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公开(公告)号：US4966323A
公开(公告)日：1990-10-30
申请号：US391794
申请日：1989-08-09
CPC分类号： B23Q5/408 , B21J15/14 , B21J15/142 , B21J15/30 , B23Q1/48 , Y10T29/5118
摘要： Riveting apparatus for operation on a workpiece having opposite sides and supported vertically on a horizontal surface comprising a frame having a pair of spaced apart sides movable along the supporting surface and straddling the workpiece, first and second carriages movably mounted on respective sides of the frame and riveting tools on first and second heads on the first and second carriages, respectively, the tools being movable toward and away from the workpiece. The frame travels in a first direction along the supporting surface and along the workpiece, the first and second carriages are movable in a direction substantially perpendicular to the first direction and toward and away from the supporting surface, and the frame is movable in a third direction transverse to the first direction and toward and away from the workpiece. The first and second heads are movable independently about axes substantially parallel to the first direction and to the supporting surface, and both heads are movable independently about axes substantially perpendicular to the first direction and to the supporting surface.
摘要翻译： 用于在具有相对侧并且在水平表面上垂直支撑的工件上操作的铆接装置，包括具有可沿着支撑表面移动并跨过工件的一对间隔开的边框的框架，可移动地安装在框架的相应侧上的第一和第二托架， 分别在第一和第二托架上的第一和第二头部上的铆接工具，工具可以朝向和远离工件移动。 框架沿着支撑表面沿工件沿第一方向行进，第一和第二托架可在基本上垂直于第一方向的方向上移动并且朝向和远离支撑表面移动，并且框架可沿第三方向移动 横向于第一方向并且朝向和远离工件。 第一和第二头部可围绕基本上平行于第一方向的轴线和支撑表面独立地移动，并且两个头部可围绕基本上垂直于第一方向的轴线和支撑表面独立地移动。
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公开(公告)号：US5248074A
公开(公告)日：1993-09-28
申请号：US581287
申请日：1990-09-12
CPC分类号： B21J15/142 , B21J15/14 , B21J15/30 , B23Q1/48 , B23Q39/02 , B23Q5/408 , Y10T29/49943 , Y10T29/53774
摘要： Riveting apparatus for operation on a workpiece having opposite sides and supported vertically on a horizontal surface comprising a frame having a pair of spaced apart sides movable along the supporting surface and straddling the workpiece, first and second carriages movably mounted on respective sides of the frame and riveting tools on first and second heads on the first and second carriages, respectively, the tools being movable toward and away from the workpiece. The frame travels in a first direction along the supporting surface and along the workpiece, the first and second carriages are movable in a direction substantially perpendicular to the first direction and toward and away from the supporting surface, and the frame is movable in a third direction transverse to the first direction and toward and away from the workpiece. The first and second heads are movable independently about axes substantially parallel to the first direction and to the supporting surface, and both heads are movable independently about axes substantially perpendicular to the first direction and to the supporting surface.
摘要翻译： 用于在具有相对侧并且在水平表面上垂直支撑的工件上操作的铆接装置，包括具有可沿着支撑表面移动并跨过工件的一对间隔开的边框的框架，可移动地安装在框架的相应侧上的第一和第二托架， 分别在第一和第二托架上的第一和第二头部上的铆接工具，工具可以朝向和远离工件移动。 框架沿着支撑表面沿工件沿第一方向行进，第一和第二托架可在基本上垂直于第一方向的方向上移动并且朝向和远离支撑表面移动，并且框架可沿第三方向移动 横向于第一方向并且朝向和远离工件。 第一和第二头部可围绕基本上平行于第一方向的轴线和支撑表面独立地移动，并且两个头部可围绕基本上垂直于第一方向的轴线和支撑表面独立地移动。
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公开(公告)号：US5653005A
公开(公告)日：1997-08-05
申请号：US80954
申请日：1993-06-21
IPC分类号： B23P21/00 , B25J15/10 , G05B19/418 , B25B27/14
CPC分类号： B25J15/103 , B23P21/004 , G05B19/41825 , B23P2700/01 , G05B2219/31031 , G05B2219/31078 , G05B2219/31079 , G05B2219/35218 , G05B2219/50125 , Y02P90/04 , Y02P90/083 , Y02P90/087 , Y02P90/265 , Y10T29/49829 , Y10T29/49831 , Y10T29/49998 , Y10T29/53004 , Y10T29/53013 , Y10T29/53313 , Y10T29/53539
摘要： A programmable or flexible fixture for holding a plurality of details comprising an assembly during assembly processes thereon comprising an elongated base supported in a predetermined position, a plurality of positioning units located at spaced locations along the base, each of the positioning units having a clamp adapted to engage the details, the positioning units being located to allow access to the details from two directions of movement of tools of assembly apparatus moving with respect to the workpiece during assembly processes thereon, a robot operatively associated with the positioning units for moving the positioning units relative to the base for accepting the various members of a family of details which all have the same configuration and differ by increments in size and for holding the details together as an assembly and holding the assembly in the proper detail location and assembly position for assembling, and an actuator for moving the clamp into and out of engagement with the details. A programmable or flexible assembly cell comprises at least one automatic assembly machine, each machine having operational parameters determined by the nature of the details to be assembled, at least one of the programmable or flexible fixtures for holding a plurality of details comprising an assembly, the fixture being capable of accepting a family of details, which all have the same configuration and differ by increments in size, the fixture having the plurality of movable positioning units at spaced locations along the fixture and each of the positioning units having the clamp adapted to engage the details, at least one robot for adjusting the fixture positioning units and for placing details and assemblies in the fixture and removing details and assemblies from the fixture, and a conveyor for transporting details to the cell and for transporting assemblies from the cell. A cell controller monitors information pertaining to the details and assemblies, monitors operation of the assembly machine and controls operation of the robot.
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公开(公告)号：US4821408A
公开(公告)日：1989-04-18
申请号：US938732
申请日：1986-12-05
IPC分类号： B23P21/00 , B25J15/10 , G05B19/418 , B25B27/14
CPC分类号： G05B19/41825 , B23P21/004 , B25J15/103 , B23P2700/01 , G05B2219/31031 , G05B2219/35218 , G05B2219/50125 , Y02P90/04 , Y02P90/083 , Y02P90/087 , Y02P90/22 , Y10T29/53004 , Y10T29/53013 , Y10T29/53313 , Y10T29/53539 , Y10T29/53978
摘要： A programmable or flexible fixture for holding a plurality of details comprising an assembly during assembly processes thereon comprising an elongated base supported in a predetermined position, a plurality of positioning units located at spaced locations along the base, each of the positioning units having a clamp adapted to engage the details, the positioning units being located to allow access to the details from two directions of movement of tools of assembly apparatus moving with respect to the workpiece during assembly processes thereon, a robot operatively associated with the positioning units for moving the positioning units relative to the base for accepting the various members of a family of details which all have the same configuration and differ by increments in size and for holding the details together as an assembly and holding the assembly in the proper detail location and assembly position for assembling, and an actuator for moving the clamp into and out of engagement with the details. A programmable or flexible assembly cell comprises at least one automatic assembly machine, each machine having operational parameters determined by the nature of the details to be assembled, at least one of the programmable or flexible fixtures for holding a plurality of details comprising an assembly, the fixture being capable of accepting a family of details, which all have the same configuration and differ by increments in size, the fixture having the plurality of movable positioning units at spaced locations along the fixture and each of the positioning units having the clamp adapted to engage the details, at least one robot for adjusting the fixture positioning units and for placing details and assemblies in the fixture and removing details and assemblies from the fixture, and a conveyor for transporting details to the cell and for transporting assemblies from the cell. A cell controller monitors information pertaining to the details and assemblies, monitors operation of the assembly machine and controls operation of the robot.
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公开(公告)号：US5220718A
公开(公告)日：1993-06-22
申请号：US959177
申请日：1992-10-09
IPC分类号： B23P21/00 , B25J15/10 , G05B19/418
CPC分类号： B25J15/103 , B23P21/004 , G05B19/41825 , B23P2700/01 , G05B2219/31031 , G05B2219/31078 , G05B2219/31079 , G05B2219/35218 , G05B2219/50125 , Y02P90/04 , Y02P90/083 , Y02P90/087 , Y02P90/265 , Y10T29/49829 , Y10T29/49831 , Y10T29/49998 , Y10T29/53004 , Y10T29/53013 , Y10T29/53313 , Y10T29/53539
摘要： A programmable or flexible fixture for holding a plurality of details comprising an assembly during assembly processes thereon comprising an elongated base supported in a predetermined position, a plurality of positioning units located at spaced locations along the base, each of the positioning units having a clamp adapted to engage the details, the positioning units being located to allow access to the details from two directions of movement of tools of assembly apparatus moving with respect to the workpiece during assembly processes thereon, a robot operatively associated with the positioning units for moving the positioning units relative to the base for accepting the various members of a family of details which all have the same configuration and differ by increments in size and for holding the details together as an assembly and holding the assembly in the proper detail location and assembly position for assembling, and an actuator for moving the clamp into and out of engagement with the details. The fixture is used in an automatic assembly method wherein at least one automatic assembly machine has operational parameters determined by the nature of the details to be assembled, wherein the robot adjusts the fixture positioning units and places details and assemblies in the fixture and removes details and assemblies from the fixture, and wherein a conveyor transports details to the cell and transports assemblies from the cell. A cell controller monitors information pertaining to the details and assemblies, monitors operation of the assembly machine and controls operation of the robot.
摘要翻译： 一种用于保持多个细节的可编程或柔性夹具，包括在其组装过程中包括组件的组件，其包括支撑在预定位置的细长基座，位于沿着基座的间隔位置处的多个定位单元，每个定位单元具有适于 为了接合细节，定位单元被定位成允许在其组装过程期间相对于工件移动的组装设备的工具的两个运动方向访问细节;与定位单元操作相关联的机器人，用于移动定位单元 相对于基座，用于接受全部具有相同构造并且尺寸增加不同的细节系列的各种构件，并且用于将细节保持在一起作为组件并将组件保持在适当的细节位置和组装位置中， 以及用于使夹具进入和离开接合w的致动器 详细信息。 所述夹具用于自动组装方法，其中至少一个自动组装机具有由要组装的细节的性质确定的操作参数，其中所述机器人调节所述夹具定位单元并将细节和组件放置在所述固定装置中并且移除细节和 来自固定装置的组件，并且其中输送机将细节输送到电池并从电池传输组件。 单元控制器监视关于细节和组件的信息，监视组装机的操作并控制机器人的操作。
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公开(公告)号：US5661892A
公开(公告)日：1997-09-02
申请号：US477093
申请日：1995-06-07
CPC分类号： B21J15/142 , B21J15/10 , B21J15/28 , B23Q1/625 , B23Q9/0085 , B23Q2210/006 , Y10T29/49948 , Y10T29/5118 , Y10T29/5191 , Y10T408/03 , Y10T409/303752 , Y10T409/308512
摘要： The present invention provides a method and apparatus for positioning tooling with respect to a curvilinear workpiece which is curved in a first direction extending along a plane substantially perpendicular to the longitudinal axis of the workpiece and which is curved in a second direction extending along a plane to the workpiece longitudinal axis, the degree of curvature in the first direction being greater than the degree of curvature in the second direction. An illustrative example is automatic drilling, inserting and upsetting one or two piece fasteners such as exterior skin rivets on an airplane fuselage. Inner and outer positioning systems carry or support inner and outer tooling, respectively, which engage the workpiece from opposite sides thereof during tooling operations thereon. Each of the inner and outer positioning systems move the respective tooling through a large number of axes, for example six axes of movement provided by the outer positioning system and seven axes of movement provided by the inner positioning system. Movements of the inner and outer positioning systems are controlled and co-ordinated by an adaptive, master-slave control system. A lateral trasfer system enables the appratus to operate successively on a plurality of workpieces.
摘要翻译： 本发明提供了一种用于相对于曲线工件定位工具的方法和装置，该曲线工件沿着基本上垂直于工件的纵向轴线的平面延伸的第一方向弯曲，并且在沿着平面延伸的第二方向上弯曲 工件纵向轴线，第一方向上的曲率大于第二方向上的曲率。 一个说明性的例子是在飞机机身上自动钻孔，插入和镦锻一个或两个紧固件，例如外部皮肤铆钉。 内部和外部定位系统分别承载或支撑内部和外部工具，其在其上的加工操作期间从其相对侧接合工件。 内部和外部定位系统中的每一个使相应的工具通过大量轴线移动，例如由外部定位系统提供的六个运动轴线和由内部定位系统提供的七个运动轴。 内部和外部定位系统的运动由自适应主从控制系统控制和协调。 横向牵引系统使得设备能够在多个工件上连续操作。
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公开(公告)号：US5477597A
公开(公告)日：1995-12-26
申请号：US48420
申请日：1993-04-14
CPC分类号： B21J15/142 , B21J15/10 , B21J15/28 , B23Q1/625 , B23Q9/0085 , B23Q2210/006 , Y10T29/49948 , Y10T29/5118 , Y10T29/5191 , Y10T408/03 , Y10T409/303752 , Y10T409/308512
摘要： The present invention provides a method and apparatus for positioning tooling with respect to a curvilinear workpiece which is curved in a first direction extending along a plane substantially perpendicular to the longitudinal axis of the workpiece and which is curved in a second direction extending along a plane to the workpiece longitudinal axis, the degree of curvature in the first direction being greater than the degree of curvature in the second direction. An illustrative example is automatic drilling, inserting and upsetting one or two piece fasteners such as exterior skin rivets on an airplane fuselage. Inner and outer positioning systems carry or support inner and outer tooling, respectively, which engage the workpiece from opposite sides thereof during tooling operations thereon. Each of the inner and outer positioning systems move the respective tooling through a large number of axes, for example six axes of movement provided by the outer positioning system and seven axes of movement provided by the inner positioning system. Movements of the inner and outer positioning systems are controlled and co-ordinated by an adaptive, master-slave control system. A lateral trasfer system enables the appratus to operate successively on a plurality of workpieces.
摘要翻译： 本发明提供了一种用于相对于曲线工件定位工具的方法和装置，该曲线工件沿着基本上垂直于工件的纵向轴线的平面延伸的第一方向弯曲，并且在沿着平面延伸的第二方向上弯曲 工件纵向轴线，第一方向上的曲率大于第二方向上的曲率。 一个说明性的例子是在飞机机身上自动钻孔，插入和镦锻一个或两个紧固件，例如外部皮肤铆钉。 内部和外部定位系统分别承载或支撑内部和外部工具，其在其上的加工操作期间从其相对侧接合工件。 内定位系统和外定位系统中的每一个将相应的工具移动通过大量的轴，例如由外定位系统提供的六个运动轴线和由内定位系统提供的七个运动轴。 内部和外部定位系统的运动由自适应主从控制系统控制和协调。 横向牵引系统使得设备能够在多个工件上连续操作。
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公开(公告)号：US5611130A
公开(公告)日：1997-03-18
申请号：US84353
申请日：1993-06-28
CPC分类号： B23Q39/024 , B21J15/10 , B21J15/142 , Y10T29/5118 , Y10T29/5191 , Y10T29/5377 , Y10T409/307672 , Y10T409/307728 , Y10T409/308288 , Y10T409/308512
摘要： A method and apparatus for positioning tooling with respect to a curvilinear workpiece which is curved in a first direction extending along a plane substantially perpendicular to the longitudinal axis of the workpiece and which is curved in a second direction extending along a plane substantially parallel to the workpiece longitudinal axis, the degree of curvature in the first direction being greater than the degree of curvature in the second direction. An illustrative example is automatic drilling, inserting and upsetting one or two piece fasteners such as exterior skin rivets on an airplane fuselage. There is provided a head for supporting a plurality of tools at spaced locations around a central axis wherein each of the tools has an operational axis disposed substantially parallel to the central axis and an arrangement for moving the head along paths of travel relative to the workpiece to reach various locations on the workpiece where the tools are to perform operations on the workpiece. The head is rotated about the central axis to selectively position each of the tools at a location where the tool operational axis is in alignment with a work axis of the workpiece so that the tool can operate on the workpiece. In order to achieve finite normalization of the tooling to the workpiece surface, the head is pivoted about a first axis substantially perpendicular to the central axis and substantially perpendicular to the longitudinal axis of the workpiece, and the head is pivoted about a second axis substantially perpendicular to the central axis and substantially parallel to the longitudinal axis of the workpiece.
摘要翻译： 一种用于相对于曲线工件定位工具的方法和装置，其在沿着基本上垂直于工件的纵向轴线的平面延伸的第一方向上弯曲，并且沿着基本上平行于工件的平面延伸的第二方向弯曲 第一方向上的曲率大于第二方向的曲率。 一个说明性的例子是在飞机机身上自动钻孔，插入和镦锻一个或两个紧固件，例如外部皮肤铆钉。 提供了用于在围绕中心轴线的间隔位置处支撑多个工具的头部，其中每个工具具有基本上平行于中心轴线设置的操作轴线，以及用于相对于工件沿行进路径移动头部的装置， 到达工件上工件对工件进行操作的各种位置。 头部围绕中心轴线旋转以选择性地将每个工具定位在工具操作轴线与工件的工作轴线对准的位置，使得工具能够在工件上操作。 为了实现工件对工件表面的有限归一化，头部围绕基本上垂直于中心轴线并且基本上垂直于工件的纵向轴线的第一轴线枢转，并且头部围绕基本垂直的第二轴线枢转 到中心轴线并且基本上平行于工件的纵向轴线。
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