公开(公告)号：US12090634B2

公开(公告)日：2024-09-17

申请号：US17615676

申请日：2020-07-03

申请人： INDUSTRIE-PARTNER GMBH RADE-BEUL-COSWIG

发明人： Ralf Josef Hock ,  Joerg Franz ,  Falko Hahnewald

IPC分类号： B25J13/08 ,  B25J5/00 ,  B25J9/00 ,  B25J9/16 ,  B25J11/00

CPC分类号： B25J13/089 ,  B25J5/007 ,  B25J9/0018 ,  B25J9/1697 ,  B25J11/005 ,  B25J11/006

摘要： The invention relates to a robot cell (1) provided for use on machine tools and/or assembly machines. The robot cell (1) includes a handling device, e.g. an industrial robot (2). By means of the robot cell (1), a workpiece (4) to be processed on the machine tool or the assembly machine can be removed from an incoming transport container, pre-processed, orientated, inserted into the machine tool or assembly machine, removed from the machine tool or the assembly machine, measured and placed or stacked in an outgoing transport container. The robot cell (1) can be used on different machine tools or assembly machines. In order to facilitate operation of a robot cell (1) of this kind, the robot cell (1) can be used on the machine tool or the assembly machine without being linked or connected to the machine tool or the assembly machine, the robot cell (1) has an optics device (5), by means of which, in conjunction with reference markings on the machine tool or assembly machine, the robot cell (1) can be positioned in its operating position on the machine tool or the assembly machine, wherein by means of a control apparatus (6) and the handling device connected thereto or the industrial robot (2) connected thereto of the robot cell (1), operating elements on the machine tool or assembly machine can be contacted, operated and controlled.

公开(公告)号：US20170129066A1

公开(公告)日：2017-05-11

申请号：US15348893

申请日：2016-11-10

申请人： FANUC Corporation

发明人： Shinji OKUDA

IPC分类号： B23Q17/24 ,  G05B19/401 ,  B25J9/16

CPC分类号： B23Q17/2471 ,  B21D19/005 ,  B23H9/02 ,  B23Q17/20 ,  B23Q17/249 ,  B24B9/00 ,  B24B49/12 ,  B25J9/1697 ,  B25J11/006 ,  G05B19/401 ,  G05B2219/37208 ,  G05B2219/45151

摘要： A machine tool of the present invention includes: a visual sensor that takes an image of unworked workpiece; an unworked workpiece shape information storing unit that stores unworked workpiece shape information obtained by the visual sensor; a worked workpiece shape information storing unit in which worked workpiece shape information is stored; a burr information calculating unit that recognizes a burr by comparing the unworked workpiece shape information with the worked workpiece shape information; a burr determining unit that determines the burr based on conditions including at least one of the location and the direction of the burr in the workpiece; a working method judging unit that decides whether or not to perform burring with a tool of the machine tool based on the determination result concerning the burr; and a working path generating unit that generates a working path for removing the burr judged to be a burr on which burring is to be performed with the tool.

公开(公告)号：US08820203B2

公开(公告)日：2014-09-02

申请号：US12369266

申请日：2009-02-11

申请人： Yi Sun ,  H. Dean McGee ,  Jason Tsai ,  Hadi Akeel

发明人： Yi Sun ,  H. Dean McGee ,  Jason Tsai ,  Hadi Akeel

IPC分类号： G05B19/18 ,  G06F19/00

CPC分类号： B25J9/1664 ,  B25J11/0055 ,  B25J11/006 ,  B26D5/005 ,  B26F1/3806 ,  B26F3/004 ,  Y10T83/0572 ,  Y10T83/0591 ,  Y10T83/869

摘要： A method of controlling robot motion for small shape generation is provided. The method includes the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative a workpiece; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about at least one of the major axes and a location and an approach vector of the next interpolated position can be achieved; and d) moving the robot to the next interpolated position. A method where the robot remains fixed in position about all major axes is also provided.

摘要翻译： 提供了一种控制小型生成机器人运动的方法。 该方法包括以下步骤：a）提供具有多个相互连接的远端连杆的机器人，所述多个互连的远端连杆具有相应的多个主轴和相应的多个短轴，所述机器人具有用于将所述机器人移动到起始位置并沿着路径 包括相对于工件跟随的一系列内插位置; b）将机器人移动到起始位置; c）确定所述路径上的下一内插位置，其中所述机器人保持固定在围绕所述主轴中的至少一个的轴上的位置，并且可以实现所述下一内插位置的位置和接近矢量; 和d）将机器人移动到下一个内插位置。 还提供了一种机器人保持固定在所有长轴上的位置的方法。

公开(公告)号：US20100178124A1

公开(公告)日：2010-07-15

申请号：US12686905

申请日：2010-01-13

申请人： Stephen Lang Dickerson

发明人： Stephen Lang Dickerson

IPC分类号： B23Q11/00

CPC分类号： B23C1/002 ,  B23B39/14 ,  B23B2250/16 ,  B23B2260/004 ,  B23B2260/128 ,  B23C1/12 ,  B23C2250/16 ,  B23C2260/04 ,  B23C2260/76 ,  B23Q16/00 ,  B25J9/1638 ,  B25J11/006 ,  B25J15/0019 ,  B25J19/0091 ,  G05B2219/39265 ,  Y10S901/41 ,  Y10T409/304312

摘要： A representative machine comprises a non-rigid robotic device having a tool head; and a rigid inertial stiffening system that is part of a tool head and includes a mass to provide precise position of the tool head. The rigid inertial stiffening system achieves high positional precision of the tool head, in the face of large disturbing forces by locally accelerating the mass to counter the disturbing forces.

摘要翻译： 代表机器包括具有工具头的非刚性机器人装置; 以及刚性惯性加强系统，其是工具头的一部分并且包括质量块以提供工具头的精确位置。 刚性惯性加强系统通过局部加速质量来抵抗干扰力，实现了工具头的高位置精度，面对大的扰动力。

公开(公告)号：US20080006306A1

公开(公告)日：2008-01-10

申请号：US11781053

申请日：2007-07-20

申请人： Hansfried LEYENDECKER ,  Robert PAUELS

发明人： Hansfried LEYENDECKER ,  Robert PAUELS

IPC分类号： B08B3/00 ,  B08B3/12

CPC分类号： B08B9/00 ,  B08B3/02 ,  B08B3/04 ,  B08B9/02 ,  B08B9/0808 ,  B08B9/0821 ,  B08B9/0826 ,  B08B13/00 ,  B25J11/00 ,  B25J11/006

摘要： In order to produce a cleaning plant for cleaning work pieces which comprises at least one cleaning station in which the workpiece is subjected to a cleaning process in such a manner that the cleaning process can be organized in a flexible manner and easily adapted to changes in the workpiece, it is proposed that the cleaning plant should comprise at least one manipulating device which picks up a workpiece prior to treatment in a treatment area of the cleaning station, supplies the workpiece to the treatment process within the treatment area of the cleaning station and passes on the workpiece after the treatment in the treatment area of the cleaning station.

摘要翻译： 为了制造用于清洁工件的清洁设备，其包括至少一个清洁站，其中工件经受清洁处理，使得清洁过程可以灵活地组织并且容易地适应于 工件，建议清洁设备应包括在清洁站的处理区域内处理之前拾取工件的至少一个操纵装置，将工件供应到清洁站的处理区域内的处理过程并通过 在工件处理后在清洗站的处理区域。

公开(公告)号：US10005159B2

公开(公告)日：2018-06-26

申请号：US14803700

申请日：2015-07-20

申请人： ROLLS-ROYCE PLC

发明人： Paul Philip Sweeting

IPC分类号： B23K37/08 ,  B23D19/02 ,  B25J11/00 ,  B23P15/00 ,  F01D5/34 ,  B23K20/26 ,  B23K20/12 ,  F01D5/30 ,  B23K101/00

CPC分类号： B23K37/08 ,  B23D19/02 ,  B23K20/1205 ,  B23K20/129 ,  B23K20/26 ,  B23K2101/001 ,  B23P15/006 ,  B25J11/006 ,  F01D5/3061 ,  F01D5/34

摘要： Method of trimming weld flash from a weld joint formed between a first component and a second component. The method provides a rotary shear tool having a rotary blade and a second blade. The second blade may be a fixed blade. The method further includes shearing the weld flash from the weld joint by passing the weld flash between the rotary blade and second blade of the rotary shear tool. Also provides a rotary shear tool for trimming weld flash from a weld joint formed between a first component and a second component. The rotary shear tool includes: a rotary blade; a second blade; and a mounting portion for mounting the rotary shear tool on a robotic arm.

公开(公告)号：US09539686B2

公开(公告)日：2017-01-10

申请号：US14406873

申请日：2012-06-29

申请人： Norio Tanaka

发明人： Norio Tanaka

IPC分类号： B23C3/12 ,  B23Q7/04 ,  B25J15/06 ,  B25J15/08 ,  B25J11/00 ,  B23Q39/02 ,  B23Q3/08 ,  B25J9/10 ,  B25J15/00 ,  B26D7/08 ,  B29C37/02 ,  B29L7/00

CPC分类号： B23Q7/046 ,  B23C3/12 ,  B23C2220/20 ,  B23C2220/40 ,  B23Q3/08 ,  B23Q7/04 ,  B23Q7/047 ,  B23Q39/021 ,  B23Q39/024 ,  B25J9/1015 ,  B25J11/006 ,  B25J15/00 ,  B26D7/086 ,  B29C37/02 ,  B29L2007/001 ,  Y10S901/31 ,  Y10S901/40 ,  Y10T29/5122 ,  Y10T29/5124 ,  Y10T29/5182 ,  Y10T409/304144 ,  Y10T409/304256 ,  Y10T409/305264 ,  Y10T409/30532 ,  Y10T409/3056 ,  Y10T409/307672 ,  Y10T409/308568

摘要： There is provided a machining apparatus in which movement of a machining point is a little, restriction on the machining operation of an articulated robot is a little and movement of a worker for the teaching operation is a little. The machining apparatus has an articulated robot which is controlled in attitude according to a teaching operation and has a catch instrument for catching a workpiece at an arm tip thereof, and a machining unit equipped at a fixed portion located within an arm reachable zone of the articulated robot, wherein the machining unit has a working tool having a profiling portion where a machining target portion of the workpiece caught by the catch instrument of the articulated robot is pressed according to the attitude control of the articular robot, and a floating mechanism that pushes the working tool in a press direction of the workpiece.

摘要翻译： 提供了一种加工点的移动少的加工装置，关节式机器人的加工操作的限制有点少，用于教学操作的工人的运动有点少。 该加工装置具有根据教学操作而被控制在姿态的关节式机器人，并且具有用于在其臂尖处捕获工件的捕获装置，以及装配在位于铰接的臂的可伸缩区域内的固定部分的加工单元 机器人，其中，所述加工单元具有加工工具，所述加工工具具有成形部，所述成型部根据所述关节机器人的所述卡扣器具卡住的所述工件的加工对象部分被按压，所述加工对象部由所述关节机器人的姿态控制被按压;以及浮动机构， 加工工具在工件的加压方向。

公开(公告)号：US20150328778A1

公开(公告)日：2015-11-19

申请号：US14388403

申请日：2013-03-15

申请人： KUKA SYSTEMS GMBH

发明人： Markus KEESE

IPC分类号： B25J11/00 ,  B25J13/08 ,  B26D7/08 ,  B26F1/44

CPC分类号： B25J11/006 ,  B25J13/084 ,  B26D7/086 ,  B26F1/44 ,  Y10T83/04 ,  Y10T83/0405 ,  Y10T83/141

摘要： A parting device and a parting method are provided, in particular for trimming workpieces (2), in particular solar modules. The parting device has a multi-member (12, 13, 14, 15) programmable robot (6) which is in the form of a tactile robot, in particular a force/torque-regulated robot. The robot guides a parting tool (8) which is in the form of a knife.

摘要翻译： 提供了分离装置和脱模方法，特别是用于修整工件（2），特别是太阳能模块。 分型装置具有多个构件（12,13,14,15）可编程机器人（6），其可以是触觉机器人，特别是力/扭矩调节机器人的形式。 机器人引导一刀具的分离工具（8）。

公开(公告)号：US09156120B2

公开(公告)日：2015-10-13

申请号：US14172487

申请日：2014-02-04

申请人： JOT Automation Oy

发明人： Petri Kosonen ,  Taavi Kirsimagi ,  Pertti Sipila

IPC分类号： B24B21/14 ,  B24B21/20 ,  B24B23/06 ,  B24B21/12 ,  B24B27/00 ,  B24B41/00 ,  B24B45/00 ,  B24B47/12 ,  B25J11/00

CPC分类号： B24B21/20 ,  B24B21/12 ,  B24B21/14 ,  B24B23/06 ,  B24B27/0038 ,  B24B41/002 ,  B24B45/00 ,  B24B47/12 ,  B25J11/006 ,  B25J11/0065

摘要： A machining tool includes a power transmission mechanism, a circular machining belt, a tightening mechanism and a contact mechanism for tool contact with an object to be machined. The power transmission mechanism of the machining tool has a mechanical connection with a rotational power source. The contact mechanism and the power transmission mechanism have a desired distance therebetween. The circular machining belt is looped between the contact mechanism and the power transmission mechanism for causing the circular machining belt to move between the contact mechanism and the power transmission mechanism in response to the rotation of the power transmission mechanism for machining the object. The tightening mechanism is configured to press sections of the circular machining belt between the contact mechanism and power transmission mechanism towards each other.

摘要翻译： 一种加工工具包括动力传递机构，圆形加工带，紧固机构和用于与待加工物体接触的接触机构。 加工工具的动力传递机构具有与旋转动力源的机械连接。 接触机构和动力传递机构之间具有期望的距离。 圆形加工带在接触机构和动力传递机构之间环绕，以响应于用于加工物体的动力传递机构的旋转而使圆形加工带在接触机构和动力传递机构之间移动。 紧固机构构造成将接触机构和动力传递机构之间的圆形加工带的部分朝向彼此挤压。

公开(公告)号：US20150005923A1

公开(公告)日：2015-01-01

申请号：US14314506

申请日：2014-06-25

申请人： FANUC CORPORATION

发明人： Yihua Gu

IPC分类号： B24B49/16 ,  B24B49/12 ,  B24B9/00

CPC分类号： B24B49/16 ,  B24B9/00 ,  B24B27/0038 ,  B24B49/12 ,  B25J9/1633 ,  B25J9/1697 ,  B25J11/006 ,  G05B2219/37208 ,  G05B2219/45151

摘要： A deburring device includes a deburring tool for removing burrs from an object, a robot for moving an object or the tool, a force sensor for detecting force acting on the tool, and a visual sensor for detecting a position of a burr portion of the object. According to the deburring device, information regarding shape data of the burr portion and a posture of the tool is obtained beforehand based on three-dimensional data of the object. Based on the shape data and the posture of the tool, a robot program is created. In accordance with an actual burr portion detected by the visual sensor, the robot program is replaced as necessary. During the deburring, the robot is controlled according to the force control by using a detected value from the force sensor.

摘要翻译： 去毛刺装置包括用于从物体去除毛刺的去毛刺工具，用于移动物体或工具的机器人，用于检测作用在刀具上的力的力传感器，以及用于检测物体的毛刺部分的位置的视觉传感器 。 根据去毛刺装置，基于物体的三维数据预先获得关于毛刺部分的形状数据和工具的姿势的信息。 基于形状数据和工具的姿势，创建机器人程序。 根据由视觉传感器检测到的实际毛刺部分，根据需要更换机器人程序。 在去毛刺期间，通过使用来自力传感器的检测值，根据力控制来控制机器人。