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公开(公告)号：US08086340B2
公开(公告)日：2011-12-27
申请号：US12410886
申请日：2009-03-25
申请人： Toshiyuki Kondo , Takao Shibayama
发明人： Toshiyuki Kondo , Takao Shibayama
IPC分类号： G06F19/00
CPC分类号： B62D65/12 , B23P19/10 , B25J9/1687 , B25J9/1697 , G01B21/26 , G05B2219/37608 , G05B2219/45021 , Y10T29/49481 , Y10T29/49948
摘要： Distance meters measure distances from a reference position to a first area including an upper pitch circle portion and a second area including a lower pitch circle portion. Center coordinates of the hub is calculated based on respective center coordinates of two hub bolts included within the first and second areas. Coordinates of three points defining apexes of a triangle are acquired. Inclination angle of the hub relative to a vertical plane is calculated based on the coordinates of the three points, and an orientation of each of the hub bolts is calculated based on the center coordinates of the hub and the center coordinates of the hub bolt.
摘要翻译： 测距仪测量从基准位置到包括上节圆部分的第一区域和包括下节圆部分的第二区域的距离。 基于包括在第一和第二区域内的两个轮毂螺栓的相应中心坐标来计算轮毂的中心坐标。 获取定义三角形顶点的三个点的坐标。 基于三点的坐标来计算轮毂相对于垂直平面的倾角，并且基于轮毂的中心坐标和轮毂螺栓的中心坐标来计算每个轮毂螺栓的取向。
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公开(公告)号：US09333654B2
公开(公告)日：2016-05-10
申请号：US12934850
申请日：2009-03-30
申请人： Heping Chen , George Zhang , Thomas A. Fuhlbrigge
发明人： Heping Chen , George Zhang , Thomas A. Fuhlbrigge
CPC分类号： B25J9/1697 , G05B2219/39387 , G05B2219/40554 , G05B2219/45021
摘要： An industrial robot is used to assemble a part to a predetermined location on a randomly moving workpiece. The workpiece may be an automobile on an assembly line and the part may be a wheel (a tire mounted on a rim) to be assembled on one of the wheel hubs of the automobile. The robot has mounted on it a camera, a force sensor and a gripper to grip the part. After the robot grips the part, signals from both the force sensor and vision are used by a computing device to move the robot to a position where the robot can assemble the part to the predetermined location on the workpiece. The computing device can be the robot controller or a separate device such as a PC that is connected to the controller.
摘要翻译： 使用工业机器人将部件组装到随机移动的工件上的预定位置。 工件可以是装配线上的汽车，并且该部件可以是要组装在汽车的一个轮毂上的车轮（安装在轮辋上的轮胎）。 机器人已经安装了相机，力传感器和夹持器来夹持部件。 在机器人抓握部件之后，计算装置使用来自力传感器和视觉的信号将机器人移动到机器人可以将部件组装到工件上的预定位置的位置。 计算设备可以是机器人控制器或连接到控制器的单独的设备，例如PC。
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公开(公告)号：US20090248191A1
公开(公告)日：2009-10-01
申请号：US12410886
申请日：2009-03-25
申请人： Toshiyuki KONDO , Takao Shibayama
发明人： Toshiyuki KONDO , Takao Shibayama
CPC分类号： B62D65/12 , B23P19/10 , B25J9/1687 , B25J9/1697 , G01B21/26 , G05B2219/37608 , G05B2219/45021 , Y10T29/49481 , Y10T29/49948
摘要： Distance meters measure distances from a reference position to a first area including an upper pitch circle portion and a second area including a lower pitch circle portion. Center coordinates of the hub is calculated based on respective center coordinates of two hub bolts included within the first and second areas. Coordinates of three points defining apexes of a triangle are acquired. Inclination angle of the hub relative to a vertical plane is calculated based on the coordinates of the three points, and an orientation of each of the hub bolts is calculated based on the center coordinates of the hub and the center coordinates of the hub bolt.
摘要翻译： 测距仪测量从基准位置到包括上节圆部分的第一区域和包括下节圆部分的第二区域的距离。 基于包括在第一和第二区域内的两个轮毂螺栓的相应中心坐标来计算轮毂的中心坐标。 获取定义三角形顶点的三个点的坐标。 基于三点的坐标来计算轮毂相对于垂直平面的倾角，并且基于轮毂的中心坐标和轮毂螺栓的中心坐标来计算每个轮毂螺栓的取向。
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4.发明申请Method of and apparatus for determining geometrical dimensions of a wheel rim, in particular when fitting and/or removing a motor vehicle tyre 有权用于确定轮缘的几何尺寸的方法和装置，特别是当安装和/或移除机动车轮胎时公开(公告)号：US20080123107A1
公开(公告)日：2008-05-29
申请号：US11979245
申请日：2007-10-31
申请人： Paolo SOTGIU
发明人： Paolo SOTGIU
IPC分类号： G01B11/24 , G01M19/00 , B60C25/132 , G01B5/20
CPC分类号： B60C25/138 , B60C25/0554 , G05B2219/37275 , G05B2219/45021
摘要： An apparatus for and a method of fitting or removing a motor vehicle tyre 4 comprising a rotatably supported wheel receiving device 2 to which the rim 3 is to be fixed, at least one fitting or removal tool 5, a rotary drive device 10 for the wheel receiving device and a sensing device 6, 7, 8 for sensing the radially outer rim contour 12, 14 along which the at least one fitting or removal tool is to be guided during the fitting or removal operation, wherein the sensing device 6, 7, 8 is a sensing device which contact-lessly senses the rim contour and the sensing signals of which are converted into electrical sensing signals, and connected to the sensing device 6, 7, 8 is a control device 9 which evaluates the electrical sensing signals and which controls the at least one fitting or removal tool 5 in the fitting or removal operation in dependence on the sensing signals without contact with the rim surface.
摘要翻译： 一种装配或拆卸机动车辆轮胎4的装置和方法，包括：可旋转地支撑的轮子接收装置2，轮辋3将被固定到其上，至少一个装配或拆卸工具5，用于车轮的旋转驱动装置10 接收装置和用于感测径向外缘轮廓12,14的感测装置6,7,8，在装配或拆卸操作期间，至少一个装配或拆卸工具将被引导，其中，感测装置6,7， 8是感测装置，其不会感测轮缘轮廓，并且其感测信号被转换成电感测信号，并且连接到感测装置6,7,8是控制装置9，其评估电感测信号，以及哪个 根据感测信号，在装配或拆卸操作中控制至少一个装配或拆卸工具5，而不与边缘表面接触。
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公开(公告)号：US06864788B2
公开(公告)日：2005-03-08
申请号：US09923053
申请日：2001-08-06
CPC分类号： F16K37/0075 , G05B2219/31129 , G05B2219/31136 , G05B2219/33182 , G05B2219/45018 , G05B2219/45021
摘要： An embodiment of the invention is an actuator controller for use in an actuator assembly. The actuator controller includes a processor for controlling an actuator associated with the actuator controller. A communication device is in communication with the processor. The communication device receives control commands from a master controller and is capable of communicating in multiple languages. A memory is accessible by the processor and the processor determines the language of the control commands and retrieves a control program from the memory corresponding to the language.
摘要翻译： 本发明的实施例是用于致动器组件的致动器控制器。 致动器控制器包括用于控制与致动器控制器相关联的致动器的处理器。 通信设备与处理器通信。 通信设备从主控制器接收控制命令并且能够以多种语言进行通信。 处理器可访问存储器，并且处理器确定控制命令的语言，并且从对应于该语言的存储器中检索控制程序。
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公开(公告)号：US20110087360A1
公开(公告)日：2011-04-14
申请号：US12934850
申请日：2009-03-30
申请人： Heping Chen , George Zhang , Thomas A. Fuhlbrigge
发明人： Heping Chen , George Zhang , Thomas A. Fuhlbrigge
CPC分类号： B25J9/1697 , G05B2219/39387 , G05B2219/40554 , G05B2219/45021
摘要： An industrial robot is used to assemble a part to a predetermined location on a randomly moving workpiece. The workpiece may be an automobile on an assembly line and the part may be a wheel (a tire mounted on a rim) to be assembled on one of the wheel hubs of the automobile. The robot has mounted on it a camera, a force sensor and a gripper to grip the part. After the robot grips the part, signals from both the force sensor and vision are used by a computing device to move the robot to a position where the robot can assemble the part to the predetermined location on the workpiece. The computing device can be the robot controller or a separate device such as a PC that is connected to the controller.
摘要翻译： 使用工业机器人将部件组装到随机移动的工件上的预定位置。 工件可以是装配线上的汽车，并且该部件可以是要组装在汽车的一个轮毂上的车轮（安装在轮辋上的轮胎）。 机器人已经安装了相机，力传感器和夹持器来夹持部件。 在机器人抓握部件之后，计算装置使用来自力传感器和视觉的信号将机器人移动到机器人可以将部件组装到工件上的预定位置的位置。 计算设备可以是机器人控制器或连接到控制器的单独的设备，例如PC。
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7.发明授权Method of and apparatus for determining geometrical dimensions of a wheel rim, in particular when fitting and/or removing a motor vehicle tyre 有权用于确定轮缘的几何尺寸的方法和装置，特别是当安装和/或移除机动车轮胎时公开(公告)号：US07715024B2
公开(公告)日：2010-05-11
申请号：US11979245
申请日：2007-10-31
申请人： Paolo Sotgiu
发明人： Paolo Sotgiu
CPC分类号： B60C25/138 , B60C25/0554 , G05B2219/37275 , G05B2219/45021
摘要： An apparatus for and a method of fitting or removing a motor vehicle tyre (4) comprising a rotatably supported wheel receiving device (2) to which the rim (3) is to be fixed, at least one fitting or removal tool (5), a rotary drive device (10) for the wheel receiving device and a sensing device (6), (7), (8) for sensing the radially outer rim contour (12), (14) along which the at least one fitting or removal tool is to be guided during the fitting or removal operation, wherein the sensing device (6), (7), (8) is a sensing device which contact-lessly senses the rim contour and the sensing signals of which are converted into electrical sensing signals, and connected to the sensing device (6), (7), (8) is a control device (9) which evaluates the electrical sensing signals and which controls the at least one fitting or removal tool (5) in the fitting or removal operation in dependence on the sensing signals without contact with the rim surface.
摘要翻译： 一种装配或拆卸机动车轮胎（4）的装置和方法，包括：可旋转地支撑的轮子接收装置（2），所述轮辋（3）将固定到所述轮胎接收装置上，至少一个装配或拆卸工具（5） 用于所述车轮接收装置的旋转驱动装置（10）和用于感测所述径向外轮缘轮廓（12），（14）的感测装置（6），（7），（8），所述至少一个装配或移除 工具在装配或拆卸操作期间被引导，其中感测装置（6），（7），（8）是感测装置，其接触地感测轮缘轮廓，并且其感测信号被转换成电感测 信号，并且连接到感测装置（6），（7），（8）是控制装置（9），其控制电感测信号并控制装置中的至少一个装配或拆卸工具（5） 取决于感测信号而不与边缘表面接触的操作。
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公开(公告)号：US20030028257A1
公开(公告)日：2003-02-06
申请号：US09923053
申请日：2001-08-06
IPC分类号： G05B019/18
CPC分类号： F16K37/0075 , G05B2219/31129 , G05B2219/31136 , G05B2219/33182 , G05B2219/45018 , G05B2219/45021
摘要： An embodiment of the invention is an actuator controller for use in an actuator assembly. The actuator controller includes a processor for controlling an actuator associated with the actuator controller. A communication device is in communication with the processor. The communication device receives control commands from a master controller and is capable of communicating in multiple languages. A memory is accessible by the processor and the processor determines the language of the control commands and retrieves a control program from the memory corresponding to the language.
摘要翻译： 本发明的实施例是用于致动器组件的致动器控制器。 致动器控制器包括用于控制与致动器控制器相关联的致动器的处理器。 通信设备与处理器通信。 通信设备从主控制器接收控制命令并且能够以多种语言进行通信。 处理器可访问存储器，并且处理器确定控制命令的语言，并且从对应于该语言的存储器中检索控制程序。
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公开(公告)号：US5940960A
公开(公告)日：1999-08-24
申请号：US786560
申请日：1997-01-21
申请人： Paul G. Doan , Dean A. Colwell
发明人： Paul G. Doan , Dean A. Colwell
IPC分类号： B23P19/00 , B23P19/04 , B60C25/18 , G05B19/402
CPC分类号： B23P19/10 , B23P19/04 , B23P19/12 , B60C25/18 , G05B19/402 , G05B2219/37555 , G05B2219/45021 , Y10T29/53061 , Y10T29/53074 , Y10T29/53591
摘要： A method and apparatus for automatically inserting valve stems of varying sizes into wheels of various sizes in which the appropriate valve stem size is selected by analyzing images of the wheel detected by a camera. The camera is used to determine the diameter, width, and color or contrast of the wheel as well as to determine when a valve stem opening in the wheel is in a proper position for insertion of a valve stem.
摘要翻译： 一种用于将各种尺寸的阀杆自动插入各种尺寸的轮子中的方法和装置，其中通过分析由相机检测到的车轮的图像来选择适当的阀杆尺寸。 相机用于确定车轮的直径，宽度和颜色或对比度，以及确定车轮中的阀杆打开何时位于用于插入阀杆的适当位置。
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公开(公告)号：US20170334073A1
公开(公告)日：2017-11-23
申请号：US15387259
申请日：2016-12-21
发明人： Jin Young HONG , Jung Su GONG , Sung Hee RYU , Jung Whan YEUM
CPC分类号： B25J9/1694 , B23P19/066 , B62D65/005 , G01L5/24 , G05B2219/45021 , G05B2219/45091 , G05B2219/50073 , G05B2219/50197 , Y10S901/44 , Y10S901/46
摘要： A wheel nut engagement checking system for a vehicle delivered by a conveyor includes: a moving member disposed at one side of the conveyor; a wheel lifting apparatus disposed on the moving member, and lifting a wheel of the vehicle from the conveyor to a predetermined height; a wheel nut torque checking apparatus provided on an arm of a robot disposed on the moving member, engaging a nut runner to a wheel nut of the wheel, and checking an engage torque of the wheel nut by rotating the nut runner; and a controller controlling a speed of the moving member, lifting the wheel to the predetermined height using the wheel lifting apparatus, moving the wheel nut torque checking apparatus using the robot so as to engage the nut runner to the wheel nut, and detecting an engage torque of the wheel nut by rotating the nut runner.
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