公开(公告)号：WO2022208335A1

公开(公告)日：2022-10-06

申请号：PCT/IB2022/052873

申请日：2022-03-29

Applicant: COMAU S.P.A.

Inventor： TOMASI, Daniele ,  SERPI, Valeria ,  DI STEFANO, Giovanni ,  LONGO, Nicola ,  ZACHEO, Luca ,  MONTARSOLO, Gianluca

IPC: B05C5/02 ,  B05C11/10 ,  B05C11/1021 ,  B05C5/0216

Abstract: A system for automatically applying a bead of sealant within a peripheral groove (4), which is defined between two elements (2, 3) coupled to each other and having dimensions that are not strictly predetermined, comprises a manipulator robot (R) equipped with a sealant dispensing head (12). An electronic controller (E) makes the sealant dispensing head (12) perform a first pass along the peripheral groove (4) without dispensing sealant, to detect the profile of the facing lateral surfaces of the peripheral groove (4), by means of a profilometer. The data relating to the detected profiles are processed to calculate the correct amount of sealant to be applied within each portion of the peripheral groove (4) along the perimeter extension of the peripheral groove. The sealant dispensing head (12) then carries out a second pass along the peripheral groove (4), while dispensing sealant in the calculated quantity in each portion of the peripheral groove (4) along the perimeter of the peripheral groove (4). In one example, the sealant is dispensed with a constant flow rate, and the electronic controller (E) varies the speed of movement of the dispensing nozzle (14) during the second pass, so as to apply the calculated amount of sealant to each portion of the peripheral groove (4) along the perimeter of the peripheral groove. The dispensing nozzle consists of a replaceable element of plastic material. After its replacement, a vision system is used to detect the position of the dispensing tip of the dispensing nozzle (14) with respect to a reference element (30) carried by the robot adjacent to the dispensing nozzle (14) and having a predetermined geometry.

公开(公告)号：WO2022157649A1

公开(公告)日：2022-07-28

申请号：PCT/IB2022/050454

申请日：2022-01-20

Applicant: COMAU S.P.A.

Inventor： BECCARISI, Francesco ,  DI STEFANO, Giovanni

IPC: H02S20/10

Abstract: A system of photovoltaic solar panels comprises a plurality of photovoltaic solar panels (1) and a supporting structure (S) provided for supporting the photovoltaic solar panels (1), in particular in a number of rows parallel to one another, on the supporting structure (S). The supporting structure (S) includes a series of cross members (5, 6, T2) arranged parallel to and at a distance apart from one another, configured for blocking a respective side of a photovoltaic solar panel (1). Each cross member (5, 6, T2) comprises a single piece of sheet metal bent so as to perform the functions of centring, referencing, and blocking said photovoltaic solar panels (1), without the aid of further fixing or referencing elements.

公开(公告)号：WO2021186362A1

公开(公告)日：2021-09-23

申请号：PCT/IB2021/052226

申请日：2021-03-17

Applicant: COMAU S.P.A.

Inventor： SERPI, Valeria ,  SPAGNOLI, Marco ,  DI STEFANO, Giovanni ,  DEMARIE, Beatrice ,  MACALUSO, Salvatore ,  PISCHEDDA, Costantino Matteo

IPC: H01M10/04 ,  H01M50/502 ,  H01M50/528

Abstract: An apparatus (1) is described here, for assembling battery cells or battery modules together, having electrical terminals (T) that must be subjected to a welding operation. The apparatus (1) comprises a tool (4) for engaging and holding the elements to be welded, which can be moved along at least two axes to carry and maintain one or more battery cells (C) or battery modules in a configuration and/or position suitable for welding the electrical terminals (T) to respective electrical connecting elements (B) and/or welding said electrical terminals (T) to each other. The apparatus also comprises a welding head (10) carried by said tool (4) and arranged to perform welding operations on the elements to be welded. The tool (4) and the welding head (10) are controlled in such a way that the tool carries said battery cells (C) or battery modules (M) into said configuration and/or position suitable for performing the welding, and said tool (4) maintains said battery cells (C) or modules (M) in said configuration and/or position during execution of the welding, if necessary by applying a pressure on the elements to be welded. The tool (4) is configured in such a way that the welding head (10) can operate to perform the welding while the tool maintains said battery cells (C) or battery modules (M) in said configuration and/or position suitable for welding.

公开(公告)号：WO2021152344A1

公开(公告)日：2021-08-05

申请号：PCT/IB2020/050602

申请日：2020-01-27

Applicant: COMAU S.P.A.

Inventor： DI STEFANO, Giovanni ,  LONGO, Nicola

IPC: B23K31/12 ,  B23K26/03

Abstract: Described herein is a method for analysing the quality of a weld bead in a welding zone. The weld bead is generated by means of a continuous welding operation, wherein an energy beam emitted by a source with corresponding welding head follows a welding path, thereby melting the material of at least two metal pieces. The method comprises monitoring the welding zone via a thermal camera, wherein the thermal camera supplies a thermal image (IMG) in which a given area corresponds to the welding zone, and dividing (300) the area into a plurality of sub-areas and determining for each sub-area a respective temperature (Ti). During a learning step, the temperature evolution (Ti(t)) of each sub-area is monitored for different welding conditions. During a training step, the temperature evolutions (Ti(t)) are processed for training a classifier (304). For this purpose, a respective cooling curve is extracted (302) from each temperature evolution (Ti(t)), and parameters (F) are determined that identify the shape of each cooling curve. In particular, these parameters (F) are used as input features for the classifier (304). During a normal welding operating step (1006), the temperature evolution (Ti(t)) of each sub-area (Ai) can thus be monitored again, and the classifier (304) can be used for estimating the respective weld quality (S).

公开(公告)号：WO2021116990A1

公开(公告)日：2021-06-17

申请号：PCT/IB2020/061803

申请日：2020-12-11

Applicant: COMAU S.P.A.

Inventor： CECILI, Marco ,  GIRARDIN, Fabrizio ,  PISCHEDDA, Costantino ,  PIRAS, Luca

IPC: B25J15/00 ,  B25J15/06 ,  B33Y80/00

Abstract: A gripping tool, which can be used by a manipulator device for picking-up and handling pieces, comprises a plurality of gripping devices (50), distributed in groups, each group consisting of one or more gripping devices. The gripping devices (50) of each group of gripping devices are mounted on a same supporting body (P), which is made in one-piece by an additive manufacturing technology.

公开(公告)号：WO2016113660A1

公开(公告)日：2016-07-21

申请号：PCT/IB2016/050103

申请日：2016-01-11

Applicant: COMAU S.P.A.

Inventor： DI STEFANO, Giovanni ,  NAVARRIA, Filippo

IPC: G05B19/402 ,  B23Q15/22 ,  B23Q17/24 ,  B21J15/28

CPC classification number: B23Q15/22 ,  B21J15/10 ,  B21J15/28 ,  B23K11/11 ,  B23K11/115 ,  B23K11/25 ,  B23K11/311 ,  B23K11/314 ,  B23K11/315 ,  B25J13/089 ,  B25J19/021 ,  G05B19/402 ,  G05B2219/37582 ,  G05B2219/40555 ,  G05B2219/45088 ,  G05B2219/49113

Abstract: The position of an operating device (2) with respect to a piece (P) is checked and corrected by associating to the operating device (2) a measuring device (5) carrying a plurality of sensors (505) located at given positions with respect to the operating device (2), the sensors (505) being adapted to measure, by means of a contactless technology, the distances of the sensors themselves from a surface (π) of the piece (P) along respective directions (l, r, s) having given orientations. The measurement values detected by said contactless sensors (505) are processed to obtain the value of at least one angle indicating the orientation of a main operative axis (X1) of the operating device (2) with respect to an operation axis (X2) defined by said surface (π) of the piece (P). The information obtained by means of said processing step is used for generating, if necessary, a signal for controlling said positioning apparatus (1) in order to position said operating device (2) according to a desired orientation with respect to the piece (P).

Abstract translation: 通过将操作装置（2）与操作装置（2）相关联地检测和校正操作装置（2）相对于片（P）的位置，所述测量装置（5）承载位于给定位置处的多个传感器（505） 传感器（505）适于通过非接触式技术测量传感器本身与片（P）的表面（π）的距离，沿着相应的方向（l，r） ，s）给定方向。 处理由所述非接触式传感器（505）检测的测量值，以获得指示操作装置（2）相对于所定义的操作轴（X2）的主操作轴（X1）的取向的至少一个角度的值 通过该片（P）的所述表面（π）。 通过所述处理步骤获得的信息用于根据需要产生用于控制所述定位装置（1）的信号，以便根据相对于所述片（P）的期望取向来定位所述操作装置（2） 。

公开(公告)号：WO2015125084A1

公开(公告)日：2015-08-27

申请号：PCT/IB2015/051231

申请日：2015-02-18

Applicant: COMAU S.P.A.

Inventor： SERPI, Valeria

IPC: B21D39/02 ,  B23Q1/00

CPC classification number: B21D39/023

Abstract: A roller hemming head (10) comprises an upper head portion (20) having a flange (22) for connection to the wrist (14) of a robot (R) or other supporting movable equipment. The head (10) further comprises a lower head portion (24) carrying one or more hemming rollers (26, 27). The hemming rollers are freely rotatably mounted on a roller-carrying unit (40) which is connected to the lower portion (24) of the head with the interposition of a quick-connection device (50) which rigidly and removably connects the roller-carrying unit (40) to the head lower portion (24). The quick-connection device (50) comprises spring means (54) tending to hold the device in a connection condition, and an actuating member (52) adapted to be moved against the action of the spring means (54), for releasing the connection. The actuating member (52) is adapted to be operated by an engagement member (60) provided at a fixed station (S) adjacent to the robot (R) or adjacent to a movable equipment supporting the head. The engagement member is adapted to be received within a cooperating seat of the head. Therefore, the quick-connection device of the hemming head enables quick replacement of the entire structure of the roller-carrying unit (40) and does not require the provision on the robot (R) or the movable equipment supporting the head of cables and/or supply hoses for controlling the quick-connection device (50).

Abstract translation: 滚筒折边头（10）包括具有用于连接到机器人（R）的手腕（14）或其他支撑可移动设备的凸缘（22）的上头部（20）。 头部（10）还包括承载一个或多个折边辊（26,27）的下头部（24）。 折边辊可自由旋转地安装在辊子承载单元（40）上，辊子承载单元（40）连接到头部的下部（24），插入有快速连接装置（50），该快速连接装置（50）刚性地和可移除地连接辊子 单元（40）到头部下部（24）。 快速连接装置（50）包括倾向于将装置保持在连接状态的弹簧装置（54），以及适于抵抗弹簧装置（54）的作用移动的致动构件（52），用于释放连接 。 致动构件（52）适于由设置在与机器人（R）相邻的固定站（S）处或与支撑头部的可移动设备相邻的接合构件（60）操作。 接合构件适于容纳在头部的配合座中。 因此，折边头的快速连接装置能够快速更换滚轮承载单元（40）的整个结构，并且不需要在机器人（R）或支撑电缆头部的可移动设备和/ 或供应用于控制快速连接装置（50）的软管。

公开(公告)号：WO2011013012A1

公开(公告)日：2011-02-03

申请号：PCT/IB2010/052813

申请日：2010-06-22

Applicant: Comau S.p.A. ,  MAGNI, Gianni ,  MAESTRI, Mauro

Inventor： MAGNI, Gianni ,  MAESTRI, Mauro

IPC: B62D25/02 ,  B23K37/047

CPC classification number: B62D65/02 ,  Y10T29/49622 ,  Y10T29/49829 ,  Y10T29/53539 ,  Y10T29/53543 ,  Y10T29/53548

Abstract: In a framing system for framing motor-vehicle bodies or sub-assemblies thereof, the body to be framed is located and clamped in position during the assembling operations by side locating and clamping structures (8).Each of these structures comprises a rigid supporting structure (82) including a base platform (82a) and a frame (81) which carries locating and clamping devices (D). The base platform (82a) is dimensioned in the direction parallel to a body conveyor line with a standard length proportionated to the length of the longest body type on which the system is to operate. Pillars (82b) for supporting the frame (81) are mounted on the platform (82a) at positions 15 which are selected between different possible positions, displaced relative to each other longitudinally and/or transversely. Thus, the side locating and clamping structures (8) can be configured easily for different types of body and the system is able to operate on body types having also very relevant differences in length and/or width. (Figure 1)

Abstract translation: 在用于框架机动车体或其子组件的框架系统中，待组装的主体在组装操作期间通过侧定位和夹紧结构（8）定位和夹紧就位，这些结构中的每一个包括刚性支撑结构 （82），包括基座平台（82a）和承载定位和夹紧装置（D）的框架（81）。 基座平台（82a）的尺寸设置在平行于主体输送线的方向上，其标准长度与系统要运行的最长体型的长度成比例。 用于支撑框架（81）的支柱（82b）在位置15处安装在平台（82a）上，位置15在不同的可能位置之间选择，纵向和/或横向彼此相对移位。 因此，侧面定位和夹紧结构（8）可以容易地配置用于不同类型的身体，并且系统能够对具有长度和/或宽度上非常相关差异的身体类型进行操作。 （图1）

公开(公告)号：WO2022208372A1

公开(公告)日：2022-10-06

申请号：PCT/IB2022/052923

申请日：2022-03-30

Applicant: COMAU S.P.A.

Inventor： TOMASI, Daniele ,  RUFFINO, Daniele ,  BERTOLO, Tiziano

IPC: B23P21/00 ,  B23K37/047 ,  B62D65/02 ,  B62D65/18 ,  B23Q7/14 ,  B23P21/004 ,  B23P2700/50 ,  B23Q7/1442 ,  B62D65/022

Abstract: A system for locating a workpiece-holder frame (2) in position in a processing or assembling station of a production plant comprises stationary support structures (9) arranged on the two sides of the working area (A) of the processing or assembling station, and a carriage (8) that transports the workpiece-holder frame (2) along a conveying line (L) inside the working area (A). The stationary support structures (9), arranged on the two sides of the working area, carry vertically-movable support members (10), positioned and configured to engage and lift the workpiece- holder frame (2) carried by the carriage (8) when the carriage is stopped in the working area, so as to move the workpiece-holder frame (2) away from the carriage (8) and vertically position the workpiece-holder frame (2) at a predetermined vertical height (Z). The vertically-movable support members (10) include at least three ball supports (10), spaced apart from each other, each including a ball (12), which is freely rotatable in any direction around its center. The workpiece-holder frame (2) has a plurality of flat lower engagement surfaces (7), which are respectively engaged by the ball supports (10), in such a way that when the workpiece-holder frame (2) is raised to said predetermined vertical height (Z), the workpiece-holder frame (2) can float in any horizontal direction above the freely rotatable balls (12) of the ball supports (10). With at least two of the stationary support structures (9) there are also associated respective auxiliary centering members (22) which are vertically movable and spaced apart from each other, said auxiliary centering members cooperating with engagement elements (6) projecting downwardly from the workpiece- holder frame (2), in such a way as to locate in position the workpiece- A system for locating a workpiece-holder frame (2) in position in a processing or assembling station of a production plant comprises stationary support structures (9) arranged on the two sides of the working area (A) of the processing or assembling station, and a carriage (8) that transports the workpiece-holder frame (2) along a conveying line (L) inside the working area (A). The stationary support structures (9), arranged on the two sides of the working area, carry vertically-movable support members (10), positioned and configured to engage and lift the workpiece- holder frame (2) carried by the carriage (8) when the carriage is stopped in the working area, so as to move the workpiece-holder frame (2) away from the carriage (8) and vertically position the workpiece-holder frame (2) at a predetermined vertical height (Z). The vertically-movable support members (10) include at least three ball supports (10), spaced apart from each other, each including a ball (12), which is freely rotatable in any direction around its center. The workpiece-holder frame (2) has a plurality of flat lower engagement surfaces (7), which are respectively engaged by the ball supports (10), in such a way that when the workpiece-holder frame (2) is raised to said predetermined vertical height (Z), the workpiece-holder frame (2) can float in any horizontal direction above the freely rotatable balls (12) of the ball supports (10). With at least two of the stationary support structures (9) there are also associated respective auxiliary centering members (22) which are vertically movable and spaced apart from each other, said auxiliary centering members cooperating with engagement elements (6) projecting downwardly from the workpiece- holder frame (2), in such a way as to locate in position the workpiece- holder frame (2) along two horizontal directions (X, Y) orthogonal to each other and with respect to rotations of the workpiece-holder frame in the horizontal plane. holder frame (2) along two horizontal directions (X, Y) orthogonal to each other and with respect to rotations of the workpiece-holder frame in the horizontal plane.

公开(公告)号：WO2020049407A1

公开(公告)日：2020-03-12

申请号：PCT/IB2019/057198

申请日：2019-08-27

Applicant: COMAU S.P.A.

Inventor： MAULETTI, Enrico ,  RUI, Enrico ,  BERZANO, Mauro ,  LAZZERO, Ivan ,  ROMEO, Simone

IPC: B62D65/02

Abstract: An autonomous vehicle, for example, an automated guided vehicle (AGV) or an autonomous mobile robot (AMR), has a support structure (2) having a general double-hull configuration, with two separate longitudinal hulls (3R, 3L), parallel to each other and transversely spaced apart, and at least two bridge structures (C1, C2, L1, L2; G1, G2) that connect the hulls to each other. The aforesaid bridge structures have ends connected to the two hulls by interposition of elastic joints (E1, E2, E3), in such a way that the two hulls are free to perform differentiated oscillating movements so as to allow the front wheels and the rear wheels of the vehicle to remain in contact with the surface on which the vehicle is moving, even when this surface has irregularities and/or slope variations.