The invention relates to a pneumatic actuator. According to one embodiment, the actuator has the following: a housing having a pressure chamber; a rod inserted into the pressure chamber of the housing from the outside; a rod seal which is located around the rod and seals the pressure chamber; and a rod guide which is mounted on the housing and is designed to guide the rod along the longitudinal axis thereof. There is no piston arranged in the pressure chamber. Rather, an unsealed annular gap is present inside the pressure chamber between the rod and an inner wall of the pressure chamber, so that a gas pressure prevailing in the pressure chamber can propagate in the entire pressure chamber as far as the rod seal.
F15B 15/14 - Fluid-actuated devices for displacing a member from one position to anotherGearing associated therewith characterised by the construction of the motor unit of the straight-cylinder type
2.
Force-Controlled Handling Apparatus for Robot-Assisted Surface Machining
An embodiment relates to a handling apparatus with a linear actuator acting between a first flange connectable to a manipulator and a second flange to which a tool, or a machine tool with a tool, can be mounted. The linear actuator exerts a force on the second flange, or an end stop, in accordance with a control variable. The device further comprises a force sensor coupled between the second flange and the tool and configured to measure a force exerted by the handling apparatus on the tool upon contact between the tool and a surface. A control unit comprises a state observer configured to determine an estimated value for the force exerted by the handling apparatus on the tool based on the control variable. The control unit is further adapted to detect a contact between the tool and the surface, wherein the control variable is adjusted based on the estimated value and a target value as long as no contact is detected, whereas the control variable is adjusted based on the measured force and the target value as long as a contact is detected.
The invention relates to components of a changing station for automatically changing abrasive devices (abrasive disks) of a robot-assisted grinding device and to the associated methods for mounting grinding devices to a grinder and for removing worn grinding devices from the grinder.
Various embodiments relate to a machine tool, in particular for the robot-assisted machining of workpieces. The machine tool comprises a drive and a first shaft with a mounting point for a first tool and a second shaft with a mounting point for a second tool. The drive is coupled to the first shaft directly or indirectly via a first freewheel coupling and to the second shaft directly or indirectly via a second freewheel coupling such that the drive drives the first or second shaft on the basis of the rotational direction. The invention additionally relates to a corresponding method for the robot-assisted machining of a workpiece using machine tool.
B24B 47/10 - Drives or gearings for grinding machines or devicesEquipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
B23Q 39/02 - Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station
5.
Rapid Clamping System for Attaching Machine Tools to a Robot
A rapid clamping system for mounting a tool or a machine tool on a manipulator is described. According to an exemplary embodiment, the rapid clamping system comprises the following: a clamping chuck with a base plate which is designed to be mounted on a flange which can be positioned by a manipulator; a tool holder which is designed for mounting on a machine tool, wherein the tool holder has a mounting plate which, in a locked state, lies against the base plate of the clamping chuck; two or more pins which are designed, in a mounted state, to align the mounting plate on the base plate and to prevent a movement of the mounting plate relative a toggle-type fastener which is designed to lock the tool holder on the base plate of the clamping chuck, wherein, in the locked state, the elastic element is deformed and brings about a pretensioning force between the base plate and the mounting plate.
The invention relates to a pneumatic actuator. According to one embodiment, the actuator has the following: a housing having a pressure chamber; a rod inserted into the pressure chamber of the housing from the outside; a rod seal which is located around the rod and seals the pressure chamber; and a rod guide which is mounted on the housing and is designed to guide the rod along the longitudinal axis thereof. There is no piston arranged in the pressure chamber. Rather, an unsealed annular gap is present inside the pressure chamber between the rod and an inner wall of the pressure chamber, so that a gas pressure prevailing in the pressure chamber can propagate in the entire pressure chamber as far as the rod seal.
F15B 15/14 - Fluid-actuated devices for displacing a member from one position to anotherGearing associated therewith characterised by the construction of the motor unit of the straight-cylinder type
B23Q 11/00 - Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling workSafety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
B24B 41/06 - Work supports, e.g. adjustable steadies
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 11/00 - Manipulators not otherwise provided for
F15B 11/036 - Systems essentially incorporating special features for controlling the speed or the actuating force or speed of an output member for controlling the actuating force by means of servomotors having a plurality of working chambers
B24B 23/02 - Portable grinding machines, e.g. hand-guidedAccessories therefor with rotating grinding toolsAccessories therefor
F15B 15/24 - Other details for restricting the stroke
F15B 15/28 - Means for indicating the position, e.g. end of stroke
The invention relates to a device with a machine tool and a braking device, the machine tool having an eccentrically supported, rotatable backing pad for receiving a tool. According to one embodiment, the braking device has a frame, which is attached to the machine tool; a spring, a first end of which is fixed on the frame; and a lever, which is connected to a second end of the spring. The braking device also has an actuator, which is designed to move the lever, wherein in the event of a movement of the lever, the spring is compressed and a part of the lever is pressed against the backing pad of the machine tool.
B24B 23/03 - Portable grinding machines, e.g. hand-guidedAccessories therefor with rotating grinding toolsAccessories therefor the tool being driven in a combined movement
A device for robot-assisted machining of surfaces is described below. According to an example, the device has a retainer with a base plate designed for mounting on a manipulator and has an assembly suspended on the retainer, the assembly comprising a machine tool. The retainer has a tilt mechanism which couples the assembly to the retainer in such a way that the assembly can be tilted relative to the base plate about two axes of rotation, wherein the two axes of rotation can intersect with one another and run through the assembly below the base plate.
One embodiment relates to a handling apparatus ("handling apparatus") comprising a linear actuator which acts between a first flange which can be connected to a manipulator, and a second flange to which a tool or a machine tool having a tool can be mounted. According to a manipulated variable, the linear actuator exerts a force onto the second flange or onto an end stop. The apparatus further comprises a force sensor which is coupled between the second flange and the tool and is designed to measure a force exerted onto the tool by the handling apparatus when there is contact between the tool and a surface. A control unit has a state observer which is designed to determine, on the basis of the manipulated variable, an estimated value for the force exerted onto the tool by the handling apparatus. The control unit is also designed to detect contact between the tool and the surface, wherein the manipulated variable is adjusted on the basis of the estimated value and a target value as long as no contact is detected, whereas the manipulated variable is adjusted on the basis of the measured force and the target value as long as contact is detected.
A device for automatically removing a grinding wheel from a grinding machine mounted on a manipulator is described. According to one embodiment, the device has the following: a support plate with a surface for depositing a grinding wheel; a movable clamping element that is raised in a first position with respect to the support plate; an actuator that is coupled to the clamping element and is configured to move the clamping element into a second position in which the clamping element is pressed against the support plate such that the grinding wheel is clamped between the support plate and clamping element; and a release element that is arranged in such a way relative to the support plate that the release element is actuated when the grinding wheel is placed on the surface of the support plate and is pressed against the latter. The release element and the actuator are coupled (directly or indirectly, electrically or mechanically) such that, when the release element is actuated, the actuator moves the clamping element from the first position into the second position.
One exemplary embodiment relates to a device for the robot-assisted machining of surfaces. According to one example, the device has a carrier structure, a motor, a linear actuator, and a machining head. The machining head is coupled to the carrier structure by means of the linear actuator and has a drive shaft for directly or indirectly driving a rotatable tool. The device also has a flexible shaft, which couples a motor shaft of the motor to the drive shaft of the machining head.
B24B 49/08 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving liquid or pneumatic means
Various embodiments relate to a machine tool, in particular for the robot-assisted machining of workpieces. The machine tool comprises a drive and a first shaft with a mounting point for a first tool and a second shaft with a mounting point for a second tool. The drive is coupled to the first shaft directly or indirectly via a first freewheel coupling and to the second shaft directly or indirectly via a second freewheel coupling such that the drive drives the first or second shaft on the basis of the rotational direction. The invention additionally relates to a corresponding method for the robot-assisted machining of a workpiece using a machine tool.
B24B 47/10 - Drives or gearings for grinding machines or devicesEquipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
B23Q 39/02 - Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station
13.
Robot-Assisted Grinding Device having an Integrated Maintenance Unit
An apparatus for the robot-assisted machining of surfaces is described. In accordance with one embodiment, the device comprises the following: a support which can be mounted on a manipulator, a machining device with a tool (e.g. a grinding disc) and a linear actuator for adjusting the relative position of a tool in relation to the support. The apparatus further has a maintenance unit comprising a swiveling bracket. The bracket is swivel-mounted on the support such that, by swiveling the bracket, the maintenance unit can be positioned at least partially before the tool.
An apparatus includes: a receiving surface configured to receive a stack of grinding discs; a frame arranged substantially parallel to the receiving surface so that the stack of grinding discs is positioned between the receiving surface and the frame, the frame only partially overlapping an outer rim of a topmost grinding disc of the stack of grinding discs; and a mechanical pretensioning unit coupled with the frame such that a defined force is exerted by the frame on the stack of grinding discs.
The invention relates to a grinding machine, which is suitable for a robot-supported grinding process. According to one embodiment, the grinding machine has a housing, a motor arranged in the interior of the housing, a fan wheel arranged on a motor shaft of the motor in the interior of the housing, and a support plate coupled to the motor shaft for receiving a grinding disc. The support plate has openings for intake of grinding dust into the interior of the housing. The grinding machine furthermore has an outlet arranged in a wall of the housing for exhausting the grinding dust out of the interior of the housing and a non-rerun valve arranged in the wall of the housing. The non-return valve enables an to escape from the interior of the housing, but prevents intake of air into the interior of the housing.
A rapid clamping system for mounting a tool or a machine tool on a manipulator is described. According to an exemplary embodiment, the rapid clamping system comprises the following: a clamping chuck with a base plate which is designed to be mounted on a flange which can be positioned by a manipulator; a tool holder which is designed for mounting on a machine tool, wherein the tool holder has a mounting plate which, in a locked state, lies against the base plate of the clamping chuck; two or more pins which are designed, in a mounted state, to align the mounting plate on the base plate and to prevent a movement of the mounting plate relative to the base plate in a plane parallel to the base plate; at least one elastic element; and a toggle-type fastener which is designed to lock the tool holder on the base plate of the clamping chuck, wherein, in the locked state, the elastic element is deformed and brings about a pretensioning force between the base plate and the mounting plate.
The invention relates to a device with a spindle (10) for a machine tool, a driver ring and a tool holder (30) and a driver ring (20) that is rotationally fixed on the spindle (10) and can be displaced along a rotational axis of the spindle (10). The spindle (10) and the tool holder (30) have matching faces which are designed to form a frictionally engaged connection when assembled. The opposing faces of the tool holder (30) and of the driver ring (20) have matching contours (21, 33) so that the driver ring (20) can engage on the tool holder (30).
An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.
An apparatus for robot-supported grinding includes: a manipulator; a grinding machine; a linear actuator coupling the grinding machine to a tool center point (TCP) of the manipulator; an extraction system connected to an outlet in a housing of the grinding machine; and a hose connecting the extraction system to the outlet in the housing of the grinding machine. The hose is arranged around the housing of the grinding machine and the linear actuator in a roughly spiral-formed manner and is attached at one end to the manipulator.
The invention relates to a method for the automated grinding of surfaces and to a corresponding device. According to one exemplary embodiment, the method comprises the robot-assisted positioning of a grinding machine with a grinding tool, so that the grinding tool contacts the surface when the grinding machine is operated at a first rotational speed, and the detection of the contact between the grinding tool and the surface. The method further comprises, as a result of detecting the contact, the increase in the rotational speed of the grinding tool from the first rotational speed to a second rotational speed.
B24B 51/00 - Arrangements for automatic control of a series of individual steps in grinding a workpiece
B24B 49/00 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
21.
DEVICE AND METHOD FOR AUTOMATICALLY REMOVING GRINDING WHEELS
A device for automatically removing a grinding wheel from a grinding machine mounted on a manipulator is described. According to one embodiment, the device has the following: a support plate with a surface for depositing a grinding wheel; a movable clamping element that is raised in a first position with respect to the support plate; an actuator that is coupled to the clamping element and is configured to move the clamping element into a second position in which the clamping element is pressed against the support plate such that the grinding wheel is clamped between the support plate and clamping element; and a release element that is arranged in such a way relative to the support plate that the release element is actuated when the grinding wheel is placed on the surface of the support plate and is pressed against the latter. The release element and the actuator are coupled (directly or indirectly, electrically or mechanically) such that, when the release element is actuated, the actuator moves the clamping element from the first position into the second position.
The invention relates to a device for the robot-assisted machining of surfaces. According to one example, the device has a retainer having a base plate designed for mounting on a manipulator and has an assembly suspended on the retainer, the assembly comprising a machine tool. The retainer has a tilt mechanism, which couples the assembly to the retainer in such a way that the assembly can be tilted relative to the base plate about two axes of rotation, which two axes of rotation can intersect with one another and run through the assembly below the base plate.
B25J 11/00 - Manipulators not otherwise provided for
B24B 49/00 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
B24B 49/04 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent involving measurement of the workpiece at the place of grinding during grinding operation
B24B 49/16 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
23.
Method and system for automatically changing shafts
The invention relates to a shaft coupling. According to one embodiment, the shaft coupling comprises a first coupling part with a shaft and a conical shaft section. A tool (e.g. a grinding disc, a drill, etc.) can be fixed to a first end of the shaft, and a shaft collar is arranged on a second end of the shaft. The shaft coupling additionally comprises a second coupling part which has a conical hub into which the conical shaft section of the first coupling part can be introduced in order to form a tapered seat. The second coupling part additionally has a securing element which can be moved transversely to the rotational axis of the shaft coupling such that the securing element can engage with the shaft collar. At least one spring is arranged in the shaft coupling such that the spring generates a spring force which acts on the tapered seat in the axial direction when the securing element is engaged and biases said tapered seat.
The invention relates to a device with a machine tool and a braking device, the machine tool having an eccentrically supported, rotatable backing pad for receiving a tool. According to one embodiment, the braking device has a frame, which is attached to the machine tool; a spring, a first end of which is fixed on the frame; and a lever, which is connected to a second end of the spring. The braking device also has an actuator, which is designed to move the lever, wherein in the event of a movement of the lever, the spring is compressed and a part of the lever is pressed against the backing pad of the machine tool.
B23Q 11/00 - Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling workSafety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
B24B 23/03 - Portable grinding machines, e.g. hand-guidedAccessories therefor with rotating grinding toolsAccessories therefor the tool being driven in a combined movement
25.
DEVICE FOR THE ROBOT-ASSISTED MACHINING OF SURFACES
One exemplary embodiment relates to a device for the robot-assisted machining of surfaces. According to one example, the device has a carrier structure, a motor, a linear actuator, and a machining head. The machining head is coupled to the carrier structure by means of the linear actuator and has a drive shaft for directly or indirectly driving a rotatable tool. The device also has a flexible shaft, which couples a motor shaft of the motor to the drive shaft of the machining head.
The invention relates to an extraction device for a robot-assisted machine tool for surface processing. According to an exemplary embodiment, the extraction device comprises a housing with a vacuum nozzle and an outlet for connection of a hose. The extraction device also has a suspension that connects the housing to a mounting plate and is mounted on the mounting plate so as to be pivotable about an axis. A counterweight is connected to the suspension such that the counterweight substantially balances out the weight of the housing relative to the axis.
B23Q 11/00 - Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling workSafety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
A47L 7/00 - Suction cleaners adapted for additional purposesTables with suction openings for cleaning purposesContainers for cleaning articles by suctionSuction cleaners adapted to cleaning of brushesSuction cleaners adapted to taking-up liquids
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
B24B 29/00 - Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
B24B 55/06 - Dust extraction equipment on grinding or polishing machines
B25J 11/00 - Manipulators not otherwise provided for
27.
ROBOT-ASSISTED GRINDING DEVICE HAVING AN INTEGRATED MAINTENANCE UNIT
Described is a device for robot-assisted machining of surfaces. As per one exemplary embodiment, the device has the following: a support that can be mounted on a manipulator; a machining unit comprising a tool (for example, a grinding wheel); and a linear actuator for setting a relative position of the tool relative to the support. The device also has a maintenance unit comprising a pivotable bracket. The bracket is pivotably mounted on the support such that by pivoting the bracket, the maintenance unit can be positioned at least partly in front of the tool.
B24B 53/095 - Cooling or lubricating during dressing operation
B25J 11/00 - Manipulators not otherwise provided for
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
Industrial robots; equipment for industrial robots, in particular drives and machine parts for industrial robots, namely, bearings, cylinders, gear drives, spindles, housings drive shafts, mounting brackets and shields; Industrial robots for use as machine tools; linear actuators, in particular pneumatic linear actuators and linear actuators for use in robots
Cutting, drilling, grinding, sharpening and surface treatment machines and apparatus, in particular grinding machines, polishing machines and grinding and polishing machines for robot-assisted grinding or polishing, all of the foregoing for use in industrial manufacturing applications and specifically excluding machines and apparatus for use in road construction or excavation
Cutting, drilling, grinding, sharpening and surface treatment machines and apparatus, in particular grinding machines, polishing machines and grinding and polishing machines for robot-assisted grinding or polishing
Cutting, drilling, grinding, sharpening and surface treatment machines and apparatus, in particular grinding machines, polishing machines and grinding and polishing machines for robot-assisted grinding or polishing
32.
ROTATIONAL SPEED CONTROL IN ROBOT-ASSISTED GRINDING
The invention relates to a method for the automated grinding of surfaces and to a corresponding device. According to one exemplary embodiment, the method comprises the robot-assisted positioning of a grinding machine with a grinding tool, so that the grinding tool contacts the surface when the grinding machine is operated at a first rotational speed, and the detection of the contact between the grinding tool and the surface. The method further comprises, as a result of detecting the contact, the increase in the rotational speed of the grinding tool from the first rotational speed to a second rotational speed.
B24B 49/00 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
B24B 51/00 - Arrangements for automatic control of a series of individual steps in grinding a workpiece
The invention relates to a machine tool for robot-assisted surface finishing. According to one embodiment, the machine tool comprises a first support plate and a second support plate. The first support plate is designed for mounting on a manipulator. An output shaft for receiving a rotatable tool is mounted on the second support plate. The machine tool additionally comprises a linear actuator that acts between the first support plate and the second support plate, as well as a motor which is mounted on the first support plate. The machine tool additionally comprises a telescopic shaft with a first shaft portion and a second shaft portion that can be displaced relative to said first shaft portion. The first shaft portion is coupled to a motor shaft of the motor, and the second shaft portion as mounted on the second support plate. The telescopic shaft is coupled to the output shaft by means of a gear mechanism.
An apparatus includes a frame, a separating plate connected to the frame, a sensor aimed at the separating plate, and a support surface connected to the frame. The separating plate and the support surface are coupled with the frame so as to allow for a relative movement between the separating plate and the support surface in a first direction. The separating plate and the support surface are arranged such that when a grinding disc rests against the support surface and when the separating plate and the grinding disc move towards each other, at least one first edge of the separating plate is pushed over grinding disc. The sensor is arranged such that when the separating plate is pushed over the grinding disc, the grinding disc is between the sensor and the separating plate.
The invention relates to an extraction device for a robot-assisted machine tool for surface processing. According to an exemplary embodiment, the extraction device comprises a housing with a vacuum nozzle and an outlet for connection of a hose. The extraction device also has a suspension that connects the housing to a mounting plate and is mounted on the mounting plate so as to be pivotable about an axis. A counterweight is connected to the suspension such that the counterweight substantially balances out the weight of the housing relative to the axis.
B23Q 11/00 - Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling workSafety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
B23D 59/00 - Accessories specially designed for sawing machines or sawing devices
B25J 11/00 - Manipulators not otherwise provided for
B24B 29/00 - Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
B24B 55/06 - Dust extraction equipment on grinding or polishing machines
Described is an apparatus for robot-aided grinding, comprising the following: a manipulator, a linear actuator, and a grinding machine which includes a rotating grinding tool and is connected to the manipulator via the linear actuator. The apparatus further comprises a protective cover that partially surrounds the rotating grinding tool, the rotating grinding tool protruding from the protective cover at least on a first side. An adjusting mechanism is provided which connects the protective cover to the grinding machine and is designed to adjust the position of the protective cover in relation to the grinding machine.
The invention relates to a shaft coupling. According to one embodiment, the shaft coupling comprises a first coupling part with a shaft and a conical shaft section. A tool (e.g. a grinding disc, a drill, etc.) can be fixed to a first end of the shaft, and a shaft collar is arranged on a second end of the shaft. The shaft coupling additionally comprises a second coupling part which has a conical hub into which the conical shaft section of the first coupling part can be introduced in order to form a tapered seat. The second coupling part additionally has a securing element which can be moved transversely to the rotational axis of the shaft coupling such that the securing element can engage with the shaft collar. At least one spring is arranged in the shaft coupling such that the spring generates a spring force which acts on the tapered seat in the axial direction when the securing element is engaged and biases said tapered seat.
An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.
The invention relates to a grinding machine, which is suitable for a robot-supported grinding process. According to one embodiment, the grinding machine has a housing, a motor arranged in the interior of the housing, a fan wheel arranged on a motor shaft of the motor in the interior of the housing, and a support plate coupled to the motor shaft for receiving a grinding disc. The support plate has openings for intake of grinding dust into the interior of the housing. The grinding machine furthermore has an outlet arranged in a wall of the housing for exhausting the grinding dust out of the interior of the housing and a non-return valve arranged in the wall of the housing. The non-return valve enables air to escape from the interior of the housing, but prevents intake of air into the interior of the housing.
The invention relates to a device for training coordinative faculties. The device has at least one movable standing plate; at least one static base plate; at least two connecting elements, the height of which can be modified and which act between the at least one movable standing plate and the at least one static base plate, a user interface; and a control element. The device is designed to specify a sequence of various setpoint positions of the centre of gravity of a user standing on the at least one movable standing plate, each of the setpoint positions being specified for a determined duration, and to continuously measure the actual position of the centre of gravity of the person standing on the moving plate. The device is further designed to compare each measured actual position to the setpoint position specified at the time of the measurement, to generate control signals taking into consideration the measured actual positions and/or the results of the comparisons of actual positions and setpoint positions, and to control the at least two connecting elements with the control signals.
A63B 24/00 - Electric or electronic controls for exercising apparatus of groups
A61B 5/103 - Measuring devices for testing the shape, pattern, size or movement of the body or parts thereof, for diagnostic purposes
A63B 22/00 - Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
A63B 22/16 - Platforms for rocking motion about a horizontal axisBalancing drumsBalancing boards or the like
A63B 69/00 - Training appliances or apparatus for special sports
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A63B 22/18 - Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with elements having a circulating or rotating movement, generated by oscillating movement of the user
A63B 26/00 - Exercising apparatus not covered by groups
A63B 71/06 - Indicating or scoring devices for games or players
41.
Method and apparatus for robot-supported placement of objects
An apparatus includes a manipulator, a pneumatic actuator and a robot control. The pneumatic actuator is coupled to the manipulator such that the pneumatic actuator is arranged between the manipulator and an object to be positioned. The robot control is configured: to control the pneumatic actuator such that an actuator force of the pneumatic actuator approximately compensates a weight force of the object; and to monitor the actuator position of the pneumatic actuator and initiate safety measures when the actuator position exceeds a predefined value. Methods of operating the manipulator and the pneumatic actuator are also described.
b, 105), in such a way that the resulting belt force (FB, FB′) acting on the roller carrier (401) acts approximately in a second direction (y) orthogonal to the first direction (x) in the case of a target deflection of the actuator (302).
B24B 21/00 - Machines or devices using grinding or polishing beltsAccessories therefor
B24B 21/12 - Machines or devices using grinding or polishing beltsAccessories therefor for grinding plane surfaces involving a contact wheel or roller pressing the belt against the work
B24B 21/16 - Machines or devices using grinding or polishing beltsAccessories therefor for grinding other surfaces of particular shape
B24B 21/20 - Accessories for controlling or adjusting the tracking or the tension of the grinding belt
B24B 41/00 - Component parts of grinding machines or devices, such as frames, beds, carriages or headstocks
B24B 47/12 - Drives or gearings for grinding machines or devicesEquipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
B24B 49/08 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving liquid or pneumatic means
B24B 49/16 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
The invention relates to a machine tool for robot-assisted surface finishing. According to one embodiment, the machine tool comprises a first support plate and a second support plate. The first support plate is designed for mounting on a manipulator. An output shaft for receiving a rotatable tool is mounted on the second support plate. The machine tool additionally comprises a linear actuator that acts between the first support plate and the second support plate, as well as a motor which is mounted on the first support plate. The machine tool additionally comprises a telescopic shaft with a first shaft portion and a second shaft portion that can be displaced relative to said first shaft portion. The first shaft portion is coupled to a motor shaft of the motor, and the second shaft portion is mounted on the second support plate. The telescopic shaft is coupled to the output shaft by means of a gear mechanism.
The invention relates to a device for automatically dressing an abrasive disk from a robot-supported grinding device having a grinding machine. According to one embodiment, the device comprises a frame, a separating plate connected to the frame, and a support surface connected to the frame. The separating plate and the support surface are coupled to the frame in such a way that a relative movement is ensured along a first direction between the separating plate and the support surface. The separating plate and the support surface are arranged in such a manner that - when the abrasive disk rests on the support surface and when the separating plate and the abrasive disk move towards each other - a first edge of the separating plate is pushed over the abrasive disk. The invention further relates to a device for automatically fitting a grinding machine of a robot-supported grinding device with an abrasive disk. According to one embodiment, the device comprises a support for receiving a stack of abrasive disks and a frame. The frame is arranged substantially parallel to the support, so that the stack of abrasive disks is located between the support and the frame, wherein the frame only partially overlaps the outer edge of the uppermost abrasive disk of the stack. The device further comprises a mechanical prestressing unit which is coupled to the frame in such a manner that a defined force is exerted by the frame onto the stack of abrasive disks.
B24B 19/26 - Single purpose machines or devices for particular grinding operations not covered by any other main group for grinding workpieces with arcuate surfaces, e.g. parts of car bodies, bumpers or magnetic recording heads
B23Q 3/155 - Arrangements for automatic insertion or removal of tools
B23Q 7/10 - Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of magazines
B23Q 17/22 - Arrangements for indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
Described is an apparatus for robot-aided grinding, comprising the following: a manipulator, a linear actuator, and a grinding machine which includes a rotating grinding tool and is connected to the manipulator via the linear actuator. The apparatus further comprises a protective cover that partially surrounds the rotating grinding tool, the rotating grinding tool protruding from the protective cover at least on a first side. An adjusting mechanism is provided which connects the protective cover to the grinding machine and is designed to adjust the position of the protective cover in relation to the grinding machine.
42 - Scientific, technological and industrial services, research and design
Goods & Services
Motors, other than for land vehicles; drives and general
machine parts for use in machines and machine tools, in
particular in the fields of robotics and automation
technology; linear actuators; pneumatic actuators;
frictionless drive components for machines; actuators for
controlling machines, in particular machine tools; drives
for use in robots and robot arms; robot arms; robots. Engineering services, in particular engineering services in
the field of mechanical engineering and engineering services
in the field of robotics.
The invention relates to a device (100) for machining a surface of a workpiece (200a). According to one embodiment, the device (100) comprises a frame (160) and a roller carrier (401), on which a first roller (101) is rotatably supported and which is supported on the frame (160) in such a way that the roller carrier can be moved in a first direction (x). The device (100) comprises at least a second roller (103), which is supported on the frame (160), and a belt (102), which is guided at least around the two rollers (101, 103) and because of the tension of which a resulting belt force (102) acts on the roller carrier (401). The device (100) also comprises an actuator (302), which is mechanically coupled to the frame (160) and the roller carrier (401) in such a way that an adjustable actuator force (FA) acts between the frame (160) and the first roller (101) in the first direction (x). The belt (102) is guided by means of the second roller (103), or by means of the second roller (103) and further rollers (101a, 101b, 121a, 121b, 105), in such a way that the resulting belt force (FB, FB') acting on the roller carrier (401) acts approximately in a second direction (y) orthogonal to the first direction (x) in the case of a target deflection of the actuator (302).
B24B 21/12 - Machines or devices using grinding or polishing beltsAccessories therefor for grinding plane surfaces involving a contact wheel or roller pressing the belt against the work
B24B 21/16 - Machines or devices using grinding or polishing beltsAccessories therefor for grinding other surfaces of particular shape
B24B 21/20 - Accessories for controlling or adjusting the tracking or the tension of the grinding belt
B24B 47/12 - Drives or gearings for grinding machines or devicesEquipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
B24B 49/08 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving liquid or pneumatic means
B24B 49/16 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
B24B 41/00 - Component parts of grinding machines or devices, such as frames, beds, carriages or headstocks
A robot includes a yielding element for mechanically coupling first and second arm segments of a robot arm. A motor moves the second arm segment relative to the first arm segment. A sensor determines a relative position of the first arm segment in relation to the second arm segment and outputs a position sensor signal representing the relative position. A control unit controls the motor in accordance with the position sensor signal such that the first arm segment is moved into a desired relative position in relation to the second arm segment, when no external force is applied to the robot arm, and when an external force is applied to the robot arm, the motor generates a counterforce which depends on the deviation between the actual and desired positions. The control unit has a predetermined time constant so that changes in the external force are substantially absorbed by damping elements.
G05B 19/04 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers
G05B 19/18 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.
Disclosed is a method for the automated surface processing of a workpiece (301). According to an embodiment of the invention, the method comprises the generation of a contact force (FK) between a rotating tool (202) and a workpiece (301) by means of a linear actuator (401) and the measurement of the contact force (FK) between the rotating tool (202) and the workpiece (301). A motor (204) that drives the tool (202) is controlled according to a measurement value (FA, p) which represents the contact force (FK), in order to adjust a rotational speed of the tool (202) according to the contact force (FK).
B24B 49/08 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving liquid or pneumatic means
B24B 49/16 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
42 - Scientific, technological and industrial services, research and design
Goods & Services
Drives for use in machines and machine tools, drives for use in machines and machine tools in the fields of robotics and automation technology; linear actuators; pneumatic linear actuators; frictionless drive components for machines; linear actuators for controlling machines and machine tools; drives for use in industrial robots and industrial robot arms; industrial robot arms [ Engineering services in the field of robotics ]
The invention relates to a method for positioning, in particular for palletizing, objects. The method is carried out using a manipulator having an additional actuator which is arranged between the manipulator and the object to be positioned. According to one example of the invention, the method comprises the gripping of the object and the moving of the object, using the manipulator, at a start position in the proximity of a storage surface on which the object is to be positioned and deposited. The method furthermore comprises the moving of the object using the manipulator to the storage surface, wherein the actuator is actuated such that the actuating force compensates for the weight of the object, or wherein the actuator force is regulated such that an adjustable, minimal net actuator force acts on an end stop of the actuator (which can be zero in the limiting case). Furthermore, the excursion of the actuator is monitored and a change to the excursion is detected. The movement of the manipulator is stopped upon detecting a change to the excursion of the actuator, whereupon the object can be released.
A robot-supported grinding method is described. In accordance with one example of the invention, the grinding method includes contacting a surface of a workpiece with a rotating grinding tool, whereby either the grinding tool or the workpiece is mechanically coupled to the tool center point (TCP) of a manipulator. The method further includes controlling an actuator that influences the grinding tool or the workpiece to produce a grinding force between the grinding tool and the workpiece, as well as measuring an actual deflection of the actuator. The rotational velocity of the grinding tool is adjusted depending on the measured actual deflection of the actuator and a reference deflection of the actuator.
B24B 49/00 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
B24B 49/16 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or workArrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
G05B 19/416 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
[ Industrial robots; ] Equipment for industrial robots, namely, pneumatic linear actuators, active contact flanges, and rotary and belt grinding machines
A roller hemming apparatus for robot-supported roller hemming with a manipulator, as well as with a roller hemming apparatus, is described. The apparatus includes a frame, a first roller and a second roller which, when in operation, contact two opposite sides of a workpiece, and at least one first actuator mechanically coupled to the frame and to at least one of the first and the second rollers and controlled so that opposing process forces that are applied over the first and the second rollers and that lie approximately along one effective line of force are applied to the workpiece at opposite sides.
B21D 19/04 - Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge shaped as rollers
B21D 39/02 - Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by platingTube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
A device for training coordinative faculties has at least one movable standing plate; at least one static base plate; at least two connecting elements, the height of which can be modified and which act between the at least one movable standing plate and the at least one static base plate, a user interface; and a control element. The device is designed to specify a sequence of various setpoint positions of the center of gravity of a user standing on the at least one movable standing plate, each of the setpoint positions being specified for a determined duration, and to continuously measure the actual position of the center of gravity of the person standing on the moving plate.
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 5/103 - Measuring devices for testing the shape, pattern, size or movement of the body or parts thereof, for diagnostic purposes
A63B 22/00 - Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
A63B 22/16 - Platforms for rocking motion about a horizontal axisBalancing drumsBalancing boards or the like
A63B 22/18 - Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with elements having a circulating or rotating movement, generated by oscillating movement of the user
A63B 24/00 - Electric or electronic controls for exercising apparatus of groups
A63B 26/00 - Exercising apparatus not covered by groups
A63B 69/00 - Training appliances or apparatus for special sports
A63B 71/06 - Indicating or scoring devices for games or players
The invention relates to a robot arm, comprising the following: a first arm segment and a second arm segment; a motor, which is designed to move one of the arm segments; a damping element, which is designed to mechanically couple the first arm segment and the second arm segment; at least one sensor, which is designed to sense a relative position of the first arm segment in relation to the second arm segment and to output a sensor signal that represents said relative position; and a control unit, which is designed to receive the sensor signal and to control the motor in dependence on the sensor signal.
The invention relates to a method for positioning, in particular for palletizing, objects. The method is carried out using a manipulator having an additional actuator which is arranged between the manipulator and the object to be positioned. According to one example of the invention, the method comprises the gripping of the object and the moving of the object, using the manipulator, at a start position in the proximity of a storage surface on which the object is to be positioned and deposited. The method furthermore comprises the moving of the object using the manipulator to the storage surface, wherein the actuator is actuated such that the actuating force compensates for the weight of the object, or wherein the actuator force is regulated such that an adjustable, minimal net actuator force acts on an end stop of the actuator (which can be zero in the limiting case). Furthermore, the excursion of the actuator is monitored and a change to the excursion is detected. The movement of the manipulator is stopped upon detecting a change to the excursion of the actuator, whereupon the object can be released.
The invention relates to a device for training coordinative faculties. The device has at least one movable standing plate; at least one static base plate; at least two connecting elements, the height of which can be modified and which act between the at least one movable standing plate and the at least one static base plate, a user interface; and a control element. The device is designed to specify a sequence of various setpoint positions of the centre of gravity of a user standing on the at least one movable standing plate, each of the setpoint positions being specified for a determined duration, and to continuously measure the actual position of the centre of gravity of the person standing on the moving plate. The device is further designed to compare each measured actual position to the setpoint position specified at the time of the measurement, to generate control signals taking into consideration the measured actual positions and/or the results of the comparisons of actual positions and setpoint positions, and to control the at least two connecting elements with the control signals.
A63B 69/00 - Training appliances or apparatus for special sports
A63B 71/06 - Indicating or scoring devices for games or players
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A63B 22/18 - Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with elements having a circulating or rotating movement, generated by oscillating movement of the user
A63B 24/00 - Electric or electronic controls for exercising apparatus of groups
A63B 26/00 - Exercising apparatus not covered by groups
60.
Active handling apparatus and method for contact tasks
A handling apparatus for automated or robot-supported contact tasks is disclosed. The handling apparatus has the following components: a mechanical interface for releasably or fixedly connecting the handling apparatus to a manipulator; a holder, which is movable in relation to the interface, for holding a tool; at least one static-frictionless adjusting element for positioning the holder in relation to the interface to the manipulator; a sensor device for directly or indirectly measuring the force acting on the at least one adjusting element; and a closed-loop controller which is configured to regulate the contact force depending on a predefinable force profile when there is contact between the handling apparatus and a surface.
A handling apparatus for automated or robot-supported contact tasks is disclosed. The handling apparatus has the following components: a mechanical interface for releasably or fixedly connecting the handling apparatus to a manipulator; a holder, which is movable in relation to the interface, for holding a tool; at least one static-frictionless adjusting element for positioning the holder in relation to the interface to the manipulator; a sensor device for directly or indirectly measuring the force acting on the at least one adjusting element; and a regulating device which is configured to regulate the contact force depending on a predefinable force profile when there is contact between the handling apparatus and a surface.
42 - Scientific, technological and industrial services, research and design
Goods & Services
Machines,In particular robots, Handling machines, Handling apparatus, Grabs; Machine parts,In particular machine parts of robots, Handling machines and Handling apparatus; Machine controls, in particular controls and regulators for robots, manipulators and handling devices; Machine accessories, in particular accessories for robots, Handling machines and Handling apparatus; Mechanical tools, in particular tools operated with the aid of robots, manipulators or handling devices; Drive units and Drive systems, in particular hydraulic drives, pneumatic drives and Electric drives and Propulsion systems. Physical exercise equipment for medical purposes and for physiotherapy,In particular equipment for passive gymnastics. Services of an engineering firm,In particular development of robots, robot controls, drive units, drive controls and engineering in the field of special-purpose machinery, innovation consultancy, risk consultancy relating to the safety of machines and drives.
A robot arm formed from one or more optionally interlinked active pivoted levers, wherein a base is fixed to the one end of a support and a pivoting piece is pivotably mounted on the second end of the support with pneumatic muscles running form the base to the pivoting piece. Individual pneumatic muscles engage on opposing sides of the pivot axis of the pivoting piece and the base of a pivoting lever is fixed to the pivoting piece of the adjacent pivoting lever interconnected thereto. The controller measures the position of the individual pivoting levers and the pressure in the individual pneumatic muscles, calculates the externally acting forces from the pressure-distance diagrams for the individual pneumatic muscles and the geometric lever mechanical ratios for all pivoting levers and limits said forces.
A61H 1/00 - Apparatus for passive exercisingVibrating apparatusChiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
A61H 1/02 - Stretching or bending apparatus for exercising
The invention relates to a device for moving people or objects for the purposes of play, sport, pedagogy or therapy. Said device consists of a static base surface (2), a mobile surface (1) on which the person to be moved is located, and active, controllable, mechanical adjusting bodies which act between the static and mobile surfaces. Piston-free pneumatic actuators (3) are used for the mechanical adjusting bodies. In this way, the device is essentially more economical, smaller, lighter and more reliable than known comparable devices comprising different active mechanical adjusting bodies.
A device for controlling a robotic arm (1) is disclosed, comprising at least two branches (2, 3) connected to each other by an articulation and coupled to a support (4), each having an actuator (8) controlled by a controller, wherein either the branches (2, 3) are elastically flexible or the drive connection to the actuator (8) is elastically flexible. According to the invention, advantageous control conditions can be achieved by the controller for the actuators (8) of the branches (2, 3) each comprising a regulating stage (10) provided by a sensor (12, 22) with signals for the load either on the corresponding elastically flexible branch (2, 3) or the elastically flexible actuator (8), which may be controlled along het movement path thereof depending on the position of the bearing (5, 7) supporting the branch (2, 3).
