公开(公告)号：US4163183A

公开(公告)日：1979-07-31

申请号：US625932

申请日：1975-10-28

申请人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardner

发明人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardner

IPC分类号： B25J9/22 ,  B23P21/00 ,  B25J9/00 ,  B25J9/18 ,  B25J17/02 ,  D05B21/00 ,  F16H9/10 ,  G05B19/25 ,  G05B19/42 ,  G05D19/00 ,  G06F19/00

CPC分类号： G05B19/42 ,  B23P21/002 ,  B25J17/02 ,  B25J9/0084 ,  F16H9/10 ,  G05B19/253 ,  G05B2219/34236 ,  G05B2219/34239 ,  G05B2219/35238 ,  G05B2219/35543 ,  G05B2219/39002 ,  G05B2219/39468 ,  G05B2219/40307 ,  G05B2219/42207 ,  G05B2219/43183 ,  G05B2219/45051 ,  G05B2219/45083 ,  G05B2219/49395

摘要： A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assista the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.

摘要翻译： 提供了一种可编程自动组装系统，可用于组装小部件。 每个装配站包括配合的操纵臂，其可编程以在中心位置的工作台上组装零件。 提供了改进的设施，用于在每个车站教授机械臂，这些设施包括一台计算机，它帮助教学操作员建立组装小零件所需的程序以达到公差。 每个操纵臂包括闭环示教设施，用于在操作的教学模式期间将臂保持在先前定位的位置。 该计算机被用作在辅助操作期间执行若干任务的教学辅助设备，这对于操作者手动执行是非常困难的。 所有组装站可以在从公共盘存储设施回放期间被控制，使得每个操纵器处的控制电路和存储器存储设施被最小化。

公开(公告)号：US4260940A

公开(公告)日：1981-04-07

申请号：US030994

申请日：1979-04-18

申请人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardner

发明人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardner

IPC分类号： B23P21/00 ,  B25J9/10 ,  G05B19/25 ,  G05B19/414 ,  G05B19/42 ,  G05B11/32

CPC分类号： G05B19/42 ,  B23P21/002 ,  B25J9/10 ,  G05B19/253 ,  G05B2219/34236 ,  G05B2219/34239 ,  G05B2219/35238 ,  G05B2219/35543 ,  G05B2219/39002 ,  G05B2219/39468 ,  G05B2219/40307 ,  G05B2219/42207 ,  G05B2219/43183 ,  G05B2219/45051 ,  G05B2219/45083 ,  G05B2219/49395

摘要： A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.

公开(公告)号：US4275986A

公开(公告)日：1981-06-30

申请号：US31463

申请日：1979-04-19

申请人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardner

发明人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardner

IPC分类号： B23P21/00 ,  B25J9/00 ,  G05B19/25 ,  G05B19/42

CPC分类号： G05B19/42 ,  B23P21/002 ,  B25J9/0084 ,  G05B19/253 ,  G05B2219/34236 ,  G05B2219/34239 ,  G05B2219/35238 ,  G05B2219/35543 ,  G05B2219/39002 ,  G05B2219/39468 ,  G05B2219/40307 ,  G05B2219/42207 ,  G05B2219/43183 ,  G05B2219/45051 ,  G05B2219/45083 ,  G05B2219/49395

摘要： A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.

摘要翻译： 提供了一种可编程自动组装系统，可用于组装小部件。 每个装配站包括配合的操纵臂，其可编程以在中心位置的工作台上组装零件。 提供了改进的设施，用于在每个车站教授机械臂，这些设施包括一台计算机，它帮助教学操作员建立小零件组装所需的程序以实现公差的制定。 每个操纵臂包括闭环示教设施，用于在操作的教学模式期间将臂保持在先前定位的位置。 该计算机被用作在辅助操作期间执行若干任务的教学辅助设备，这对于操作者手动执行是非常困难的。 所有组装站可以在从公共盘存储设施回放期间被控制，使得每个操纵器处的控制电路和存储器存储设施被最小化。

公开(公告)号：US4260941A

公开(公告)日：1981-04-07

申请号：US31462

申请日：1979-04-19

申请人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardner

发明人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardner

IPC分类号： B23P21/00 ,  B25J9/04 ,  G05B19/25 ,  G05B19/42 ,  G05B11/32

CPC分类号： G05B19/42 ,  B23P21/002 ,  B25J9/046 ,  G05B19/253 ,  G05B2219/34236 ,  G05B2219/34239 ,  G05B2219/35238 ,  G05B2219/35543 ,  G05B2219/39002 ,  G05B2219/39468 ,  G05B2219/40307 ,  G05B2219/42207 ,  G05B2219/43183 ,  G05B2219/45051 ,  G05B2219/45083 ,  G05B2219/49395

摘要： A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.

公开(公告)号：USRE32794E

公开(公告)日：1988-12-06

申请号：US508076

申请日：1983-06-24

申请人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardener, deceased

发明人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardener, deceased

IPC分类号： B25J9/04

CPC分类号： B25J9/046

摘要： A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.

公开(公告)号：US4932489A

公开(公告)日：1990-06-12

申请号：US178624

申请日：1988-04-07

申请人： John M. Evans ,  Robert B. Croston ,  Wilbur N. Roberts

发明人： John M. Evans ,  Robert B. Croston ,  Wilbur N. Roberts

IPC分类号： B62D7/15

CPC分类号： B62D7/1509

摘要： A vehicle has been provided with a first load carrying frame having freely rotatable supporting wheels attached thereto. A second frame in non-rotable and compliantly suspended from the first frame. A device is mounted to the second frame for driving and steering the vehicle.

摘要翻译： 一种车辆设置有具有连接到其上的可自由旋转的支撑轮的第一承载框架。 不可旋转并顺从地从第一框架悬挂的第二框架。 装置安装在第二框架上，用于驱动和转向车辆。