to the invention, the robotic arm (2) is moved in a plurality of poses. At least one of the limbs (4) is moved in the same first movement direction (18) by means of the drive (11) thereof at least upon approaching the individual poses. In order to obtain the robot model (17), the robotic arm (2) is measured at each of the poses thereof.Type: ApplicationFiled: November 15, 2010Publication date: September 13, 2012Applicant: KUKA ROBOTER GMBHInventors: Gernot Nitz, Dietmar Tscharnuter, Wolfgang Michel, Rene Rossig, Michael Muller