公开(公告)号：EP3325210A1

公开(公告)日：2018-05-30

申请号：EP16751473.6

申请日：2016-07-07

申请人： DEPO GmbH & Co. KG

发明人： DEITERT, Heinz

IPC分类号： B23Q1/48 ,  B25J9/10 ,  B23Q3/12

CPC分类号： B23Q3/12 ,  B23D5/00 ,  B23Q1/4819 ,  B25J9/026 ,  B25J9/1015 ,  B25J11/0055 ,  B25J15/0019

摘要： The invention relates to a device for machining processing, preferably of metal work pieces, comprising a tool (9) that rotates about a tool axis (W). In this way, with a tool of this type and the method for machining processing, the processing of large workpieces is possible in an efficient manner, despite each having at least individually and very precisely executed contours, and the device has a linear drive assembly (3) having at least one first linear drive (6), with which a tool holder (8) for rotatably holding the tool (9) is arranged on the tool carrier (1) such that it can move relative to the tool carrier (1).

公开(公告)号：EP2244865A1

公开(公告)日：2010-11-03

申请号：EP08799965.2

申请日：2008-08-28

申请人： Goldwing Nominees Pty Ltd.

发明人： PIVAC, Mark Joseph ,  WOOD, Michael Barrington

IPC分类号： B25J9/10 ,  B23Q15/22 ,  B23Q16/12 ,  B23Q15/20 ,  B23Q16/00 ,  G05D3/12

CPC分类号： B25J9/1015 ,  B25J9/1692 ,  G05B2219/37275 ,  G05B2219/39176 ,  G05B2219/40511

摘要： A platform (204) supporting a raisable and pivotable robotic arm having a coarse positioning robotic arm (206) and at least one fine positioning robotic arm (210) is provided. The robotic arm is provided with apparatus for precise real-time measurement and control of the approximate position and orientation of the end (209) of the coarse positioning robotic arm relative to the position of a base (102). The base (102) has a distance sensor (107) with angle encoders arranged to send a beam to a target orientation sensor (105) located on said end (209) of the coarse positioning robotic arm (206), to measure and output spatial orientation data pertaining to the end (209). The target orientation sensor (103) outputs orientation data being a measurement of orientation of the end (209). Processor circuitry (100) derives data from the distance sensor (107) and the target orientation sensor (105), and uses this data in control of the approximate position of the end (209) by controlling the position of the coarse positioning robotic arm (206), and to control the position and orientation of the fine positioning robotic arm (210).

公开(公告)号：EP2091699A2

公开(公告)日：2009-08-26

申请号：EP07817691.4

申请日：2007-10-18

申请人： Fraunhofer-Gesellschaft zur Förderung der Angewandten Forschung e.V. ,  Rheinisch-Westfälische Technische Hochschule Aachen (RWTH)

发明人： REGAARD, Boris ,  KAIERLE, Stefan

IPC分类号： B25J9/10 ,  B25J9/16

CPC分类号： B25J9/1015 ,  B25J9/1684 ,  Y10T74/20335 ,  Y10T74/20341

摘要： The present invention relates to a method and a device for machining an object by means of a tool, wherein the tool (2) or the object (18) is guided with a handling device, which has multiple axes of movement for the rough positioning of the tool (2) or object (18) forming a kinematic chain. According to the method, an additional actuator (3) is inserted between an end link (1) of the kinematic chain and the tool (2) or object (18), the actuator having greater actuating accuracy than the other axes of movement in at least one dimension or axis. At least one sensor (5) is used to detect a relative movement of the tool (2) or end link (1) of the kinematic chain to the object (18), and any deviation from a target path of movement is compensated for by means of the additional actuator (3). The method and the associated device enable the use of robots or other handling devices having low path accuracy for applications requiring high precision in guiding the tool.

公开(公告)号：EP1566244B1

公开(公告)日：2009-04-08

申请号：EP04018798.1

申请日：2004-08-07

申请人： Integrated Dynamics Engineering GmbH

发明人： Tillmann, Ralf Dr.

IPC分类号： B25J9/10

CPC分类号： B25J9/1015 ,  B25J15/0095 ,  H01L21/67766 ,  Y10T74/20305 ,  Y10T74/20317

公开(公告)号：EP1519797A1

公开(公告)日：2005-04-06

申请号：EP03762585.2

申请日：2003-07-02

申请人： DaimlerChrysler AG

发明人： HABISREITINGER, Uwe ,  NORDMANN, Bernhard

IPC分类号： B08B1/00 ,  B25J9/10 ,  E04G23/02

CPC分类号： B60S3/04 ,  B08B1/00 ,  B25J9/1015 ,  B25J9/1633 ,  B62D65/005 ,  B62D65/02

摘要： The invention relates to a method for cleaning at least one surface (12) of a component (10), using a cleaning device (14), wherein the surface (12) of the component is cleaned by a cleaning head (18) movable by a positioning device (16), said cleaning head (18) exerting a contact pressure on the component (10). The positioning device (16) has a rough positioning system (20) and a fine positioning system (22), wherein the cleaning head (18) is moved in a force controlled manner by the fine positioning system (22) in at least one direction of movement (24, 26, 28, 30, 32, 34). The invention also relates to a corresponding cleaning device for implementing the inventive method.

公开(公告)号：EP1413183A1

公开(公告)日：2004-04-28

申请号：EP02767275.7

申请日：2002-07-30

申请人： FESTO AG & Co

发明人： STÖHR, Eberhard ,  LÖBELENZ, Peter

IPC分类号： H05K13/00

CPC分类号： H05K13/0069 ,  B25J9/1015 ,  B25J9/142 ,  B25J15/0616

摘要： The invention relates to a positioning device for objects, especially for pneumatic manipulator devices, which is provided with positioning means for positioning in at least one spatial direction. The positioning means (33) engage in a holding device (17, 30, 34) for the object (10, 11) that is to be positioned, which is connected to the holding device (17, 30, 34) by a pneumatic actuator array (23), wherein the positioning direction of the actuator array (23) corresponds to the directions or one of the directions of the positioning means (33). The fine positioning actuator array (23) consists of at least one contraction element that has a contraction tube (26) extending between two head pieces (24, 25), said contraction tube contracting longitudinally when inner pressure is exerted.

公开(公告)号：EP1022099A3

公开(公告)日：2004-04-21

申请号：EP99121028.7

申请日：1999-10-21

申请人： ROBERT BOSCH GMBH

发明人： Schreier, Kurt, Dipl.-Ing. ,  Steegmueller, Bernd, Dipl.-Ing. ,  Hoehn, Michael, Dipl.-Ing.

IPC分类号： B25J9/16 ,  H05K13/04

CPC分类号： B25J9/1015 ,  B23P19/10 ,  H05K13/0413

摘要： Die Erfindung betrifft ein Verfahren zum präzisen Positionieren und Fügen eines Bauteils auf einer Fügeposition einer Montageebene mittels eines Handhabungsgerätes mit Grob-Positionierantrieb eines Greifsystems mit Fein-Positionierantrieb sowie eines Meß- und Auswertesystems zum Ermitteln der Fügeposition und der Bauteil-Position des vom Greifer des Greifersystems gehaltenen Bauteils, zum Berechnen einer Positionsabweichung zwischen Fügeposition und Bauteil-Position und damit eines Korrrekturwertes zum Steuern des Grob- und Fein-Positionierantriebs. Mit einer iteraktiven Grob-/Feinpositionierung wird mit einem Standard-Handhabungsgerät und einem zusätzlichen Präzisionsantrieb mit kleinem Stellweg und sehr hoher Positioniergenauigkeit ein hochpräzises Positionierverfahren geschaffen, wobei vorzugsweise ein besonders ausgerüstetes Greifersystem eingesetzt wird. Mit dem optischen System mit Kamera kann der gesamte Verfahrensablauf visuell beobachtet und kontrolliert werden.

公开(公告)号：EP0683017B1

公开(公告)日：1999-03-17

申请号：EP94107614.3

申请日：1994-05-17

申请人： Director-General of Agency of Industrial Science and Technology

发明人： Todo, Yoshinori ,  Sakamoto, Masami ,  Ushijima, Noriaki ,  Sonoda, Akira ,  Miura, Yukio ,  Araki, Kyousuke ,  Yoshida, Kenichi

IPC分类号： B25J9/10 ,  B25J17/02 ,  B21J13/08

CPC分类号： B21J13/08 ,  B25J9/1015 ,  B25J17/0208

公开(公告)号：EP0608187B1

公开(公告)日：1997-04-09

申请号：EP94420015.3

申请日：1994-01-17

申请人： POTAIN ,  OFFICE NATIONAL D'ETUDES ET DE RECHERCHES AEROSPATIALES (ONERA)

发明人： Faure, Serge ,  Gaillet, Alain ,  Lefebvre, Régis, Résidence parc de Chalin ,  Reboulet, Claude

IPC分类号： B25J9/16

CPC分类号： B25J9/1015 ,  B25J9/1648 ,  B25J17/0216

公开(公告)号：EP0134573B1

公开(公告)日：1988-11-23

申请号：EP84110270.0

申请日：1984-08-29

申请人： International Business Machines Corporation

发明人： Hendriks, Ferdinand ,  Taylor, Russell Highsmith

IPC分类号： H01L21/68 ,  B25J13/08 ,  G05D3/20

CPC分类号： G01R1/06705 ,  B25J9/1015 ,  B25J9/14 ,  B25J19/021 ,  G05D3/20