公开(公告)号：US06836944B2

公开(公告)日：2005-01-04

申请号：US10614133

申请日：2003-07-08

Applicant: Marius Batrin

Inventor： Marius Batrin

IPC: B23P19/00 ,  B23Q7/04 ,  B23Q16/02 ,  G01M19/00 ,  B23P11/00 ,  B23Q3/00 ,  B23Q21/00

CPC classification number: B23P19/10 ,  B23P2700/50 ,  B23Q7/048 ,  B23Q16/025 ,  Y10T29/49 ,  Y10T29/49776 ,  Y10T29/4978 ,  Y10T29/49826 ,  Y10T29/49885 ,  Y10T29/49899 ,  Y10T29/5303

Abstract: A method of assembling a part to a workpiece with a combination tool supported on a robot, where a mounting surface of the part is assembled on a target surface of the workpiece including the following steps. (a) Indexing to the assembly position. (b) Picking a part with the part gripper on the part delivery arm from a part supply station. (c) Indexing part delivery and workpiece preparation arms to the preparation position. (d) Simultaneously: engaging the part mounting surface with the part surface preparation module; and engaging the workpiece target surface preparation module with the target surface. (e) Indexing to the assembly position. (f) Using the previously set tool operating axis and calculated tool offsets, engaging the prepared part mounting surface with the prepared workpiece target surface. (g) Releasing the part gripper and withdrawing the tool from the part/workpiece assembly.

Abstract translation: 一种将零件组装到工件上的方法，所述组合工具支撑在机器人上，其中所述部件的安装表面组装在所述工件的目标表面上，包括以下步骤。 （a）索引到装配位置。 （b）从零件供应站采集零件传送臂上的零件夹持器的零件。 （c）将零件输送和工件准备臂分度到准备位置。 （d）同时：将部件安装面与部件表面准备模块接合; 并使工件对准表面处理模块与目标表面接合。 （e）索引到装配位置。 （f）使用先前设定的刀具运行轴和计算刀具补偿，将​​准备好的零件安装表面与准备的工件目标表面接合。 （g）松开零件夹持器并从零件/工件组件中取出工具。

公开(公告)号：US06606774B2

公开(公告)日：2003-08-19

申请号：US09983557

申请日：2001-10-25

Applicant: Marius Batrin ,  Ugo Orlandi ,  Lorenzo Pisan

Inventor： Marius Batrin ,  Ugo Orlandi ,  Lorenzo Pisan

IPC: G01M1900

CPC classification number: B23P19/10 ,  B23P2700/50 ,  B23Q7/048 ,  B23Q16/025 ,  Y10T29/49 ,  Y10T29/49776 ,  Y10T29/4978 ,  Y10T29/49826 ,  Y10T29/49885 ,  Y10T29/49899 ,  Y10T29/5303

Abstract: A method of assembling a part to a workpiece with a combination tool supported on a robot, where a mounting surface of the part is assembled on a target surface of the workpiece including the following steps. (a) Indexing to the assembly position. (b) Picking a part with the part gripper on the part delivery arm from a part supply station. (c) Indexing part delivery and workpiece preparation arms to the preparation position. (d) Operating the workpiece target surface scanning module and communicating workpiece target surface position data to the robot. (e) Moving the robot to set the tool operating axis and calculate tool offsets relative to the position and orientation of the scanned target surface. (f) Simultaneously: engaging the part mounting surface with the part surface preparation module; and engaging the workpiece target surface preparation module with the target surface. (g) Indexing to the assembly position. (h) Using the previously set tool operating axis and calculated tool offsets, engaging the prepared part mounting surface with the prepared workpiece target surface. (i) Releasing the part gripper and withdrawing the tool from the part/workpiece assembly.

公开(公告)号：US06627016B2

公开(公告)日：2003-09-30

申请号：US09983558

申请日：2001-10-25

Applicant: Joe Abare ,  Marius Batrin ,  Mark Greaves ,  John Iacobucci ,  Stephen Kelly ,  Ugo Orlandi ,  Lorenzo Pisan

Inventor： Joe Abare ,  Marius Batrin ,  Mark Greaves ,  John Iacobucci ,  Stephen Kelly ,  Ugo Orlandi ,  Lorenzo Pisan

IPC: B32B3110

CPC classification number: B29C65/78 ,  B29C65/0672 ,  B29C65/20 ,  B29C66/53245 ,  B29C66/8322 ,  B29C66/863 ,  B29L2031/7172 ,  Y10T29/49829 ,  B29C65/00

Abstract: A method of robotic assembly, for manufacturing plastic components from parts mounted upon a plastic shell, using an integrated system of material handling and robots following a programmed series of operations. The robot cells carry out the following steps: (a) scanning the pallet and identifying that the pallet is locked in the docked position of the cell; (b) scanning an assembly area of the shell and communicating location and planarity data to the robot of the cell; (c) selecting a plastic part from a part supply device with the robot; (d) welding the part to the assembly surface of the plastic shell using the robot to perform a spin or fusion welding process. (e) determining the performance status of the foregoing cell steps and identifying the status as: good; scrap or rework. Good status results in conveyance of the loaded pallet for processing at any succeeding cell, but rework and scrap status result in conveyance of the loaded pallet to the unload station without processing at any succeeding cell.

Abstract translation: 一种机器人装配的方法，用于使用集成的材料处理系统和机器人按照编程的一系列操作来制造安装在塑料外壳上的部件的塑料部件。 机器人单元执行以下步骤：（a）扫描托盘并识别托盘被锁定在单元的停靠位置; （b）扫描壳体的组装区域，并将单元的机器人的位置和平面度数据传送到机器人; （c）从机器人的零件供给装置中选择塑料件; （d）使用机器人将部件焊接到塑料外壳的组装表面，以执行旋转或熔焊工艺。 （e）确定前述小区步骤的性能状态并将状态识别为：良好; 废料或返工。 良好的状态导致装载的托盘的运输在任何后续单元处理，但是返工和废料状态导致将装载的托盘运送到卸载站而不在任何后续单元处理。