-
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）。
-
公开(公告)号：US20110040411A1
公开(公告)日：2011-02-17
申请号：US12919593
申请日：2009-02-26
IPC分类号： B25J9/02
CPC分类号： B25J13/085 , B25J5/02 , B25J9/1687 , B66C23/005 , G05B19/402 , G05B2219/39002 , G05B2219/39439 , G05B2219/40586 , G05B2219/45025
摘要： A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator is controlled so as to move the operation handle along the advancing direction by employing only a component of the operation force along the advancing direction; and when the orientation of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle by the operation force applied to the operation handle and the orientation of the operation force.
摘要翻译： 一种具有操作手柄的动力辅助装置的控制方法，检测施加到操作手柄的操作力和操作力方位的力传感器，机器人手臂和致动器。 当操作力的取向相对于操作手柄的预设行进方向被检测在预定角度范围内时，致动器被控制成使得操作手柄沿着前进方向移动，仅使用 沿着前进方向的操作力; 并且当检测到操作力的取向在预定角度范围之外时，控制致动器以通过施加到操作手柄的操作力和操作力的取向来移动操作手柄。
-
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）。
-
4.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。
-
5.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。
-
公开(公告)号：US20060167587A1
公开(公告)日：2006-07-27
申请号：US10502003
申请日：2002-10-18
申请人： Dale Read
发明人： Dale Read
IPC分类号： G06F19/00
CPC分类号： B62D65/02 , B23Q9/00 , B23Q17/24 , B25J9/1697 , G05B19/401 , G05B19/402 , G05B19/4182 , G05B2219/36404 , G05B2219/37288 , G05B2219/39102 , G05B2219/40613 , G05B2219/45025 , G05B2219/45064 , Y02P90/04 , Y02P90/083 , Y02P90/14
摘要： A robot manufacturing facility, for example for use in automobile manufacture, includes at least one robot for acting on a workpiece or intermediate product of a pre-calculated shape and dimensions at a pre-calculated position and orientation relative to a reference frame. The robot includes a body or base structure, at least one end effector movable with respect to the body or base structure for acting on workpieces, means for moving the end effector and sensing means for sensing the position of the each effector. The sensing means preferably includes a laser light source carried by the robot and means for detecting laser light, from said source, reflected from the workpiece. The movement of the end effector is controlled according to a predetermined program, modified in accordance with signals from the sending means, so that the robot is able to compensate for departures from pre-calculated values of the position and orientation and/or shape and/or dimensions of the workpiece.
摘要翻译： 例如用于汽车制造的机器人制造设备包括至少一个机器人，用于相对于参考框架以预先计算的位置和取向作用在预先计算的形状和尺寸的工件上或中间产品上。 机器人包括主体或基部结构，至少一个端部执行器可相对于主体或基部结构移动，用于作用在工件上，用于移动末端执行器的装置和用于感测每个执行器的位置的感测装置。 感测装置优选地包括由机器人携带的激光源和用于从所述源检测来自工件反射的激光的装置。 末端执行器的移动根据根据来自发送装置的信号进行修改的预定程序来控制，使得机器人能够补偿偏离位置和方向的预先计算的值和/或形状和/ 或工件的尺寸。
-
公开(公告)号：US06552506B2
公开(公告)日：2003-04-22
申请号：US10174426
申请日：2002-06-17
申请人： Detlef Kramer , Stefan Otte , Cassian Kock
发明人： Detlef Kramer , Stefan Otte , Cassian Kock
IPC分类号： H02P104
CPC分类号： H02P7/0094 , G05B19/231 , G05B2219/37622 , G05B2219/37632 , G05B2219/41329 , G05B2219/45025 , Y10S388/903 , Y10S388/909
摘要： A method for determining the position of a movable element to be driven by a direct current motor between first and second positions includes counting ripples contained in a motor current signal as the motor rotates to drive the element. The position of the element is determined based on the counted ripples. The motor actuates, until the current signal is void of ripples, to move the element into the first position when the element is to be moved out of the first position towards the second position. The counted ripples is reset to a reset value after the motor has been actuated to move the element into the first position such that the reset value corresponds to the position of the element being in the first position. The motor actuates to move the element towards the second position after the counted ripples has been reset.
-
公开(公告)号：US12084084B2
公开(公告)日：2024-09-10
申请号：US18298004
申请日：2023-04-10
发明人： Kenneth Ferguson , Samuel Harrison Glidden , Maximilian Gerrit Euchenhofer , Jeffrey Brandon , Michael Frank Schmidt
IPC分类号： B60W60/00 , B60J1/02 , B60J1/08 , B60J1/18 , B60J3/04 , G01C21/34 , G02F1/163 , G05B19/4155 , G06Q50/40 , G02F1/1334 , G02F1/137
CPC分类号： B60W60/0013 , B60J1/02 , B60J1/08 , B60J1/18 , B60J3/04 , B60W60/00253 , G01C21/3453 , G02F1/163 , G05B19/4155 , G06Q50/40 , G02F1/1334 , G02F1/137 , G05B2219/45025
摘要： The present disclosure provides a method comprising receiving a rideshare request from a user, the rideshare request including a destination; transporting the passenger to the destination using an autonomous vehicle (AV) having a plurality of windows comprising electrically switchable smart glass; during the transporting, monitoring a metric related to arrival of the AV at the destination; and untinting the windows when the monitored metric has a prescribed relationship to a threshold value.
-
公开(公告)号：US11654935B2
公开(公告)日：2023-05-23
申请号：US17089969
申请日：2020-11-05
发明人： Kenneth Ramon Ferguson , Samuel Harrison Glidden , Maximilian Gerrit Euchenhofer , Jeffrey Brandon , Michael Frank Schmidt
IPC分类号： B60W30/00 , B60W60/00 , B60J1/02 , B60J1/08 , B60J1/18 , B60J3/04 , G01C21/34 , G02F1/163 , G05B19/4155 , G06Q50/30 , G02F1/1334 , G02F1/137
CPC分类号： B60W60/0013 , B60J1/02 , B60J1/08 , B60J1/18 , B60J3/04 , B60W60/00253 , G01C21/3453 , G02F1/163 , G05B19/4155 , G06Q50/30 , G02F1/137 , G02F1/1334 , G05B2219/45025
摘要： The present disclosure provides a method comprising receiving a rideshare request from a user, the rideshare request including a destination; transporting the passenger to the destination using an autonomous vehicle (AV) having a plurality of windows comprising electrically switchable smart glass; during the transporting, monitoring a metric related to arrival of the AV at the destination; and untinting the windows when the monitored metric has a prescribed relationship to a threshold value.
-
公开(公告)号：US08588980B2
公开(公告)日：2013-11-19
申请号：US12919593
申请日：2009-02-26
CPC分类号： B25J13/085 , B25J5/02 , B25J9/1687 , B66C23/005 , G05B19/402 , G05B2219/39002 , G05B2219/39439 , G05B2219/40586 , G05B2219/45025
摘要： A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator is controlled so as to move the operation handle along the advancing direction by employing only a component of the operation force along the advancing direction; and when the orientation of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle by the operation force applied to the operation handle and the orientation of the operation force.
摘要翻译： 一种具有操作手柄的动力辅助装置的控制方法，检测施加到操作手柄的操作力和操作力方位的力传感器，机器人手臂和致动器。 当操作力的取向相对于操作手柄的预设行进方向被检测在预定角度范围内时，致动器被控制成使得操作手柄沿着前进方向移动，仅使用 沿着前进方向的操作力; 并且当检测到操作力的取向在预定角度范围之外时，控制致动器以通过施加到操作手柄的操作力和操作力的取向来移动操作手柄。
-
-
-
-
-
-
-
-
-
搜索结果
12 条记录 (耗时 0.013 秒)
