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公开(公告)号:US20230226654A1
公开(公告)日:2023-07-20
申请号:US18155946
申请日:2023-01-18
Applicant: Airbus Operations GmbH
Inventor: Dirk STERMANN
CPC classification number: B23P19/04 , B23P21/00 , B64F5/10 , B23P2700/01
Abstract: A method of assembling a structure in aircraft or spacecraft production wherein two components to be joined together at a joint are provided, each component comprising a joining region. Sealant is applied to one of the component joining regions. An arrangement is formed by positioning the components relative to each other, whereby an uncured layer of the sealant is formed between associated joining regions. The associated joining regions are clamped against each other using a clamping device, and a clamped state is maintained until the layer of sealant has cured to a pre-defined degree, the clamping device being installable on and transportable along with the arrangement. After the layer of sealant has cured to the pre-defined degree, drilling at a plurality of fastening positions is performed to obtain a hole of final dimension at each fastening position, and installation of a final fastener at each fastening position is performed.
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公开(公告)号:US20190211879A1
公开(公告)日:2019-07-11
申请号:US16354703
申请日:2019-03-15
Applicant: NSK LTD.
Inventor: Norihito AKANUMA , Hiroshi ARAKI
CPC classification number: F16C43/045 , B05C1/027 , B05C5/0212 , B05C5/0216 , B05D1/002 , B05D1/26 , B23P15/003 , B23P21/00 , F16C19/06 , F16C33/6614 , F16C33/6622 , F16C33/6625 , F16C33/6629 , F16C43/04 , F16N11/00 , F16N37/003 , F16N2210/14
Abstract: A retainer is rotationally driven about a axis of a ball bearing, and convex areas having pockets provided therein along a ball pitch circle of the retainer and concave areas between adjacent pockets is detected by a sensor. Grease is discharged according to phases of the convex areas and concave areas in the rotationally driven retainer from a dispenser having grease discharge ports arranged to face an annular space.
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公开(公告)号:US20190039245A1
公开(公告)日:2019-02-07
申请号:US16155635
申请日:2018-10-09
Applicant: CANON KABUSHIKI KAISHA
Inventor: Yuki Hashimoto , Kensuke Uehara
CPC classification number: B25J9/1687 , B23P19/04 , B23P19/105 , B23P21/00 , B23P21/004 , B23P21/008 , B25J9/04 , B25J9/123 , B25J9/1612 , B25J9/1617 , B25J9/1676 , B25J11/005 , B25J11/008 , B25J13/086 , B25J13/089 , G05B19/41815 , G05B2219/31078 , G05B2219/31079 , G05B2219/31081 , Y02P90/08 , Y02P90/083 , Y10T29/49902
Abstract: An automated assembly apparatus includes an assembly robot, which has a plurality of hands of different heights and an XY-axis moving unit movable in a horizontal direction, and a plurality of operation base units which have operation bases and Z-axis moving unit capable of moving the operation bases in a vertical direction. The automated assembly apparatus further includes a control unit which raises in advance, before the assembly robot reaches above the operation bases, the operation bases by the Z-axis moving unit to positions where the operation bases do not interfere with the plurality of hands.
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公开(公告)号:US20180257238A1
公开(公告)日:2018-09-13
申请号:US15755135
申请日:2016-05-27
Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Inventor: Yasuhiko HASHIMOTO , Nobuyasu SHIMOMURA , Tsuyoshi MAEHARA , Masayuki KAMON , Shigetsugu TANAKA
CPC classification number: A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/0093 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/40022 , G05B2219/40136 , G05B2219/40142 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40183 , G05B2219/40195 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
Abstract: A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.
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公开(公告)号:US20180250831A1
公开(公告)日:2018-09-06
申请号:US15755107
申请日:2016-06-24
Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Inventor: Yasuhiko HASHIMOTO , Tsuyoshi MAEHARA , Masayuki KAMON , Shigetsugu TANAKA
CPC classification number: A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/0093 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/40022 , G05B2219/40136 , G05B2219/40142 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40183 , G05B2219/40195 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
Abstract: An industrial robot and a method of operating the same which are capable of appropriately handling, when an abnormal state occurs during an automatic operation of the robot, the abnormal state without significantly degrading the work efficiency. The industrial robot includes a robot main body having a robot arm, a robot control device configured to control operation of the robot main body and an abnormal state detecting device configured to detect abnormality in a work state of the robot main body. The robot control device includes an automatic operation performing means for controlling the operation of the robot main body to perform an automatic operation based on a given operation program, and an automatic operation correcting means for correcting the operation of the robot main body in the automatic operation based on a manual control performed by an operator according to a detection result of the abnormal state detecting device.
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公开(公告)号:US20180243902A1
公开(公告)日:2018-08-30
申请号:US15755108
申请日:2016-06-24
Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Inventor: Yasuhiko HASHIMOTO , Masayuki KAMON , Shigetsugu TANAKA
CPC classification number: A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/0093 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/40022 , G05B2219/40136 , G05B2219/40142 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40183 , G05B2219/40195 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
Abstract: A robot system which is capable of reducing an operator's workload and easily correcting preset operation of a robot. The robot system includes a robot main body having a plurality of joints, a control device configured to control operation of the robot main body and an operating device including a teaching device configured to teach the control device one of positional information on the robot main body and angular information on the plurality of joints so as to execute an automatic operation of the robot main body and a manipulator configured to receive a manipulating instruction from an operator to manually operate the robot main body or correct the operation of the robot main body under the automatic operation.
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公开(公告)号:US20180243899A1
公开(公告)日:2018-08-30
申请号:US15755141
申请日:2016-05-27
Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Inventor: Yasuhiko HASHIMOTO , Masayuki KAMON
CPC classification number: A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/0093 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/40022 , G05B2219/40136 , G05B2219/40142 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40183 , G05B2219/40195 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
Abstract: A remote control robot system includes a master arm, and a slave arm having a plurality of control modes of an automatic mode in which the slave arm operates based on a prestored task program and a manual mode in which the slave arm operates based on manipulation of an operator received by the master arm. The master arm includes one or more motors configured to drive joints of the master arm, and a motor actuator configured to generate a torque instruction value that operates the joints according to an external force applied to the master arm and gives drive current corresponding to the torque instruction value to the motor. The motor actuator generates, when the control mode is the manual mode, the torque instruction value so that the joints operate according to the external force while resisting a frictional force of the motor.
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公开(公告)号:US10035201B2
公开(公告)日:2018-07-31
申请号:US15034677
申请日:2014-11-05
Applicant: SNECMA
Inventor: Damien Hebuterne , Philippe Baron , Janvier Lecomte , Ange Yondo
CPC classification number: B23C9/00 , B23C5/20 , B23C2210/165 , B23P6/00 , B23P19/001 , B23P19/04 , B23P19/06 , B23P21/00 , B23P21/006 , Y10T29/49829 , Y10T29/519 , Y10T29/534
Abstract: The invention relates to a replacement device (1) for replacing machining inserts (900) on a tool (800) comprising a body (810) and a head (820) carrying at least one machining insert (900), each insert being held on the head (820) by a screw. The device (1) comprises: a positioner (50) including a holder element (59) suitable for holding the body (810) of the tool; a screwdriver station with a screw gun (60) suitable for tightening and loosening the screws, the positioner (50) being suitable for moving the tool relative to the screwdriver station; a grip device (70) suitable for picking up and putting down an insert (900); a conveyor (500) having a plurality of receptacles (510) for inserts, and having distributed along it a first station (100) with the grip device (70), a second station (200) with a turning mechanism (20) for turning the inserts around, a third station (300) with an unloading mechanism (30) for unloading the inserts, and a fourth station (400) with an insert feed mechanism (40); a transport mechanism (80) suitable for moving the grip device (70) between the positioner (50) and the first station (100) of the conveyor (500); and a control center (600) suitable for automatically controlling one or more of the mechanisms and devices and/or the conveyor of the replacement device (1).
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公开(公告)号:US20180207755A1
公开(公告)日:2018-07-26
申请号:US15577082
申请日:2016-05-12
Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Inventor: Hideshi YAMANE , Jun TAKEBAYASHI , Shuhei KURAOKA , Hiroyuki MIZUMOTO , Tatsuhiro UTO , Shinichi FUJISAWA , Akio YODA
CPC classification number: B23P19/04 , B23P21/00 , B25J9/1687 , B25J9/1697 , F16H57/00 , F16H2057/0043
Abstract: This apparatus has first and second imaging devices for imaging first and second gears; a robot having the first imaging device; and an image processing system for acquiring a fitting position of a second gear and a phase of a first gear by processing an image of the first imaging device, and for acquiring a phase of the second gear and a position of a gear shaft of the second gear by processing an image of the second imaging device. A gear mechanism is assembled by controlling the robot based on the information acquired by the image processing system so as to position the gear shaft of the second gear held by the hand to a fitting position of the second gear and also position the phase of the second gear to the phase of the first gear. The gear mechanism is easily assembled by fitting gears using the robot.
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公开(公告)号:US09815155B2
公开(公告)日:2017-11-14
申请号:US14674687
申请日:2015-03-31
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor: Yhu-Tin Lin , Jeffrey A. Abell , John Patrick Spicer
CPC classification number: B23P21/00 , B23P21/002 , B23P21/004 , B25J5/007 , B25J9/0018 , B25J9/0093 , B25J9/0096 , B25J15/04 , B25J19/023 , G05B19/41815 , G05B19/4182 , Y10T29/49829 , Y10T29/49904 , Y10T29/53048 , Y10T29/53052 , Y10T29/53091 , Y10T29/53365 , Y10T29/53539
Abstract: A reconfigurable autonomous workstation includes a multi-faced superstructure including a horizontally-arranged frame section supported on a plurality of posts. The posts form a plurality of vertical faces arranged between adjacent pairs of the posts, the faces including first and second faces and a power distribution and position reference face. A controllable robotic arm suspends from the rectangular frame section, and a work table fixedly couples to the power distribution and position reference face. A plurality of conveyor tables are fixedly coupled to the work table including a first conveyor table through the first face and a second conveyor table through the second face. A vision system monitors the work table and each of the conveyor tables. A programmable controller monitors signal inputs from the vision system to identify and determine orientation of the component on the first conveyor table and control the robotic arm to execute an assembly task.
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