公开(公告)号：US5237741A

公开(公告)日：1993-08-24

申请号：US818636

申请日：1992-01-06

申请人： Dieter Goedderz

发明人： Dieter Goedderz

IPC分类号： B23P19/02 ,  B23P19/04 ,  B23P21/00 ,  B60J10/00 ,  B62D65/00 ,  B62D65/08 ,  B62D65/14

CPC分类号： B62D65/14 ,  B23P19/047 ,  B60J10/45 ,  Y10T29/53039 ,  Y10T29/53526 ,  Y10T29/53657

摘要： A robot hand is disclosed for fitting a length of channel-shaped sealing strip to a flange running around the door opening of a motor vehicle body. The sealing strip, with the sides of its channel initially splayed apart, is held coiled in a cassette. A take-up roller is initially driven by a motor to pull a length of the strip out of the cassette until its end engages the flange, rollers confining the strip to move in a curved path. A cradle carrying these rollers is then transversely moved clear of the path by piston-cylinder assemblies. The robot hand is then caused to travel around the door opening, the motor now rotating two parallel-axis rollers spaced either side of the flange. The latter press the sides of the channel of the sealing strip into gripping engagement with the flange and also drive the robot hand around the door opening.

公开(公告)号：US5169081A

公开(公告)日：1992-12-08

申请号：US817141

申请日：1992-01-06

申请人： Dieter Goedderz

发明人： Dieter Goedderz

IPC分类号： E06B3/62 ,  B23P19/04 ,  B60J10/00 ,  B62D65/00 ,  B62D65/08 ,  B65H49/02 ,  B65H49/04 ,  B65H49/20

CPC分类号： B23P19/047 ,  B60J10/45 ,  B65H49/20 ,  Y10T29/53657

摘要： A robot hand receives a length of sealing strip and fits it onto a mounting flange surrounding a vehicle door opening. The hand is carried by the arm of a robot. As the robot moves the hand around the periphery of the door opening, the hand grips the sealing strip and drives it through the hand and around a roller so as to lay it on the flange. An appropriate length of the sealing strip is supplied to the hand by means of a cassette within which the sealing strip is coiled. The hand carries a pick-up plate which grips the cassette by means of locking members. An end of the sealing strip extends out of the cassette on a nose forming part of the inverted lid of the cassette. The cassette is then drawn towards the robot hand, forcing the nose into the entrance of the hand and thus placing the end of the sealing strip between a first pair of drive rollers which are thereafter rotated so as to drive the sealing strip out of the cassette and through the hand.

摘要翻译： 机器人手接收一段密封条并将其装配到围绕车门开口的安装法兰上。 手由机器人的手臂携带。 当机器人围绕门开口的周边移动手时，手握住密封条并将其驱动通过手并围绕辊子将其放置在凸缘上。 密封条的适当长度通过密封条被卷绕在其中的盒子提供给手。 手上带有一个通过锁定构件夹住盒的拾取板。 密封条的端部在形成盒的倒置盖的一部分的鼻子上伸出盒子外部。 然后将盒子朝向机器人手拉动，迫使鼻子进入手的入口，从而将密封条的端部放置在第一对驱动辊之间，然后转动以将密封条驱动出盒 并通过手。

公开(公告)号：US5115551A

公开(公告)日：1992-05-26

申请号：US763869

申请日：1991-09-20

申请人： Dieter Goedderz ,  Markus Reuvers

发明人： Dieter Goedderz ,  Markus Reuvers

IPC分类号： B25B27/00 ,  B60J10/00

CPC分类号： B60J10/45 ,  Y10T29/4987 ,  Y10T29/49876 ,  Y10T29/53657 ,  Y10T29/53791

摘要： The robot arrangement for mounting a sealing strip on a mounting flange comprises a robot hand supported at the end of a robot arm. The sealing strip is received by the robot hand at one point and driven through the hand to emerge at another point. Its emerging end is engaged by a right-angled guide finger. As the strip movement continues, this finger pivots and constrains the strip to follow a curved path around a guide roller. The robot arm then moves the robot hand towards the flange so that the curved strip engages the flange. Thereafter, the finger is accelerated by a motor out of engagement with the strip. The robot arm then drives the robot hand along the flange, thus laying the strip on to the flange.

公开(公告)号：US5065486A

公开(公告)日：1991-11-19

申请号：US601878

申请日：1990-10-22

申请人： Dieter Goedderz

发明人： Dieter Goedderz

IPC分类号： B23P19/02 ,  B23P19/04 ,  B25B27/00 ,  B25B27/14 ,  B60J10/00 ,  B60R13/06 ,  B62D65/14

CPC分类号： B62D65/14 ,  B23P19/047 ,  B60J10/45 ,  Y10T292/0838

摘要： A robot-held tool for applying a sealing strip to a flange comprises rollers which are contra-rotated by a motor within a housing and which engage opposite sides of the sealing strip to press it onto the flange, downward pressure onto the sealing strip being maintained by a non-driven roller. The housing is carried by a frame which is in turn connected to the robot via a coupling. The frame is freely angularly movable relative to a shaft which supports the housing. When the rollers are energized, they pull the tool along the flange. When a curve in the flange is reached, the housing and its supporting shaft automatically swivel relative to the remainder of the frame and to the robot. The robot then thereafter re-positions the frame back into the previous position which it had relative to the housing. In this way, the majority of the guiding of the tool along the flange is carried out by the tool itself and programming and adjustment of the robot are simplified. A hand-operated version is also disclosed.

摘要翻译： 用于将密封条施加到凸缘的机器人固定工具包括由壳体内的电动机反向旋转并且与密封条的相对侧接合以将其按压到凸缘上的辊子，保持在密封条上的向下的压力 通过非从动辊。 壳体由框架承载，框架又通过联接器连接到机器人。 框架相对于支撑壳体的轴自由地成角度地移动。 当辊子通电时，它们沿着法兰拉动工具。 当达到法兰中的曲线时，外壳及其支撑轴相对于框架的其余部分和机器人自动旋转。 然后，机器人将框架重新定位回其相对于壳体的先前位置。 以这种方式，沿着凸缘的工具的大部分引导由工具本身执行，机器人的编程和调整被简化。 还披露了手动版本。

公开(公告)号：US5237730A

公开(公告)日：1993-08-24

申请号：US886626

申请日：1992-05-21

申请人： Dieter Goedderz

发明人： Dieter Goedderz

IPC分类号： B25B27/00 ,  B60J10/00

CPC分类号： B60J10/45 ,  Y10T29/53657 ,  Y10T29/53709 ,  Y10T29/53791

摘要： A robot arrangement for mounting a sealing strip on a mounting flange comprises a robot hand supported at the end of a robot arm. The sealing strip is received by the robot hand at one position and driven through the hand to emerge at another position. Its emerging end is engaged by a spigot mounted on a pivotted finger. As the strip movement continues, this finger pivots and constrains the strip to follow a curved path around a guide roller. The robot arm then moves the robot hand towards the flange so that the now curved strip engages the flange 6. Thereafter the finger is moved by a motor out of engagement with the strip. The robot arm then drives the robot hand along the flange, thus laying the strip onto the flange.

摘要翻译： 用于将密封条安装在安装凸缘上的机器人装置包括在机器人臂的端部处支撑的机器人手。 密封条由机器人手在一个位置接收并通过手驱动以在另一位置出现。 其出现的端部由安装在枢转的手指上的插口接合。 随着条带移动继续，该指状物枢转并约束条带以围绕导辊的弯曲路径。 机器人臂然后将机器人手移向凸缘，使得现在弯曲的条带接合凸缘6.此后，手指通过电机移动而不与条带接合。 机器人臂随后沿着法兰驱动机器人手，从而将条铺设在法兰上。

公开(公告)号：US5943893A

公开(公告)日：1999-08-31

申请号：US82286

申请日：1998-05-20

申请人： Dieter Goedderz ,  Roland Heffe ,  Alfred Heimann ,  Josef Janssen

发明人： Dieter Goedderz ,  Roland Heffe ,  Alfred Heimann ,  Josef Janssen

IPC分类号： B21H7/18 ,  B23P9/02 ,  B24B5/42 ,  B24B39/04 ,  B21D3/02

CPC分类号： B21H7/185 ,  B23P9/02 ,  B24B39/04 ,  B24B5/42 ,  B21H7/182 ,  Y10T29/17

摘要： A machine for hard-rolling a workpiece such as a crankshaft includes a drive apparatus (7) for rotating the crankshaft (8, 113), suspension apparatuses (9 to 17), hard-rolling devices (18 to 26, 111) movably supported by the suspension apparatuses, and a crankshaft transport apparatus (100). Each hard rolling device is a scissors jaw including two scissors arms (46, 47, 114, 115), with respective hardening roller heads (66 to 69, 118) and respective opposite counter-support heads (74, 119) mounted on the upper ends of the scissors arms facing the crankshaft. Each suspension apparatus (9 to 17) is slidably adjustable along the rotation axis (27) of the drive apparatus (7). A drive arrangement (49, 122) is connected to the lower ends of the scissors arms directed away from the crankshaft, for closing and opening the scissors arms to a maximum opening width (59, 130) that is larger than twice the maximum structural radius (60, 131) of the crankshaft. A respective angled bellcrank lever (78) is pivotally supported on each suspension apparatus, with one shank thereof pivotally connected to one scissors arm and the other shank thereof connected to a piston cylinder unit (84), which in turn is connected to the suspension apparatus (9 to 17). Guide members (88, 89) are provided for guiding the upper ends of the scissors arms.

摘要翻译： 一种用于硬化诸如曲轴的工件的机器包括用于使曲轴（8,113）旋转的驱动装置（7），悬架装置（9至17），可移动地支撑的硬质轧制装置（18至26,111） 通过悬架装置和曲轴输送装置（100）。 每个硬滚动装置是一个剪刀钳，包括两个剪刀臂（46,47,114,115），其中各个硬化辊头（66至69,118）和相应的相对的反向支撑头（74,119）安装在上部 剪刀臂的两端朝向曲轴。 每个悬挂装置（9至17）可沿着驱动装置（7）的旋转轴线（27）可滑动地调节。 驱动装置（49,122）连接到远离曲轴的剪刀臂的下端，用于将剪刀臂关闭并打开至最大开口宽度（59,130​​），该最大开口宽度大于最大结构半径的两倍 （60,131）。 相应的倾斜的曲拐杆（78）枢转地支撑在每个悬挂装置上，其一个柄枢轴地连接到一个剪刀臂，另一个杆连接到活塞气缸单元（84），活塞气缸单元又连接到悬架装置 （9至17）。 引导构件（88,89）用于引导剪刀臂的上端。

公开(公告)号：US5155890A

公开(公告)日：1992-10-20

申请号：US466511

申请日：1990-01-17

申请人： Dieter Goedderz

发明人： Dieter Goedderz

IPC分类号： B25B27/00 ,  B60J10/00

CPC分类号： B60J10/45 ,  Y10T29/53657 ,  Y10T29/53791

摘要： A robot arrangement for mounting a sealing strip on a mounting flange comprises a robot hand supported at the end of a robot arm. The sealing strip is received by the robot hand at one position and driven through the hand to emerge at another position. Its emerging end is engaged by a spigot mounted on a pivotted finger. As the strip movement continues, this finger pivots and constrains the strip to follow a curved path around a guide roller. The robot arm then moves the robot hand towards the flange so that the now curved strip engages the flange 6. Thereafter the finger is accelerated by a motor out of engagement with the strip. The robot arm then drives the robot hand along the flange, thus laying the strip onto the flange.

摘要翻译： 用于将密封条安装在安装凸缘上的机器人装置包括在机器人臂的端部处支撑的机器人手。 密封条由机器人手在一个位置接收并通过手驱动以在另一位置出现。 其出现的端部由安装在枢转的手指上的插口接合。 随着条带移动继续，该指状物枢转并约束条带以围绕导辊的弯曲路径。 机器人臂然后将机器人手移向凸缘，使得现在弯曲的条带接合凸缘6.此后，手指通过电机加速而不与条带接合。 机器人臂随后沿着法兰驱动机器人手，从而将条铺设在法兰上。

公开(公告)号：US5031293A

公开(公告)日：1991-07-16

申请号：US460285

申请日：1990-01-03

申请人： Dieter Goedderz ,  Markus Reuvers

发明人： Dieter Goedderz ,  Markus Reuvers

IPC分类号： B25B27/00 ,  B60J10/00

CPC分类号： B60J10/45 ,  Y10T29/4987 ,  Y10T29/49876 ,  Y10T29/53657 ,  Y10T29/53791

摘要： The robot arrangement for mounting a sealing strip on a mounting flange comprises a robot hand supported at the end of a robot arm. The sealing strip is received by the robot hand at one point and driven through the hand to emerge at another point. Its emerging end is engaged by a right-angled guide finger. As the strip movement continues, this finger pivots and constrains the strip to follow a curved path around a guide roller. The robot arm then moves the robot hand towards the flange so that the curved strip engages the flange. Thereafter, the finger is accelerated by a motor out of engagement with the strip. The robot arm then drives the robot hand along the flange, thus laying the strip on to the flange.

摘要翻译： 用于将密封条安装在安装凸缘上的机器人装置包括在机器人臂的端部处支撑的机器人手。 密封条由机器人手在一点接收并通过手驱动以在另一点出现。 其出现的端部由直角引导手指接合。 随着条带移动继续，该指状物枢转并约束条带以围绕导辊的弯曲路径。 机器人臂然后将机器人手移向凸缘，使得弯曲的条带接合凸缘。 此后，手指通过电机加速而不与条带接合。 机器人臂然后沿着法兰驱动机器人手，从而将条带放置在法兰上。