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1. 发明授权

US08190294B2 Detection of condition changes in an industrial robot system 有权
标题翻译：检测工业机器人系统中的状况变化
公开(公告)号：US08190294B2
公开(公告)日：2012-05-29
申请号：US12071894
申请日：2008-02-27
申请人： Niclas Sjöstrand , Ivan Lundberg , Johan Gunnar , Shiva Sander-Tavallaey
发明人： Niclas Sjöstrand , Ivan Lundberg , Johan Gunnar , Shiva Sander-Tavallaey
IPC分类号： G06F19/00
CPC分类号： G05B19/4063 , G05B2219/32226 , G05B2219/32234 , G05B2219/32371 , G05B2219/42311 , Y02P90/14 , Y02P90/26 , Y02P90/86 , Y10T74/20329
摘要： A method and an apparatus for detecting condition changes in a robot system. The method includes logging a work cycle representative signal at a first and a second occasion, logging, synchronously with the logging of the work cycle representative signal, a reference signal associated with work cycles at the first and second occasions, selecting the reference signal from signals having the following characteristics: a signal influenced by the path performed by the robot, a signal calculated by the robot system, and a signal that is identical at both the occasions if a manipulator of the robot performs a movement along exactly the same path at the first and second occasions, synchronizing the representative signals utilizing the logged reference signals, and comparing the synchronized signals to determine if any condition changes have occurred between the first and second occasions.
摘要翻译：一种用于检测机器人系统中的状况变化的方法和装置。该方法包括在第一和第二时间记录工作周期代表信号，与工作周期代表信号的记录同步记录，与第一和第二时间的工作周期相关联的参考信号，从信号中选择参考信号具有以下特征：由机器人执行的路径影响的信号，由机器人系统计算的信号，以及如果机器人的机械手在完全相同的路径上执行沿着相同路径的运动的情况下的信号相同的信号第一和第二次使用所记录的参考信号来同步代表信号，并且比较同步信号以确定在第一和第二场合之间是否发生了任何状况变化。

2. 发明申请

US20090132085A1 Detection of condition changes in an industrial robot system 有权
标题翻译：检测工业机器人系统中的状况变化
公开(公告)号：US20090132085A1
公开(公告)日：2009-05-21
申请号：US12071894
申请日：2008-02-27
申请人： Niclas Sjostrand , Ivan Lundberg , Johan Gunnar , Shiva Sander-Tavallaey
发明人： Niclas Sjostrand , Ivan Lundberg , Johan Gunnar , Shiva Sander-Tavallaey
IPC分类号： G05B19/02
CPC分类号： G05B19/4063 , G05B2219/32226 , G05B2219/32234 , G05B2219/32371 , G05B2219/42311 , Y02P90/14 , Y02P90/26 , Y02P90/86 , Y10T74/20329
摘要： A method and an apparatus for detecting condition changes in a robot system. The method includes logging a work cycle representative signal at a first and a second occasion, logging, synchronously with the logging of the work cycle representative signal, a reference signal associated with work cycles at the first and second occasions, selecting the reference signal from signals having the following characteristics: a signal influenced by the path performed by the robot, a signal calculated by the robot system, and a signal that is identical at both the occasions if a manipulator of the robot performs a movement along exactly the same path at the first and second occasions, synchronizing the representative signals utilizing the logged reference signals, and comparing the synchronized signals to determine if any condition changes have occurred between the first and second occasions.
摘要翻译：一种用于检测机器人系统中的状况变化的方法和装置。该方法包括在第一和第二时间记录工作周期代表信号，与工作周期代表信号的记录同步记录，与第一和第二时间的工作周期相关联的参考信号，从信号中选择参考信号具有以下特征：由机器人执行的路径影响的信号，由机器人系统计算的信号，以及如果机器人的机械手在完全相同的路径上执行沿着相同路径的运动的情况下的信号相同的信号第一和第二次使用所记录的参考信号来同步代表信号，并且比较同步信号以确定在第一和第二场合之间是否发生了任何状况变化。

3. 发明申请

US20100236046A1 Production Line And A Method For Operating A Such 有权
标题翻译：生产线及其操作方法
公开(公告)号：US20100236046A1
公开(公告)日：2010-09-23
申请号：US12794246
申请日：2010-06-04
申请人： Ivan Lundberg , Mats Kãllman , Sonke Kock
发明人： Ivan Lundberg , Mats Kãllman , Sonke Kock
IPC分类号： B23P17/04 , B25J18/00 , B25J9/00
CPC分类号： B23P21/004 , H05K13/0053 , Y10T29/49828 , Y10T29/49829 , Y10T29/534 , Y10T74/20305
摘要： A production line for manipulating objects is provided. The production line has working stations for performing consecutive working steps on the objects by a stationary operator. At least one working station is arranged to be operated by a stationary operator that is a human and at least one working station is operated by a stationary operator that is a robot. The at least one working station being arranged for a stationary operator that is a human and the at least one working station being operated by a stationary operator that is a robot are arranged such that transfer of objects from one working station to the other working station is performed by one or both of the stationary operators. The robot has at least two arms. A method for operating a production line applying a corresponding concept is also provided.
摘要翻译：提供了一种用于操作物体的生产线。生产线具有工作站，用于通过固定操作者对物体执行连续的工作步骤。至少一个工作站被布置成由作为人的固定操作者操作，并且至少一个工作站由作为机器人的固定操作器操作。所述至少一个工作站被布置为作为人的固定操作者，并且由作为机器人的固定操作者操作的所述至少一个工作站被布置成使得物体从一个工作站转移到另一工作站是由一个或两个固定操作员执行。机器人至少有两个臂。还提供了应用相应概念来操作生产线的方法。

4. 发明申请

US20060104793A1 Industrial robot 有权
公开(公告)号：US20060104793A1
公开(公告)日：2006-05-18
申请号：US10501554
申请日：2002-01-16
申请人： Hans Skutberg , Asa Vallin , Torgny Brogardh , Mathilda Andreasson , Ivan Lundberg
发明人： Hans Skutberg , Asa Vallin , Torgny Brogardh , Mathilda Andreasson , Ivan Lundberg
IPC分类号： B25J9/10
CPC分类号： B25J17/0266 , B23Q1/5462 , B25J9/0072 , Y10T74/20329
摘要： An industrial robot for moving an object in space comprising a stationary platform, a movable platform arranged for supporting the object, and a first, a second and a third arm to which the platforms are joined. The first arm comprises a first actuator, a first supporting arm influenced by the first actuator and being rotatable around a first axis, and a first linkage. The second arm comprises a second actuator, a second supporting arm influenced by the second actuator and being rotatable around a second axis, and a second linkage. The third arm comprises a third actuator, a third supporting arm influenced by the third actuator and being rotatable around a third axis, and a third linkage. The first and third axes are arranged in parallel and the second supporting arm is freely journalled around a transverse axis that is substantially arranged at right angles to the second axis.

5. 发明申请

US20120204674A1 HARMONIC MOTOR, DRIVE ASSEMBLY, INDUSTRIAL ROBOT, ROBOT BOOM AND ROBOT JOINT 审中-公开
标题翻译：谐波电机，驱动装置，工业机器人，机动车和机器人接头
公开(公告)号：US20120204674A1
公开(公告)日：2012-08-16
申请号：US13410742
申请日：2012-03-02
申请人： Ivan Lundberg , Jan Larsson , Daniel Sirkett , Sönke Kock
发明人： Ivan Lundberg , Jan Larsson , Daniel Sirkett , Sönke Kock
IPC分类号： F16H49/00
CPC分类号： F16H49/001 , H01L41/193 , H02N2/105 , Y10T74/19
摘要： A harmonic motor with a circular and internally geared stator, a flex spline coaxially arranged within the stator which comprises both external and internal gears, and a geared output shaft coaxially arranged within the flex spline. A drive assembly that includes a motor with a motor housing, a rotor, a rotor shaft, and a rear bearing for supporting the rotor shaft in the motor housing at a rear side of the rotor; and a strain wave gearing including a circular spline secured to the motor housing, a flex spline engaging the circular spline, a wave generator engaging the flex spline and secured to a drive end of the rotor shaft, and a wave generator bearing between the circular spline and the wave generator. The wave generator bearing serves as an exclusive drive end bearing for supporting the rotor shaft in the motor housing at a front side of the rotor.
摘要翻译：具有圆形和内部齿轮定子的谐波电动机，同轴地布置在定子内的包括外部和内部齿轮的挠曲花键以及同轴地布置在所述挠曲花键内的齿轮输出轴。一种驱动组件，其包括具有马达壳体的马达，转子，转子轴和用于将转子轴支撑在转子后侧的马达壳体中的后轴承; 以及应变波传动装置，其包括固定到马达壳体上的圆形花键，接合圆形花键的挠曲花键，接合所述挠曲花键并固定到所述转子轴的驱动端的波发生器，以及在所述圆形花键和波发生器。波浪发生器轴承用作在转子前侧的马达壳体中支撑转子轴的专用驱动端轴承。

6. 发明申请

US20120011956A1 APPARATUS FOR A ROBOT ARM 有权
标题翻译：机器人装置
公开(公告)号：US20120011956A1
公开(公告)日：2012-01-19
申请号：US13259509
申请日：2009-04-15
申请人： Ivan Lundberg
发明人： Ivan Lundberg
IPC分类号： B25J17/02 , B25J18/00 , B25J15/00 , B25J17/00
CPC分类号： B25J9/08 , B25J9/04 , B25J9/06 , B25J17/02
摘要： An apparatus for a robot arm of an industrial robot. A first module includes a first and a second member rotatable in relation to each other about a first axis of rotation. A second module includes a first and a second member rotatable in relation to each other about a second axis of rotation. The first member of the second module is attached to the second member of the first module. A third module includes a first and a second member rotatable in relation to each other about a third axis of rotation. The first member of the third module is attached to the second member of the second module. The second axis of rotation is substantially perpendicular to the first and the third axis of rotation. The second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially parallel to the third axis of rotation. The third module includes a motor unit including an output shaft rotatable about an axis which is substantially collinear with the third axis of rotation. The motor unit intersects a plane in which the second axis of rotation lies. The plane is substantially perpendicular to the third axis of rotation.
摘要翻译：一种用于工业机器人的机器人手臂的装置。第一模块包括围绕第一旋转轴线可相对于彼此旋转的第一和第二构件。第二模块包括第一和第二构件，所述第一构件和第二构件围绕第二旋转轴线可相对于彼此旋转。第二模块的第一个构件连接到第一个模块的第二个构件。第三模块包括可相对于彼此围绕第三旋转轴线可旋转的第一和第二构件。第三模块的第一个构件连接到第二个模块的第二个构件。第二旋转轴线基本上垂直于第一和第三旋转轴线。当第一旋转轴线基本上平行于第三旋转轴线时，第二旋转轴线从第一和第三旋转轴线偏移。第三模块包括马达单元，该马达单元包括可绕与第三旋转轴基本共线的轴线旋转的输出轴。马达单元与第二旋转轴所在的平面相交。该平面基本上垂直于第三旋转轴线。

7. 发明授权

US08967365B2 Component feeder system and method for feeding and displaying components 有权
标题翻译：组件馈线系统和组件的馈送和显示方法
公开(公告)号：US08967365B2
公开(公告)日：2015-03-03
申请号：US14326721
申请日：2014-07-09
申请人： Daniel Sirkett , Ivan Lundberg , Siim Viilup
发明人： Daniel Sirkett , Ivan Lundberg , Siim Viilup
IPC分类号： B65G47/24 , B65G47/19
CPC分类号： B65G47/19 , B65G47/1478
摘要： A component feeder including a bulk storage container for storage of components, and a lift for elevating a selection of components from the container, the lift being located inside the container. The feeder further includes a transfer arrangement for transferring elevated components from the lift onto a component pick surface on which the components are distributed in order to be picked by a tool or by a hand, and a plate configured to include the component pick surface. Further described is a component feeder system including at least one component feeder, a camera for monitoring the component pick surface and a processor used to control an industrial robot to pick pickable components lying on the pick surface. A corresponding method is also described.
摘要翻译：包括用于存储部件的大容量存储容器和用于从容器升高部件的选择的升降机的部件进料器，该升降机位于容器内部。进料器还包括用于将提升的部件从升降机转移到部件拾取表面上的传送装置，在该部件拾取表面上部件被分配以便通过工具或用手拾取，以及被配置为包括部件拾取表面的板。进一步描述的是包括至少一个部件进料器，用于监测部件拾取表面的照相机和用于控制工业机器人拾取位于拾取表面上的可拾取部件的处理器的部件馈送系统。还描述了相应的方法。

8. 发明授权

US08677854B2 Apparatus for a robot arm 有权
标题翻译：机器人手臂装置
公开(公告)号：US08677854B2
公开(公告)日：2014-03-25
申请号：US13259509
申请日：2009-04-15
申请人： Ivan Lundberg
发明人： Ivan Lundberg
IPC分类号： B25J18/00 , B25J17/00
CPC分类号： B25J9/08 , B25J9/04 , B25J9/06 , B25J17/02
摘要： An apparatus for a robot arm of an industrial robot. A first module includes a first and a second member rotatable in relation to each other about a first axis of rotation. A second module includes a first and a second member rotatable in relation to each other about a second axis of rotation. The first member of the second module is attached to the second member of the first module. A third module includes a first and a second member rotatable in relation to each other about a third axis of rotation. The first member of the third module is attached to the second member of the second module. The second axis of rotation is substantially perpendicular to the first and the third axis of rotation. The second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially parallel to the third axis of rotation. The third module includes a motor unit including an output shaft rotatable about an axis which is substantially collinear with the third axis of rotation. The motor unit intersects a plane in which the second axis of rotation lies. The plane is substantially perpendicular to the third axis of rotation.
摘要翻译：一种用于工业机器人的机器人手臂的装置。第一模块包括围绕第一旋转轴线可相对于彼此旋转的第一和第二构件。第二模块包括第一和第二构件，所述第一构件和第二构件围绕第二旋转轴线可相对于彼此旋转。第二模块的第一个构件连接到第一个模块的第二个构件。第三模块包括可相对于彼此围绕第三旋转轴线可旋转的第一和第二构件。第三模块的第一个构件连接到第二个模块的第二个构件。第二旋转轴线基本上垂直于第一和第三旋转轴线。当第一旋转轴线基本上平行于第三旋转轴线时，第二旋转轴线从第一和第三旋转轴线偏移。第三模块包括马达单元，该马达单元包括可绕与第三旋转轴基本共线的轴线旋转的输出轴。马达单元与第二旋转轴所在的平面相交。该平面基本上垂直于第三旋转轴线。

9. 发明授权

US09598224B2 Component feeder with flexible retaining walls 有权
公开(公告)号：US09598224B2
公开(公告)日：2017-03-21
申请号：US14422590
申请日：2012-08-22
申请人： Daniel Sirkett , Per Nylen , Ivan Lundberg
发明人： Daniel Sirkett , Per Nylen , Ivan Lundberg
IPC分类号： B65D90/02 , B65D83/04 , B65G65/00
CPC分类号： B65D83/04 , B65G47/1471 , B65G47/91 , B65G65/00 , B65G2201/02 , H05K13/028
摘要： A component feeder includes a distributor for distributing components from a bulk storage on a pick surface, and a retaining wall preventing the components from escaping the pick surface. The retaining wall is flexible such that it deforms when a force is applied on it, and it assumes its original shape when the force is no longer applied. The flexible retaining wall allows a robot gripper to push the retaining wall aside when picking a component close to the retaining wall.

10. 发明申请

US20140332550A1 Method And System For Feeding Components 有权
标题翻译：喂料组件的方法和系统
公开(公告)号：US20140332550A1
公开(公告)日：2014-11-13
申请号：US14444595
申请日：2014-07-28
申请人： Daniel Sirkett , Arne Trangard , Ivan Lundberg , Ryan Mackenzie , Andre Jaber
发明人： Daniel Sirkett , Arne Trangard , Ivan Lundberg , Ryan Mackenzie , Andre Jaber
IPC分类号： B65G47/14
CPC分类号： B65G47/19 , B65G47/1478
摘要： A component feeder including a lift for elevating a selection of components from a bulk storage, and a pick surface adjacent to the lift for receiving the selection of components. A spreader gives the selection of components a push for spreading the selection of components from the lift on the pick surface. The combination of a vertical lift and a separate pick surface adjacent to the lift enables the bulk storage being positioned right below the pick surface. The area of the pick surface is large in relation to the total footprint of the component feeder.
摘要翻译：包括用于升高大容量存储器中的部件选择的升降机的部件馈送器和与升降机相邻的拾取表面，用于接收组件的选择。吊具给组件选择提供了一个推动力，用于从拾取表面上的升降板中扩展组件的选择。垂直升降机和与升降机相邻的单独的拾取表面的组合使得大容量存储器位于拾取表面正下方。拾取表面的面积相对于部件进给器的总占地面积很大。

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