公开(公告)号：JPH10109230A

公开(公告)日：1998-04-28

申请号：JP26417496

申请日：1996-10-04

Applicant: TOYOTA MOTOR CORP

Inventor： TANAKA HIROTOMO ,  KUSUMA NORIYUKI

IPC: B23P19/02

Abstract: PROBLEM TO BE SOLVED: To correctly assemble an elastic ring to a workpiece to plan the stability of sealing ability and the improvement of the durability of the ring. SOLUTION: An assembly device has a support means 9 for supporting an X ring 10 in a desired expanded diameter state and a bottom plate 7 for moving the X elastic ring 10 from the support means 9 to the groove 1a of a workpiece 1. In addition, a roller 16 having a form corresponding to the uneven section of the X ring 10 is provided so as to be possible in approach and far retreat and moreover relative movement to the X ring 10. The roller 16 is pressed against the X ring 10, and the bottom plate 7 is raised with the X ring 10 sandwichedly held between the roller 16 and the support means 9 to engage the X ring 10 in the groove 1a. The workpiece 1 is rotated in this state to rotate the X ring together, and the whole peripheral part of the X ring is passed through between the roller 16 and the support means 9. The X ring is conducted in a direction where its twist is corrected along the form of the roller 16 to dissolve the twist of the elastic ring extending over the whole periphery.

公开(公告)号：JPH05139350A

公开(公告)日：1993-06-08

申请号：JP32944691

申请日：1991-11-18

Applicant: TOYOTA MOTOR CORP

Inventor： UMEMURA TADASHI ,  USHIO MITSUGI ,  KUSUMA NORIYUKI

IPC: B60K37/00 ,  B62D65/00

Abstract: PURPOSE:To perfectly automate the assembling work of instrument panel assembly. CONSTITUTION:An assembly tool 6a for supporting a instrument panel assembly is equipped with a holding arm 14 for holding the reinforcement member of the instrument panel assembly, attitude correcting arm 15 for correcting the attitude of an intermediate shaft, and a supporting arm 18 for supporting a cooler unit from the lower side, and one edge of the assembly tool 16a is connected with the lower edge of the arm 11 of a gantry type robot through a tool replacing device 12.

公开(公告)号：JPH01258872A

公开(公告)日：1989-10-16

申请号：JP8355388

申请日：1988-04-05

Applicant: TOYOTA MOTOR CORP

Inventor： KUSUMA NORIYUKI ,  KAWAMURA KEIJI ,  KUBO KAORU

IPC: B23K11/24 ,  B23K11/10 ,  B23K11/11

Abstract: PURPOSE:To reduce the welding time by mounting a work on a lower electrode and allowing an encoder to detect set points on a mobile locus to execute electrification while an upper electrode provided to a robot via an anti-heat means being pressed on the work and eliminating the need for a timer. CONSTITUTION:The upper electrode 33 is opposed to the lower electrode 37 and moved to the position separated by a gap A by an action of a robot arm 31a. The position of the robot arm 31a at this time is made to a predetermined set point (a) on the mobile locus of the robot arm 31a. The robot arm 31a is then advanced by dimensions B and moved to a predetermined set point (b) on the mobile locus. By this method, the work 39 is sandwiched and pressed between the upper and lower electrodes 33 and 37. When the robot arm 31a is moved from the set point (a) at the set point (b) on the mobile locus, since the upper electrode 33 presses the work 39, the encoder 38 detects the set points (a) and (b) and transmits a signal to execute electrification and spot welding is performed.

公开(公告)号：JPS6245483A

公开(公告)日：1987-02-27

申请号：JP18618485

申请日：1985-08-23

Applicant: TOYOTA MOTOR CORP

Inventor： KUBO KAORU ,  MIZUNO IKUMI ,  KUSUMA NORIYUKI

IPC: B23K11/24

Abstract: PURPOSE:To remarkably reduce the manhour in position teaching by detecting the angle slippage of the gun pressure axis for the welding spot of a work and the direct axis of the work face by a position detecting mechanism and by operating, correcting and storing the movement of each axis necessary for the angle correction. CONSTITUTION:A position detecting mechanism 25 is fitted to the holder 21 at the tip of a gun 8 in the device to perform the movement and position control 40 of the three-dimensional and revolving directions for the work 48 of a welding gun 8 at the instruction of a teaching operating part 30. The angle slippage of the gun pressure axis and work 48 face direct axis id detected by the distance sensor 28 arranged in three pieces at 120 deg. intervals for the tip 25d at the tip and operated by comparing with a teaching program storing ROM 44 by the arithmetic processing CPU 43 of the control device 40 and the corrected program is stored into a temporary storing RAM 45. With performing a spot welding by fitting a welding tip to the gun 8 and by storing to the RAM 45 an accurate spot welding is thereafter performed by the position teaching correction in short time.