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公开(公告)号：US08406920B2
公开(公告)日：2013-03-26
申请号：US12933795
申请日：2009-02-25
申请人： Kenichi Asamizu
发明人： Kenichi Asamizu
IPC分类号： G06F19/00
CPC分类号： B62D65/06 , B23P19/105 , B25J9/0084 , B25J9/1697 , G05B19/41805 , G05B2219/36404 , G05B2219/39114 , G05B2219/39393 , G05B2219/39559 , G05B2219/45025 , Y02P90/04 , Y02P90/083
摘要： This object aims to provide a work mounting system which has an improved usability and can be miniaturized. A work mounting system (1) is used to mount a sunroof member (3) on the inner panel (2A) of a body (2). The work mounting system (1) comprises a conveying robot (4) for holding and conveying the sunroof member (3), a mounting robot (5) with a nut runner for tightening bolts and a CCD camera, and a controller (6) for controlling the conveying robot (4) and the mounting robot (5). The controller (6) controls the conveying robot (4) so as to hold the sunroof member (3) and convey the member to the inner panel (2A) of the body (2), and controls the mounting robot (5) so as to photograph the bolt holes of the sunroof member (3) and the inner panel (2A) by the CCD camera, calculates the positions of the bolt holes and the inner panel (2A), corrects operation of the mounting robot (5) according to the calculated positions, and secures the sunroof member (3) to the inner panel (2A) at two positions by nut runners.
摘要翻译： 本发明的目的是提供一种具有改进的可用性并可以小型化的工件安装系统。 工件安装系统（1）用于将天窗构件（3）安装在主体（2）的内板（2A）上。 工件安装系统（1）包括用于保持和输送天窗构件（3）的输送机器人（4），具有用于紧固螺栓的螺母扳手和CCD照相机的安装机器人（5），以及用于 控制输送机器人（4）和安装机器人（5）。 控制器（6）控制输送机器人（4）以保持天窗构件（3）并将构件传送到主体（2）的内板（2A），并且将安装机器人（5）控制为 通过CCD照相机拍摄天窗部件（3）和内板（2A）的螺栓孔，计算螺栓孔和内板（2A）的位置，根据安装机器人（5）的操作来修正 计算的位置，并且通过螺母扳手在两个位置将天窗构件（3）固定到内板（2A）。
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公开(公告)号：US20170173789A1
公开(公告)日：2017-06-22
申请号：US15378298
申请日：2016-12-14
申请人： Comau LLC
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J13/085 , B25J15/0028 , B25J15/0033 , B25J15/0047 , B25J15/0061 , B25J15/0475 , B25J15/103 , B25J19/023 , G05B2219/39466 , G05B2219/39486 , G05B2219/39487 , G05B2219/39496 , G05B2219/39559
摘要： An adaptable end effector useful to accommodate a wide variety of components, component geometries and variations in component geometries. In one example, the end effector includes a movable arm and at least three fingers each having a gripping tool for engagement of the component with variable and/or programmable holding force preventing relative movement.
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公开(公告)号：US20110022217A1
公开(公告)日：2011-01-27
申请号：US12933795
申请日：2009-02-25
申请人： Kenichi Asamizu
发明人： Kenichi Asamizu
CPC分类号： B62D65/06 , B23P19/105 , B25J9/0084 , B25J9/1697 , G05B19/41805 , G05B2219/36404 , G05B2219/39114 , G05B2219/39393 , G05B2219/39559 , G05B2219/45025 , Y02P90/04 , Y02P90/083
摘要： This object aims to provide a work mounting system which has an improved usability and can be miniaturized. A work mounting system (1) is used to mount a sunroof member (3) on the inner panel (2A) of a body (2). The work mounting system (1) comprises a conveying robot (4) for holding and conveying the sunroof member (3), a mounting robot (5) with a nut runner for tightening bolts and a CCD camera, and a controller (6) for controlling the conveying robot (4) and the mounting robot (5). The controller (6) controls the conveying robot (4) so as to hold the sunroof member (3) and convey the member to the inner panel (2A) of the body (2), and controls the mounting robot (5) so as to photograph the bolt holes of the sunroof member (3) and the inner panel (2A) by the CCD camera, calculates the positions of the bolt holes and the inner panel (2A), corrects operation of the mounting robot (5) according to the calculated positions, and secures the sunroof member (3) to the inner panel (2A) at two positions by nut runners.
摘要翻译： 本发明的目的是提供一种具有改进的可用性并可以小型化的工件安装系统。 工件安装系统（1）用于将天窗构件（3）安装在主体（2）的内板（2A）上。 工件安装系统（1）包括用于保持和输送天窗构件（3）的输送机器人（4），具有用于紧固螺栓的螺母扳手和CCD照相机的安装机器人（5），以及用于 控制输送机器人（4）和安装机器人（5）。 控制器（6）控制输送机器人（4）以保持天窗构件（3）并将构件传送到主体（2）的内板（2A），并且将安装机器人（5）控制为 通过CCD照相机拍摄天窗部件（3）和内板（2A）的螺栓孔，计算螺栓孔和内板（2A）的位置，根据安装机器人（5）的操作来修正 计算的位置，并且通过螺母扳手在两个位置将天窗构件（3）固定到内板（2A）。
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4.发明申请WORKPIECE MOUNTING SYSTEM, WORKPIECE MOUNTING METHOD, SUNROOF UNIT HOLDING DEVICE, AND SUNROOF UNIT HOLDING METHOD 审中-公开工作安装系统，工作安装方法，SUNROOE单元保持装置和SUNROOE单元保持方法公开(公告)号：US20110160905A1
公开(公告)日：2011-06-30
申请号：US13061636
申请日：2009-08-25
CPC分类号： B25J15/0028 , B25J15/0019 , B25J15/0061 , B25J19/0075 , B62D65/024 , B62D65/06 , G05B2219/39559 , G05B2219/45025 , Y10S901/31
摘要： A workpiece mounting system which is highly versatile and can reduce a cycle time. A workpiece mounting system (1) mounts a sunroof member (3) to an inner panel (2A) of a body (2). The workpiece mounting system (1) is provided with a first robot (5), a second robot (6), and a control device (7) for controlling the first and second robots. The control device (7) performs a step of calculating as positional information the position of the sunroof member (3) and the position of the inner panel (2A) by means of a CCD camera of the first robot (5), a step of holding and conveying the sunroof member (3) by means of the first robot (5) on the basis of the positional information and positioning the sunroof member (3) relative to the inner panel (2A), a step of temporarily fixing the sunroof member (3) to the inner panel (2A) by means of the first robot (5), and a step of finally fixing the sunroof member (3) to the inner panel (2A) by means of the second robot (6) on the basis of the already calculated positional information.
摘要翻译： 工件安装系统，通用性高，可以缩短循环时间。 工件安装系统（1）将天窗构件（3）安装到主体（2）的内板（2A）上。 工件安装系统（1）设置有第一机器人（5），第二机器人（6）和用于控制第一和第二机器人的控制装置（7）。 控制装置（7）执行通过第一机器人（5）的CCD照相机计算天窗部件（3）的位置和内板（2A）的位置的位置信息的步骤，步骤 基于所述位置信息，通过所述第一机器人（5）保持和传送所述天窗构件（3）并且相对于所述内板（2A）定位所述天窗构件（3）;将所述天窗构件 （3）通过第一机器人（5）连接到内板（2A），并且通过第二机器人（6）将天窗部件（3）最终固定到内板（2A）上的步骤 已经计算出的位置信息的基础。
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5.发明授权Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method 有权工件安装系统，工件安装方法，天窗单元保持装置和天窗单元保持方法公开(公告)号：US09592611B2
公开(公告)日：2017-03-14
申请号：US14504552
申请日：2014-10-02
CPC分类号： B25J15/0028 , B25J15/0019 , B25J15/0061 , B25J19/0075 , B62D65/024 , B62D65/06 , G05B2219/39559 , G05B2219/45025 , Y10S901/31
摘要： A workpiece mounting system mounts a sunroof member to an inner panel of a body. The workpiece mounting system is provided with a first robot, a second robot, and a control device for controlling the first and second robots. The control device performs a step of calculating as positional information the position of the sunroof member and the position of the inner panel by a CCD camera of the first robot, a step of holding and conveying the sunroof member by the first robot on the basis of the positional information and positioning the sunroof member relative to the inner panel, a step of temporarily fixing the sunroof member to the inner panel by the first robot, and a step of finally fixing the sunroof member to the inner panel by the second robot on the basis of the already calculated positional information.
摘要翻译： 工件安装系统将天窗构件安装到主体的内板上。 工件安装系统设置有第一机器人，第二机器人和用于控制第一和第二机器人的控制装置。 控制装置执行通过第一机器人的CCD照相机计算天窗部件的位置和内板的位置的位置信息的步骤，基于第一机器人保持和传送天窗部件的步骤 所述位置信息和所述天窗构件相对于所述内板定位，通过所述第一机器人将所述天窗构件临时固定到所述内板的步骤，以及通过所述第二机器人将所述天窗构件最终固定到所述内板的步骤 已经计算出的位置信息的基础。
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6.发明申请WORKPIECE MOUNTING SYSTEM, WORKPIECE MOUNTING METHOD, SUNROOF UNIT HOLDING DEVICE, AND SUNROOF UNIT HOLDING METHOD 有权工作安装系统，工作安装方法，SUNROOE单元保持装置和SUNROOE单元保持方法公开(公告)号：US20150028611A1
公开(公告)日：2015-01-29
申请号：US14504552
申请日：2014-10-02
CPC分类号： B25J15/0028 , B25J15/0019 , B25J15/0061 , B25J19/0075 , B62D65/024 , B62D65/06 , G05B2219/39559 , G05B2219/45025 , Y10S901/31
摘要： A workpiece mounting system which is highly versatile and can reduce a cycle time. A workpiece mounting system (1) mounts a sunroof member (3) to an inner panel (2A) of a body (2). The workpiece mounting system (1) is provided with a first robot (5), a second robot (6), and a control device (7) for controlling the first and second robots. The control device (7) performs a step of calculating as positional information the position of the sunroof member (3) and the position of the inner panel (2A) by means of a CCD camera of the first robot (5), a step of holding and conveying the sunroof member (3) by means of the first robot (5) on the basis of the positional information and positioning the sunroof member (3) relative to the inner panel (2A), a step of temporarily fixing the sunroof member (3) to the inner panel (2A) by means of the first robot (5), and a step of finally fixing the sunroof member (3) to the inner panel (2A) by means of the second robot (6) on the basis of the already calculated positional information.
摘要翻译： 工件安装系统，通用性高，可以缩短循环时间。 工件安装系统（1）将天窗构件（3）安装到主体（2）的内板（2A）上。 工件安装系统（1）设置有第一机器人（5），第二机器人（6）和用于控制第一和第二机器人的控制装置（7）。 控制装置（7）执行通过第一机器人（5）的CCD照相机计算天窗部件（3）的位置和内板（2A）的位置的位置信息的步骤，步骤 基于所述位置信息，通过所述第一机器人（5）保持和传送所述天窗构件（3）并且相对于所述内板（2A）定位所述天窗构件（3）;将所述天窗构件 （3）通过第一机器人（5）连接到内板（2A），并且通过第二机器人（6）将天窗部件（3）最终固定到内板（2A）上的步骤 已经计算出的位置信息的基础。
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