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1. 发明申请

WO1996004099A1 WORKPIECE WELDING PROCESS AND DEVICE 审中-公开
标题翻译：方法和系统接合部件
公开(公告)号：WO1996004099A1
公开(公告)日：1996-02-15
申请号：PCT/EP1995002856
申请日：1995-07-20
申请人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH
发明人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH , MAZAC, Karel
IPC分类号： B23K13/08
CPC分类号： B23K13/015 , B23K13/043 , B23K13/08
摘要： A process and device are disclosed for welding workpieces (3, 4), in particular metal sheets. The pieces are conductively or inductively heated at the edges to be welded by means of a high-frequency alternating current and are then joined under pressure. During welding, a current regulating program allows different current intensities to be applied to the workpieces (3, 4) at different moments in time. When upsetting begins, or just before, the welding current is shortly increased above the base current, preferably up to two or three times the intensity of the base current. For that purpose, the current source (2) has a programmable control (12) with a data storage and a current regulating program.
摘要翻译：本发明涉及一种方法和用于焊接的工件（3，4），特别是金属片材的布置，其中，所述工件被导电或感应加热在边缘通过交流电的高频来焊接，然后在压力下彼此连接。焊接与当前节目，其中，所述工件（3，4）施加在几个时间段具有不同的高电流进行。前不久或在焊接电流的压缩开始时用于通过背景电流很短的时间增加，其中增加的幅度是基本电流优选两到三倍。电流源（2）具有用于此目的，可编程控制器（12）与数据存储和节目流。

2. 发明申请

WO1986005734A1 TOOTHED RACK DRIVE FOR GENERATING A RELATIVE MOVEMENT BETWEEN TWO MACHINE COMPONENTS ADJACENT TO ONE ANOTHER 审中-公开
标题翻译：用于生成两台机器组件之间相对运动的齿形驱动装置
公开(公告)号：WO1986005734A1
公开(公告)日：1986-10-09
申请号：PCT/EP1986000065
申请日：1986-02-07
申请人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH , ZIMMER, Ernst
发明人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH
IPC分类号： B23Q11/08
CPC分类号： F16H19/06 , B23Q5/385 , B23Q11/085 , F16H2019/0613 , F16H2019/069
摘要： Tooth belts or toothed rack drives are used to generate a relative movement between two machine components (1, 2) adjacent to one another, in particular a machine bed and a machine sled. In both cases, a belt (8) is provided which extends over the guiding path (5) and also, over a possible toothed rack (4). In order to change over quickly and simply from a tooth belt drive to a toothed rack drive (3), the same primary drive shaft (12) is used and the same belt guidance mechanism is used for both. In a toothed rack drive (3), the belt (8) is drawn for this purpose in a loop over a deflection roller (23) which is mounted so as to be freely rotatable on the primary drive shaft (12). For this purpose the deflection roller (23) is made up of two halves, axially separated from one another, which are arranged on both sides of the primary drive shaft pinion (14) and have a larger diameter than the latter. In this way the belt (8) is led in a loop and with a certain slack over the pinion (14). The pinion (14) can drive the toothed rack (4) either by way of an intermediate wheel (15) or directly. In order to change over to a tooth belt drive, the primary drive shaft pinion (14) and the deflection roller (23) are disconnected from the primary drive shaft (12) and exchanged for a toothed belt pinion. Likewise, the smooth belt (8) is then exchanged for a toothed belt.
摘要翻译：齿带或齿条驱动器用于在彼此相邻的两个机器部件（1,2）之间产生相对运动，特别是机床和机器滑轨。在这两种情况下，提供了一个在引导路径（5）上延伸的带（8），也可以在可能的齿条（4）上方。为了快速而简单地从齿带传动装置转换到齿条驱动装置（3），使用相同的主驱动轴（12），并使用相同的带引导机构。在有齿的齿条驱动器（3）中，为了这个目的，带（8）被卷绕在偏转辊（23）上，该偏转辊（23）安装成可在主驱动轴（12）上自由旋转。为此，偏转辊（23）由彼此轴向分离的两个半部构成，它们布置在主驱动轴小齿轮（14）的两侧，并且具有比后者更大的直径。以这种方式，带（8）被引导成环并且在小齿轮（14）上具有一定的松弛。小齿轮（14）可以通过中间轮（15）或直接驱动齿条（4）。为了切换到齿带传动装置，主驱动轴小齿轮（14）和偏转辊（23）与主驱动轴（12）分离，并更换为齿形皮带小齿轮。同样地，平滑带（8）然后被更换为齿形带。

3. 发明申请

WO1985001686A1 FIXING DEVICE FOR SUPPLY LINES IN MANIPULATORS 审中-公开
标题翻译：在操纵器中用于供应线的固定装置
公开(公告)号：WO1985001686A1
公开(公告)日：1985-04-25
申请号：PCT/EP1984000304
申请日：1984-10-04
申请人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH , HARTMANN, Georg , WIEDEMANN, Kurt , ZIMMER, Ernst
发明人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH
IPC分类号： B25J19/00
CPC分类号： B25J19/0025 , B23K11/362 , F16L3/22
摘要： In order to supply the tool with energy, particularly a welding tool (6) of a manipulator (1), the present invention provides, instead of bringing directly the supply lines from a fixed point in a large freely hanging loop, an outer arrangement of a bundle of conduits (10) along the frames of the manipulator. Said conduit bundle (10) is fixed and brought into tubular casings (13) arranged on the different frames (3-5) of the manipulator (1), those casings (13) comprising elements (19) to receive and fix the lines (parallel between each other) of various sizes which are adapted to the different operations of the manipulator and which may thus be rapidly replaced.
摘要翻译：为了向工具提供能量，特别是机械手（1）的焊接工具（6），本发明不是直接将供给线从大的自由悬挂环中的固定点引入，而是将外部装置沿着操纵器的框架的一束管道（10）。所述管道束（10）被固定并且被置于布置在操纵器（1）的不同框架（3-5）上的管状壳体（13）中，那些壳体（13）包括用于接收和固定管线各个尺寸之间彼此平行），其适应于操纵器的不同操作，并且因此可以被快速地更换。

4. 发明申请

WO1991008085A1 PROCESS AND DEVICE FOR ZEROING A SPINDLE 审中-公开
标题翻译：用于调整主轴的过程和设备
公开(公告)号：WO1991008085A1
公开(公告)日：1991-06-13
申请号：PCT/EP1989001497
申请日：1989-12-06
申请人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH , HOBMAIER, Daniel
发明人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH
IPC分类号： B25J0
CPC分类号： B65B11/04 , G05B19/23 , G05B19/4015 , G07D9/065
摘要： The invention concerns a process and a device for zeroing a spindle, in particular a rotating spindle, using a zeroing sensor (4) set up on the spindle (2). The invention also calls for a position-measurement system (1) which generates perfectly cyclic signals internally and by means of which the zero mark on the spindle is approached and the local, perfectly cyclic position value read and fed to the spindle-control unit (16). From this, the distance to the desired position is calculated in the spindle-control unit (16), and the spindle (2) brought automatically or by hand into this position. Zeroing is carried out by the zeroing sensor (4) in this position, which lies at the centre of a selectable sensor cycle of the position-measuring system.
摘要翻译：本发明涉及一种使用在主轴（2）上设置的调零传感器（4）使主轴，特别是旋转主轴归零的方法和装置。本发明还要求一种位置测量系统（1），其在内部产生完美的循环信号，通过该位置测量系统接近主轴上的零标记，并且读取并馈送到主轴控制单元的局部完美循环位置值 16）。由此，在主轴控制单元（16）中计算到期望位置的距离，并且主轴（2）自动地或手动地进入该位置。在位置测量系统的可选择的传感器周期的中心位置，归零传感器（4）进行归零。

5. 发明申请

WO1986004871A1 PROCESS AND DEVICE FOR AUTOMATIC ASSEMBLY AND WORKING 审中-公开
标题翻译：自动装配和工作的过程和装置
公开(公告)号：WO1986004871A1
公开(公告)日：1986-08-28
申请号：PCT/EP1986000073
申请日：1986-02-14
申请人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH , ZIMMER, Ernst
发明人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH
IPC分类号： B62D65/00
CPC分类号： B23K37/047 , B23P2700/50 , B62D65/02 , Y10T483/16 , Y10T483/1731
摘要： Process and device for the automatic assembly and working of sub-assemblies consisting of several individual pieces, held by a work piece carrier (4) on a transfer line with resettable working stations (3). The sub-assemblies are first removed by the work piece carrier at the working station (3) and brought together in the assembly position, where they are held and worked on, primarily through spot welding, or final welding. In order to carry out these different tasks, and for maximum adaptibility of the working station the latter is equipped with several work piece carriers (22, 23) which have at least three axes of movement. The work piece carriers (22, 23) are all arranged on a parallel plane above and below the work piece carrier (4) so as to operate freely. The work piece carriers (22, 23) carry individual tools which they can change automatically from fixed or movable tool magazines (31, 33, 34). To suit the needs of various tasks, as well as when there is a change in the type of sub-assembly, new, mosaic-like combinations can be obtained using freely programmable adjustment drives, allowing for independent movement of each individual work piece carrier (22, 23).
摘要翻译：用于由多个单个件组成的子组件的自动组装和加工的过程和装置由工件载体（4）保持在具有可复位工作站（3）的输送管线上。子组件首先由加工站（3）上的工件载体移除，并且主要通过点焊或最终焊接在一起组装在组装位置，在那里它们被保持和加工。为了实现这些不同的任务，并且为了工作站的最大适应性，后者配备有至少具有三个运动轴的多个工件托架（22,23）。工件托架（22,23）全部布置在工件托架（4）上方和下方的平行平面上，以便自由操作。工件托架（22,23）承载各自的工具，它们可以从固定的或可移动的工具箱（31,33,34）自动地改变。为了适应各种任务的需要，以及当子组件类型发生变化时，可以使用可自由编程的调节驱动器获得新的马赛克状组合，从而允许每个单独工件托架的独立运动（ 22,23）。

6. 发明申请

WO1985005586A1 PROTECTION INSTALLATION FOR THE GUIDE TRACK OF TWO MACHINE PARTS WHICH ARE DRIVEN AND SUPPORTED IN A LONGITUDINAL MANNER IN RELATION TO ONE ANOTHER 审中-公开
标题翻译：两个机器的指导跟踪的保护安装在一个长期的人手中与其他一个相关的驱动和支持
公开(公告)号：WO1985005586A1
公开(公告)日：1985-12-19
申请号：PCT/EP1985000266
申请日：1985-06-04
申请人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH , ZIMMER, Ernst
发明人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH
IPC分类号： B23Q11/08
CPC分类号： B23Q5/385 , B23Q11/085 , B25J9/023 , B25J9/08 , B25J9/1045 , B25J18/02 , B25J19/0075 , F16C29/04 , F16C29/08 , F16C2322/39 , F16H2019/0613 , Y10T74/1884 , Y10T74/2093
摘要： Protection of the guide (9, 14) of two machine parts (1, 2) which move in relation to one another and are linked together by this guide (9, 14). In order to protect the guide track (9) located on a machine part (1) from this accumulation of dust, grease, oil and other similar matter, the track is located in a guide channel which is almost entirely closed. This guide channel is accessible only by a slot in the top which enables the guide pieces (14) of the other machine part (2) to be engaged. This slot is covered firstly by the casing of the machine part (2) and closed off in the region outside this casing by a belt (4). The guide track (9) is thus covered on the outside in each position of the machine part (2). When a toothed transmission belt system (3) is used, the toothed transmission belt (4) serves both as a drive and cover element.
摘要翻译：保护引导件（9,14），两个机器部件（1,2）相对于彼此移动并通过该引导件（9,14）连接在一起。为了保护位于机器部分（1）上的导轨（9）免受灰尘，油脂，油和其它类似物质的积聚，轨道位于几乎完全关闭的引导通道中。该引导通道只能通过顶部的槽来访问，这使得另一机器部件（2）的引导件（14）能够接合。该槽首先由机器部件（2）的外壳覆盖，并通过皮带（4）在该外壳外部的区域中封闭。因此，引导轨道（9）在机器部分（2）的每个位置被覆盖在外部。当使用齿形传动带系统（3）时，齿形传动皮带（4）用作驱动和盖元件。

7. 发明申请

WO1995032886A1 PROCESS AND APPARATUS FOR FEEDING, CLAMPING AND MACHINING PARTS OF A VEHICLE BODY 审中-公开
标题翻译：方法和装置觅食，保证金和编辑零部件车身
公开(公告)号：WO1995032886A1
公开(公告)日：1995-12-07
申请号：PCT/EP1995001980
申请日：1995-05-24
申请人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH , BACH, Dieter , THORWARTH, Paul
发明人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH
IPC分类号： B62D65/00
CPC分类号： B23K37/047 , B23P2700/50 , B62D65/02
摘要： The invention pertains to a process and an apparatus for feeding, clamping and machining parts (7, 8, 9) of a vehicle body (6) in a work station (1). The parts (7, 8, 9) are fed into one or more clamping frames (3, 4, 5), which are positioned, interlocked and mutually supporting, forming a clamping frame housing that surrounds the parts on at least four sides. The clamping frames (3, 4, 5) have positioning devices (12) designed for this purpose and form a self-supporting clamping frame housing (2) which encloses the vehicle body (6) in a preferably ring-shaped or cubic structure.
摘要翻译：本发明涉及一种方法和用于供应，在一个加工站（1）的夹紧和车身（6）的部件的加工（7，8，9）的装置。组分（7，8，9）被馈送到一个或多个夹紧帧（3，4，5），其中，所述夹紧的帧（3，4，5），围绕至少四个侧面夹紧框架壳体上的组件的形成定位成支撑锁定在一起，夹持框架（3，4，5）庇护合适的定位装置（12）和形成自支撑夹紧框架壳体（2），其被闭合优选为环形或立方体到车身（6）。

8. 发明申请

WO1995016540A1 DEVICE FOR WELDING AND/OR CUTTING 审中-公开
标题翻译：设备焊接和/或切割
公开(公告)号：WO1995016540A1
公开(公告)日：1995-06-22
申请号：PCT/EP1994004127
申请日：1994-12-13
申请人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH , STEINHART, Wilhelm
发明人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH
IPC分类号： B23K26/10
CPC分类号： B23K26/0884 , B23K26/037 , B23K26/04
摘要： The invention concerns a device for welding and/or cutting, in particular laser-welding, the device having a welding head (7) with, extending round it, an appliance (6) designed to hold down the workpiece (4, 5). The welding head (7) is fitted to the hand of a manipulator (2) by means of an attachment mounting (9). The welding device (1) also has a compensator (13), with an at least single-axis swivel bearing (14), designed to determine and correct angular errors between the workpiece (4, 5) and the hold-down appliance (6). The swivel bearing (14) has one or more rails (15) and at least one bearing bracket (20), with several roller elements (16) located in an arch between them. The rails (15) are mounted on the attachment mounting (9) and the bearing bracket (20) on the hold-down appliance (6).
摘要翻译：本发明涉及一种用于焊接和/或切削的装置，特别是用于激光焊接，其包括焊头（7）和用于按压工件的周边压紧装置（6）（4，5）。焊头（7）被安装在支架（9）上的操纵器（2），其中，所述焊接装置（1）具有一个补偿装置（13）与至少为工件之间确定和校正角度误差单轴枢轴轴承（14）的手（ 4，5）和压紧（6）。枢轴承（14）具有一个或多个导轨（15）和具有在片材滚动体的多个插入其间的（16）的至少一个轴承座（20）。导轨（15）布置在所述保持器（9）和压紧设备上的轴承座（20）（6）。

9. 发明申请

WO1995003143A1 DEVICE FOR ENCASING WORKPIECES 审中-公开
标题翻译：设备进行包装WORKPIECES
公开(公告)号：WO1995003143A1
公开(公告)日：1995-02-02
申请号：PCT/EP1994002334
申请日：1994-07-15
申请人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH
发明人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH , MAISCHBERGER, Johann , NEIDER, Reinhold , BIEWALD, Thomas
IPC分类号： B21D49/00
CPC分类号： B21D39/04 , B21D26/047 , F01N3/28 , F01N3/2853
摘要： The invention relates to a device (2) for encasing workpieces, especially catalysts, with a close-lying casing (4) overlapping at the ends. The encasing device (1) has a receptacle (6) with several movable jaws (7) which positively surround the workpiece (2) with the loosely fitted casing (4). On the inner side facing the workpiece (2), the jaws (7) have at least one expandable pressure chamber (8) which preferably takes the form of a hose-like sleeve which can be filled and inflated with a pressurising agent (9). The jaws (7) and the pressure chambers (8) are adapted to the shape of the workpieces.
摘要翻译：本发明涉及一种用于工件的涂层的装置（2），特别是催化剂，具有紧配合和重叠在壳体的端部（4）。该护套装置（1）具有（6）具有多个可动爪（7），其包围所述工件（2）与所述松散施加护套（4）接合正的容器。钳口（7）具有至少一个可膨胀压力室（8），其优选地可与压力介质（9），并且形成膨胀的管状肠衣被填充为一个内部面向所述工件（2）。钳口（7）和压力室（8）适于将所述工件的轮廓。

10. 发明申请

WO1991011299A1 MULTI-AXIS INDUSTRIAL ROBOT 审中-公开
标题翻译：多轴工业机器人
公开(公告)号：WO1991011299A1
公开(公告)日：1991-08-08
申请号：PCT/EP1990002268
申请日：1990-12-20
申请人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH , ZIMMER, Ernst
发明人： KUKA SCHWEISSANLAGEN + ROBOTER GMBH
IPC分类号： B25J09/00
CPC分类号： B25J19/002 , B25J9/047 , Y10T74/20305
摘要： A multi-axis industrial robot consists of a frame (2), a rocker (3) which can rotate and swivel, a swivelling cantilever (6) and a multi-membered robot hand (8) which can rotate and swivel and whose members are driven by motors (10, 11, 12) arranged on the cantilever (6). The cantilever (6) is mounted (27) on one side on a one-armed rocker (4). At least two motors (10, 11, 12) are arranged side by side on the cantilever in the direction of its swivelling axis (7). In a three-motor arrangement, the motors (10, 11, 12) are arranged with their axles (13) in a short-sided triangle the base of which faces the bearing (27) of the cantilever (6). Alternatively, the motors are arranged with their drive side (15) facing the robot hand (8) and located close to each other and at a distance behind the bearing (27) at the end of the cantilever (6) or, when in the rotated position, with their drive side (15) remote from the robot hand (8) and level with the bearing (27).

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