Robert Boschgmbh

Andreas Rueb

Peter Schlegel

Efim Kuhn

Sebastian Siedler

Michael Danzberger

Fan Yang

Markus Groganz

Thomas Dickmann

Tobias Wolf

David Geissler

Joachim Frangen

Frank Roethling

Peter Schlaich

Christoph Janssen

Sven Dose

Simon Bock

Lukas Becker

Floria Krusche

A compensating element having first and second modules is disclosed. A locking mechanism which can be switched between a first and a second operating state is provided. The first module is connected firmly to the second module in the first operating state. The first operating state defines a zero position between the first and the second module. The first and the second module are connected to one another in the second operating state by a spring mechanism in such a way that they are movable relative to one another. The compensating element has a midaxis, and the first and the second module are arranged at least partially next to one another in the direction of the midaxis. A measuring system is also disclosed with which the relative position between the first and the second module can be measured. The first or second module includes an externally visible luminous surface. A luminous state of the luminous surface is dependent on the relative position measured by the measuring system.

Compensating element with relative position display

A method is for operating a manipulator that has a movement device, a compensating device, and a tool. In the method, a relative displacement of the compensating device, with respect to a target position, is sensed during setting-up and is taken into account in a subsequent control of the manipulator.

Method for operating a manipulator

A compensating element having a first and a second assembly, wherein a locking mechanism is provided which can be switched over between a first and a second operating state. In the first operating state, the first assembly is connected fixedly to the second assembly and, in the second operating state, the first and second assemblies are connected to each other via a spring mechanism in such a manner that they are movable relative to each other. The locking mechanism includes an electric motor that can be used to switch over between the first and the second operating state. A locking ring is or is not braced against at least three balls depending on its rotational position with respect to a center axis. The locking ring is connected in terms of rotary drive to the electric motor via a torsion spring which is elastic with respect to the center axis.

Compensating device having a torsion spring on the electric motor

A handling appliance, in particular a robot, includes at least one handling device that is movable in at least one direction of movement, a collision protection device configured for limiting contact forces due to collisions of the handling device with objects, and an acquisition device. The collision protection device includes a kinematic system that mechanically enables a relative movement of the handling device relative to the carrier of the handling device and that can be inhibited by at least one actuator device. The acquisition device determines forces acting on the actuator device and/or the handling device and on components of the collision protection device decoupled by the actuator device, and the collision protection device accounts for the forces and, via the actuator device, in the absence of a collision prevents, and in the case of a collision triggers and/or enables, relative movement of the handling device relative to the carrier.

Handling appliance having an adaptive collision protection system

A compensating device, which can be placed between a robot, e.g., used to grip and position workpieces, and a gripper moved by the robot to compensate position tolerances, includes respective interfaces for a manipulator and an end effector, with the compensating device positioned between the manipulator and the end effector and including a joint device aligned with a first axis Z between the interface segments, a first joint partner connected to the first interface segment, and a second joint partner connected to the second interface segment, one of the joint partners including a ball segment and the other including, for the ball segment, a receptacle segment that includes at least one ramp region so that the joint device forms a pivot or ball joint, the ball segment being capable of being displaced from a normal position in a transverse direction X-Y to the first axis Z into a compensating position.

Compensating device for a handling unit and handling unit comprising the compensating device

A sensor apparatus includes a main body, counter body movable relative to the main body, and a plurality of sensor devices for the output of sensor signals, the sensor devices each including at least one sensor and at least one target area. The sensors are disposed on one of the bodies, and the target areas are disposed on the other body. The sensors are developed for detecting the target areas in each case. The sensor apparatus further includes an evaluation device developed to determine from the sensor signals a relative position, in three translational degrees of freedom and in three rotational degrees of freedom, between the counter body and the main body.

Sensor apparatus and robot system having the sensor apparatus

A device for programming an handling apparatus, an industrial robot in particular, having an operating unit situated on an arm of the handling apparatus, which is able to be moved by an operator for programming motion sequences together with the arm to different positions, especially processing positions, having input devices on the operating unit for detecting at least positions of the arm, preferably in the form of input keys, the operating unit being connected to a control device for the handling apparatus; and data transmitted via input devices of the operating unit to the control device being displayed to the operator via a monitoring unit. The input devices are additionally used for controlling and operating display menus and input menus stored in the control device, the display menus and the input menus being displayed on the monitoring unit.

Device and method for programming a handling apparatus

A protective device is provided for a gripping device on a handling apparatus, e.g., a handling robot. The gripping device has gripping parts in the form of gripping fingers, which gripping parts are movable using a transmission mechanism. The gripping device has at least one overload safety device as the protective device which, in response to the exceeding of a certain force on the gripping device, has the effect of an evasion of the gripping device. The protective device responds exclusively in response to forces which occur from a direction and which act upon the gripping parts outside a direction of forces required for gripping objects.

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Ditzingen, Germany

Andreas Rueb