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1. 发明授权

EP3368626B1 SYSTEM AND CORRESPONDING PROCESS FOR ASSEMBLING TOGETHER TWO COMPONENTS ON A VEHICLE-BODY ASSEMBLING LINE 有权
公开(公告)号：EP3368626B1
公开(公告)日：2021-12-15
申请号：EP16809171.8
申请日：2016-10-27
发明人： ARDUINO, Stefano , DI STEFANO, Giovanni , SERPI, Valeria
IPC分类号： C09J5/06

2. 发明授权

EP3564768B1 A METHOD OF MONITORING THE OPERATING STATE OF A PROCESSING STATION, CORRESPONDING MONITORING SYSTEM AND COMPUTER PROGRAM PRODUCT 有权
公开(公告)号：EP3564768B1
公开(公告)日：2021-12-01
申请号：EP19170399.0
申请日：2019-04-19
发明人： IPPOLITO, Mr. Massimo
IPC分类号： G05B23/02

3. 发明授权

EP3489189B1 ACCESSORY MODULAR DEVICE FOR AGV 有权
公开(公告)号：EP3489189B1
公开(公告)日：2021-03-17
申请号：EP17203997.6
申请日：2017-11-28
发明人： GHIRARDI, Ugo , ASCHERI, Andrea , POLLANO, Maurizio
IPC分类号： B66F9/06 , B66F7/06

4. 发明授权

EP3246136B1 AUTOMATED DEVICE WITH A MOVABLE STRUCTURE, IN PARTICULAR A ROBOT 有权
公开(公告)号：EP3246136B1
公开(公告)日：2020-02-19
申请号：EP17167000.3
申请日：2017-04-19
申请人： Comau S.p.A.
发明人： BORDEGNONI, Stefano , CINIELLO, Francesco , COLOMBINA, Giuseppe
IPC分类号： B25J19/06 , B25J13/08 , B25J19/00 , B25J19/02 , G01B7/02 , G01B7/16 , G01L1/18 , H03K17/955

5. 发明公开

EP3368625A1 SYSTEM AND CORRESPONDING PROCESS FOR GLUING TOGETHER TWO COMPONENTS ON A VEHICLE-BODY ASSEMBLY LINE 有权
公开(公告)号：EP3368625A1
公开(公告)日：2018-09-05
申请号：EP16809170.0
申请日：2016-10-27
申请人： Comau S.p.A.
发明人： ARDUINO, Stefano , DI STEFANO, Giovanni , SERPI, Valeria
IPC分类号： C09J5/06
CPC分类号： C09J5/06
摘要： A system and process for gluing two components together includes measuring the temperature of one or both panels to be glued together prior to application of the glue to the panels. If the measured temperature of the panel(s) is outside a predetermined range, the system and process thermally conditions the panel(s) to bring them into the predetermined temperature range for proper adhesion. A control unit with predetermined reference values is in communication with the system temperature sensors and thermal conditioning devices to provide uniform gluing quality irrespective of the environmental conditions of the assembly line.

6. 发明公开

EP3366409A1 ELECTRIC RESISTANCE WELDING HEAD WITH ELECTRODES LOCATED ON THE SAME SIDE ; CORRESPONDING METHOD OF RESISTANCE ELECTRIC WELDING ON A COMPONENT TO BE WELDED 有权
公开(公告)号：EP3366409A1
公开(公告)日：2018-08-29
申请号：EP17157541.8
申请日：2017-02-23
申请人： Comau S.p.A.
发明人： GATTABRIA, Massimo , DE CHIRICO, Cristina , MARSICOVETERE, Carmelo , MAESTRI, Mauro , DI STEFANO, Giovanni
IPC分类号： B23K11/11 , B23K11/25 , B23K11/31 , B23K11/36 , B23K101/00 , B23K101/18
CPC分类号： B23K11/318 , B23K11/11 , B23K11/115 , B23K11/255 , B23K11/311 , B23K11/315 , B23K11/36 , B23K2101/006 , B23K2101/18 , Y10S901/42
摘要： It is described an electric resistance welding head with electrodes (3, 4) located on the same side, which comprises a support structure (1), an electric transformer, a ground electrode (3) and a welding electrode (4). The ground electrode (3) and the welding electrode (4) have respective main axes parallel to and spaced from each other and said electrodes (3,4) are movably-mounted with respect to said support structure (1) along the respective main axes. An elastic device is operatively interposed between the ground electrode (3) and the support structure (1) and a detecting device for detection of the load of the elastic device is associated to the elastic device. The head comprises also one or more electronic units for controlling the robot carrying the head and for controlling the welding head, wherein said one or more electronic control units are configured for controlling the movement of the robot in order to move an end portion of the ground electrode (3) in contact with a component to be welded. The aforementioned one or more electronic control units are also configured for causing increase of the load of the elastic device until stopping the movement of the robot when the load of the elastic device reaches a predetermined threshold value and for actuating the actuator (12) to advance the welding electrode (4) through a predetermined length, until reaching a predetermined position with respect to the support structure (1). Once reached the predetermined position of the welding electrode (4), the electronic control unit is also configured for continuing to actuate the actuator (12) for pushing the welding electrode (4) in contact with the component to be welded, controlling current absorption of the electric motor as an index of the force applied by the welding electrode (4) to the component. Finally, after reaching a predetermined value of said force, the aforementioned one or more electronic units are configured for supplying electrical current to said electrodes (3, 4) by means of said electric transformer for executing a resistance electric welding on said component.

7. 发明公开

EP3308229A1 PORTABLE SAFETY CONTROL DEVICE FOR INDUSTRIAL MACHINES, IN PARTICULAR ROBOTS 有权
标题翻译：用于工业机械，特别是机器人的便携式安全控制装置
公开(公告)号：EP3308229A1
公开(公告)日：2018-04-18
申请号：EP16733700.5
申请日：2016-06-14
申请人： Comau S.p.A.
发明人： BORDEGNONI, Stefano , CINIELLO, Francesco
IPC分类号： G05B19/409
CPC分类号： G05B19/409 , G05B9/02 , G05B2219/36159 , G05B2219/36168 , G06F1/1626 , G06F3/0425 , H05K7/1411
摘要： A portable safety control device for use with a portable electronic device to communicate with industrial machine. The control device includes a body having gripping portion for engagement by a human hand and a supporting portion for engagement with the portable electronic device. In one example, separate enabling and emergency stop switches are positioned on the body proximate the gripping portion within reach of the hand engaged with the gripping portion, and is configured for ease of use by left or right-handed users. The supporting portion is configured and oriented to rest on the forearm of an operator. A control circuit is used to communicate with both the portable electronic device and the industrial machine controller.

8. 发明公开

EP3107360A1 DEVICE FOR CONVERTING A MODULE OF A STATION FOR CONTROL OF INDUSTRIAL ROBOTS INTO AN INDEPENDENT CONTROL UNIT 审中-公开
标题翻译：设备技术转换模块站针对一个独立控制单元，控制工业机器人
公开(公告)号：EP3107360A1
公开(公告)日：2016-12-21
申请号：EP16173334.0
申请日：2016-06-07
申请人： Comau S.p.A.
发明人： BORDEGNONI, Stefano , CINIELLO, Francesco
IPC分类号： H05K7/14 , H05K5/02
CPC分类号： H05K7/1465 , H05K5/0234 , H05K5/0247 , H05K5/03 , H05K7/1424 , H05K7/1467 , H05K7/1474
摘要： A device for converting a module of a station for control of industrial robots into an independent control unit. The device comprises a frame (2) configured for housing said module (100), which has a supporting part (22), designed to support the entire frame and to rest on a resting surface, a part (26), designed to receive said control module, and a covering part (32), which encloses cables for electrical connection of said module and is configured for guiding passage of said cables towards the outside of said device.
摘要翻译：一种用于转换为工业机器人的控制的站的模块插入到独立的控制单元装置。该装置包括被配置用于容纳框架（2），所述模块（100），其具有支撑部（22），设计为支持整个帧并搁置在搁置表面，一个部分（26），其设计成接收所述控制模块，和包围电缆的所述模块的电连接，并且被配置为引导所述线缆的通道朝向所述装置的外部的覆盖部（32）。

9. 发明公开

EP3053710A1 Pallet for conveying pieces or components along assembly lines 有权
标题翻译：调色板zumFördernvon Teilen oder Komponenten entlangMontagestraßen
公开(公告)号：EP3053710A1
公开(公告)日：2016-08-10
申请号：EP15153558.0
申请日：2015-02-03
申请人： Comau S.p.A.
发明人： Ghirardi, Ugo , Giusto, Michele , Faccin, Ermanno
IPC分类号： B25H1/00
CPC分类号： B65G35/06 , B25H1/00
摘要： A pallet for conveying pieces or components in assembly lines comprises a base structure (2), which is to be positioned on a conveyor line (L), a platform (3) rotatably mounted above the base structure (2), a pair of vertical uprights (22) which are spaced from each other and extend upwardly from two peripheral areas of said platform (3), a pair of vertical columns (24) which are respectively supported within said vertical uprights (22) and are movable vertically between a lowered position and a raised position, and an arch-like cross-member (37) having end portions (371) removably coupled with, and above, vertical locating pins (27) projecting from the upper ends of said columns (24), said cross-member being provided with connecting means (38) for supporting a piece or component, such as an engine block (B) in a cantilever fashion, at an elevated position with respect to the plane of said rotatable platform (3). The arch-like cross-member (37) can support the piece at different heights, due to the possibility of adjusting the height of the columns (24). Moreover it can be positioned on said columns (22) in any of two positions which are rotated by 180 degrees relative to each other around a horizontal axis extending in the direction of the arch-like cross-member (37). These features, along with the possibility of rotating the platform (3), enable the piece to be oriented in a plurality of different ways and at different heights, in order to render the assembly operations easy and simple.
摘要翻译：用于在组装线中输送件或部件的托盘包括：基座结构（2），其位于输送线（L）上，平台（3）可旋转地安装在基座结构（2）的上方，一对垂直彼此间隔开并从所述平台（3）的两个周边区域向上延伸的立柱（22），分别支撑在所述垂直立柱（22）内的一对垂直立柱（24），并且可以在下降位置和升高位置，以及具有从所述柱（24）的上端突出的垂直定位销（27）可拆卸地联接并在其上方的端部（371）的拱形横梁（37），所述横 - 构件设置有用于相对于所述可旋转平台（3）的平面在升高位置以悬臂方式支撑诸如发动机缸体（B）的零件或部件的连接装置（38）。由于可能调节柱（24）的高度，拱形横梁（37）可以支撑不同高度的零件。此外，可以在围绕围绕弓形横梁（37）的方向延伸的水平轴线相对于彼此旋转180度的两个位置中的任一个中定位在所述列（22）上。这些特征以及旋转平台（3）的可能性使得该件可以以多种不同的方式和不同的高度定向，以便使组装操作变得简单和简单。

10. 发明公开

EP3017920A1 AN INDUSTRIAL ROBOT AND A METHOD FOR CONTROLLING AN INDUSTRIAL ROBOT 有权
标题翻译： VERFAHREN ZUR STEUERUNG EINES INDUSTRIEROBOTER的工业机器人
公开(公告)号：EP3017920A1
公开(公告)日：2016-05-11
申请号：EP15190255.8
申请日：2015-10-16
申请人： Comau S.p.A.
发明人： GERIO, Gian Paolo , WIKLUND, Allan Mathias , BARONCELLI, Arturo
IPC分类号： B25J13/08 , B25J9/16 , B25J19/02 , B25J19/06
CPC分类号： B25J9/1676 , B25J13/086 , B25J13/088 , B25J19/023 , B25J19/063 , Y10S901/14 , Y10S901/30 , Y10S901/46
摘要： An industrial robot (1, 15) comprises:
- a manipulator (1) with a number of degrees of freedom (A1-A6);
- a control unit (15) of the manipulator (1);
- a first detection system (19), for detecting possible presence of a foreign body (HO), in particular a human being;
- a second detection system (21), comprising one or more inertial sensors installed on the manipulator (1);
- a third detection system (22), comprising means for measuring the torque applied by electric motors (11'-14') of the manipulator (1).
The control unit (15) is prearranged in such a way that, with the robot (1, 15) in the automatic operating mode, detection by the first detection system (19) of the presence of a foreign body (HO) within the predefined working area (20) of the manipulator (1) determines selection of a safe automatic operating mode of the robot (1,15), in the course of which the speed of the electric motors (11'-14') is reduced, and the second and third detection systems (21, 22) are operative for detecting any possible impact of the manipulator (1) against a foreign body (HO).
In the case of detection of an impact, the control unit (15) stops the movement of the manipulator (1) and/or governs reversal of its movement, prior to arrest thereof.
摘要翻译：工业机器人（1,15）包括： - 具有多个自由度的机械手（1）（A1-A6）; - 所述操纵器（1）的控制单元（15）; - 第一检测系统（19），用于检测异物（HO）的可能存在，特别是人; - 第二检测系统（21），包括安装在所述操纵器（1）上的一个或多个惯性传感器; - 第三检测系统（22），包括用于测量由所述机械手（1）的电动机（11'-14'）施加的扭矩的装置。控制单元（15）以这样的方式被预先安排，使得机器人（1,15）处于自动操作模式时，由第一检测系统（19）检测到异物（HO）的存在在预定义的机械手（1）的工作区域（20）确定机器人（1,15）的安全自动操作模式的选择，其中电机（11'-14'）的速度减小，并且第二和第三检测系统（21,22）用于检测操纵器（1）对异物（HO）的任何可能的影响。在检测到冲击的情况下，控制单元（15）在其被阻止之前停止操纵器（1）的移动和/或控制其运动的反转。

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