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71. 发明公开

EP3184262A1 MULTI-AXIS INDUSTRIAL ROBOT, IN PARTICULAR OF A SCARA TYPE 审中-公开
标题翻译：多轴工业机器人，特别是SCARA型
公开(公告)号：EP3184262A1
公开(公告)日：2017-06-28
申请号：EP16203386.4
申请日：2016-12-12
申请人： Comau S.p.A.
发明人： BORDEGNONI, Mr. Stefano , CINIELLO, Mr. Francesco
IPC分类号： B25J9/00 , B25J9/04 , B25J19/00
CPC分类号： B25J9/1615 , B25J9/0009 , B25J9/042 , B25J9/044 , B25J19/0025 , B25J19/0029
摘要： Described herein is a multi-axis industrial robot, in particular of a SCARA type, wherein the base structure (16) designed for mounting the robot on an external supporting structure is characterized in that it envisages four possible modalities of installation. In particular, the base structure (16) in question comprises a main body (18) and a plate (20), which carries one or more connectors connected to the connections of the robot and can be coupled to the main body according to two different positions. The aforesaid main body (18) moreover envisages fixing portions (18C) both at its bottom side and at its rear side.
摘要翻译：本文描述了一种多轴工业机器人，特别是SCARA类型的多轴工业机器人，其中设计用于将机器人安装在外部支撑结构上的基座结构（16）的特征在于其设想了四种可能的安装形式。特别地，所讨论的基础结构（16）包括主体（18）和板（20），其承载连接到机器人的连接件的一个或多个连接器并且可以根据两种不同的方式连接到主体位置。此外，上述主体（18）在其底侧和后侧都设有固定部分（18C）。

72. 发明公开

EP3045989A1 DEVICE AND METHOD FOR CHECKING AND CORRECTING THE POSITION OF AN OPERATING DEVICE WITH RESPECT TO A PIECE 审中-公开
标题翻译： DEVICE AND METHOD FOR检查和纠正工具的位置相对于工件
公开(公告)号：EP3045989A1
公开(公告)日：2016-07-20
申请号：EP15151387.6
申请日：2015-01-16
申请人： Comau S.p.A.
发明人： Di Stefano, Giovanni , Navarria, Filippo
IPC分类号： G05B19/402 , B23Q15/22 , B23Q17/24
CPC分类号： 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
摘要： 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 (I, 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).
摘要翻译：的操作装置（2）相对于的一块（P）的位置检查和校正通过关联到操作装置（2）（5）携带位于相对于给定的位置的传感器的多个（505）的测量装置到操作装置（2），传感器（505）是angepasst来测量，由一个非接触式技术的手段，传感器本身的从表面的距离（A）的片（P）沿respectivement方向（I，R ，S），其具有给定的方向。由所述接触传感器（505）检测的测量值进行处理，以获得至少一个角度的指示操作装置（2）的主操作轴线（X1）的相对于所述方位在定义的操作轴（X2）中的值由所述表面的片（P）的（A）。由所述数据处理步骤的装置获得的信息被用于产生，如果需要，一个信号用于控制所述定位装置（1）以所述操作装置（2）雅丁定位到所希望的取向相对于所述片（P），

73. 发明授权

EP2733094B1 Accumulation pallet conveyor 有权
标题翻译： PALETTEN-Stauförderer
公开(公告)号：EP2733094B1
公开(公告)日：2016-05-11
申请号：EP12193357.6
申请日：2012-11-20
申请人： Comau S.p.A.
发明人： Magni, Gianni , Gromme, Gianpiero
IPC分类号： B65G35/06
CPC分类号： B65G17/005 , B65G35/06

74. 发明授权

EP2765054B1 Trolley for conveying containers for pieces or components in an industrial plant 有权
标题翻译： WerkwagenfürBauteilkasten
公开(公告)号：EP2765054B1
公开(公告)日：2016-04-20
申请号：EP13154131.0
申请日：2013-02-06
申请人： Comau S.p.A.
发明人： Gullino, Eugenio , Ducato, Roberto
IPC分类号： B62B3/00 , B62B3/10 , B62B3/02 , B62D13/00
CPC分类号： B62B3/02 , B62B3/001 , B62B3/10 , B62B5/0079 , B62B2202/10 , B62B2203/44 , B62B2206/02 , B62B2301/06 , B62D1/14 , B62D7/026 , B62D13/04 , B62D63/061

75. 发明公开

EP2894003A1 Electric spot welding head for a multi-axis industrial robot with a casing and supporting structure ; robot comprising this head 有权
标题翻译：电点焊头，用于多轴工业机器人具有壳体和支撑结构; 这个机器人的头
公开(公告)号：EP2894003A1
公开(公告)日：2015-07-15
申请号：EP15153190.2
申请日：2012-05-15
申请人： Comau S.p.A.
发明人： Ferrero, Fulvio , Mauletti, Enrico
IPC分类号： B23K11/11 , B23K11/31 , B23K11/36
CPC分类号： B23K9/007 , B23K11/115 , B23K11/315 , B23K11/36 , B23K37/003 , B23K37/0294
摘要： An electric spot welding head for a multi-axis industrial robot that has a compact configuration, particularly in a longitudinal direction that goes from the end of the head for the attachment to the robot wrist towards the welding electrodes. The structure of the welding head is completely covered by a casing having a rear opening for connection to the robot wrist and a front opening from which the electrode arms of the welding head protrude. The supporting structure (110) of the welding head comprises two support plates (111) parallel to, and spaced apart from, each other, said support plates (111) being rigidly connected to each other and being parallel to the general plane of the two electrode-holding arms, said electrode-holding arms, said transformer and said actuator (116) being mounted between said support plates (111).
摘要翻译：的电动式点焊头，用于多轴工业机器人确实具有紧凑的结构，特别是在纵向方向上没有从头部为附接到朝向所述焊接电极的机器人腕部的端部进入。焊头的结构完全由呼叫具有用于连接到所述机器人腕部和前开口从该焊接头的电极臂突出的后部开口的外壳覆盖。焊接头的支撑结构（110）包括两个支撑板（111），以平行并从海誓山盟间隔开，所述支撑板（111）被刚性地连接到彼此并且平行于两个的总平面电极保持臂，所述电极保持臂，所述变压器和所述致动器（116）被安装在所述支撑板（111）之间。

76. 发明授权

EP2651752B1 SELF-ADAPTIVE METHOD FOR MOUNTING SIDE DOORS ON MOTOR-VEHICLE BODIES 有权
标题翻译：自我调整安装对门的法在汽车车身
公开(公告)号：EP2651752B1
公开(公告)日：2015-02-25
申请号：EP11799303.0
申请日：2011-10-18
申请人： C.R.F. Società Consortile per Azioni , Comau S.p.A.
发明人： MANGIARINO, Carlo
IPC分类号： B62D65/06
CPC分类号： B62D65/06 , B62D65/028 , Y10T29/49769 , Y10T29/49778 , Y10T29/4978

77. 发明公开

EP2765054A1 Trolley for conveying containers for pieces or components in an industrial plant 有权
标题翻译：预告片元件盒
公开(公告)号：EP2765054A1
公开(公告)日：2014-08-13
申请号：EP13154131.0
申请日：2013-02-06
申请人： Comau S.p.A.
发明人： Gullino, Eugenio , Ducato, Roberto
IPC分类号： B62B3/00 , B62B3/10 , B62B3/02 , B62D13/00
CPC分类号： B62B3/02 , B62B3/001 , B62B3/10 , B62B5/0079 , B62B2202/10 , B62B2203/44 , B62B2206/02 , B62B2301/06 , B62D1/14 , B62D7/026 , B62D13/04 , B62D63/061
摘要： A trolley for conveying containers for pieces or components in an industrial plant comprises a trolley structure (3) adjustable in length in the longitudinal direction (L) of the trolley and locating supports for the container (C) that include side supports (AL) adjustable in position in a transverse direction (T), orthogonal to the longitudinal direction (L). In this way, the trolley (1) can be adapted to containers for pieces (C) having dimensions and/or configurations different both with reference to the longitudinal direction (L) and with reference to the transverse direction (T). The trolley structure (3) comprises a central structure (30) and a front frame (32) and a rear frame (31), which are slidably mounted towards and away from each other on said central structure (30), in said longitudinal direction (L), and can be blocked selectively in different positions, in which they are at different distances from one another so as to define different lengths of the trolley (1). The lateral locating supports (AL) are slidably mounted on the front and rear frames (32, 31) in the transverse direction (T) and can be blocked in a plurality of different adjustment positions. The wheel units (WL, WR) of the trolley are carried pivotally by the front and rear frames (32, 31) at the two sides of the median plane (m) of the trolley. The steering control unit (2) of the trolley (1) is articulated to the front frame (32) and is connected by a tie-rod or chain or belt transmission to at least one front wheel unit (WL) and to at least one rear wheel unit, which are arranged on one side or on opposite sides of the trolley, in such a way that the front wheel unit and the rear wheel unit are made to oscillate in opposite directions to keep the wheels aligned with the curved path to be followed. In the preferred embodiment the adjustable frames (32, 31) have in plan view a T-shaped configuration, to leave a free space at the two sides of the central structure (30) of the trolley.

78. 发明公开

EP2492060A1 Articulated robot wrist 有权
标题翻译：铰接的机器人手腕
公开(公告)号：EP2492060A1
公开(公告)日：2012-08-29
申请号：EP12155799.5
申请日：2012-02-16
申请人： COMAU S.p.A.
发明人： Amparore, Mauro , Pernechele, Giorgio , Paparella, Giuseppe
IPC分类号： B25J9/10 , B25J17/02 , B25J19/00
CPC分类号： B25J19/0025 , B25J17/0283 , Y10T74/20305 , Y10T74/20317 , Y10T74/20335
摘要： An articulated robot wrist (10), comprising:
- a first body (12) comprising a first and a second end, said first end of said first body (12) being intended to be mounted on a robot component that is rotatable around a first axis (IV),
- a second body (14) comprising a first and a second end, said first end of said second body (14) being rotatably mounted on said second end of said first body (22), around a second axis (V) inclined with respect to said first axis (IV),
- a third body (16) comprising a first and a second end, said first end of said third body being rotatably mounted on said second end of said second body (24), around a third axis (VI) inclined with respect to said second axis (V),
- wherein said first and third axes (IV, VI) are both substantially orthogonal to said second axis (V), and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.
摘要翻译： 1。一种多关节机器人手腕（10），包括： - 包括第一端和第二端的第一主体（12），所述第一主体（12）的所述第一端用于安装在机器人部件上，该机器人部件可围绕第一包括第一端和第二端，所述第二主体（14）的所述第一端可旋转地安装在所述第一主体（22）的所述第二端上，围绕第二轴线（IV）可旋转地安装在所述第一主体所述第三主体包括第一端部和第二端部，所述第三主体的所述第一端部可旋转地安装在所述第二主体的所述第二端部上，围绕相对于所述第二轴线（V）倾斜的第三轴线（VI）， - 其中所述第一和第三轴线（IV，VI）都基本垂直于所述第二轴线（V），并且其中在所述机器人手腕的所述第一和第三轴线基本上彼此对齐。

79. 发明授权

EP1568436B2 A device for laser welding 有权
标题翻译：用于激光焊接的装置
公开(公告)号：EP1568436B2
公开(公告)日：2012-02-29
申请号：EP04029273.2
申请日：2004-12-10
申请人： COMAU S.p.A.
发明人： Menin, Roberto , Baroncelli, Arturo c/o Comau S.p.A , Mauletti, Enrico
IPC分类号： B23K26/10
CPC分类号： B23K26/0884 , B23K26/082 , B23K26/244

80. 发明公开

EP2095897A1 Machining unit including actuating means for adjusting the tool position and a wireless control system for the actuating means 有权
标题翻译：加工单元具有控制装置用于调整所述控制装置中的工具和无线控制器
公开(公告)号：EP2095897A1
公开(公告)日：2009-09-02
申请号：EP08425117.2
申请日：2008-02-26
申请人： COMAU S.p.A.
发明人： Migliore, Luigi , Fonte, Angelo , Zampollo, Marco
IPC分类号： B23B29/034 , B23Q17/22
CPC分类号： B23Q17/2216 , B23B29/0345 , B23B2215/76 , B23B2260/062 , B23B2270/24 , Y10T408/16 , Y10T408/85892 , Y10T408/85895 , Y10T409/303976 , Y10T409/30728 , Y10T409/308064 , Y10T409/309296 , Y10T409/309576
摘要： A machining unit, particularly for machining the surface of cylindrical cavities, has a tool-holder assembly (11), including an electric actuator (15) for adjustment of the radial tool position (21). The control signals of the actuator (15) are transmitted to said actuator by a stationary electronic control unit (28) via a wireless communication system (29, 30). Also provided on board the tool-holder assembly (11) is a system for electrical supply of the actuator (15), constituted, for example, by one or more batteries (31) or else by an electrical-generation microsystem (32) that exploits a portion of the flow of the high-pressure lubricant-coolant that is fed into the machining area.
摘要翻译：加工单元，尤其是用于加工圆柱腔表面，有一个刀架组件（11）包括在电致动器（15），用于径向工具位置（21）的调整。所述致动器（15）的控制信号通过无线通信系统（29，30）是由一个静止的电子控制单元（28）反式mitted到所述致动器。因此，对于所述致动器（15）的电力供应提供在板上的刀架组件（11）的系统中，构成，例如，通过在电代微系统中的一个或多个电池（31），或者通过（32）做利用了高压润滑剂 - 冷却剂流的一部分也被供给到加工区域。

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