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1. 发明公开

EP0145007A3 Playback system grinding robot 失效
标题翻译：回放系统研磨机器人
公开(公告)号：EP0145007A3
公开(公告)日：1987-09-02
申请号：EP84115111
申请日：1984-12-10
申请人： AIDA ENGINEERING, LTD.
发明人： Komatsu, Isamu , Serizawa, Kenkicki
IPC分类号： B25J09/04 , G05B19/42 , B24B27/00 , G05B19/18
CPC分类号： B25J9/044 , B24B17/10 , B24B27/00 , B24B27/04 , B24B51/00 , B25J9/042 , B25J9/106 , G05B19/423 , G05B2219/35354 , G05B2219/36043 , G05B2219/36471 , G05B2219/49381 , Y02P90/265 , Y10S700/90
摘要： The present invention relates to a structure and a control of the playback system grinding robot having a dual degree-of-freedom of the polar coordinate which is characterized by such a contrivance that No. 2 arm is attached in a freely turnable condition to a head of freely turnable No. 1 arm and an arm for driving said No. 2 arm is arranged adjacent to the said No. 1 arm and an abrasive tool is arranged to be freely turnable to different direction and to be pressed perpendicularly downward by a hydraulic cylinder attached to a head of said No. 2 arm and to be closely contacted always to a curved surface of the die notwithstanding that the aforesaid arm driving system takes a plane movement. Further, the grinding robot according to the present invention is so designed that a direction sensor is arranged at a head of No. 2 arm and said sensor acts to store directional data together with positional data in a memory device at the time of "teaching", especially to input turnback point data on the tool travelling locus exactly into the memory device in accordance with a change of the directional data and also acts on the control device to cause the abrasive tool motion to forcedly decelerate when the directional data changes at the time of playback work and to decide a proper speed of the playback work by using the directional data jointly with a variation volume of the positional data. Furthermore, the grinding robot according to the present invention is provided with a random correction flag device which makes it possible to indicate a corrective direction of the abrasive tool travelling route at the time of playback work in order of (plus "+" correction), (zero "0"), (minus "-" correction), (zero "0"), instead of the fiducial locus of the abrasive tool taught at the time of "teaching" and to correct the moving volume in such a way as "0"-j "α"→ "0" for the inputted positional data and to travel the abrasive tool zigzag and randomly on its route, thereby ensuring a manufacture of the finished products entirely free from facial difference.
摘要翻译：本发明涉及具有极坐标的双重自由度的重放系统磨削机器人的结构和控制，其特征在于将2号臂以可自由转动的状态附接到头部可旋转的1号臂和用于驱动所述2号臂的臂布置成与所述1号臂相邻，并且研磨工具被布置成可自由转动到不同的方向并被液压缸垂直向下压连接到所述2号臂的头部，并且尽管前述的臂驱动系统进行平面运动，并且始终与模具的曲面紧密接触。此外，根据本发明的研磨机器人被设计成使得方向传感器布置在第二臂的头部处，并且所述传感器用于将定位数据与位置数据一起存储在存储装置中特别是根据方向数据的变化将工具行进轨迹上的回转点数据精确地输入到存储装置中，并且还作用在控制装置上，以使得研磨工具的运动在定向时强制减速在播放工作时数据发生变化，并通过与位置数据的变化量一起使用方向数据来确定播放工作的适当速度。此外，根据本发明的磨削机器人设置有随机校正标志装置，其可以在重放工作时指示研磨工具行进路线的校正方向为（加“ +“校正”，（零“0”），（减“ - ”校正），（零“0”），而不是在施教秒时教导的研磨工具的基准轨迹，并校正移动体积以“0” - >“α” - >“0”的方式输入位置数据，并随机移动研磨工具锯齿形路线，从而确保完成产品的面部差异的制造。

2. 发明申请

WO1993016848A1 DEVICE FOR MANIPULATING OBJECTS 审中-公开
标题翻译：用于操纵物体的装置
公开(公告)号：WO1993016848A1
公开(公告)日：1993-09-02
申请号：PCT/EP1993000418
申请日：1993-02-23
申请人： STÄDELE, Berta +hf
发明人： STÄDELE, Berta +hf , STÄDELE, Erhard +di
IPC分类号： B25J09/04
CPC分类号： B25J18/00 , B25J9/04 , B25J9/08 , B25J9/102
摘要： A device for manipulating objects with at least one gripping unit or the like, which is connected via at least one arm to a drive mechanism and a drive motor, is provided with at least one hollow shaft (13) in the arm, the rotary motion of this shaft being transmissible to a subsequent shaft. The hollow shaft (13) engages by means of crenellations (34) into recesses (41) of a coupling unit (15), the coupling unit (15) having a helical toothing (17) at its other end.
摘要翻译：用于通过至少一个抓握单元等操作物体的装置，其经由至少一个臂连接到驱动机构和驱动马达，在臂中设置有至少一个空心轴（13），旋转运动该轴可传输到随后的轴。中空轴（13）通过螺纹孔（34）接合到联接单元（15）的凹部（41）中，联接单元（15）在其另一端具有螺旋齿（17）。

3. 发明公开

EP0238308A3 Laser robot 失效
标题翻译：激光机器人
公开(公告)号：EP0238308A3
公开(公告)日：1988-05-18
申请号：EP87302274
申请日：1987-03-17
申请人： Cincinnati Milacron Inc.
发明人： Monteith, Robert C. , Borgmann Robert E.
IPC分类号： B25J09/04 , B25J17/02 , B25J19/00 , B23K26/10
CPC分类号： B23K26/0884 , B25J9/046 , B25J17/0283 , B25J19/0037 , G02B7/24
摘要： An articulatable robot has a forearm (31) and robotic wrist (34), the wrist having plural members (35, 36, 37) mounted on plural axes of rotation (38, 40, 41). A laser generator (11) is connected through a light pipe system (42, 44, 46-49) to the robot forearm (31 1), distal to the robotic wrist (34), and a continuous laser beam pathway is established through the forearm and robotic wrist, the beam pathway extending colinearly with the plural rotation axes (38, 40, 41) of the wrist members (35, 36, 37).

4. 发明公开

EP0140659A3 Robotic arm assemblies 失效
标题翻译：机动武器组装
公开(公告)号：EP0140659A3
公开(公告)日：1985-06-05
申请号：EP84307207
申请日：1984-10-19
申请人： Colne Robotics Co. Ltd.
发明人： Ouroussoff, Nicholas Eustace Paul
IPC分类号： B25J17/02 , B25J09/04
CPC分类号： B25J17/0283 , B25J9/0012 , B25J9/046
摘要： © A robotic arm has a set of coaxial drives extending through the forearm (4) to the wrist (7), including a drive (D43) for rotating a hand operating spindle (9) through drive gearing (D45-D49) housed in the wrist. The wrist construction is simplified by virture of it being connected to the forearm at an axis (DD) transverse to the forearm axis (FF).
摘要翻译：机器臂具有延伸穿过前臂（4）到手腕（7）的一组同轴驱动器，包括用于通过容纳在手腕中的驱动齿轮（D45-D49）旋转手动操纵主轴（9）的驱动装置（D43）。手腕结构通过其横向于前臂轴线（FF）的轴线（DD）连接到前臂的病毒来简化。

5. 发明申请

WO1996030168A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1996030168A1
公开(公告)日：1996-10-03
申请号：PCT/SE1996000404
申请日：1996-03-28
申请人： ASEA BROWN BOVERI AB , FORSLUND, Karl-Erik
发明人： ASEA BROWN BOVERI AB
IPC分类号： B25J09/04
CPC分类号： B25J19/0008 , B25J9/046 , B25J19/0004 , Y10S414/13 , Y10T74/20317 , Y10T74/20329
摘要： An industrial robot comprises a stand (2) mounted on a foot (1) and being rotatable about a first, vertical axis (A), said stand supporting a first robot arm (8) which is rotatable in relation to the stand about a second, horizontal axis (B). The stand comprises an underbody (4) with two projecting parts (3a, 3b) which support an intermediate part (5) which is rotatable in relation to the stand. The intermediate part comprises two parallel supporting elements (6a, 6b), at the upper ends of which the first robot arm is journalled. The lower ends of the supporting elements are rotatably attachable to the underbody. The robot may thus be tilted forwards or backwards and be fixed in these positions during the robot operation, so as to obtain different types of operating ranges.
摘要翻译：工业机器人包括安装在脚部（1）上并且能够围绕第一垂直轴线（A）旋转的支架（2），所述支架支撑第一机器人臂（8），所述第一机器人手臂（8）可相对于支架绕第二，横轴（B）。支架包括具有两个突出部分（3a，3b）的底部（4），该突出部分支撑可相对于支架旋转的中间部分（5）。中间部分包括两个平行的支撑元件（6a，6b），其第一机器人手臂的上端被支承。支撑元件的下端可旋转地附接到底部。因此，机器人可以在机器人操作期间向前或向后倾斜并固定在这些位置中，以获得不同类型的操作范围。

6. 发明申请

WO1988007437A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1988007437A1
公开(公告)日：1988-10-06
申请号：PCT/EP1988000253
申请日：1988-03-25
申请人： SIEMENS AKTIENGESELLSCHAFT , KEPPLER, Rainer , KOLB, Roland , EBERLE, Manfred
发明人： SIEMENS AKTIENGESELLSCHAFT
IPC分类号： B25J09/04
CPC分类号： B25J19/0054 , B25J9/042 , B25J9/126 , B25J19/0029 , Y10T74/20323
摘要： An assembly robot with swivelling arm (9) has a lifting axis and three swivelling axes. The first rotary hinge (5) sits in a laterally projecting collar (4) on the lifting column.
摘要翻译：具有旋转臂（9）的装配机器人具有提升轴和三个旋转轴。第一旋转铰链（5）位于提升柱上的横向突出的套环（4）中。

7. 发明公开

EP0238307A3 Robot wrist and forearm assembly and wrist assembly for an industrial robot 失效
标题翻译：机器人手表和工业机器人组装和手工组装
公开(公告)号：EP0238307A3
公开(公告)日：1988-05-04
申请号：EP87302273
申请日：1987-03-17
申请人： Cincinnati Milacron Inc.
发明人： Monteith, Robert C. , Borgmann, Robert E.
IPC分类号： B25J17/02 , B25J09/04 , B23K26/10
CPC分类号： B23K26/0884 , B23K26/02 , B23K26/035 , B25J17/0291 , B25J19/0029 , B25J19/0037 , G02B7/24
摘要： Plural rotable elements (35, 36, 37) are contained in a wrist assembly (34) wherein at least two of the axes (38,40) intercept at a junction point (355), and a continuous laser beam pathway (12) is established through the wrist elements (35,36,37), the beam pathway (12) extending colinearly with the first (38) and second (40) wrist axes, and a mirror (353) is provided with a reflecting surface (354) intersecting the junction point (355) of the wrist axes to assist in directing the internally ducted laser beam.

8. 发明公开

EP0180558A3 An industrial robot having two gimbal-ring type arranged swinging axes 有权
标题翻译：一个工业机器人有两个戒指类型安装的摆动轴
公开(公告)号：EP0180558A3
公开(公告)日：1987-09-02
申请号：EP85850154
申请日：1985-05-02
申请人： ASEA AB
发明人： Skoog, Hans , Holmquist, Ulf , Telldén, Leif
IPC分类号： B25J09/04 , B25J09/10 , B25J18/02 , B25J17/02
CPC分类号： B25J17/0258 , B25J9/048 , B25J18/025
摘要： An industrial robot having a gimbal-ring type suspension incorporating two axes (I, II) renders therewith a translatorily movable arm (7) swingable. According to the invention, the translatory movement is achieved in that the gimbal-ring type suspension, which can be swung with the aid of two motors, carries a part in the form of a box-like structure (4) in which a platform (20) provided with a rack (21) can be slidably moved on guides, the platform being driven to translatory motion by a pinion (22). The platform (20) carries a fourth, a fifth and a sixth motor (28-30), of which the fourth motor is able to rotate the arm (7) about its longitudinal axis while the fifth and the sixth motor drive their respective drive shafts (33. 34) for swinging the tool holder (about 35) and rotating the same (about 36).

9. 发明公开

EP0174916A3 An arrangement in an industrial robot 有权
标题翻译：工业机器人的安排
公开(公告)号：EP0174916A3
公开(公告)日：1987-08-26
申请号：EP85850153
申请日：1985-05-02
申请人： ASEA AB
发明人： Telldén, Leif
IPC分类号： B25J09/04 , B25J09/10 , B25J17/02
CPC分类号： B25J9/048 , B25J9/1005 , B25J9/102 , B25J9/105 , B25J17/0258 , B25J18/025
摘要： The invention relates to an arrangement in an industrial robot for driving translatory motion of a unit (7). which in turn is mounted in a gimbal-type suspension having two mutually perpendicular axes (I,II). A motor (9) with associated resolver is mounted in the pivotable frame of the gimbal-type suspension, this frame being capable of being swung in one direction (I), and the motor drives a pinion (10) which meshes with a rack (11) via a shaft (5) which also constitutes the one journal means of the machine part (4) in which the translatorily movable machine part is movably arranged. To this end the shaft (5) is rotatably journalled to both the frame (1) and the machine part (4) through each of its bearings (19,20).

10. 发明申请

WO1995021046A1 DEVICE FOR SPATIALLY DISPLACING AND POSITIONING AN ELEMENT 审中-公开
标题翻译：用于空间位移和定位元件的装置
公开(公告)号：WO1995021046A1
公开(公告)日：1995-08-10
申请号：PCT/FR1995000120
申请日：1995-02-01
申请人： DANEL TECHNOLOGY SOCIETE ANONYME , DANEL, François
发明人： DANEL TECHNOLOGY SOCIETE ANONYME
IPC分类号： B25J09/04
CPC分类号： B25J18/007 , A61B34/70 , A61B90/11 , B25J9/04 , B25J9/047
摘要： Device for spatially displacing and positioning an element (2) at the site of an operative incision (3), of the type comprising at least three successive degrees of freedom in relation to a support (5), a carrying arm or a carrying arm assembly (13, 15) being articulated to the support (5) by means of one of its most remote parts (4) and carrying the element (2) at its other remote part (6). According to the invention, the carrying arm or carrying arm assembly (13, 15) is mounted on the support (5) by means of a first rotation (R1) about a first axis (9) oriented towards the operative incision site (3) and by the translation (T1) of the axis (11) perpendicular to the axis of rotation (9).
摘要翻译：用于在操作切口（3）的位置处空间移位和定位元件（2）的装置，其类型包括相对于支撑件（5）至少三个连续的自由度，承载臂或承载臂组件（13,15）通过其最远的部件（4）中的一个铰接到支撑件（5）并且在其另一个远程部分（6）处承载元件（2）。根据本发明，携带臂或承载臂组件（13,15）通过围绕朝向手术切口部位（3）定向的第一轴线（9）的第一旋转（R1）安装在支撑件（5）上，以及垂直于旋转轴线（9）的轴线（11）的平移（T1）。

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