WO2024251629A1 - Dispositif de manipulation pour robot de manipulation et procede de fonctionnement associé - Google Patents

Dispositif de manipulation pour robot de manipulation et procede de fonctionnement associé Download PDF

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Publication number
WO2024251629A1
WO2024251629A1 PCT/EP2024/065133 EP2024065133W WO2024251629A1 WO 2024251629 A1 WO2024251629 A1 WO 2024251629A1 EP 2024065133 W EP2024065133 W EP 2024065133W WO 2024251629 A1 WO2024251629 A1 WO 2024251629A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotation
axis
handling device
handling
rotary joint
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2024/065133
Other languages
German (de)
English (en)
Inventor
Jonas Weidmann
Detlev Hannig
Frank PIECHULLA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Duerr Systems AG filed Critical Duerr Systems AG
Publication of WO2024251629A1 publication Critical patent/WO2024251629A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0292—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work devices for holding several workpieces to be sprayed in a spaced relationship, e.g. vehicle doors spacers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/14—Arrangements for preventing or controlling structural damage to spraying apparatus or its outlets, e.g. for breaking at desired places; Arrangements for handling or replacing damaged parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers

Definitions

  • the invention relates to a handling device for mounting on a handling robot, in particular for opening a hood (e.g. engine hood or trunk lid) of a motor vehicle body to be painted in a painting system by the handling robot. Furthermore, the invention relates to a corresponding operating method for such a handling device.
  • a handling device for mounting on a handling robot, in particular for opening a hood (e.g. engine hood or trunk lid) of a motor vehicle body to be painted in a painting system by the handling robot.
  • a hood e.g. engine hood or trunk lid
  • the motor vehicle bodies to be painted are usually conveyed through the painting system by a linear conveyor along a painting line and painted in a painting booth by a painting robot.
  • This also requires interior painting, i.e. painting in the interior of the motor vehicle body and in particular inside the engine compartment and the trunk.
  • interior painting it is necessary to open the trunk lid or bonnet so that the painting robot can enter the trunk or engine compartment and paint the interior surfaces there.
  • the bonnet or trunk lid is usually opened by handling robots that guide a handling device to open the bonnet or trunk lid.
  • Figure 1 shows a known example of such a handling device 1, which can be mounted on a multi-axis robot hand axis 2 of the handling robot, wherein the robot hand axis 2 has several hand axis parts 3, 4, 5, which are rotatable relative to each other and therefore enable a highly mobile guidance of the handling device 1.
  • the handling device 1 has a mounting flange 6 for mounting on the robot hand axis 2, which is mounted on a mounting flange 7 of the robot hand axis 2.
  • the handling device 1 has an elongated arm 8 which has a gripping hook 9 at its end.
  • the handling device 1 in this known embodiment does not allow any evasive movement. This limits the use of the handling device 1 to painting systems in which the motor vehicle bodies are conveyed through the painting system in stop-and-go operation, since a relatively precise positioning of the handling device 1 relative to the stationary motor vehicle bodies is then possible.
  • FIG. 2 shows a further example of a known handling device 1, this example partially corresponding to the known example described above according to Figure 1, so that in order to avoid repetition, reference is made to the above description, the same reference numerals being used for corresponding details.
  • a special feature of the handling device 1 in this example is that the handling device 1 enables an evasive movement about a rotation axis Al.
  • the handling device 1 has a cylinder body 10 which carries the arm 8 and can be rotated about the rotation axis Al relative to the mounting flange 6 of the handling device 1. Due to the possibility of an evasive movement about the rotation axis Al, the handling device 1 according to this example is also suitable for so-called line tracking operation.
  • the handling device 1 requires precise positioning above the opening hood (e.g. trunk lid or engine hood), whereby the rotation axis Al of the handling device must be aligned at right angles to the conveying direction of the motor vehicle body, i.e. at right angles to the longitudinal axis of the motor vehicle body. This limits the working range of the handling robot.
  • the opening hood e.g. trunk lid or engine hood
  • the invention is therefore based on the object of creating a correspondingly improved handling device for a handling robot. Furthermore, the invention is based on the object of specifying an associated operating method.
  • the handling device according to the invention has, in accordance with the prior art described at the outset, a robot-side mounting flange with which the handling device can be mounted on a handling robot that has a corresponding mounting flange.
  • Such handling robots are known per se from the prior art and therefore do not need to be described in more detail.
  • the handling device in accordance with the prior art described at the outset, has a tool holder for receiving a handling tool, such as a hook-shaped gripper.
  • a handling tool such as a hook-shaped gripper.
  • the handling tool e.g. gripper
  • the handling tool is detachably mounted in the tool holder.
  • the handling device also comprises a first rotary joint in accordance with the prior art described at the beginning, wherein the first rotary joint enables a rotary evasive movement of the tool holder relative to the robot-side mounting flange around a first rotational axis in the event of a collision of the handling device with a spatial boundary (e.g. conveyor, cabin wall) or with a component to be handled (e.g. motor vehicle body).
  • a spatial boundary e.g. conveyor, cabin wall
  • a component to be handled e.g. motor vehicle body
  • the handling device according to the invention is distinguished from the prior art in that a second rotary joint is additionally provided for part detection in order to detect contact between the handling device and a component to be handled (e.g. motor vehicle body).
  • the second rotary joint enables a rotary evasive movement of the tool holder relative to the robot-side mounting flange of the handling device, specifically about a second axis of rotation.
  • the handling device according to the invention therefore enables two different evasive movements, namely a first evasive movement for collision detection and a second evasive movement for part detection.
  • the handling device according to the invention preferably has a first angle of rotation sensor for detecting a first angle of rotation of the first rotary joint about the first axis of rotation when a collision is detected. Furthermore, the handling device according to the invention preferably has a second angle of rotation sensor for detecting a second angle of rotation of the second rotary joint about the second axis of rotation when parts are detected.
  • the two angle of rotation sensors therefore enable reliable part detection and collision detection.
  • the handling device according to the invention preferably contains a first angle limiter for physically limiting the rotary evasive movement of the first rotary joint about the first axis of rotation during collision detection.
  • the handling device according to the invention preferably also contains a second angle limiter for physically limiting the rotary evasive movement of the second rotary joint about the second axis of rotation during part detection. It should be mentioned here that the two angle limiters work physically and thus form stops for the respective evasive movement.
  • the handling device preferably contains a first spring mechanism for generating a first restoring moment (torque) about the first axis of rotation on the first rotary joint during collision detection, wherein the first restoring moment counteracts the rotary evasive movement of the first rotary joint during collision detection.
  • the handling device according to the invention preferably also contains a second spring mechanism for generating a second restoring moment about the second axis of rotation on the second rotary joint during part detection, wherein the second restoring moment counteracts the rotary evasive movement of the second rotary joint during part detection counteracted.
  • the two spring mechanisms therefore cause the handling device to automatically return to its starting position both when parts are detected and when a collision is detected.
  • the above-mentioned first angle limiter for collision detection preferably limits the first angle of rotation about the first axis of rotation to a first angle range of at most ⁇ 45°, ⁇ 30° or ⁇ 20°.
  • the above-mentioned second angle limiter for part detection preferably limits the second angle of rotation about the second axis of rotation to a second angle range of at most ⁇ 15°, ⁇ 10°, ⁇ 5° or ⁇ 2.
  • the angle range for part detection limited by the second angle limiter is therefore preferably smaller than the first angle range limited by the first angle limiter for collision detection.
  • the handling device according to the invention is therefore preferably designed such that no damage can occur within the entire first angular range permitted by the first angle limiter.
  • the first spring mechanism for the Collision detection is therefore preferably designed such that in a partial area of the limited first angular range for collision detection, a restoring torque is generated that is greater than the opening torque required to open the hood.
  • the restoring torque generated by the second spring mechanism for part detection is preferably smaller than the opening torque required to open the hood within the entire limited second angular range for part detection.
  • the two rotation axes are preferably aligned parallel to one another.
  • the second rotary joint for part detection in the handling device is preferably arranged distally, while the first rotary joint for collision detection in the handling device is preferably arranged proximally.
  • a lever arm is preferably arranged between the first rotary joint for collision detection and the second rotary joint for part detection.
  • the robot hand axes of handling robots enable highly mobile guidance of the handling device.
  • rotation of the handling device about a distal rotation axis is also possible.
  • the lever arm of the handling device is preferably aligned with its longitudinal axis essentially in alignment with the distal rotation axis of the robot hand axis.
  • the handling tool which preferably runs with its longitudinal axis essentially in alignment with the distal rotation axis of the robot hand axis.
  • the handling device preferably has a first spring mechanism which generates a restoring moment when a collision is detected.
  • This first spring mechanism preferably has a motion converter which converts the collision-related rotational evasive movement about the first axis of rotation into a corresponding axial movement parallel to the first axis of rotation.
  • the first spring mechanism for collision detection then acts in the axial direction parallel to the first axis of rotation against the axial movement generated by the motion converter.
  • the motion converter mentioned above preferably comprises two disks (e.g. circular disks), which are preferably arranged parallel to each other.
  • the first disk is connected in a rotationally fixed manner to the lever arm of the handling device and thus rotates at a collision-related sufficient rotational movement of the lever arm around the first axis of rotation.
  • the second disk on the other hand, cannot be rotated in the handling device, but can be moved axially parallel to the first axis of rotation.
  • the two disks each have a transmission contour on their mutually facing end faces, whereby the transmission contours of the two disks slide on one another during operation and convert a rotational movement of the two disks relative to one another into an axial movement of the two disks relative to one another.
  • the second disk therefore carries out an axial evasive movement, whereby the first spring mechanism counteracts this axial evasive movement of the second disk.
  • the first spring mechanism can have several (e.g. six) coil springs that press on the second disk in an axial direction parallel to the first axis of rotation and press the second disk against the first disk.
  • the coil springs can be supported on a stationary disk that serves as a counter bearing for the coil springs.
  • the coil springs are preferably distributed over the circumference of the disks, in particular equidistantly, with the disks preferably being circular.
  • the first rotary joint for collision detection enables a non-destructive evasive movement of a tool tip of the handling tool, wherein the non-destructive evasive movement preferably comprises at least 20 mm, 50 mm, 70 mm or 100 mm compared to its force-free starting position.
  • the first spring mechanism for collision detection preferably has a significantly steeper spring characteristic than the second spring mechanism for part detection and thus generates a larger restoring moment about the first axis of rotation at a certain angle of rotation.
  • the first spring mechanism for collision detection is therefore preferably significantly harder than the second spring mechanism for part detection.
  • the handling device preferably only releases the rotary evasive movement at the first rotary joint about the first axis of rotation when the second angle limiter limits the rotary evasive movement at the second rotary joint about the second axis of rotation.
  • the rotary evasive movement for collision detection therefore preferably only begins when the rotary evasive movement is limited to its stop during part detection.
  • the handling tool is preferably curved in a hook-like manner in a tool plane and has a hook at its distal end in order to grip the component to be handled (e.g. engine hood, trunk lid), as is also the case in the prior art.
  • the two axes of rotation of the handling device according to the invention are preferably aligned at right angles to this tool plane.
  • the handling device according to the invention has been described above as an individual component. However, the invention also claims protection for a complete handling robot with such a handling device.
  • the invention also claims protection for a corresponding operating method for such a handling device, wherein the individual method steps of the operating method according to the invention already result from the above description of the handling device according to the invention and therefore do not need to be described separately.
  • the handling device according to the invention is preferably used in the so-called line-tracking operation, in which the motor vehicle bodies to be painted are continuously conveyed through the coating system, i.e. without a standstill during processing.
  • the handling device according to the invention makes it possible to open the hoods (e.g. bonnet or trunk lid) of the motor vehicle bodies during the ongoing movement. This is made possible by the first swivel joint, which allows an evasive movement in the event of a collision.
  • the handling device for opening the hoods is preferably aligned parallel to the coating line in a top view and is aligned obliquely downwards in a side view.
  • the handling device according to the invention allows incorrect positioning along the painting line of at least 20 mm, 50 mm, 70 mm or even 100 mm without this leading to damage to the handling device or the motor vehicle body to be coated.
  • Figure 1 shows a perspective view of the conventional handling device described above.
  • Figure 2 shows a perspective view of the conventional handling device also already described at the beginning.
  • Figure 3 shows a perspective view of the handling device according to the invention on a robot hand axis.
  • Figure 4 shows a perspective view of the handling device according to the invention from Figure 3 without the robot hand axis.
  • Figure 5 shows a plan view of the handling device according to the invention according to Figures 3 and 4.
  • Figure 6 shows a perspective view of the handling device according to the invention on the robot hand axis with an additionally mounted cover.
  • Figure 7 shows a characteristic diagram with an angle-dependent torque characteristic of the handling device according to the invention.
  • Figure 8 shows a schematic representation of the handling device according to the invention when opening a trunk lid of a motor vehicle body.
  • FIG. 1 The embodiment of a handling device 1 according to the invention shown in Figures 3 to 6 is now described below.
  • the handling device 1 according to the invention partially corresponds to the examples of conventional handling devices 1 described at the beginning and shown in Figures 1 and 2, so that in order to avoid repetition, reference is made to the above description, the same reference numerals being used for corresponding details.
  • an angle plate 11 is screwed to the robot-side mounting flange 6 of the handling device 1, which is aligned at right angles to the plate-shaped mounting flange 6 and contains the rotary joint which enables rotation of the arm 8 about the rotation axis Al when a collision is detected.
  • the angle plate 11 carries an angle limiter 12, which limits the collision-related rotational evasive movement of the arm 8 about the rotation axis Al to an angular range of approximately ⁇ 17°.
  • the angle limiter 12 thus forms a physical stop in both directions of the rotational evasive movement of the arm 8 about the rotation axis Al.
  • the angle plate 11 carries a rotation angle sensor 13 for measuring the angle of rotation of the arm 8 about the rotation axis Al during a collision-related evasive movement.
  • the handling device 1 contains a motion converter which, when a collision is detected, converts the rotary evasive movement of the arm 8 about the rotation axis Al into an axial movement parallel to the rotation axis Al.
  • the motion converter comprises two circular disks 14, 15 which are aligned parallel to one another.
  • the circular disk 14 is connected to the arm 8 in a rotationally fixed manner and therefore follows the rotary evasive movement of the arm 8 about the rotation axis Al.
  • the circular disk 15, on the other hand cannot be rotated in the handling device 1, but can be moved axially along the rotation axis Al.
  • the two circular disks 14, 15 each have a transmission contour on their mutually facing end faces, with the transmission contours of the two circular disks 14, 15 sliding on one another during operation.
  • a rotation of the arm 8 about the rotation axis Al leads to a corresponding rotation of the circular disk 14 about the rotation axis Al.
  • This rotary motion of the circular disk 14 is converted into an axial motion of the circular disk 15 parallel to the rotation axis Al due to the mutually sliding transfer contours of the two circular disks 14, 15.
  • the motion converter described above thus converts the rotary evasive motion of the arm 8 about the rotation axis Al into a corresponding axial motion of the circular disk 15.
  • the handling device 1 comprises a spring mechanism which counteracts the axial movement of the circular disk 15 described above and exerts a corresponding restoring moment on the arm 8.
  • This spring mechanism comprises six helical springs 16, which are supported on the one hand on a stationary circular disk 17 serving as a counter bearing, and on the other hand, press against the circular disk 15 parallel to the rotation axis Al.
  • the coil springs 16 thus counteract the axial movement of the circular disk 15 parallel to the rotation axis Al and thus generate a corresponding restoring moment, which acts on the arm 8, via the transfer contours of the two circular disks 14, 15 sliding on one another.
  • the arm 8 has a pivotable end piece 18 which can be pivoted about a rotation axis A2 relative to the arm 8 and thus forms a second pivot joint.
  • This pivot joint is used for part detection in order to detect a contact between the handling device 1 and the hood to be opened (e.g. trunk lid or engine hood).
  • the gripping hook 9 has a mounting flange 20 and is detachably mounted with its mounting flange 20 on the pivotable end piece 18 of the arm 8 of the handling device 1.
  • the gripping hook 9 is curved in a tool plane 21 (see Figure 5), wherein the tool plane 21 is aligned at right angles to the two rotation axes A1 and A2.
  • Figure 6 shows the handling device 1 additionally with a cover 22.
  • the characteristic diagram shows the torque M acting on the handling device 1 as a function of the angle of rotation a. It should be mentioned here that the handling device 1 actually carries out two different rotary evasive movements, namely a first rotary evasive movement during collision detection and a second rotary evasive movement during part detection. In the characteristic diagram, however, the two evasive movements are combined as a single evasive movement.
  • the characteristic curve diagram shows a first characteristic curve section 23 for part detection and a second characteristic curve section 24 for collision detection.
  • the characteristic diagram shows a torque MZERST ⁇ R at which damage to the handling device 1 or the vehicle body to be painted occurs. It should be noted here that the torque MZERST ⁇ R is not reached during operation and therefore lies outside characteristic curve sections 23, 24.
  • the characteristic diagram shows a torque MKOLLISION that occurs during a collision.
  • the torque MKOLLISION lies within the characteristic curve section 24, but outside the characteristic curve section 23 for parts detection.
  • the characteristic diagram shows a torque MDETEKTION that first occurs when there is contact between the handling device 1 and the vehicle body and is used for part detection.
  • the torque M DETECTION lies within the characteristic curve section 23.
  • FIG 8 shows a schematic representation of a painting system according to the invention, in which a motor vehicle body 25 to be painted is conveyed on a transport carriage 26 ("skid") by a linear conveyor 27 through the painting system.
  • the drawing shows the handling device 1 when opening a trunk lid 28 of the motor vehicle body 25.
  • the representation of the handling device 1 with solid lines shows the positioning of the handling device 1 during part detection, i.e. at the beginning of contact between the gripping hook 9 of the handling device 1 and the trunk lid 28.
  • the representation of the handling device 1 with a dotted line shows a mispositioning SFEHL of the handling device 1 along the linear conveyor 27.
  • the Arm 8 performs a rotary evasive movement that prevents damage to the handling device 1 and the trunk lid 28.
  • the drawing now shows the maximum possible incorrect positioning S F EHL of the handling device 1 along the linear conveyor 27.
  • the handling device 1 is oriented obliquely downwards in the side view shown. In a plan view (not shown), however, it would be clear that the handling device 1 is positioned centrally above the motor vehicle body 25.
  • the invention offers, among others, the following advantages.
  • the handling device can be positioned above the tool attack point on the hood to be opened (e.g. bonnet or trunk lid) and can be aligned at an angle downwards.
  • the handling device can be displaced relative to the vehicle body by 100 mm along the conveying direction without damaging the handling device or the vehicle body.
  • the handling device resets itself after an evasive movement caused by a collision, so that in the event of a collision no employee has to enter the paint booth to manually reset the handling device. This reduces the length of downtime after a collision and no employee has to enter the paint booth.
  • MZERST ⁇ R torque that leads to destruction Torque that occurs during a collision Torque that occurs during part detection
  • Torque required to open the hood e.g. bonnet or trunk lid

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de manipulation (1) destiné à être monté sur un robot de manipulation pour que le robot de manipulation ouvre un capot d'une carrosserie de véhicule automobile à peindre dans un atelier de peinture. Le dispositif de manipulation (1) selon l'invention comprend une bride de montage côté robot (6) pour monter le dispositif de manipulation (1) sur le robot de manipulation et un réceptacle d'outil (18) pour recevoir un outil de manipulation (9) et également un premier joint rotatif pour la détection de collision, le premier joint rotatif permettant un mouvement de rotation d'évitement du réceptacle d'outil (18) par rapport à la bride de montage côté robot (6) autour d'un premier axe de rotation (A1) en cas de collision du dispositif de manipulation (1). L'invention concerne en outre un second joint rotatif pour la détection de pièces, afin de détecter le moment où un contact tactile est effectué avec un composant à manipuler, le second joint rotatif permettant un mouvement de rotation d'évitement du réceptacle d'outil (18) par rapport à la bride de montage côté robot (6) autour d'un second axe de rotation (A2). L'invention comprend également un procédé de fonctionnement associé.
PCT/EP2024/065133 2023-06-07 2024-06-01 Dispositif de manipulation pour robot de manipulation et procede de fonctionnement associé Ceased WO2024251629A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102023115066.9 2023-06-07
DE102023115066.9A DE102023115066B4 (de) 2023-06-07 2023-06-07 Handhabungsvorrichtung für einen Handhabungsroboter und zugehöriges Betriebsverfahren

Publications (1)

Publication Number Publication Date
WO2024251629A1 true WO2024251629A1 (fr) 2024-12-12

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Application Number Title Priority Date Filing Date
PCT/EP2024/065133 Ceased WO2024251629A1 (fr) 2023-06-07 2024-06-01 Dispositif de manipulation pour robot de manipulation et procede de fonctionnement associé

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DE (1) DE102023115066B4 (fr)
WO (1) WO2024251629A1 (fr)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS571693A (en) * 1980-06-03 1982-01-06 Matsushita Electric Industrial Co Ltd Safety device for wrist section of industrial robot
US4498414A (en) * 1981-11-30 1985-02-12 Mazda Motor Corporation Vehicle body painting robot
US5954446A (en) * 1997-04-11 1999-09-21 Ireland; Randy L. Breakaway tool coupler for robot arm
US20040175227A1 (en) * 2001-07-03 2004-09-09 Heinz-Martin Munch Toolholder for coupling a tool to a handling device
DE102010052418A1 (de) 2009-11-30 2011-06-30 GM Global Technology Operations LLC, ( n. d. Ges. d. Staates Delaware ), Mich. Kraftbegrenzungseinrichtung und Verfahren
CN104646882A (zh) * 2015-01-30 2015-05-27 李世强 焊接机器人防碰撞焊枪座
DE102015107394A1 (de) 2015-05-12 2016-11-17 Deutsches Zentrum für Luft- und Raumfahrt e.V. Effektor, Vorrichtung und Verfahren zum Aufnehmen, Handhaben und/oder Ablegen von textilen Strukturen
CN109352192A (zh) * 2018-11-12 2019-02-19 中国科学院西安光学精密机械研究所 一种双摆轴激光加工头的多级防撞系统
DE102018105041A1 (de) 2018-03-06 2019-09-12 Dürr Systems Ag Schwenkeinheit für einen Handhabungsroboter und zugehöriges Verfahren
US20220111525A1 (en) * 2020-10-08 2022-04-14 Robert Bosch Gmbh Handling Appliance Having an Adaptive Collision Protection System
DE102021118180A1 (de) 2021-07-14 2023-01-19 Dürr Systems Ag Handhabungsvorrichtung zum Handhaben eines Kraftfahrzeugkarosseriebauteils

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS571693A (en) * 1980-06-03 1982-01-06 Matsushita Electric Industrial Co Ltd Safety device for wrist section of industrial robot
US4498414A (en) * 1981-11-30 1985-02-12 Mazda Motor Corporation Vehicle body painting robot
US5954446A (en) * 1997-04-11 1999-09-21 Ireland; Randy L. Breakaway tool coupler for robot arm
US20040175227A1 (en) * 2001-07-03 2004-09-09 Heinz-Martin Munch Toolholder for coupling a tool to a handling device
DE102010052418A1 (de) 2009-11-30 2011-06-30 GM Global Technology Operations LLC, ( n. d. Ges. d. Staates Delaware ), Mich. Kraftbegrenzungseinrichtung und Verfahren
US20150114165A1 (en) * 2009-11-30 2015-04-30 Universite Laval Force limiting device and method
CN104646882A (zh) * 2015-01-30 2015-05-27 李世强 焊接机器人防碰撞焊枪座
DE102015107394A1 (de) 2015-05-12 2016-11-17 Deutsches Zentrum für Luft- und Raumfahrt e.V. Effektor, Vorrichtung und Verfahren zum Aufnehmen, Handhaben und/oder Ablegen von textilen Strukturen
DE102018105041A1 (de) 2018-03-06 2019-09-12 Dürr Systems Ag Schwenkeinheit für einen Handhabungsroboter und zugehöriges Verfahren
CN109352192A (zh) * 2018-11-12 2019-02-19 中国科学院西安光学精密机械研究所 一种双摆轴激光加工头的多级防撞系统
US20220111525A1 (en) * 2020-10-08 2022-04-14 Robert Bosch Gmbh Handling Appliance Having an Adaptive Collision Protection System
DE102021118180A1 (de) 2021-07-14 2023-01-19 Dürr Systems Ag Handhabungsvorrichtung zum Handhaben eines Kraftfahrzeugkarosseriebauteils

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DE102023115066A1 (de) 2024-12-12
DE102023115066B4 (de) 2026-02-19

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