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公开(公告)号：US4611843A
公开(公告)日：1986-09-16
申请号：US632472
申请日：1984-07-19
申请人： Rudolf Burger , Franz Kobras , Gerd Kohler , Erich Niedermayr , Josef Poessinger
发明人： Rudolf Burger , Franz Kobras , Gerd Kohler , Erich Niedermayr , Josef Poessinger
CPC分类号： B25J9/1692 , B25J15/00 , B25J17/0208 , Y10S294/907
摘要： A gripper for a manipulation installation such as an industrial robot characterized by a gripping arrangement including a gripping element movable into a receiving bore to enable gripping a cylindrical part. In order to compensate for misalignment between the bore and the cylindrical part and for tilting of the part, the cylindrical bore is provided in a slidable member and has a frusto-conical opening facing toward the part to act as a centering bell so that upon engagement of the part with the surface of the frusto-conical opening the slidable member moves to the desired position to allow insertion of the part into the bore. To enable exact positioning of the part after it is grasped by the gripping arrangement and removed from a rack or storage facilities, the gripper includes a centering arrangement to precisely center the movable member in the housing.
摘要翻译： 用于诸如工业机器人的操纵装置的夹持器，其特征在于包括可移动到接收孔中的夹持元件以夹持圆柱形部分的夹持装置。 为了补偿孔和圆柱形部件之间的偏移并且用于部件的倾斜，圆柱形孔设置在可滑动构件中并且具有面向该部分的截头圆锥形开口以用作定心钟，使得在接合时 在具有截头圆锥形开口的表面的部分中，可滑动构件移动到期望的位置以允许部件插入孔中。 为了使零件在由夹持装置抓住并从架子或储存设施中移除之后能够精确定位，夹具包括定心装置，以可动构件精确地居中在壳体中。
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公开(公告)号：US4655674A
公开(公告)日：1987-04-07
申请号：US636924
申请日：1984-08-02
申请人： Gerd Kohler , Rudolf Burger
发明人： Gerd Kohler , Rudolf Burger
CPC分类号： B25J19/063 , B25J13/08
摘要： A safety device connected to an industrial robot and mounting a tool characterized by an arrangement including a first and second flange for stopping the robot in response to a predetermined axially applied force to the tool and a second arrangement including the second flange and a third flange for stopping the robot in response to a shear force being applied to the tool so that a tool is protected both against shear forces and axially applied thrust during a collision in operation or during programming of the robot.
摘要翻译： 一种连接到工业机器人并安装工具的安全装置，其特征在于包括第一和第二凸缘的装置，所述第一和第二凸缘用于响应于对所述工具的预定轴向施加的力而停止所述机器人，以及包括所述第二凸缘的第二装置和用于 使机器人响应于施加到工具的剪切力而停止机器人，使得工具在操作中或在编程机器人期间在冲突期间受到剪切力和轴向施加的推力的保护。
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公开(公告)号：US4661038A
公开(公告)日：1987-04-28
申请号：US765779
申请日：1985-08-15
申请人： Gerd Kohler , Rudolf Burger
发明人： Gerd Kohler , Rudolf Burger
CPC分类号： B25J19/063 , Y10S248/90
摘要： A protection arrangement for industrial robotics and other applications reacts to torsion moments and pressure forces in addition to bending moments and traction forces acting upon the flange of the industrial robotics. In the protection arrangement, a protection flange (1) is pulled or held in compression against pins (6) arranged on a divided circle with the tie rod (2) by means of springs (3). On the left end of the tie rod (2) an activating element (10) has been arranged, pressed against a sliding member (12) and/or activating levers (17) by means of spring (11). Upon shifting the activating element (10), a switch (13) is activated for deactivating the industrial robots. This protection arrangement provides mechanical protection for the gripper in addition to the conventional fuse electrical protection for the activating drives.
摘要翻译： 用于工业机器人和其他应用的保护装置除了作用在工业机器人的凸缘上的弯矩和牵引力之外还对扭矩和压力作出反应。 在保护装置中，保护凸缘（1）通过弹簧（3）用拉杆（2）拉动或保持成抵靠布置在分开的圆周上的销（6）。 在拉杆（2）的左端，已经布置有致动元件（10），通过弹簧（11）压靠滑动构件（12）和/或启动杆（17）。 在移动激活元件（10）时，启动用于停用工业机器人的开关（13）。 除了用于激活驱动器的常规保险丝电保护之外，该保护装置还为夹具提供机械保护。
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公开(公告)号：US4777709A
公开(公告)日：1988-10-18
申请号：US904639
申请日：1986-09-08
CPC分类号： B23P19/047 , B60J10/45 , E04F21/0038 , Y10T29/53657
摘要： The insertion of sealing profiles with a programmable manipulation device, particularly with an industrial robot, is served by an apparatus wherein the sealing profile is conductable via a longitudinal guide matched to the profile shape, being conductable immediately under a pressure roller arranged at a distance therefrom, whereby the pressure roller is driven such that no, or only slight tensile stresses arise in the sealing profile upon insertion. With the help of such an apparatus, for example, door seals can be laid in the receptacle bead of dishwasher receptacles whereby curves of the receptacle bead raise no problems as a result of the compensation of the tensile stresses.
摘要翻译： 用可编程操纵装置（特别是工业机器人）插入密封型材由一种装置提供，其中密封型材能够通过与轮廓形状匹配的纵向引导件传导，该导向件可以立即在与其相距一定距离的压力辊下面传导 由此驱动压力辊，使得在插入时密封轮廓中不会产生或仅有微小的拉伸应力。 借助于这种装置，例如，门密封件可以放置在洗碗机容器的容纳槽中，由此，拉伸应力补偿的结果，容纳珠的曲线不会产生问题。
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