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    SCHWEIßANORDNUNG ZUM DAUERHAFTEN FÜGEN EINES ERSTEN ROHRFÖRMIGEN BAUTEILS MIT EINEM ZWEITEN BAUTEIL
    5.
    发明公开
    SCHWEIßANORDNUNG ZUM DAUERHAFTEN FÜGEN EINES ERSTEN ROHRFÖRMIGEN BAUTEILS MIT EINEM ZWEITEN BAUTEIL 审中-公开
    焊接组件用于第一管组件的第二组件的连续组装

    公开(公告)号：EP3277457A1

    公开(公告)日：2018-02-07

    申请号：EP16711209.3

    申请日：2016-03-16

    申请人： Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. ,  Universität Rostock

    发明人： WANNER, Martin Christoph ,  DRYBA, Steffen ,  WEIDEMANN, Björn ,  HARMEL, André

    IPC分类号： B23K37/02 ,  B23K9/173 ,  B23K9/032 ,  B23K9/32

    CPC分类号： B23K37/0276 ,  B23K9/032 ,  B23K9/173 ,  B23K9/327 ,  B23K37/0217 ,  B23K37/0241 ,  B23K37/0252 ,  B23K37/0282 ,  B23K2101/04 ,  B23K2103/04

    摘要： The invention relates to a welding assembly for the permanent joining of a first tubular component with a second component along a two- or three-dimensional intersection curve, along which both components contact, comprising a securing assembly for detachably securely joining on a tubular end of the first component facing away from the intersection curve, a manipulator unit mounted directly or indirectly on the securing assembly such that it can pivot about a tube longitudinal axis assigned to the first component, said manipulator unit having a freely positionable manipulator end, as well as comprising a welding tool attached to the freely positionable manipulator end, wherein the securing assembly comprises a clamping module that can at least partially be introduced into the tubular end of the first component on the end side and in an axial manner, which clamping module is designed for detachably securely joining onto a tube inner wall assigned to the first tubular component, as well as a carrier ring module which is rotatably attached to the clamping module, which axially extends beyond the tubular end of the first component in the joined state of the clamping module, and which is in operative connection with a servomotor for the rotary driving of the carrier ring module about the tube longitudinal axis, in such a way that the carrier ring module is mounted such that it can rotate continuously about the tube longitudinal axis. In addition, at least one linear frame is attached to the carrier ring module, which frame is mounted such that it can be moved bidirectionally and parallel to the tube longitudinal axis by means of an actuator. The invention is characterised in that the manipulator unit is a 6-axis open kinematic chain in the form of a vertical articulated robot and is attached to an end of the frame, and in that a supply module is provided on which at least one of the following components is attached: a control unit, an electrical energy supply unit, at least one reservoir for the material relating to the welding process, comprising welding wire and process gas. In addition, the at least one component is connected to the welding tool via a connection line. The supply module is rotatably mounted for performing a rotational movement at the same time as the movement of the welding tool about the tube longitudinal axis, which permits infinite rotations of the welding tool about the tube longitudinal axis. The supply module is connected, in a rotationally fixed manner and such that it is linked in a freely positionable manner along a plane, to the carrier ring module on a support structure formed separately to the welding assembly.

    VORRICHTUNG NACH ART EINES KNICKARMROBOTERS
    6.
    发明公开
    VORRICHTUNG NACH ART EINES KNICKARMROBOTERS 有权

    公开(公告)号：EP3068590A1

    公开(公告)日：2016-09-21

    申请号：EP14786606.5

    申请日：2014-10-07

    申请人： Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. ,  Universität Rostock

    发明人： WANNER, Martin Christoph ,  KNY, Reinhart ,  WOLLENBERG, Michael ,  DRYBA, Steffen

    IPC分类号： B25J9/04 ,  B25J9/10

    CPC分类号： B25J9/106 ,  B25J9/046 ,  B25J9/102 ,  Y10S901/15 ,  Y10S901/17

    摘要： The invention relates to an articulated arm robot-type device for handling a payload, comprising a robot arm (R), which is attached to a base (1) that can be rotated about a first axis (A1), and at least two arm elements (2, 3), which are arranged one behind the other in the form of a kinematic chain and a first arm element (2) of which is mounted on the base (1) in a pivotal manner about a second axis (A2) that is oriented orthogonally relative to the first axis and a second arm element (3) of which is attached to the first arm element (1) in a pivotal manner about a third axis (A3) that is oriented parallel to the second axis (A2). The device also comprises a central hand (4) which is attached to the end of the kinematic chain. A first linear actuator (4) is provided which pivots the first arm element (2) about the second axis (A2) and which is operatively connected to the base (1) and to the first arm element (2) via a first coupling transmission (K1), and a second linear actuator (5) is provided which pivots the second arm element (3) about the third axis (A3) and which is operatively connected to the base (1), the first arm element (2), and the second arm element (3) via a second coupling transmission (K2). The first and the second linear actuator (4, 5) are each designed in the form of a spindle drive, each spindle drive providing a motor-driven spindle nut unit (41, 51) which is engaged with a spindle (42, 52) in the form of a threaded rod, wherein the threaded rod is mounted in a pivotal manner about a pivot axis (SA4, SA5) which is oriented parallel to the second axis (A2). The invention is characterized in that the first coupling transmission (K1) is operatively connected to the motor-driven spindle nut unit (41) of the first linear actuator (4) in a pivotal manner via a first universal joint (4K), and the second coupling transmission (K2) is operatively connected to the motor-driven spindle nut (51) of the second linear actuator (5) in a pivotal manner via a second universal joint (5K); the first and the second universal joint (4K, 5K) each has a pivot axis which is oriented parallel to the second axis (A2) and a pivot axis which is oriented orthogonally to the second axis (A2); the second coupling transmission (K2) has a first coupling means (8) and a second coupling means (9), each of which transmits pulling and pushing forces; the first coupling means (8) is a ternary transmission element in the form of a rigid triangular structure, the first coupling means (8) being mounted on each corner of the triangular structure about a pivotal axis such that the coupling means (8) is connected to the spindle nut unit (51) in a pivotal manner about a first pivot axis, which is a pivot axis of the second universal joint (5K), to the first arm element (2) in a pivotal manner about a second pivot axis (SA51), and to the second coupling means (9) in a pivotal manner about a third pivot axis (SA53); and the second coupling means (9) is designed in the form of a rigid connecting brace, one end of which is connected to the first coupling means (8) in a pivotal manner about the third pivot axis (SA53) and the other end of which is connected to the second arm element (3) in a pivotal manner about a pivot axis (SA52).

    摘要翻译： 本发明涉及一种用于处理有效载荷的铰接臂机器人，包括机器人手臂（R），其附接到可围绕第一轴线（A1）旋转的基部（1）和至少两个臂元件（2） 和3），其被布置成形成运动链，并且第一臂元件（2）安装在所述基座（1）上以围绕相对于所述第一轴线正交定向的第二轴线（A2）枢转，以及第二臂 元件（3），其以平行于第二轴线（A2）的方向绕第三轴线（A3）连接到第一臂以枢转方式。