公开(公告)号：EP4405114A1

公开(公告)日：2024-07-31

申请号：EP22792776.1

申请日：2022-09-15

申请人： Dürr Systems AG

发明人： FRITZ, Hans-Georg ,  WÖHR, Benjamin ,  LAVALLÉE, Jerome ,  BUBEK, Moritz ,  BEYL, Timo ,  TANDLER, Daniel ,  BERNDT, Tobias ,  HALLER, Peter

IPC分类号： B05B12/14 ,  B05B7/04 ,  B05B13/04 ,  B05B12/12

CPC分类号： B05B12/1418 ,  B05B7/0408 ,  B05B13/0431 ,  B05B12/149 ,  B25J11/0075 ,  B05B12/122

公开(公告)号：EP3411196A1

公开(公告)日：2018-12-12

申请号：EP17701479.2

申请日：2017-01-24

申请人： Eisenmann SE

发明人： SCHWAB, Stephan ,  SALOMON, Mirjam

IPC分类号： B25J9/16 ,  B25J11/00

CPC分类号： B05B13/0452 ,  B05B13/0292 ,  B25J9/1679 ,  B25J11/0075 ,  G05B2219/39562 ,  G05B2219/40062 ,  G05B2219/45013 ,  G05B2219/45065

摘要： The invention relates to a multi-axis robot, in particular a painting robot (18), comprising a kinematic chain with a tool member (36, 38) and at least one additional member (22, 24, 26, 28, 30, 32, 34), the tool member (36, 38) supporting a first tool (40), in particular an application device (40). The associated robot control mechanism (50) comprises a kinematic control mechanism (51) designed to receive the movement path of the first tool (40) using a parmeterizable tool centre point (44) and to control members (22, 24, 26, 28, 30, 32, 34, 36, 38) of the kinetic chain in such a way that the tool centre point (44) follows the movement path. Also, the robot control mechanism (50) maintains all the members (32, 34, 36, 38) along the kinematic chain of the tool member (36, 38) of another member (28, 30) which supports the second tool (42, 43) in a fixed position, it parameterizes the tool center point (44) on a working point of the second tool (42, 43), and transfers the movement path of the second tool (42, 43) to the kinematic control mechanism (51) so that said latter, under the condition that the fixed position of the members (32, 34, 36, 38) is maintained, controls the remaining members (22, 24, 26, 28, 30) of the kinematic chain using the newly parameterised tool centre point (44) so that the tool centre point (44) follows the movement path of the second tool (42, 43).

公开(公告)号：EP3241616B1

公开(公告)日：2018-10-24

申请号：EP17167926.9

申请日：2017-04-25

申请人： Lockheed Martin Corporation

发明人： FRANKS, Ron K. ,  DREWETT, Jeffrey T. ,  SOLIS, Justin Marcel ,  THOMASSON, Tara Michelle ,  DABBS, Bobby Charles

IPC分类号： B05B12/08 ,  B05B13/04 ,  B05D1/02 ,  B05D7/00

CPC分类号： B05B12/084 ,  B05B7/0018 ,  B05B9/01 ,  B05B13/0431 ,  B05D1/02 ,  B25J11/0075 ,  Y10S901/43

摘要： In certain embodiments, a system (100) comprises a robot (120), a spray gun (130) coupled to the robot (120) and operable to spray a first predefined number of passes of a material (11) onto a substrate (180) at a first flow rate, and a measurement device (140) operable to measure one or more properties of the material (110) sprayed onto the substrate (180) while the material (110) is wet. The system further comprises an analyzer (150) operable to determine a thickness of the wet material (110) based on the one or more measured properties and calculate a second flow rate required to achieve a cured thickness of the material (110) within a second predefined number of passes. The calculated second flow rate is based on the first predefined number of passes, an expected thickness of the wet material (110) for one pass of the first predefined number of passes, the determined thickness of the wet material (110), and the first flow rate.

公开(公告)号：EP3202540A1

公开(公告)日：2017-08-09

申请号：EP16275021.0

申请日：2016-02-05

申请人： BAE Systems PLC

发明人： The designation of the inventor has not yet been filed

IPC分类号： B25J11/00 ,  B05C5/02

CPC分类号： B05C5/0216 ,  B25J11/0075 ,  B25J15/0019

摘要： An end effector (100) for a robot comprising: a threaded shaft (118); a motor (106) coupled to the shaft (118) and configured to rotate the shaft (118) about its axis; a nut (122) threaded onto the shaft (118); means (124) for preventing the nut (122) from rotating about the axis of the shaft (118); and an elongate member (126) fixed at one end to the nut (122) and extending from the nut (122) in a direction parallel to the axis of the shaft (118). The end effector (100) may further comprise a container (142) for containing a fluid (148) comprising: an elongate body portion comprising an opening (150) at one end; and a reciprocable plunger (146) extending into an opposite end of the body portion. A second end of the elongate member (126) may be coupled to the plunger (146).

摘要翻译： 一种用于机器人的末端执行器（100），包括：螺纹轴（118）; 马达（106），其联接到所述轴（118）并且构造成使所述轴（118）绕其轴线旋转; 螺母（122），其拧到所述轴（118）上; 用于防止螺母（122）围绕轴（118）的轴线旋转的装置（124）; 和一端固定在螺母（122）上并沿平行于轴（118）的轴线的方向从螺母（122）延伸的细长构件（126）。 末端执行器（100）还可以包括用于容纳流体（148）的容器（142），该容器包括：在一端包括开口（150）的细长主体部分; 和延伸到主体部分的相对端的往复活塞（146）。 细长构件（126）的第二端可联接到柱塞（146）。

公开(公告)号：EP2791008B1

公开(公告)日：2017-05-17

申请号：EP12799077.8

申请日：2012-12-10

申请人： Dürr Systems AG

发明人： HEUSCHEN, Wulf ,  KMITTA, Hartmut ,  FURMANNEK, Marc

IPC分类号： B05B13/00 ,  B05B13/04 ,  B05B15/12 ,  B25J5/02 ,  B25J9/00 ,  B25J11/00

CPC分类号： B05B15/1207 ,  B05B13/005 ,  B05B13/0431 ,  B05B16/20 ,  B25J5/02 ,  B25J9/0084 ,  B25J9/0093 ,  B25J11/0075

公开(公告)号：EP3147035A1

公开(公告)日：2017-03-29

申请号：EP15795732.5

申请日：2015-04-09

申请人： Taikisha, Ltd.

发明人： MANABE Keiji ,  TAGOMORI Takaaki

IPC分类号： B05D1/02 ,  B05B13/02 ,  B05B15/12 ,  B05D1/36 ,  B25J15/04

CPC分类号： B05B13/0431 ,  B05B12/006 ,  B05B12/122 ,  B05B13/0221 ,  B05B14/412 ,  B05B14/43 ,  B05B15/72 ,  B05B16/00 ,  B05B16/20 ,  B05D1/02 ,  B25J9/0084 ,  B25J11/0075 ,  B25J15/0052 ,  B25J15/0441 ,  B25J15/0616

摘要： After completion of a preceding painting in a preceding painting area (2'), by an action of a preceding painting robot (6'), a painting object (object to be painted) (W) is caused to be held together with a holder (8) by a transfer section (20) near two painting areas (2'), (2"). In succession, with maintaining connection between the painting object (W) and the holder (8), connection between an arm leading end portion (7a) of the preceding painting robot (6') and the holder (8) is released. Thereafter, by an action of a subsequent painting robot (6"), an arm leading end portion (7a) of the subsequent painting robot (6") with keeping its connection to the painting object (W) is connected to the holder (8) held to the transfer section (20). With this, in the course of transfer of the painting object (W) between the painting robots (6'), (6") for displacing the painting object (W) relative to a spraying means (4), a relative positional relation between the arm leading portions (7a) of the painting robots (6'), (6") and the painting object (W) can be maintained same.

摘要翻译： 在前一个绘画区域（2'）中完成前一次绘画之后，通过前一个绘画机器人（6'）的动作，使一个绘画对象（待绘画的对象）（W）与一个保持器 （2），（2“）附近的转印部（20），连续地保持涂漆对象（W）和保持器（8）之间的连接，臂前端 之后，通过后续的涂装机器人（6“）的动作，将后续的涂装机器人的臂前端部（7a） （W）的连接部（6“）与保持在转印部（20）的保持架（8）连接，由此，在涂装物（W） 用于相对于喷涂装置（4）移动所述涂漆物体（W）的机器人（6'），（6“），所述臂引导部分（7a）之间的相对位置关系 绘画机器人（6'），（6“）和绘画对象（W）可以保持相同。

公开(公告)号：EP3142799A1

公开(公告)日：2017-03-22

申请号：EP15725842.7

申请日：2015-05-11

申请人： Peugeot Citroën Automobiles SA

发明人： PEREZ, Mathieu

IPC分类号： B05B13/04

CPC分类号： B05B13/0452 ,  B25J9/1697 ,  B25J11/0075 ,  G05B2219/39367 ,  G05B2219/39391

摘要： The invention relates to a method for applying a coating to a part (1) of the bodywork of a motor vehicle by means of a robot (4) provided with a nozzle (5) for spraying the coating, said method comprising the following operations: defining, on the part (1), a theoretical course for the application of the coating; calculating, for the nozzle (5), a path following the course thus defined; guiding the robot (4) such that the nozzle follows the path thus calculated; and copying an image (10) of the theoretical course onto the bodywork part (1) during the application of the coating.

摘要翻译： 本发明涉及一种通过设置有用于喷涂涂层的喷嘴（5）的机器人（4）将涂层施加到机动车车体的部件（1）的方法，所述方法包括以下操作： 在第（1）部分中定义了涂层应用的理论课程; 对于喷嘴（5）计算遵循如此定义的过程的路径; 引导机器人（4）使得喷嘴遵循如此计算的路径; 以及在施加涂层期间将理论课程的图像（10）复制到身体部分（1）上。

公开(公告)号：EP3077882A1

公开(公告)日：2016-10-12

申请号：EP15775610.7

申请日：2015-07-05

申请人： AZAIZ, Ridha

发明人： AZAIZ, Ridha

IPC分类号： G05D1/10 ,  B08B3/02 ,  F24J2/46 ,  G01B21/20 ,  G01S5/00 ,  B08B1/00

CPC分类号： B64C39/024 ,  B08B1/002 ,  B25J11/0075 ,  B64C2201/12 ,  E04G23/002 ,  F24S40/20 ,  G01B21/02 ,  G01S19/14 ,  G05D1/0088 ,  G05D1/102 ,  H02S40/10 ,  Y02B10/20 ,  Y02E10/40

摘要： The invention relates to flying objects which can cover large distances between arrangements of smooth an curved surfaces without requiring a manual manipulation. This reduces personnel requirements and enables large surfaces to be maintained, for example solar power stations, in a fully automated manner. The method for controlling a flying object for cleaning surfaces consists of detecting the surrounding surfaces of an object to be cleaned, directing the flying object with respect thereto and structuring the flying path. As a result, the surface can be cleaned particularly efficiently and optionally, cleaned further. Said method for controlling a flying object for cleaning surfaces is suitable for use on glass facades or on solar power stations, in particular in arid regions.

摘要翻译： 本发明涉及能够在不需要手动操作的情况下在平滑的曲面的布置之间覆盖较大距离的飞行物体。 这样可以减少人员需求，并能以全自动的方式维护大面积，例如太阳能发电站。 用于控制用于清洁表面的飞行物体的方法包括：检测待清洁物体的周围表面，引导飞行物体相对于其并构成飞行路径。 结果，可以特别有效地清洁表面，并可任选地进一步清洁表面。 用于控制用于清洁表面的飞行物体的所述方法适用于玻璃幕墙或太阳能发电站，特别是在干旱地区。

公开(公告)号：EP1784288B1

公开(公告)日：2016-04-20

申请号：EP05757778.5

申请日：2005-07-08

申请人： Eisenmann SE

发明人： ALBRECHT, Markus

IPC分类号： B25J11/00 ,  B05B13/04

CPC分类号： B05B13/0431 ,  B05B13/0452 ,  B25J11/0075

公开(公告)号：EP2949580A1

公开(公告)日：2015-12-02

申请号：EP15169442.9

申请日：2015-05-27

申请人： The Boeing Company

发明人： MATHIS, Dennis R.

IPC分类号： B64F5/00

CPC分类号： B05B13/005 ,  B05B3/02 ,  B05B12/02 ,  B05B13/0431 ,  B25J5/04 ,  B25J11/0075 ,  B64F5/30 ,  B64F5/40 ,  B64F5/45 ,  B64F5/50 ,  Y10S901/43

摘要： A coating application system (200) may include a pair of towers (210, 212) movable along a respective pair of floor tracks (242, 244). A crossbeam (300) may extend between the pair of towers. The cross beam may have opposing beam ends. A universal joint (310) may couple each beam end to a tower to allow the crossbeam to rotate about a vertical axis and about a horizontal axis. A robotic device (400) may be mounted to the crossbeam. The robotic device may include an end effector (416) for performing one or more operations on an aircraft exterior surface.

摘要翻译： 涂覆应用系统（200）可以包括沿着相应的一对地板轨道（242,244）可移动的一对塔架（210,212）。 横梁（300）可以在一对塔之间延伸。 横梁可以具有相对的梁端。 万向节（310）可以将每个梁端连接到塔架，以允许横梁围绕垂直轴线和围绕水平轴线旋转。 机器人装置（400）可以安装在横梁上。 机器人装置可以包括用于在飞行器外表面上执行一个或多个操作的末端执行器（416）。