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1.发明授权Vehicle body door opening method and device, door removing device and method, door holding device and method, and socket 有权车身门开启方法及装置，门拆装置及方法，门保持装置及方法及插座公开(公告)号：US08950050B2
公开(公告)日：2015-02-10
申请号：US13337585
申请日：2011-12-27
CPC分类号： B25J9/0087 , B62D65/06 , Y10T29/49213 , Y10T29/49815 , Y10T29/53961
摘要： A door opening method and device are provided that can reduce the size of the installation location of a robot, as well as achieve a reduction in cycle time. In a dual arm robot, two arms are rotated by each of an shaft S1 and an shaft S2. As a result, a door opening action (Step ST2) is realized by rotation using the shaft S1. Then, a movement to enter an interior side of a door (91) in order to perform a bolt loosening action is realized by rotation using the shaft S1 and shaft S2. The movement in this case is movement such as to face the direction of the door (91). As a result, when moving to a door holding position (Step S26), the dual arm robot is at an attitude facilitating performing a bolt loosening action.
摘要翻译： 提供了一种可以减小机器人的安装位置的尺寸的开门方法和装置，并且可以实现循环时间的减少。 在双臂机器人中，两个臂由轴S1和轴S2中的每一个旋转。 结果，通过使用轴S1的旋转来实现门打开动作（步骤ST2）。 然后，通过使用轴S1和轴S2的旋转来实现进入门（91）的内侧以进行螺栓松动的动作。 在这种情况下的运动是例如面向门（91）的方向的运动。 结果，当移动到门保持位置（步骤S26）时，双臂机器人处于有助于执行螺栓松动的姿态。
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2.发明申请VEHICLE BODY DOOR OPENING METHOD AND DEVICE, DOOR REMOVING DEVICE AND METHOD, DOOR HOLDING DEVICE AND METHOD, AND SOCKET 有权车身车门开启方法和装置，门去除装置和方法，门保持装置和方法以及插座公开(公告)号：US20120163948A1
公开(公告)日：2012-06-28
申请号：US13337585
申请日：2011-12-27
CPC分类号： B25J9/0087 , B62D65/06 , Y10T29/49213 , Y10T29/49815 , Y10T29/53961
摘要： A door opening method and device are provided that can reduce the size of the installation location of a robot, as well as achieve a reduction in cycle time. In a dual arm robot, two arms are rotated by each of an shaft S1 and an shaft S2. As a result, a door opening action (Step ST2) is realized by rotation using the shaft S1. Then, a movement to enter an interior side of a door (91) in order to perform a bolt loosening action is realized by rotation using the shaft S1 and shaft S2. The movement in this case is movement such as to face the direction of the door (91). As a result, when moving to a door holding position (Step S26), the dual arm robot is at an attitude facilitating performing a bolt loosening action.
摘要翻译： 提供了一种可以减小机器人的安装位置的尺寸的开门方法和装置，并且可以实现循环时间的减少。 在双臂机器人中，两个臂由轴S1和轴S2中的每一个旋转。 结果，通过使用轴S1的旋转来实现门打开动作（步骤ST2）。 然后，通过使用轴S1和轴S2的旋转来实现进入门（91）的内侧以进行螺栓松动的动作。 在这种情况下的运动是例如面向门（91）的方向的运动。 结果，当移动到门保持位置（步骤S26）时，双臂机器人处于有助于执行螺栓松动的姿态。
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3.发明授权
公开(公告)号：US5074924A
公开(公告)日：1991-12-24
申请号：US541732
申请日：1990-06-21
CPC分类号： C23C2/02 , C21D8/0473 , C21D9/52 , C23C2/28 , C21D8/0478
摘要： A process for producing a non-aging galvanized steel sheet having good formability in a continuous galvanizing production line, which comprises heating a low carbon, Al-killed cold rolled steel sheet at a temperature not lower than a recrystallizing temperature, reducing the surface of the steel sheet thus heated in a reducing atmosphere, cooling the steel sheet to a temperature (T.sub.E) ranging from 200.degree. to 350.degree. C. from a temperature not lower than 600.degree. C. at a cooling rate not less than 30.degree. C/s, holding the steel sheet at the temperature (T.sub.E) for 0 to less than 10 seconds, reheating the steel sheet to a temperature ranging from 430.degree. to 500.degree. C. at a heating rate not less than 10.degree. C/s, immersing the steel sheet into a molten zinc bath, cooling the steel sheet thus galvanized to a temperature not higher than 370.degree. C., and subjecting the steel sheet to an overaging treatment to a temperature range from 250.degree. to 320.degree. C. for not shorter than 40 seconds. A modified process according to the present invention further comprises reheating the galvanized steel sheet to a temperature raning from 480.degree. to 600.degree. C. at a heating rate not lower than 10.degree. C/s, and holding the sheet in this temperature range to perform alloying of the zinc coating layer with the steel substrate.
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