公开(公告)号：US20240308089A1

公开(公告)日：2024-09-19

申请号：US18183059

申请日：2023-03-13

申请人： The Boeing Company

发明人： Jason Cochrane

IPC分类号： B25J15/00

CPC分类号： B25J15/009

摘要： Nut plate grippers and related methods are disclosed herein. The nut plate grippers are configured to grip a nut plate along an engagement axis. The nut plate includes a base plate and a nut that is operatively attached to the base plate and defines a threaded central opening. The nut plate grippers include an attachment region, which is configured to facilitate attachment of the nut plate gripper to an end effector, an elongate resilient retention structure, which extends from the attachment region along the engagement axis and is sized for an interference fit within the threaded central opening, and a pair of orienting structures positioned on opposed sides of the elongate resilient retention structure and configured to operatively engage the base plate when the nut plate gripper grips the nut plate to precisely orient the base plate relative to the nut plate gripper along an orienting axis.

公开(公告)号：US20170050322A1

公开(公告)日：2017-02-23

申请号：US14830300

申请日：2015-08-19

申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

发明人： Jianying Shi ,  Scott A. McLeod

IPC分类号： B25J15/00 ,  B23Q1/26

CPC分类号： B25J15/009 ,  B25J9/0084

摘要： A fixture includes a stand having a first and second end; a first arm attached to the stand at the first end and stationary with respect to the second end; and a first effector attached to the first arm. The first effector has a first plurality of pins and a first cap defining a first plurality of channels. Each of the first pins is retractable into and translatable out of a respective one of the first channels. The tool includes a second arm attached to the stand between the first and second ends, wherein the second arm is translatable along the stand; and a second effector attached to the second arm. The second effector has a second plurality of pins and a second cap defining a second plurality of channels. Each of the second pins is retractable into and translatable out of a respective one of the second channels.

摘要翻译： 固定装置包括具有第一和第二端的支架; 第一臂在第一端附接到支架并相对于第二端固定; 和附接到第一臂的第一效应器。 第一执行器具有第一多个销和限定第一多个通道的第一盖。 第一引脚中的每一个可缩回到第一通道中的相应一个中并且可从其平移。 该工具包括在第一和第二端之间附接到支架的第二臂，其中第二臂可沿支架平移; 以及附接到第二臂的第二效应器。 第二效应器具有第二多个销和限定第二多个通道的第二盖。 每个第二引脚可缩回到第二通道中的相应的一个中并可从其平移。

公开(公告)号：US09517895B2

公开(公告)日：2016-12-13

申请号：US14067126

申请日：2013-10-30

申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

发明人： Christopher E. Bacalia ,  John M. Lux ,  Andrew J. Buckland ,  Theodore R. Burton ,  Douglas M. Linn

IPC分类号： H01L21/68 ,  B65G47/248 ,  B25J9/00 ,  B25J9/16 ,  B25J15/00

CPC分类号： B65G47/248 ,  B25J9/00 ,  B25J9/0084 ,  B25J9/1682 ,  B25J15/009 ,  G05B2219/39109 ,  G05B2219/39124 ,  Y10S901/31

摘要： A system for turning over a vehicle frame defining openings and having a longitudinal center axis includes first and second robots each having an end effector. Each end effector has a pair of oppositely-positioned locator pins, at least one of which is selectively moveable toward the other. A controller is used to control the positioning of the frame via the robots and end effector by executing method instructions to cause the robots to align the locator pins of the end effectors with the openings of the frame, and to insert the aligned locator pins into the openings toward the center axis from outside of the vehicle frame. The robots lift the frame from a first conveyor, with weight of the vehicle frame born by the locator pins during the lift. The robots also rotate the frame about the center axis and lower the vehicle frame onto a second conveyor.

摘要翻译： 用于翻转限定开口并具有纵向中心轴线的车架的系统包括具有端部执行器的第一和第二机器人。 每个末端执行器具有一对相对定位的定位销，其中至少一个可选择性地朝向另一个定位。 控制器用于通过执行方法指令通过机器人和末端执行器来控制框架的定位，以使机器人将末端执行器的定位销与框架的开口对准，并将对准的定位销插入到 从车架外部朝向中心轴线的开口。 机器人从第一传送带提起框架，在升降机期间车辆框架的重量由定位销引起。 机器人还围绕中心轴旋转框架，并将车架下降到第二传送带上。

公开(公告)号：US20160288281A1

公开(公告)日：2016-10-06

申请号：US15087060

申请日：2016-03-31

申请人： CANON KABUSHIKI KAISHA

发明人： Wataru Kogushi

IPC分类号： B23P21/00 ,  B25J9/16

CPC分类号： B23P21/004 ,  B25J9/0096 ,  B25J9/023 ,  B25J9/1687 ,  B25J15/0066 ,  B25J15/009 ,  Y10T29/49829

摘要： An automated assembly apparatus, characterized by comprising an assembly robot having a plurality of hands, the plurality of hands being movable in an X-axis direction and a Y-axis direction by an X-axis moving unit and a Y-axis moving unit, and a plurality of workbenches which are provided with Z-axis moving unit and which are movable in a Z-axis direction by the Z-axis moving unit. A work area is independently provided for the plurality of workbenches, a width of a predetermined work area among the work areas is larger than clearance widths of the plurality of hands, widths of the work areas other than the predetermined work area are smaller than the clearance widths of at least some of the plurality of hands, and the hand which performs a job on the predetermined work area is disposed at a lowermost level in the Z-axis direction.

摘要翻译： 一种自动组装装置，其特征在于包括具有多个手的组装机器人，所述多个手可以通过X轴移动单元和Y轴移动单元在X轴方向和Y轴方向上移动， 以及设置有Z轴移动单元并且能够通过Z轴移动单元在Z轴方向上移动的多个工作台。 为多个工作台独立地设置工作区域，工作区域中的预定工作区域的宽度大于多个手的间隙宽度，除了预定工作区域之外的工作区域的宽度小于间隙 多个手中的至少一些手的宽度和在预定工作区域上执行作业的手设置在Z轴方向上的最低级。

公开(公告)号：US09079312B2

公开(公告)日：2015-07-14

申请号：US13875532

申请日：2013-05-02

申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

发明人： Christopher B. Preston ,  Christine A. Blake ,  Sunil Nandwani ,  John S. Agapiou

IPC分类号： B25J15/00

CPC分类号： B25J15/0009 ,  B25J15/009

摘要： A part transfer system includes a robotic arm, and an end effector attached to the robotic arm. The end effector includes a locating pin that is operable to engage an existing part feature of a part. The presence of the existing part feature is required for the intended use of the part, and therefore serves a function of the part other than a transfer function. The existing part feature defines a circular aperture disposed on a feature plane. The locating pin includes an engagement portion that extends along a longitudinal axis of the at least one locating pin. The engagement portion includes a diameter that is tapered along the longitudinal axis such that the engagement portion of the locating pin engages a radial inner edge of the circular aperture on the feature plane along an approximately annular contact ring disposed about a circumference of the tapered portion.

摘要翻译： 部件传送系统包括机器人臂和附接到机器人臂的末端执行器。 端部执行器包括可操作以接合部件的现有部件特征的定位销。 现有部件特征的存在对于部件的预期使用是必需的，因此用于传递函数以外的部分的功能。 现有的部件特征限定了设置在特征平面上的圆形孔。 定位销包括沿着至少一个定位销的纵向轴线延伸的接合部分。 接合部分包括沿着纵向轴线渐缩的直径，使得定位销的接合部分沿着围绕锥形部分的圆周设置的大致环形的接触环与特征平面上的圆形孔的径向内边缘接合。

公开(公告)号：US20150001186A1

公开(公告)日：2015-01-01

申请号：US14144469

申请日：2013-12-30

申请人： Hyundai Motor Company

发明人： Sung Phil Ryu

IPC分类号： B62D65/02 ,  B23K11/25 ,  B23K11/00 ,  B23K11/14 ,  B25J15/06 ,  B25J11/00

CPC分类号： B23K11/14 ,  B23K11/252 ,  B23K11/253 ,  B23K37/04 ,  B23K2101/006 ,  B25J15/0066 ,  B25J15/009 ,  B25J15/0616 ,  B25J19/023 ,  B62D65/02 ,  Y10S901/09 ,  Y10S901/40 ,  Y10S901/47

摘要： An all-in-one jigless projection loading system for a vehicle is adapted to load and assemble a body component to a vehicle body. The all-in-one jigless projection loading system may include: a fixing bracket fixed to an arm of a robot; a position adjusting member rotatably mounted to the fixing bracket; a gripper mounted to the fixing bracket to be movable backward and forward, and gripping the body component; an array unit mounted to the position adjusting member, and arraying the body component; and a welding unit mounted to the fixing bracket, and projection-welding the body component to a vehicle body.

摘要翻译： 用于车辆的一体式无位置投影加载系统适于将身体部件加载和组装到车身。 一体式无人投影装载系统可包括：固定在机器人臂上的固定支架; 位置调节构件，其可旋转地安装到所述固定支架; 夹持器，其安装到所述固定支架上以可向后和向前移动，并夹持所述主体部件; 阵列单元，安装到所述位置调整构件，并排列所述主体部件; 以及焊接单元，安装到固定支架上，并且将主体部件投影焊接到车体。

公开(公告)号：US20240269852A1

公开(公告)日：2024-08-15

申请号：US18326114

申请日：2023-05-31

申请人： TE Connectivity Solutions GmbH ,  Tyco Electronics (Shanghai) Co., Ltd.

发明人： Sonny O. Osunkwo ,  Pablo Plascencia ,  Xianghao Bao ,  Kellen Haile ,  Roberto Francisco-Yi Lu ,  Swapnilsinh Solanki ,  Du Wen ,  Lei Zhou ,  Dongfang Zong

IPC分类号： B25J9/16 ,  B25J15/00

CPC分类号： B25J9/1687 ,  B25J9/1669 ,  B25J9/1697 ,  B25J15/009 ,  B25J15/0095

摘要： A part manipulator includes a robot arm movable between a pick station and a place station. The part manipulator includes an end effector coupled to a distal end of the robot arm. The end effector includes a part support fixture and a pin gripper adjacent the part support fixture. The pin gripper includes a pin member and a pin actuator operated to move the pin member between a retracted position and an extended position. A distal end of the pin member extends from the part support fixture in the extended position to engage and hold a part against the part support fixture in the extended position. The pin member is configured to pick up the part in the extended position at the pick station. The pin actuator is configured to release the part at the place station when the pin member is moved to the retracted position.

公开(公告)号：US20240217114A1

公开(公告)日：2024-07-04

申请号：US18343774

申请日：2023-06-29

申请人： SEMES CO., LTD.

发明人： Hee Jun YOUN ,  Jun Young CHOI

IPC分类号： B25J11/00 ,  B25J15/00

CPC分类号： B25J11/0095 ,  B25J11/0085 ,  B25J15/0028 ,  B25J15/009

摘要： The inventive concept provides a substrate transfer robot. The substrate transfer robot includes a fastening body; a support body protruding to a front from the fastening body, and supporting a bottom surface of the substrate if the substrate is positioned in a first posture; a gripper member coupled to the fastening body and relatively movable with respect to the support body; and a gripper driver moving the gripper member between a first position and a second position, and wherein the gripper member includes: a first gripper positioned at a side of the support body; and a second gripper positioned at another side of the support body, and wherein an alignment pin for aligning a position of the substrate is installed at the support body, and if a position at which the substrate is aligned with the support body is referred to as a reference position, the first position is a position at which the first gripper and the second gripper contact a substrate positioned at the reference position to grip the substrate, and the second position is a position at which the first gripper and the second gripper are spaced apart from the substrate positioned at the reference position, and the first posture is a posture that a top surface of the substrate is horizontal to the ground.

公开(公告)号：US11766754B2

公开(公告)日：2023-09-26

申请号：US16483471

申请日：2018-03-27

申请人： AISIN CORPORATION

发明人： Yuichiro Yoshimura ,  Atsushi Kohama ,  Atsushi Yoshida ,  Makoto Iida ,  Syuntaro Nagai

IPC分类号： B23Q7/04 ,  B23Q3/18 ,  B25J13/08 ,  B25J15/00 ,  B65G25/04

CPC分类号： B23Q7/046 ,  B23Q3/18 ,  B25J13/08 ,  B25J15/009 ,  B65G25/04

摘要： A conveyance apparatus includes two clamp mechanisms. Each of the clamp mechanisms is configured to freely change its state among a fully clamping state, a semi-clamping state, and a non-clamping state. When an object is delivered from a first clamp mechanism that is holding the object to a second clamp mechanism, the second clamp mechanism is brought into the semi-clamping state to temporarily hold the object. Then, the first clamp mechanism is brought into the non-clamping state and the second clamp mechanism is brought into the fully clamping state.

公开(公告)号：US20180222056A1

公开(公告)日：2018-08-09

申请号：US15889804

申请日：2018-02-06

申请人： CANON KABUSHIKI KAISHA

发明人： Hideaki Suzuki ,  Keita Dan ,  Naoki Tsukabe

IPC分类号： B25J9/16 ,  B25J9/00 ,  B25J15/08

CPC分类号： B25J9/1692 ,  B25J9/0081 ,  B25J9/0096 ,  B25J9/1656 ,  B25J9/1664 ,  B25J9/1687 ,  B25J9/1697 ,  B25J15/0014 ,  B25J15/009 ,  B25J15/0253 ,  B25J15/08 ,  B25J15/103 ,  G05B2219/36401 ,  G05B2219/36431 ,  G05B2219/39057 ,  Y10S901/04 ,  Y10S901/31 ,  Y10S901/47

摘要： A robot system includes a robot, a vision sensor, and a controller. The vision sensor is configured to be detachably attached to the robot. The controller is configured to measure a reference object by using the vision sensor and calibrate a relative relationship between a sensor portion of the vision sensor and an engagement portion of the vision sensor, and teach the robot by referring to the relative relationship and by using the vision sensor, after the vision sensor is attached to the robot.