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公开(公告)号：US5345675A
公开(公告)日：1994-09-13
申请号：US16260
申请日：1993-02-11
IPC分类号： B25J9/16 , B62D65/12 , G05B19/418 , G05B19/417 , B62D65/00
CPC分类号： G05B19/4182 , B25J9/1697 , B62D65/12 , G05B2219/37553 , G05B2219/45021 , G05B2219/49113 , Y02P90/04 , Y02P90/083 , Y10T29/49492 , Y10T29/49902
摘要： A pair of second cameras mounted on a robot are located in front of, and symmetrically with respect to the center of a wheel hub of a vehicle, according to approximate coordinates of the center of the wheel hub calculated from an image of the wheel hub taken by a first camera. Revised coordinates of the center of the wheel hub, a rotational displacement from a standard rotational position of the wheel hub, and a turning angle of the wheel hub toward the right or left with respect to a progressive direction of the vehicle are calculated from the images obtained by the second cameras. A wheel is then automatically mounted to the wheel hub by the robot, according to the results of calculation.
摘要翻译： 安装在机器人上的一对第二相机位于相对于车辆的轮毂的中心的前方并对称地根据轮毂的中心的近似坐标，该轮毂的中心由所采用的轮毂的图像计算 由第一台相机。 从图像中计算轮毂中心的修正坐标，轮毂的标准旋转位置的旋转位移以及轮毂相对于车辆的行进方向向左或向左转动的角度 由第二台相机获得。 根据计算结果，轮子由机器人自动安装到轮毂上。
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公开(公告)号：US4794690A
公开(公告)日：1989-01-03
申请号：US100860
申请日：1987-09-25
CPC分类号： B23P19/04 , B23P19/002 , Y10T29/53022 , Y10T29/53039
摘要： A phase adjusting apparatus for use in an assembling machine for assembling first and second workpieces including a movable frame which is arranged to move into and out of the space formed between the two workpieces. Prior to coupling the two workpieces, the movable frame is moved to enter the space and a first movable table and a second movable table on the movable frame are used to adjust the phase of a rotary body on the first workpiece and the phase of a rotary shaft on the second workpiece to another. After removing the movable frame from the space, the two workpieces are then brought together so that the rotary body and the rotary shaft are coupled to each other.
摘要翻译： 一种用于组装第一和第二工件的组装机的相位调节装置，包括可移动框架，所述可移动框架被布置成移入和移出形成在两个工件之间的空间。 在联接两个工件之前，移动框架进入该空间，并且使用可移动框架上的第一可移动工作台和第二可移动工作台来调节第一工件上的旋转体的相位和旋转体的相位 轴上的第二个工件到另一个。 在从空间移除可移动框架之后，将两个工件接合在一起，使得旋转体和旋转轴彼此连接。
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公开(公告)号：US4581812A
公开(公告)日：1986-04-15
申请号：US744178
申请日：1985-06-13
CPC分类号： B23P19/069 , Y10T408/385 , Y10T483/1738 , Y10T483/1752 , Y10T483/1795 , Y10T483/1836
摘要： A replaceable head type multi-spindle fastening apparatus wherein each fastening head is provided with plural driven shafts each connected to a respective fastening member at a lower end thereof and to a connecting member at the upper end thereof. Plural nut runners are provided on a connecting head which is movable up and down to connect the runners with the connecting members. Predetermined ones selected from plural driving shafts connected to the nut runners may be engaged to or disengaged from the respective corresponding driven shafts through the respective connecting members.
摘要翻译： 一种可替换的头型多轴紧固装置，其中每个紧固头设置有多个从动轴，每个从动轴在其下端连接到相应的紧固构件，并在其上端连接到连接构件。 多个螺母扳手设置在可上下移动的连接头上，以将跑步机与连接构件连接起来。 从与螺母滑动件连接的多个驱动轴中选择的预定尺寸可以通过相应的连接构件与相应的对应的从动轴接合或分离。
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公开(公告)号：US4542576A
公开(公告)日：1985-09-24
申请号：US517260
申请日：1983-07-26
申请人： Junichi Yamanaga , Shiro Naito
发明人： Junichi Yamanaga , Shiro Naito
CPC分类号： B23Q3/157 , B23P19/069 , B23Q2003/1558 , Y10T408/37 , Y10T483/1738 , Y10T483/1752 , Y10T483/1795 , Y10T483/1836
摘要： A fastening apparatus which includes a supporting column with a working station installed on one side at the lower end thereof. Upper and lower annular rails are supported on and coaxially surround the upper portion of the column with a portion of the annular rails being vertically movable. Plural multi-spindle fastening heads are supported on the rails and movable circularly there around. An indexing device is mounted on the upper portion of the column for selectively engaging in moving a desired one of the heads to a position above the working station where the vertically movable portion of the annular rails is provided. A connecting head supported by the upper portion of the column is engageable with the fastening head that is positioned over the working station for supplying power thereto from a separate power source. The movable portion of the annular rails raises and lowers the selected fastening head to perform the fastening operations on the work piece at the working station.
摘要翻译： 一种紧固装置，包括：支撑柱，其具有安装在其下端的一侧的工作站。 上下环形导轨支撑在同轴的柱的上部，其中一部分环形导轨可垂直移动。 多个主轴紧固头支撑在导轨上，周围可循环移动。 分度装置安装在柱的上部，用于选择性地接合将期望的一个头移动到设置有环形导轨的可垂直移动部分的加工站上方的位置。 由柱的上部支撑的连接头可与位于工作站上方的紧固头接合，用于从单独的电源向其供电。 环形导轨的可移动部分使所选择的紧固头升高并降低，以对工作台上的工件执行紧固操作。
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公开(公告)号：US4506441A
公开(公告)日：1985-03-26
申请号：US535954
申请日：1983-09-26
申请人： Junichi Yamanaga , Shiro Naito
发明人： Junichi Yamanaga , Shiro Naito
CPC分类号： B23P21/004 , B23P19/04 , B23Q7/04 , B23Q7/1426 , Y10T29/5196 , Y10T29/53383
摘要： Workpiece attaching and detaching apparatus comprising a supporting column having on one side of the periphery thereof a first station for a pallet to be charged or discharged, and on another side thereof a second station for a workpiece to be charged or discharged. Annular rails are attached to the column surrounding the same. Plural heads are supported on the rails. An indexing device is provided for selecting a desired one of the heads and moving the selected head between its first working position opposite the first station and its second working position located opposite the second station. Each of the heads is provided with both a holding mechanism for the workpiece and a device for operating fasteners on the pallet.
摘要翻译： 工件安装和拆卸装置，包括支撑柱，在其周边的一侧具有用于待充电或排出的托盘的第一站，并且在另一侧具有用于待充电或排出的工件的第二站。 环形导轨连接到围绕其的列。 轨道上支持多个头。 提供了一种分度装置，用于选择期望的一个头部，并使所选择的头部在其与第一工位相对的第一工作位置与位于与第二工位相对的第二工作位置之间移动。 每个头部都设置有用于工件的保持机构和用于在托盘上操作紧固件的装置。
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