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71. 发明授权

EP2664422B1 Multi-axis industrial robot with integrated tool 有权
标题翻译：多轴机器人具有集成工具
公开(公告)号：EP2664422B1
公开(公告)日：2015-07-22
申请号：EP12168065.6
申请日：2012-05-15
申请人： COMAU S.p.A.
发明人： Ferrero Fulvio , Mauletti Enrico
IPC分类号： B25J19/00 , B23K11/31
CPC分类号： B25J19/0029 , B23K11/115 , B23K11/314 , B23K11/36 , B25J15/0019 , Y10S901/29 , Y10S901/42 , Y10T74/20311

72. 发明授权

EP2733384B1 Chain tensioning device 有权
标题翻译：链条张紧器
公开(公告)号：EP2733384B1
公开(公告)日：2014-12-17
申请号：EP12193363.4
申请日：2012-11-20
申请人： Comau S.p.A.
发明人： Gromme, Gianpiero
IPC分类号： F16H7/08
CPC分类号： F16H7/1263 , F16H2007/0806 , F16H2007/087 , F16H2007/0874 , F16H2007/088 , F16H2007/0891

73. 发明授权

EP2711142B1 Industrial robot having electronic drive devices distributed on the robot structure 有权
标题翻译：工业用机器人具有分布在机器人电机驱动器
公开(公告)号：EP2711142B1
公开(公告)日：2014-09-17
申请号：EP12185131.5
申请日：2012-09-20
申请人： Comau S.p.A.
发明人： Alotto, Giorgio
IPC分类号： B25J9/16 , H02K11/00
CPC分类号： B25J9/12 , B25J9/161 , H02K5/225 , H02K11/35

74. 发明授权

EP2492059B1 Articulated robot wrist 有权
标题翻译：铰接的机器人手腕
公开(公告)号：EP2492059B1
公开(公告)日：2014-04-23
申请号：EP12155779.7
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： B25J17/0283 , B25J19/0025 , Y10S901/28 , Y10S901/29 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335

75. 发明公开

EP2714298A1 HEMMING HEAD DEVICE AND METHOD 有权
标题翻译： HEMMING HEAD DEVICE和METHOD
公开(公告)号：EP2714298A1
公开(公告)日：2014-04-09
申请号：EP12727944.6
申请日：2012-05-22
申请人： Comau S.p.A.
发明人： CYREK, Joseph P. , CHAPMAN, Robert F. , MAYBEE, William T. , ST. DENIS, Kenneth D.
IPC分类号： B21D39/02
CPC分类号： B21D39/023 , B21D19/043 , B21D39/021 , Y10T29/53791
摘要： A hemming head device and method for hem forming one or more edges of deformable material. The hemming head device includes dual biasing spring members which provide a resistive force whether the hemming wheel is in a push hemming operation on an exterior joint edge or in a pull hemming operation on an interior joint edge. The device further includes a quick connect device for selectively connecting hemming wheels and other forming devices to the head and a gauge to measure the relative position or resistive force applied on the forming member by the biasing members. A method for hem forming a workpiece using dual biasing spring members is also disclosed.
摘要翻译：一种卷边头装置和用于卷边形成可变形材料的一个或多个边缘的方法。折边头装置包括双偏压弹簧构件，其无论折边轮处于外接合边缘上的推包边操作还是内接合边缘上的拉边包边操作中都提供阻力。该装置还包括用于选择性地将折边轮和其他成形装置连接到头部的快速连接装置和用于测量由偏置构件施加在成形构件上的相对位置或阻力的量具。还公开了使用双偏置弹簧构件来卷边成形工件的方法。

76. 发明公开

EP2651752A1 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：EP2651752A1
公开(公告)日：2013-10-23
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
摘要： Method for mounting side doors on motor-vehicle bodies, wherein the doors are connected to the body by means of a pair of hinges each providing a pivot for support and articulation of the door. Each hinge is constituted by a body (fixed) element connected to the body and a door (movable) element connected to the door, as well as by a pin for their mutual rotational articulation. The method comprises the steps of: - detecting - by means of optoelectronic systems - a plurality of dimensions measured along coordinates X, Y, Z, on the body and on the door units, with the aid of the proper references, for qualifying the geometric conditions of the coupling between the doors and the cooperating door receiving seats, - on the basis of the detected dimensions, determining the mounting positions of each pair of hinge elements to be secured to the body and to the doors, so as to obtain that the doors, in the closed condition thereof, are consistent with the respective door receiving portions on the body sides according to the assembly project drawing, - mounting the aforementioned hinge elements on the body in the thus determined positions, using tools that arrange the upper and lower body hinge elements obtaining the alignment of their axes and the correct conjugation of the pivots, - mounting the doors on the body by connecting the body hinge elements and the door hinge elements to each other by simply simultaneously inserting the articulation pins in the seats thereof, without requiring performing further operations for adjusting and recording the geometrical settings, neither on the pre-painting body completion line, nor on the final vehicle assembly line.

77. 发明公开

EP2543615A1 Station for loading and unloading workpiece-carrying containers 有权
标题翻译：成为Werkstückbehälter的入口
公开(公告)号：EP2543615A1
公开(公告)日：2013-01-09
申请号：EP12174884.2
申请日：2012-07-04
申请人： Comau S.p.A.
发明人： Guindani, Giuseppe , Magni, Gianni
IPC分类号： B65G65/00 , B23Q7/02 , B23Q7/14
CPC分类号： B65G65/00 , B23Q1/66 , B23Q7/02 , B23Q7/1431
摘要： A system for loading and unloading piece-carrying containers (C) in an industrial plant, comprising:
- a station (2) for loading and unloading said containers (C) carried on a trolley (C');
- a workstation (3) to which the loaded containers (C) are brought and at which the pieces are taken from said containers (C);
- a turret (6), which is configured for lifting a first container in said loading and unloading station (2) and a second container in said workstation (3) and can turn about a vertical axis in order to carry out an exchange of said first container and said second container; and
- positioning means (22, 24) for positioning said container (C) in a precise and predetermined way at said work station (3).
摘要翻译：一种用于在工业设备中装载和卸载散件容器（C）的系统，包括： - 用于装载和卸载载于台车（C'）上的所述容器（C）的站（2）; - 工作站（3），所述装载的容器（C）被带入所述工作站（3），并且从所述容器（C）取出所述件; - 转塔（6），其被构造用于提升所述装载和卸载站（2）中的第一容器和在所述工作站（3）中的第二容器），并且可以围绕垂直轴线转动，以便执行所述第一容器和第二容器; 以及 - 用于在所述工作站（3）处以精确且预定的方式定位所述容器（C）的定位装置（22,24）。

78. 发明授权

EP1880795B1 Cell for automated assembling operations 有权
标题翻译：细胞用于自动装配操作
公开(公告)号：EP1880795B1
公开(公告)日：2008-11-19
申请号：EP06425500.3
申请日：2006-07-19
申请人： COMAU S.p.A.
发明人： Migliore, Luigi c/o Comau S.p.A.
IPC分类号： B23P19/04 , B23P21/00 , B23Q7/14 , B23Q1/48
CPC分类号： B23P21/00 , B23P19/042 , B23Q1/4828 , B23Q7/1426 , Y10T29/49828 , Y10T29/49829 , Y10T29/49901 , Y10T29/49902 , Y10T29/49998 , Y10T29/534 , Y10T29/53435 , Y10T29/53539 , Y10T29/53974 , Y10T29/53978

79. 发明授权

EP1712965B1 System and method for controlling industrial robots and the like, comprising a wireless portable programming terminal 失效
标题翻译：装置和方法，用于控制工业机器人或类似物，包括一个便携式无线终端编程
公开(公告)号：EP1712965B1
公开(公告)日：2008-05-14
申请号：EP05425218.4
申请日：2005-04-13
申请人： COMAU S.p.A.
发明人： Calcagno, Renzo , Bonivento, Alvise , Petrovic, Dragan
IPC分类号： G05B19/406 , B25J9/16 , G08B29/16
CPC分类号： G05B19/406 , G05B2219/23414 , G05B2219/33192 , G05B2219/36159 , G05B2219/39001 , G05B2219/39447 , G05B2219/50198

80. 发明公开

EP1264667A3 Control system for robots 审中-公开
标题翻译：机器人控制系统
公开(公告)号：EP1264667A3
公开(公告)日：2007-01-03
申请号：EP02001762.0
申请日：2002-01-25
申请人： COMAU S.p.A.
发明人： Bottero, Aldo , Cane, Luciano , Cantello, Giorgio , Cargnino, Guido , Zaccagnini, Antonio
IPC分类号： B25J9/16
CPC分类号： B25J9/161
摘要： A control system for robots comprises:
- a control unit (RCU) for generating and controlling the paths of movement of the moving parts of the robot;
- a drive unit (DSA) for generating the control signals for controlling the motors (M.1, ..., M.n) associated to the moving parts of the robot; and
- an Ethernet-type network (FEL) for connection of the control unit (RCU) and the drive unit (DSA).
Preferably provided is also an interface module (FIA) for connecting the control unit (RCU) to peripheral units and distributed input/output units. The drive unit (DSA) comprises, in conjunction with a plurality of CPUs that close the control loops of the torques generated by the individual motors (M.1, ..., M.n), a main CPU responsible for position control in the framework of the drive unit (DSA). The latter CPU thus retains knowledge of the overall status of the machine.
摘要翻译：一种用于机器人的控制系统，包括： - 用于产生和控制机器人的运动部件的运动路径的控制单元（RCU） - 驱动单元（DSA），用于生成用于控制与机器人的运动部件相关联的马达（M.1，...，M.n）的控制信号; 和 - 用于连接控制单元（RCU）和驱动单元（DSA）的以太网类型网络（FEL）。优选地还提供用于将控制单元（RCU）连接到外围单元和分布式输入/输出单元的接口模块（FIA）。驱动单元（DSA）包括与多个关闭由各个电动机（M.1，...，Mn）产生的转矩的控制回路的CPU，负责框架中的位置控制的主CPU 的驱动单元（DSA）。后者的CPU因此保留了对机器整体状态的了解。

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