公开(公告)号：US4710093A

公开(公告)日：1987-12-01

申请号：US832712

申请日：1986-02-07

申请人： Ernst Zimmer ,  Botho Kikut

发明人： Ernst Zimmer ,  Botho Kikut

IPC分类号： B25J19/00 ,  B25J15/04 ,  B25J11/00

CPC分类号： B25J15/0491

摘要： The invention concerns a manipulator (1) which is able to automatically receive the tool holder (7), to clamp it and to set it down again, in order thus to make possible a rapid changing of different tools. For this purpose, the last drive element (6) of the manipulator (1) as well as the tool holder (7) are provided with coupling parts (8,9) and with cooperating screw systems (16,17). The manipulator-side screw system (17) is mounted via an operating element (11) for rotation at a second operating element (10) which forms a rotation barrier (13) with the tool holder (7) as the coupling parts (8,9) come together. The screwing process is actuated by rotation of the last drive member (6). The two operating elements (10,11) are furthermore non-rotationally connected through a fixing mechanism (20). This rotation lock is abolished as soon as the rotation barrier (13) between the operating part (10) and the tool holder (7) becomes effective. In this manner it is possible during the screwing process to connect connectors (24) present at the operating part (10) with connector counterpieces (25) provided at the tool holder (7) in order to automatically achieve a transfer of energy, cooling and/or pressure medium.

摘要翻译： PCT No.PCT / EP85 / 00265 Sec。 371日期1986年2月7日第 102（e）日期1986年2月7日PCT归档1985年6月4日PCT公布。 第WO86 / 00040号公报 日期1986年1月3日。本发明涉及一种能够自动接收工具架（7），夹紧并将其再次固定的操纵器（1），从而使得可能快速改变不同的工具 。 为此，操纵器（1）的最后一个驱动元件（6）以及工具夹具（7）设置有联接部件（8,9）和配合螺钉系统（16,17）。 机械手侧螺纹系统（17）经由操作元件（11）安装，以在第二操作元件（10）上旋转，第二操作元件（10）与刀架（7）形成旋转阻挡件（13） 9）走到一起 通过最后一个驱动构件（6）的旋转来致动螺丝拧紧过程。 两个操作元件（10,11）进一步通过固定机构（20）非旋转地连接。 一旦操作部件（10）和工具夹具（7）之间的旋转挡板（13）变得有效，则该旋转锁定被取消。 以这种方式，可以在螺纹连接过程期间将存在于操作部件（10）的连接器（24）与设置在工具架（7）上的连接器配件（25）连接起来，以便自动实现能量，冷却和 /或压力介质。

公开(公告)号：US4706510A

公开(公告)日：1987-11-17

申请号：US828325

申请日：1986-01-28

申请人： Ernst Zimmer

发明人： Ernst Zimmer

IPC分类号： B23Q5/38 ,  B23Q11/08 ,  B25J5/02 ,  B25J9/02 ,  B25J9/08 ,  B25J9/10 ,  B25J18/02 ,  B25J19/00 ,  F16C29/08 ,  F16H19/00 ,  F16H19/02 ,  G05G1/00

CPC分类号： B23Q5/385 ,  B23Q11/085 ,  B25J18/02 ,  B25J19/0075 ,  B25J9/023 ,  B25J9/08 ,  B25J9/1045 ,  F16C29/08 ,  F16C29/04 ,  F16H2019/0613 ,  Y10T74/1884 ,  Y10T74/2093

摘要： The invention relates to the production of a guidance system (9, 14) for two machine parts (1, 2) which are movable relative to each other and are interconnected through this guidance system. To protect this guide track (9) disposed on the first machine part (1) from the track dust, grease, oil and the like, it is disposed in an almost completely closed guide channel. This guide channel is accessible only from the top through a slot engaged by guide elements (14) of the other machine part (2). The slot is covered on the one hand by the housing of machine part (2), and in the area outside of this housing it is closed by a belt (4). The guide track (9) is thus closed to the outside in any position of the machine part (2). If a toothed belt drive (3) is used, the toothed belt (4) acts as driving and covering element at the same time.

摘要翻译： PCT No.PCT / EP85 / 00266 Sec。 371日期1986年1月28日 102（e）日期1986年1月28日PCT归档1985年6月4日PCT公布。 公开号WO85 / 05586 1985年12月19日，本发明涉及一种用于两个机器部件（1,2）的引导系统（9,14）的生产，它们可相对于彼此移动并且通过该引导系统相互连接。 为了保护设置在第一机器部件（1）上的导轨（9）免受轨道灰尘，油脂和油等的影响，它被布置在几乎完全封闭的导槽中。 该引导通道仅从顶部通过与另一机器部件（2）的引导元件（14）接合的槽可接近。 一方面由机器部分（2）的壳体覆盖槽，并且在该壳体外部的区域中，其由带（4）封闭。 因此导轨（9）在机器部件（2）的任何位置处被封闭到外部。 如果使用齿形带驱动器（3），则齿形带（4）同时用作驱动和覆盖元件。

公开(公告)号：US4548097A

公开(公告)日：1985-10-22

申请号：US326762

申请日：1981-12-02

申请人： Ernst Zimmer

发明人： Ernst Zimmer

IPC分类号： B25J18/00 ,  B25J9/04 ,  B25J9/06 ,  B25J9/10 ,  B25J17/00 ,  B25J17/02 ,  B25J19/00 ,  F16H37/06

CPC分类号： B25J17/0283 ,  B25J19/002 ,  B25J9/046 ,  B25J9/1025 ,  Y10T74/1913

摘要： A manipulator drive has a main support defining a main longitudinal axis, a housing rotatable on the main support about the main longitudinal axis, a head defining a head longitudinal axis and rotatable on the housing about an outer transverse axis crossing the main longitudinal axis, and a holder rotatable on the head about the head longitudinal axis. Respective housing, head, and holder stepdown drive transmissions have outputs connected directly to the housing, head, and holder and inputs and have stepdown transmission ratios of at least 70:1. Respective head and holder drive trains include respective head and holder right-angle drives having input shafts coaxial with the main longitudinal axis and coaxial output shafts defining an inner transverse axis generally parallel to the outer transverse axis but offset along the main longitudinal axis therefrom toward the support, respective head and holder output members connected to the respective transmission inputs and both rotatable about the outer tranverse axis, and respective head and holder connecting elements between the respective output shafts and output members for joint rotation of each output member with the respective output shaft.

摘要翻译： 操纵器驱动器具有限定主纵向轴线的主支撑件，可围绕主纵向轴线在主支撑件上旋转的壳体，限定头部纵向轴线并围绕与主纵向轴线交叉的外横向轴线可旋转的头部的头部，以及 一个可绕头部纵向轴线旋转的保持器。 相应的外壳，头部和夹持器降落驱动变速器具有直接连接到壳体，头部和保持器以及输入的输出，并且具有至少70:1的降档传动比。 相应的头部和支架传动系包括相应的头部和保持器直角驱动器，其具有与主纵向轴线同轴的输入轴，同轴输出轴限定大体上平行于外部横向轴线的内部横向轴线，但是沿其主纵向轴线偏移朝向 支撑件，连接到相应的传动输入并且可围绕外横轴旋转的各自的头部和保持器输出构件以及各自的输出轴和输出构件之间的相应的头部和保持器连接元件，用于每个输出构件与相应的输出轴 。

公开(公告)号：US06223581B1

公开(公告)日：2001-05-01

申请号：US09214673

申请日：1999-05-19

申请人： Ernst Zimmer

发明人： Ernst Zimmer

IPC分类号： B21D3902

CPC分类号： B21D39/021 ,  Y10T29/53722

摘要： The present invention pertains to a hemming device 1 with a hemming head 6, which has one or more hemming tools 8, 9, divided into segments 12 through 16 in the case of a plurality of hemming tools, wherein the hemming tool or hemming tools is/are provided with a hemming edge 11 rotating in the operating position. The hemming device 1 also has a stroke drive for generating the hemming stroke and an adjusting device 22 for withdrawing and extending the segments 12 through 16, which has an adjusting drive 23, which moves all segments 12 through 16 simultaneously. The segments have adapted contact surfaces 17, which have a contact angle &agr; of 20° to 50°. The adjusting drive 23 is preferably designed as a crank mechanism.

摘要翻译： 本发明涉及一种带有折边头6的折边装置1，折边头6具有一个或多个折边工具8,9，在多个折边工具的情况下被划分成段12至16，其中折边工具或折边工具是 具有在操作位置旋转的折边11。 折边装置1还具有用于产生折边行程的行程驱动器和用于抽出和延伸段12至16的调节装置22，其具有同时移动所有段12至16的调节驱动器23。 这些段具有适配的接触表面17，其接触角α为20°至50°。 调节驱动器23优选地设计为曲柄机构。

公开(公告)号：US5624364A

公开(公告)日：1997-04-29

申请号：US617819

申请日：1996-02-28

申请人： Ernst Zimmer

发明人： Ernst Zimmer

IPC分类号： B25J15/04 ,  B23Q3/155 ,  F16L39/04

CPC分类号： B25J15/0491 ,  B25J19/0041 ,  Y10S483/901 ,  Y10T483/17

摘要： A tool change device for manipulators, which have a rotary connection for fluidic supply lines of the tool. The rotary connection comprises a fixed part and a rotary part, whose contact plane is directed at right angles to the power take-off axis of rotation of the manipulator. The rotary and fixed parts have ring channels, which are arranged in concentric circles around the power take-off axis of rotation and open into cross channels. The rotary and fixed parts are flatly in contact with one another and are held together in the housing of the manipulator-side coupling part along the power take-off axis of rotation in an adjustable tensioning connection.

摘要翻译： PCT No.PCT / EP94 / 02916 Sec。 371日期1996年2月28日 102（e）日期1996年2月28日PCT 1994年9月2日PCT公布。 公开号WO95 / 07168 日期1995年3月16日用于操纵器的换刀装置，其具有用于工具的流体供应管线的旋转连接。 旋转连接包括固定部分和旋转部分，其接触平面与操纵器的动力输出轴线成直角。 旋转和固定部件具有环形通道，其围绕动力输出轴旋转并且以同心圆排列并且开放到十字通道中。 旋转部件和固定部件彼此平坦地接触并且沿着可调节张紧连接件中的动力输出轴线保持在机械手侧联接部件的壳体中。

公开(公告)号：US4662815A

公开(公告)日：1987-05-05

申请号：US634753

申请日：1984-07-26

申请人： Ernst Zimmer

发明人： Ernst Zimmer

IPC分类号： B25J9/00 ,  B25J9/06 ,  B25J17/02 ,  B25J18/00 ,  B25J18/06

CPC分类号： B25J9/06 ,  B25J17/0291

摘要： A head assembly for a manipulator has an inner part, an intermediate part, and an outer part adapted to hold a tool. The inner part can rotate on the manipulator about an inner axis defined thereby whereas the intermediate part rotates on the inner part about an intermediate axis defined by the inner part and intersecting the inner axis at an acute intermediate angle open away from the inner part. The outer part rotates on the intermediate part about an outer axis defined by the intermediate part and intersection the intermediate axis at a point offset from the inner axis and at an acute outer angle open away from the intermediate part. In no position of head assembly can any of the pivot axes--inner, intermediate, or outer--be coaxial with any of the other pivot axes. The intermediate pivot and drive includes a shaft extending along the inner axis from the inner part. In addition there is another shaft extending along the intermediate axis in the intermediate part and gears rotationally couple the shafts. The inner and intermediate parts meet at a joint defining with the inner and intermediate axes an inner swivel plane substantially perpendicular to the intermediate axis. The outer and intermediate parts meet at a joint lying in an outer plane defining with the outer and intermediate axes an outer swivel plane substantially perpendicular to the intermediate axis and meeting the inner plant at an obtuse angle.

摘要翻译： 用于操纵器的头部组件具有内部部分，中间部分和适于保持工具的外部部分。 内部部件可围绕由此限定的内部轴线在机械手上旋转，而中间部分围绕内部限定的中间轴线在内部旋转，并以与内部部分开放的锐角中间角度相交。 外部部分围绕由中间部分限定的外轴在中间部分上旋转，并且在与内轴偏移的点处以与中间部分开放的锐角外角交叉中间轴线。 在头部组件的任何位置中，任何枢转轴线 - 内部，中间或外部 - 与任何其它枢转轴线同轴。 中间枢轴和驱动器包括从内部部分沿内轴延伸的轴。 另外还有一个沿着中间轴的中间轴延伸的轴，齿轮可旋转地连接轴。 内部和中间部分在与内部和中间轴线限定的接头处相交，内部旋转平面基本上垂直于中间轴线。 外部和中间部分在位于外平面中的关节处相交，所述关节限定外外轴线和中轴线，外旋转平面基本上垂直于中间轴线并以钝角会合内植物。

公开(公告)号：US4657472A

公开(公告)日：1987-04-14

申请号：US742280

申请日：1985-06-07

申请人： Ernst Zimmer

发明人： Ernst Zimmer

IPC分类号： B25J9/06 ,  B25J17/02

CPC分类号： B25J17/0291

摘要： A head assembly for a manipulator has, as is known, an inner part, an intermediate part, and an outer part having a holder adapted to carry a tool. An inner pivot and drive unit rotates the inner part on the manipulator about an inner axis defined thereby. An intermediate pivot and drive unit rotates the intermediate part on the inner part about an intermediate axis defined by the inner part and intersecting the inner axis at an intermediate angle not equal to 90.degree. and open away from the inner part. An outer pivot and drive unit rotates the outer part on the intermediate part about an outer axis defined by the intermediate part and intersecting the intermediate axis at a point and at an outer angle not equal to 180.degree. and open away from the intermediate part. The outer drive and pivot unit includes a stepdown transmission in the intermediate part and normally also another such stepdown transmission in the inner part.

摘要翻译： 如已知的，用于机械手的头部组件具有内部部件，中间部件和具有适于承载工具的保持器的外部部件。 内枢转和驱动单元围绕由此限定的内轴旋转机械手上的内部部分。 中间枢转和驱动单元使内部部分的中间部分围绕由内部限定的中间轴线旋转，并且以不等于90°的中间角度与内部轴线相交并且远离内部部分。 外部枢转和驱动单元使中间部分上的外部部分围绕由中间部分限定的外部轴线旋转，并且在不等于180°并且远离中间部分的外部角度与中间轴线相交。 外部驱动和枢转单元包括在中间部分中的降档传动装置，并且在内部部分中通常还有另一个这样的降档传动装置。

公开(公告)号：US5400944A

公开(公告)日：1995-03-28

申请号：US146049

申请日：1993-11-03

申请人： Ernst Zimmer ,  Johann Maischberger ,  Thomas Sturm ,  Heinz Meyer

发明人： Ernst Zimmer ,  Johann Maischberger ,  Thomas Sturm ,  Heinz Meyer

IPC分类号： B62D65/02 ,  B62D65/00 ,  B23K37/04

CPC分类号： B62D65/02

摘要： The present invention pertains to a processing station (1) for workpieces, especially vehicle bodies (2), in a transfer line (3). Changeable clamping frames (5, 6) are kept ready in magazines (7, 8), and the magazines (7, 8) are arranged on both sides in front of and/or behind the work station (29) in relation to the direction of the transfer line (3). At least one processing device (4) is arranged at the work station (29) on the side of the transfer line (3). The magazines (7, 8) are preferably designed as rotatable and upright drum magazines and are connected in pairs by a common transport device (10). The old clamping frame (5) can thus be moved from the work station (29) into one magazine (7, 8) and a new clamping frame (6) can at the same time be brought to the work station (29) by one movement.

摘要翻译： PCT No.PCT / EP92 / 00887 Sec。 371日期：1993年11月2日 102（e）日期1993年11月30日PCT提交1992年4月22日PCT公布。 WO92 / 19486 PCT公开号 日期：1992年11月12日。本发明涉及一种用于工件的加工站（1），特别是在输送管线（3）中的车体（2）。 可更换的夹紧框架（5,6）在杂志（7,8）中保持准备，并且杂志（7,8）相对于方向（7,8）布置在工作站（29）的前面和/或后面 的传输线（3）。 至少一个处理装置（4）布置在工作站（29）的输送线（3）侧。 杂志（7,8）优选地设计为可旋转和直立的鼓盒，并且通过公共传送装置（10）成对连接。 因此，旧的夹紧框架（5）可以从工作站（29）移动到一个仓（7,8）中，并且新的夹紧框架（6）可以同时被带到工作站（29）一个 运动。

公开(公告)号：US4893398A

公开(公告)日：1990-01-16

申请号：US925000

申请日：1986-10-22

申请人： Ernst Zimmer

发明人： Ernst Zimmer

IPC分类号： B23P21/00 ,  B23K11/11 ,  B23K37/04 ,  B23K37/047 ,  B23P23/04 ,  B62D65/00 ,  B62D65/02

CPC分类号： B23K37/047 ,  B62D65/02 ,  B23P2700/50 ,  Y10T483/16 ,  Y10T483/1731

摘要： The invention relates to a device for automatically joining and machining assemblies consisting of several components each and retained on a work-piece carrier (4) in a transfer line with retoolable machining stations (3). In the machining station (3), the assembly components are first taken off the workpiece carrier, brought into the joining position relative to each other, retained there and machined, in particular tacked or finish-welded. To carry out these various activities and to make the machining station highly flexible, the latter has several tool carriers (22, 23) which can move in at least three axes. The tool carriers (22, 23) are each disposed in a parallel plane above or below the workpiece carrier (4) so they can travel freely. The tool carriers (22, 23) support individual tools which they can change automatically at stationary or movable tool magazines (31, 33, 34). In conjunction with freely programmable actuators for the independent motion of the individual tool carriers (22, 23), new sets of tools can be put together in mosaic fashion for the various activities and in the event of an assembly type change-over.

摘要翻译： PCT No.PCT / EP86 / 00073 Sec。 371日期1986年10月22日第 102（e）1986年10月22日PCT PCT日期：1986年2月14日PCT公布。 第WO86 / 04871号公报 日本1986年8月28日。本发明涉及一种用于自动连接和加工组件的装置，其由多个部件组成，每个部件保持在具有可重新加工的加工站（3）的输送管线中的工件托架（4）上。 在加工台（3）中，组装部件首先从工件载体上取下，相对于彼此接合，保持在其中并加工，特别是固定或精加工。 为了执行这些各种活动并使加工站具有高度的柔性，后者具有可在至少三个轴上移动的多个刀架（22,23）。 工具架（22,23）各自设置在工件载体（4）的上方或下方的平行平面中，使得它们可以自由行进。 工具架（22,23）支撑各自的工具，它们可以在固定的或可移动的工具箱（31,33,34）上自动地改变。 结合用于各个工具架（22,23）的独立运动的可自由编程的致动器，可以以镶嵌方式将新的工具组合放置在各种活动中以及在组装类​​型转换的情况下。

公开(公告)号：US4736645A

公开(公告)日：1988-04-12

申请号：US888146

申请日：1986-07-18

申请人： Ernst Zimmer

发明人： Ernst Zimmer

IPC分类号： B25J17/00 ,  B25J9/00 ,  B25J17/02 ,  F16H1/14

CPC分类号： B25J17/0291 ,  Y10T74/19665

摘要： The invention is a further development of the gear-head unit for a manipulator described in German Open Patent Application No. 34 28 748. In order to increase the radius of action and range of applicability of the gear-head unit a structural arrangement with three concentric drive axes and four allowed rotational motions of front, intermediate and rear segments of the manipulator is set forth. These front, intermediate and rear segments are pivotally mounted together about first and second inclined pivot axes which are inclined to each other and to the main drive shaft axis. Along these inclined pivot axes two hollow drive shafts connected with each other extend which are supported by reduction gears in the front and/or intermediate segments. Because of that simultaneous opposing rotational motions of the intermediate and rear segments can be obtained from a single drive motor. In the rear segment an output drive shaft attached to a front plate for a tool holder is rotatably mounted which is driven by coupled intermediate drive shafts guided through the hollow drive shafts.

摘要翻译： 本发明是德国公开专利申请No.34 28748中描述的用于机械手的齿轮头单元的进一步发展。为了增加齿轮头单元的作用半径和适用范围，结构布置与三 阐述了同心驱动轴和操纵器的前，后和后段的四个允许的旋转运动。 这些前，后段和后段围绕彼此倾斜并且与主驱动轴轴线倾斜的第一和第二倾斜枢轴枢转地安装在一起。 沿着这些倾斜的枢转轴线，两个相互连接的中空驱动轴在前部和/或中间部分中由减速齿轮支撑。 因为中间和后段的同时相反的旋转运动可以从单个驱动马达获得。 在后部段中，安装在工具架前板上的输出驱动轴被可旋转地安装，该驱动轴被引导穿过中空驱动轴的联接的中间驱动轴驱动。