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1. 发明授权

US08162362B2 Gripper system for stacked unit loads 有权
标题翻译：用于堆叠单元负载的夹具系统
公开(公告)号：US08162362B2
公开(公告)日：2012-04-24
申请号：US12300176
申请日：2007-03-16
申请人： Nils Braunschweiger , Eckhard Wellbrock , Hermann Franck , Wolfgang Echelmeyer , Kolja Schmidt
发明人： Nils Braunschweiger , Eckhard Wellbrock , Hermann Franck , Wolfgang Echelmeyer , Kolja Schmidt
IPC分类号： B66C1/02
CPC分类号： B65G61/00 , B65G2201/025 , B65G2203/042
摘要： There is provided a gripper system for stacked packaged goods. An exemplary gripper system comprises a first gripper unit for gripping a package by a front surface of the package. The exemplary gripper system further comprises a second gripper unit for gripping the package by a second surface that is at a right angle to the front surface, the second gripper unit having a drive device associated therewith, the second gripper unit being adapted to be moved out of a starting position in which the second gripper unit and the drive device as seen from the gripping side of the first gripper unit, are arranged behind the first gripper unit, into a gripping position in which the first gripper unit is positioned for gripping the package by its front surface and the second gripper unit is positioned for gripping the package by its second surface. In a gripper system according to an exemplary embodiment of the present invention, outer dimensions of the gripper system, as seen from the gripping side of the first gripper unit, do not exceed dimensions of a front surface of a smallest package to be gripped.
摘要翻译：提供了用于堆叠包装货物的夹具系统。示例性的夹持器系统包括用于通过包装的前表面夹持包装的第一夹持器单元。示例性夹持器系统还包括第二夹持器单元，用于通过与前表面成直角的第二表面夹紧包装，第二夹持器单元具有与之相关联的驱动装置，第二夹持器单元适于移出其中第二夹持单元和驱动装置从第一夹持单元的夹持侧观察的起始位置布置在第一夹持单元的后面，到达夹持位置，在该夹持位置中第一夹持单元被定位用于夹持包装通过其前表面和第二夹持器单元被定位成通过其第二表面夹紧包装。在根据本发明的示例性实施例的夹持器系统中，从第一夹持器单元的夹持侧看，夹持器系统的外部尺寸不超过待夹紧的最小包装的前表面的尺寸。

2. 发明申请

US20110153082A1 SENSOR SYSTEM FOR DETECTING THE SURFACE STRUCTURES OF SEVERAL PACKAGED ARTICLES 审中-公开
标题翻译：用于检测几个包装物品的表面结构的传感器系统
公开(公告)号：US20110153082A1
公开(公告)日：2011-06-23
申请号：US12973102
申请日：2010-12-20
申请人： Hermann Franck , Wolfgang Echelmeyer , Ralf Beesner , Eckhard Wellbrock
发明人： Hermann Franck , Wolfgang Echelmeyer , Ralf Beesner , Eckhard Wellbrock
IPC分类号： B25J13/08 , G01C3/00 , G01B11/24 , G01B11/14
CPC分类号： G01B11/026 , G01B11/24
摘要： An exemplary embodiment of the invention relates to a sensor system for detecting the surface structures of several packaged articles. An exemplary system comprises at least one laser distance detector that functions according to a triangulation principle and that determines the distance between the laser distance detector and a surface structure of a packaged article. The laser distance detector has at least one analog output via which a distance-proportional analog signal can be emitted. The analog output of at least one laser distance detector is in communication with an evaluation unit via an amplifier circuit. The amplifier circuit encompasses at least one operational amplifier that has two inputs, and the analog signal of the laser distance detector is present at a first input of the at least one operational amplifier. A variable reference voltage is present at the other input of the at least one operational amplifier. The reference voltage may be obtained from the analog signal of the analog output, and this analog signal may be present at the other input of the operational amplifier via a low-pass filter. The output of the at least one operational amplifier may be connected to the evaluation unit, as a result of which the amplifier circuit is configured in such a way that abrupt changes in the analog signal bring about a change in the output signal of the at least one operational amplifier. More gradual changes in the analog signal do not bring about a substantial change in the output signal of the at least one operational amplifier. The evaluation unit may evaluate the output signal of the at least one operational amplifier.
摘要翻译：本发明的示例性实施例涉及用于检测多个包装物品的表面结构的传感器系统。示例性系统包括至少一个激光距离检测器，其根据三角测量原理起作用，并且确定激光距离检测器与包装物品的表面结构之间的距离。激光距离检测器具有至少一个模拟输出，经由该模拟输出可以发射距离比例的模拟信号。至少一个激光距离检测器的模拟输出通过放大器电路与评估单元通信。放大器电路包括至少一个具有两个输入的运算放大器，激光距离检测器的模拟信号存在于至少一个运算放大器的第一输入端。可变参考电压存在于至少一个运算放大器的另一输入端。参考电压可以从模拟输出的模拟信号获得，并且该模拟信号可以经由低通滤波器存在于运算放大器的另一个输入端。至少一个运算放大器的输出可以连接到评估单元，结果，放大器电路被配置成使得模拟信号的突然变化引起至少该输出信号的变化一个运算放大器。模拟信号的逐渐变化不会导致至少一个运算放大器的输出信号的实质变化。评估单元可评估至少一个运算放大器的输出信号。

3. 发明申请

US20080267756A1 Robot Comprising a Horizontal Linear Axis with a Movable Carriage and Joint Arm 审中-公开
标题翻译：包括具有可移动支架和联合臂的水平线性轴的机器人
公开(公告)号：US20080267756A1
公开(公告)日：2008-10-30
申请号：US12067544
申请日：2006-06-30
申请人： Wolfgang Echelmeyer , Hermann Franck , Eckhard Wellbrock , Jorg Rosenhager
发明人： Wolfgang Echelmeyer , Hermann Franck , Eckhard Wellbrock , Jorg Rosenhager
IPC分类号： B25J9/02 , B65G15/30
CPC分类号： B65G67/08 , B25J17/0266
摘要： The invention relates to a robot, comprising a horizontal linear axis with a movable carriage and a joint arm, the one end of which is connected to one of the ends of the carriage by means of a rotating joint in the direction of travel thereof, characterized in that the joint arm may rotate in a plane at an angle α in the range of 45° to 90° to the horizontal and at least two joint arm pieces which may rotate relative to each other in said plane and with an effector, provided at the free moving end of the outer joint arm.
摘要翻译：本发明涉及一种机器人，其包括具有可移动滑架和接合臂的水平线性轴线，其一端通过沿其行进方向的旋转接头连接到滑架的一个端部，其特征在于因为关节臂可以在与平面中相对于彼此旋转的水平和至少两个关节臂片中的角度α在与角度45°至90°的范围内的角度α旋转，外关节臂的自由移动端。

4. 发明申请

US20090206619A1 SUCTION GRIPPER 失效
标题翻译：吸收器
公开(公告)号：US20090206619A1
公开(公告)日：2009-08-20
申请号：US12300152
申请日：2007-03-16
申请人： Kolja Schmidt , Wolfgang Echelmeyer , Hermann Franck
发明人： Kolja Schmidt , Wolfgang Echelmeyer , Hermann Franck
IPC分类号： B25J15/06
CPC分类号： B65G47/91 , B65G47/90
摘要： There is provided a suction gripper. An exemplary suction gripper comprises at least one needle adapted to grip an object. Also provided is a method of gripping an object. An exemplary method of gripping an object comprises gripping the object with a suction gripper comprising at least one needle adapted to grip the object to a suction gripper body.
摘要翻译：设有吸气夹具。示例性的吸力夹持器包括适于夹持物体的至少一个针。还提供了一种夹持物体的方法。夹持物体的示例性方法包括用吸力夹持器夹住物体，所述吸力夹持器包括至少一个适于将物体夹持到吸力夹持器主体的针。

5. 发明授权

US08011706B2 Suction gripper 失效
标题翻译：抽吸夹具
公开(公告)号：US08011706B2
公开(公告)日：2011-09-06
申请号：US12300152
申请日：2007-03-16
申请人： Kolja Schmidt , Wolfgang Echelmeyer , Hermann Franck
发明人： Kolja Schmidt , Wolfgang Echelmeyer , Hermann Franck
IPC分类号： B25J15/06
CPC分类号： B65G47/91 , B65G47/90
摘要： There is provided a suction gripper. An exemplary suction gripper comprises at least one needle adapted to grip an object. Also provided is a method of gripping an object. An exemplary method of gripping an object comprises gripping the object with a suction gripper comprising at least one needle adapted to grip the object to a suction gripper body.
摘要翻译：设有吸气夹具。示例性的吸力夹持器包括适于夹持物体的至少一个针。还提供了一种夹持物体的方法。夹持物体的示例性方法包括用吸力夹持器夹住物体，所述吸力夹持器包括至少一个适于将物体夹持到吸力夹持器主体的针。

6. 发明申请

US20100092272A1 APPARATUS AND METHOD FOR TRANSFERRING PART LOADS 审中-公开
标题翻译：用于传送部分负载的装置和方法
公开(公告)号：US20100092272A1
公开(公告)日：2010-04-15
申请号：US12520953
申请日：2007-12-28
申请人： Wolfgang Echelmeyer , Hermann Franck
发明人： Wolfgang Echelmeyer , Hermann Franck
IPC分类号： B65G61/00 , B25J9/00 , B65G47/90 , B25J15/00 , B25J15/06
CPC分类号： B65G47/907 , B65G11/023 , B65G61/00 , B65G2201/025
摘要： There is provided an apparatus for transferring packaged goods from a first position X to a second position Y. An exemplary apparatus comprises at least one gripping device comprising several gripping elements of which at least two can be actuated separately from each other. The exemplary apparatus further comprises a drive that is adapted to move the at least one gripping device in a vertical direction and in at least one horizontal direction. The exemplary apparatus also comprises a controller that is configured according to a fixed scheme, the controller being adapted to sequentially cancel a gripping effect of the gripping elements. The exemplary apparatus additionally comprises a guide element adapted to steer the packaged goods to the second position Y, the guide element comprising a baffle plate placed in a slanted position and having a bottom plate and two side walls that run towards each other in the form of a funnel.
摘要翻译：提供了一种用于将包装的商品从第一位置X传送到第二位置Y的装置。示例性装置包括至少一个夹持装置，其包括多个夹紧元件，其中至少两个可以彼此分离地致动。示例性装置还包括适于在垂直方向和至少一个水平方向上移动至少一个夹持装置的驱动器。示例性装置还包括根据固定方案配置的控制器，所述控制器适于顺序地取消夹持元件的夹持效果。示例性装置还包括适于将包装物转向第二位置Y的引导元件，引导元件包括设置在倾斜位置的挡板，并具有底板和两个侧壁，该侧壁以一个漏斗

7. 发明申请

US20090226289A1 LOADING AID AND TELESCOPIC CONVEYING DEVICE FOR GOODS TO BE CONVEYED, IN PARTICULAR FOR PIECE GOODS, HAVING THE FORMER 审中-公开
标题翻译：装运货物和输送设备，特别是对于具有前者的物品，特别是物品的输送设备
公开(公告)号：US20090226289A1
公开(公告)日：2009-09-10
申请号：US12302664
申请日：2007-03-16
申请人： Sebastian Rittberg , Wolfgang Echelmeyer , Hermann Franck , Matthias Miesbauer
发明人： Sebastian Rittberg , Wolfgang Echelmeyer , Hermann Franck , Matthias Miesbauer
IPC分类号： B65G67/00
CPC分类号： B65G67/08
摘要： There is provided a loading aid for facilitating loading and unloading of a container. An exemplary loading aid comprises a working platform that is adapted to be moved on at least three rollers, at least one of which is steerable. The exemplary loading aid further comprises an autonomous steering device that is adapted to steer the at least one steerable roller, to autonomously steer the working platform straight ahead to avoid touching a wall of the container and to autonomously steer the working platform away from the wall of the container until the working platform is aligned parallel to the wall of the container if the working platform touches the wall of the container.
摘要翻译：提供了用于促进容器的装载和卸载的装载辅助装置。示例性的加载辅助件包括适于在至少三个辊上移动的工作平台，其中至少一个是可操纵的。示例性的加载辅助装置还包括自主转向装置，其适于引导所述至少一个可转向的辊，以自动地将工作平台引导直到前方，以避免接触容器的壁并自动地将工作平台远离墙壁如果工作平台接触容器的壁，则容器直到工作平台平行于容器的壁对准。

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