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1. 发明授权

US06564667B2 Device for compensating the weight of a robot arm 有权
标题翻译：用于补偿机器人手臂重量的装置
公开(公告)号：US06564667B2
公开(公告)日：2003-05-20
申请号：US09775779
申请日：2001-02-02
申请人： Albert Bayer , Wolfgang Bohlken , Alwin Berninger
发明人： Albert Bayer , Wolfgang Bohlken , Alwin Berninger
IPC分类号： B25J1800
CPC分类号： B25J19/0016 , Y10T74/20305
摘要： A device for compensating the weight of a robot arm of a robot with a spring cylinder and having at least one helical spring is characterized in that there is at least one mechanism for the insertion and removal of at least one further, replaceable helical spring and preferably a pretension of at least the replaceable helical spring is adjustable. The device according to the invention makes it possible to modify the spring constant of the spring cylinder in order to individually adjust the compensating force desired for compensating the weight of the robot.
摘要翻译：一种用于用弹簧筒补偿机器人臂的重量并具有至少一个螺旋弹簧的装置，其特征在于，至少有一个用于插入和移除至少一个可更换的螺旋弹簧的机构至少可更换的螺旋弹簧的预张力是可调节的。根据本发明的装置使得可以改变弹簧缸的弹簧常数，以便单独调节补偿机器人的重量所需的补偿力。

2. 发明授权

US06223618B1 Device for driving a robot hand 失效
标题翻译：用于驾驶机器人手的装置
公开(公告)号：US06223618B1
公开(公告)日：2001-05-01
申请号：US09292618
申请日：1999-04-15
申请人： Alwin Berninger , Wolfgang Bohlken
发明人： Alwin Berninger , Wolfgang Bohlken
IPC分类号： B25J1700
CPC分类号： B25J15/04 , B25J9/10 , Y10T74/20335
摘要： In order to simplify assembly of a robot hand to a robot arm, the invention is a device for driving a robot hand on a robot arm having a plurality of cardan shafts with which the cardan shafts are borne at their ends distant from the hand on a bearing plate which can be displaced relative to the robot arm.
摘要翻译：为了简化机器人手到机器人手臂的组装，本发明是一种用于在机器人手臂上驱动机器人手臂的装置，该机器人手臂具有多个万向轴，万向轴位于远离手的一端远离主体轴可相对于机器人手臂移动的支承板。

3. 发明授权

US06761189B2 Wearing ring 失效
标题翻译：穿环
公开(公告)号：US06761189B2
公开(公告)日：2004-07-13
申请号：US10039033
申请日：2002-01-02
申请人： Alwin Berninger , Stefan Karlinger
发明人： Alwin Berninger , Stefan Karlinger
IPC分类号： F16L900
CPC分类号： B25J19/0025 , F16L3/10
摘要： A wearing ring, particularly for protecting a cable guide hose on a robot, with an inner ring and an outer ring having in each case two half-shells is characterized in that the half-shells of at least one of the rings can be locked together.
摘要翻译：特别是用于保护机器人上的电缆引导软管的耐磨环，内环和外环在每种情况下具有两个半壳，其特征在于，至少一个环的半壳可以锁定在一起。

4. 发明授权

US06622756B2 Highly flexible hose end piece 失效
标题翻译：高柔性软管端片
公开(公告)号：US06622756B2
公开(公告)日：2003-09-23
申请号：US09814370
申请日：2001-03-21
申请人： Alwin Berninger , Stefan Karlinger
发明人： Alwin Berninger , Stefan Karlinger
IPC分类号： F16L1100
CPC分类号： H02G3/0468 , H02G3/0475
摘要： A protective hose, particularly cable guidance hose, for a robot having at least partly externally positioned cables, particularly supply cables for robot tools is characterized by a flexible hose end piece terminally positionable on the protective hose and whose wall thickness at least zonally differs over its length, its wall thickness having a minimum value in the central area.
摘要翻译：用于具有至少部分外部定位的电缆的机器人的保护软管，特别是电缆引导软管，特别是用于机器人工具的供电电缆的特征在于，柔性软管端部件可终端定位在保护软管上，并且其壁厚至少在其上不同长度，其壁厚在中心区域具有最小值。

5. 发明授权

US06189403B1 Robot arm 失效
标题翻译：机器人手臂
公开(公告)号：US06189403B1
公开(公告)日：2001-02-20
申请号：US09292615
申请日：1999-04-15
申请人： Alwin Berninger
发明人： Alwin Berninger
IPC分类号： B25J1800
CPC分类号： B25J19/0025 , Y10S414/131 , Y10T74/20311
摘要： In order to guide a cable for a robot in a protective fashion while facilitating simple insertion of protected cables in a robot arm, in particular a robot arm bearing a hand arbor motor, having a cable guide channel extending substantially along the robot arm and having a sideward opening along its entire length.
摘要翻译：为了以保护的方式引导机器人的电缆线，同时便于将被保护的电缆简单地插入到机器人手臂中，特别是带有手柄电动机的机器人臂，其具有基本上沿机器人手臂延伸的电缆引导通道，并且具有沿着整个长度向侧开。

6. 发明授权

US07086293B2 Method for monitoring a machine and such a machine, particularly a robot 有权
标题翻译：用于监视机器和这种机器的方法，特别是机器人
公开(公告)号：US07086293B2
公开(公告)日：2006-08-08
申请号：US10766769
申请日：2004-01-28
申请人： Peter Heiligensetzer , Alwin Berninger , Norbert Settele
发明人： Peter Heiligensetzer , Alwin Berninger , Norbert Settele
IPC分类号： G01N3/00
CPC分类号： B25J9/1674 , G05B2219/40226 , G05B2219/40228 , G05B2219/40229
摘要： In order to improve the monitoring of a machine with movable parts, such as in particular an industrial robot, and for increasing safety, the invention provides a method for monitoring movable parts of a machine, such as an industrial robot, in which at least two different measured quantities are detected and at least one of these measured quantities is processed to a first measure result in such a way that it is comparable with another measured quantity or a second measure result obtained on the basis thereof, that the first measure result is compared with another measured quantity or a measure result obtained on the basis thereof and that a signal characterizing the comparison result is provided.The invention also provides a machine with movable parts, such as in particular an industrial robot, which is characterized by at least two measuring devices for detecting different measured quantities on movable parts of the machine, a processing unit for at least one measured quantity for the processing thereof into a first measure result comparable with another measured quantity or a second measure result obtained therefrom and a comparison unit for comparing the first measure result with at least one other measured quantity or a second measure result obtained on the basis thereof.
摘要翻译：为了改进对可移动部件，特别是工业机器人的机器的监视，并且为了增加安全性，本发明提供了一种用于监视诸如工业机器人的机器的可移动部件的方法，其中至少两个检测不同的测量量，并将这些测量量中的至少一个处理成第一测量结果，使得其与另一测量量或基于其获得的第二测量结果相比较，比较第一测量结果具有基于其获得的另一测量量或测量结果，并且提供表征比较结果的信号。本发明还提供了一种机器，其具有诸如特别是工业机器人的可移动部件，其特征在于至少两个用于检测机器可移动部件上的不同测量量的测量装置，用于至少一个测量量的处理单元将其处理成与由其获得的另一测量量或第二测量结果相当的第一测量结果;以及比较单元，用于将第一测量结果与至少一个其他测量量或基于其获得的第二测量结果进行比较。

7. 发明授权

US07331094B2 Method and device for positioning components to be joined together 有权
标题翻译：用于定位待连接在一起的组件的方法和装置
公开(公告)号：US07331094B2
公开(公告)日：2008-02-19
申请号：US10736031
申请日：2003-12-15
申请人： Alwin Berninger
发明人： Alwin Berninger
IPC分类号： B23Q17/00 , B23Q7/00
CPC分类号： B25J9/0087 , B23K37/0435 , B23K37/047 , B23P21/00 , B25J9/0084 , B25J9/06 , B25J9/1669 , B62D65/02 , Y10T29/49622 , Y10T29/49771 , Y10T29/49778 , Y10T29/4978 , Y10T29/49826 , Y10T29/49895 , Y10T29/49899 , Y10T29/49902 , Y10T29/49998 , Y10T29/53978
摘要： A device for positioning components to be joined together, such as car body components, is characterized by at least one movable central module and a plurality of arms, movable in space and connected thereto and which in each case have at least one holding element for holding the components. By means of the inventive method for the positioning of the components to be joined together and for the performance of which the said device is particularly suitable, the components are held from a position within a desired arrangement of the components to be joined. In this way the assembled components during a subsequent tacking together and optionally further downstream production processes such as welding or the like, are accessible in optimum manner from the outside. Further advantages of the method according to the invention are a limited space requirement and possible balancing of the production process.
摘要翻译：用于定位待接合在一起的部件（例如车身部件）的装置的特征在于至少一个可移动中心模块和多个臂，其可在空间中移动并连接到其上，并且每个臂在每种情况下具有至少一个保持元件组件。通过本发明的用于定位要连接在一起的部件的方法以及用于所述装置特别适合的性能，这些部件被保持在待接合部件的期望布置内的位置。以这种方式，在随后的粘合在一起和任选地进一步的下游生产过程（例如焊接等）的组装部件可以以最佳方式从外部进入。根据本发明的方法的其他优点是有限的空间要求和可能的生产过程的平衡。

8. 发明授权

US06352369B1 Wearing ring for a cable guidance tube of a robot 失效
标题翻译：机器人电缆引导管的磨损环
公开(公告)号：US06352369B1
公开(公告)日：2002-03-05
申请号：US09371241
申请日：1999-08-10
申请人： Alwin Berninger
发明人： Alwin Berninger
IPC分类号： F16C3304
CPC分类号： B25J19/0025
摘要： A wearing ring, particularly for protecting a cable guidance tube on a robot, characterized in that the wearing ring has two layers, whereof one coaxially surrounds the other.
摘要翻译：一种磨损环，特别是用于保护机器人上的电缆引导管，其特征在于，所述磨损环具有两层，一个同轴地围绕另一层。

9. 发明授权

US06288512B1 Robot with cables extending at least partially on an outside 有权
标题翻译：具有至少部分地在外部延伸的电缆的机器人
公开(公告)号：US06288512B1
公开(公告)日：2001-09-11
申请号：US09292616
申请日：1999-04-15
申请人： Alwin Berninger , Georg Hartmann
发明人： Alwin Berninger , Georg Hartmann
IPC分类号： B25J1100
CPC分类号： B25J19/0025 , Y10S414/131
摘要： A robot has a plurality of components which can pivot relative to each other, in particular robot arms. Changes in separation between individual points of the robot thereby occur. This must be taken into consideration when guiding the operation cables for robot elements and in particular robot tools. The cables must be capable of accommodating length changes while being loaded to as little extent as possible during motion of the robot so that they have high durability and are not prematurely damaged. In accordance with the invention, a robot having cables extending at least partially on the outside, in particular operation cables for robot tools such as a welding tool, has cables guided in a substantially circular loop at the height of a robot arm which can pivot about an axis of the robot.
摘要翻译：机器人具有可相对于彼此枢转的多个部件，特别是机器人手臂。机器人的各个点之间的分离变化发生。当引导机器人元件的操作电缆，特别是机器人工具时，必须考虑到这一点。在机器人运动期间，电缆必须能够在尽可能小的程度上加载长度变化，使得它们具有高耐久性并且不会过早损坏。根据本发明，具有至少部分地在外部延伸的电缆的机器人，特别是用于诸如焊接工具的机器人工具的操作电缆具有在机器人手臂的高度处以基本圆形的环路引导的电缆，其可以围绕机器人的轴。

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