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1. 发明授权

US07309204B2 Articulated arm robot 有权
公开(公告)号：US07309204B2
公开(公告)日：2007-12-18
申请号：US11311123
申请日：2005-12-20
申请人： Reiner Dorner , Joachim Pottiez
发明人： Reiner Dorner , Joachim Pottiez
IPC分类号： B25J17/02
CPC分类号： B25J9/047 , B25J15/0616 , Y10T74/20335
摘要： In a multi-axis articulated arm robot for transferring workpieces, there is a robot base, on which a movement unit is able to be pivoted about a first axis, which is vertical in an operational state. The movement unit has a pivoting part adjacent to the base, an articulated arm constituted by a top arm and a bottom arm, such top arm being connected for pivoting at one end about a horizontal second axis with the pivoting part at the other end is connected with the adjacent end of the bottom arm for pivoting about a horizontal third axis, a rotary member arranged at the bottom arm's end opposite to the top arm, such rotary member being able to be rotated about a fourth axis extending in the longitudinal direction of the bottom arm, a pivoting member connected with the rotary member for pivoting about a fifth axis extending athwart the fourth axis, and a supporting part rotatingly connected with the pivoting member, such supporting part extending athwart the fifth axis. On the supporting part a holding means of a lifting means, associated with the workpieces to be transferred, and more particularly a vacuum suction means, is arranged for rotation about a seventh axis. The supporting part is directed in the direction of the sixth axis away from the pivoting member. The seventh axis is directed athwart the sixth axis.

2. 发明申请

US20070140823A1 Articulated arm robot 有权
标题翻译：铰接臂机器人
公开(公告)号：US20070140823A1
公开(公告)日：2007-06-21
申请号：US11311123
申请日：2005-12-20
申请人： Reiner Dorner , Joachim Pottiez
发明人： Reiner Dorner , Joachim Pottiez
IPC分类号： B66C23/00
CPC分类号： B25J9/047 , B25J15/0616 , Y10T74/20335
摘要： In a multi-axis articulated arm robot for transferring workpieces, there is a robot base, on which a movement unit is able to be pivoted about a first axis, which is vertical in an operational state. The movement unit has a pivoting part adjacent to the base, an articulated arm constituted by a top arm and a bottom arm, such top arm being connected for pivoting at one end about a horizontal second axis with the pivoting part at the other end is connected with the adjacent end of the bottom arm for pivoting about a horizontal third axis, a rotary member arranged at the bottom arm's end opposite to the top arm, such rotary member being able to be rotated about a fourth axis extending in the longitudinal direction of the bottom arm, a pivoting member connected with the rotary member for pivoting about a fifth axis extending athwart the fourth axis, and a supporting part rotatingly connected with the pivoting member, such supporting part extending athwart the fifth axis. On the supporting part a holding means of a lifting means, associated with the workpieces to be transferred, and more particularly a vacuum suction means, is arranged for rotation about a seventh axis. The supporting part is directed in the direction of the sixth axis away from the pivoting member. The seventh axis is directed athwart the sixth axis.
摘要翻译：在用于传送工件的多轴铰接臂机器人中，存在一个机器人基座，运动单元能够围绕第一轴线在其上枢转，该第一轴线在工作状态下是垂直的。移动单元具有邻近基座的枢转部分，由顶臂和底臂构成的铰接臂，该顶臂连接用于在一端围绕水平第二轴线枢转，另一端的枢转部分连接底部臂的相邻端部围绕水平的第三轴线枢转，旋转构件布置在与顶部臂相对的底部臂的端部处，该旋转构件能够围绕沿着顶部臂的纵向方向延伸的第四轴线旋转底部臂，与旋转构件连接的枢转构件，用于围绕第四轴线延伸的第五轴线枢转，以及与枢转构件旋转地连接的支撑部分，该支撑部分延伸延伸到第五轴线。在支撑部分上，布置有用于围绕第七轴线旋转的与待传送工件相关联的提升装置的保持装置，更具体地说是真空吸附装置。支撑部分沿着远离枢转构件的第六轴线的方向。第七轴指向第六轴。

3. 发明授权

US08931999B2 Device and method for unstacking plate-shaped parts 有权
标题翻译：拆卸板状零件的装置和方法
公开(公告)号：US08931999B2
公开(公告)日：2015-01-13
申请号：US12740945
申请日：2008-03-12
申请人： Reiner Dörner , Joachim Pottiez
发明人： Reiner Dörner , Joachim Pottiez
IPC分类号： B65G61/00 , B65G49/05 , B65G49/06 , B65G59/04 , B65H3/08 , B65H3/40 , B21D43/24
CPC分类号： B65G59/04 , B21D43/24 , B65G61/00 , B65H3/0816 , B65H3/40 , B65H2220/09 , B65H2555/31 , B65H2701/173 , Y10S901/08 , Y10S901/16
摘要： In a device for unstacking plate-shaped parts (12), in particular sheet metal blanks, comprising at least one supply station (13) in which at least one stack (14) of plate-shaped parts (12) is located and at least one conveyor station (15) on which the plate-shaped parts (12) are transported further in an unstacked manner, an unstacking unit (17) being provided for transferring the plate-shaped parts (12) between the supply station (13) and the conveyor station (15), said unstacking unit engaging the stack of parts (14) and removing individual plate-shaped parts (12) while unstacking the stack of parts (14) and depositing them in the conveyor station (15), the unstacking unit (17) comprises two robots (18a, 18b) working independently of each other, which alternately engage a common stack of parts (14) of the supply station (13) and are controlled by a control unit (19) in such a way that a first or a second robot (18a, 18b) removes a plate-shaped part (12) from the stack of parts (14) while the first robot (18a, 18b) simultaneously deposits a picked-up plate-shaped part at the conveyor station (15).
摘要翻译：在用于拆卸板状部件（12）的设备中，特别是板材坯件，其包括至少一个供应站（13），其中至少一个板状部件（12）的堆叠（14）位于其中，并且至少一个输送站（15），板状部件（12）进一步以未拆包的方式输送，设置有用于将供给站（13）和输送站（15），所述卸载单元接合零件堆叠（14）并且拆卸单独的板状部件（12），同时拆卸部件（14）堆叠并将其放置在输送站（15）中，拆卸单元（17）包括彼此独立地工作的两个机器人（18a，18b），其交替地接合供应站（13）的公共堆叠部分（14），并且以这种方式由控制单元（19）控制第一或第二机器人（18a，18b）从部件（14）的堆叠中移除板状部件（12）同时第一机器人（18a，18b）同时在拾取站台（15）上沉积拾取的板状部件。

4. 发明授权

US08790064B2 Device and method for aligning the position of plate-shaped parts 有权
标题翻译：对准板状部件位置的装置和方法
公开(公告)号：US08790064B2
公开(公告)日：2014-07-29
申请号：US12739919
申请日：2008-03-12
申请人： Reiner Dörner , Joachim Pottiez
发明人： Reiner Dörner , Joachim Pottiez
IPC分类号： G01B11/06 , B65H9/10 , C21D9/00 , G01B11/02 , G01B11/26 , B25J9/00 , B21D43/10 , B21D43/00 , B21D43/11 , B23Q7/18 , B25J9/16
CPC分类号： B21D43/11 , B21D43/003 , B21D43/105 , B23Q7/18 , B23Q2240/002 , B25J9/0084 , B25J9/0093 , B25J9/1697 , Y10S901/07
摘要： A device is proposed for the positional orientation of plate-shaped parts (12), comprising continuous conveying equipment (13) for conveying plate-shaped parts (12), an optical measuring device (15) assigned to the continuous conveying equipment (13) for determining the actual position of at least one specific plate-shaped part (12) and for comparing this actual position to a stored set position and for determining the deviation of the actual position from the set position, and a control unit (20) coupled to the optical measuring device (15) for controlling a positioning unit (19) such that at least one specific plate-shaped part (12) the deviation of which from the set position was determined can be picked up by the positioning unit (19) in a pick-up region and deposited in a defined delivery region in the correct position corresponding to the set position for transfer on the continuous conveying equipment (13).
摘要翻译：提出了一种用于板状部件（12）的位置取向的装置，包括用于输送板状部件（12）的连续输送设备（13），分配给连续输送设备（13）的光学测量装置（15）用于确定至少一个特定板形部件（12）的实际位置，并将该实际位置与存储的设置位置进行比较，并确定实际位置与设定位置的偏差;以及控制单元（20）到用于控制定位单元（19）的光学测量装置（15），使得至少一个与设定位置的偏离确定的特定板状部件（12）可以由定位单元（19）拾取，在拾取区域中并且在与用于在连续输送设备（13）上传送的设定位置相对应的正确位置中的定义的输送区域中沉积。

5. 发明申请

US20100266380A1 DEVICE AND METHOD FOR UNSTACKING PLATE-SHAPED PARTS 有权
标题翻译：用于解除板形部件的装置和方法
公开(公告)号：US20100266380A1
公开(公告)日：2010-10-21
申请号：US12740945
申请日：2008-03-12
申请人： Reiner Dörner , Joachim Pottiez
发明人： Reiner Dörner , Joachim Pottiez
IPC分类号： B65G59/04 , B65H3/08
CPC分类号： B65G59/04 , B21D43/24 , B65G61/00 , B65H3/0816 , B65H3/40 , B65H2220/09 , B65H2555/31 , B65H2701/173 , Y10S901/08 , Y10S901/16
摘要： In a device for unstacking plate-shaped parts (12), in particular sheet metal blanks, comprising at least one supply station (13) in which at least one stack (14) of plate-shaped parts (12) is located and at least one conveyor station (15) on which the plate-shaped parts (12) are transported further in an unstacked manner, an unstacking unit (17) being provided for transferring the plate-shaped parts (12) between the supply station (13) and the conveyor station (15), said unstacking unit engaging the stack of parts (14) and removing individual plate-shaped parts (12) while unstacking the stack of parts (14) and depositing them in the conveyor station (15), the unstacking unit (17) comprises two robots (18a, 18b) working independently of each other, which alternately engage a common stack of parts (14) of the supply station (13) and are controlled by a control unit (19) in such a way that a first or a second robot (18a, 18b) removes a plate-shaped part (12) from the stack of parts (14) while the first robot (18a, 18b) simultaneously deposits a picked-up plate-shaped part at the conveyor station (15).
摘要翻译：在用于拆卸板状部件（12）的设备中，特别是板材坯件，其包括至少一个供应站（13），其中至少一个板状部件（12）的堆叠（14）位于其中，并且至少一个输送站（15），板状部件（12）进一步以未拆包的方式输送，设置有用于将供给站（13）和输送站（15），所述卸载单元接合零件堆叠（14）并且拆卸单独的板状部件（12），同时拆卸部件（14）堆叠并将其放置在输送站（15）中，拆卸单元（17）包括彼此独立地工作的两个机器人（18a，18b），其交替地接合供应站（13）的公共堆叠部分（14），并且以这种方式由控制单元（19）控制第一或第二机器人（18a，18b）从部件（14）的堆叠中移除板状部件（12）同时第一机器人（18a，18b）同时在拾取站台（15）上沉积拾取的板状部件。

6. 发明申请

US20100232923A1 DEVICE AND METHOD FOR ALIGNING THE POSITION OF PLATE-SHAPED PARTS 有权
标题翻译：用于对准板形部件位置的装置和方法
公开(公告)号：US20100232923A1
公开(公告)日：2010-09-16
申请号：US12739919
申请日：2008-03-12
申请人： Reiner Dörner , Joachim Pottiez
发明人： Reiner Dörner , Joachim Pottiez
IPC分类号： B21D43/00
CPC分类号： B21D43/11 , B21D43/003 , B21D43/105 , B23Q7/18 , B23Q2240/002 , B25J9/0084 , B25J9/0093 , B25J9/1697 , Y10S901/07
摘要： A device is proposed for the positional orientation of plate-shaped parts (12), comprising continuous conveying equipment (13) for conveying plate-shaped parts (12), an optical measuring device (15) assigned to the continuous conveying equipment (13) for determining the actual position of at least one specific plate-shaped part (12) and for comparing this actual position to a stored set position and for determining the deviation of the actual position from the set position, and a control unit (20) coupled to the optical measuring device (15) for controlling a positioning unit (19) such that at least one specific plate-shaped part (12) the deviation of which from the set position was determined can be picked up by the positioning unit (19) in a pick-up region and deposited in a defined delivery region in the correct position corresponding to the set position for transfer on the continuous conveying equipment (13).
摘要翻译：提出了一种用于板状部件（12）的位置取向的装置，包括用于输送板状部件（12）的连续输送设备（13），分配给连续输送设备（13）的光学测量装置（15）用于确定至少一个特定板形部件（12）的实际位置，并将该实际位置与存储的设置位置进行比较，并确定实际位置与设定位置的偏差;以及控制单元（20）到用于控制定位单元（19）的光学测量装置（15），使得至少一个与设定位置的偏离确定的特定板状部件（12）可以由定位单元（19）拾取，在拾取区域中并且在与用于在连续输送设备（13）上传送的设定位置相对应的正确位置中的定义的输送区域中沉积。

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