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1. 发明申请

US20110160905A1 WORKPIECE MOUNTING SYSTEM, WORKPIECE MOUNTING METHOD, SUNROOF UNIT HOLDING DEVICE, AND SUNROOF UNIT HOLDING METHOD 审中-公开
标题翻译：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
申请人： Kenichi Asamizu , Atsushi Osada , Yuichi Wakabayashi
发明人： Kenichi Asamizu , Atsushi Osada , Yuichi Wakabayashi
IPC分类号： B25J9/10 , B60J7/043
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。

2. 发明申请

US20120163948A1 VEHICLE BODY DOOR OPENING METHOD AND DEVICE, DOOR REMOVING DEVICE AND METHOD, DOOR HOLDING DEVICE AND METHOD, AND SOCKET 有权
标题翻译：车身车门开启方法和装置，门去除装置和方法，门保持装置和方法以及插座
公开(公告)号：US20120163948A1
公开(公告)日：2012-06-28
申请号：US13337585
申请日：2011-12-27
申请人： Kenichi Asamizu , Masashi Iwata , Tomohisa Katayama , Gentoku Fujii , Sumio Noguchi
发明人： Kenichi Asamizu , Masashi Iwata , Tomohisa Katayama , Gentoku Fujii , Sumio Noguchi
IPC分类号： B25J9/10 , B25B13/06
CPC分类号： B25J9/0087 , B62D65/06 , Y10T29/49213 , Y10T29/49815 , Y10T29/53961
摘要： A door opening method and device are provided that can reduce the size of the installation location of a robot, as well as achieve a reduction in cycle time. In a dual arm robot, two arms are rotated by each of an shaft S1 and an shaft S2. As a result, a door opening action (Step ST2) is realized by rotation using the shaft S1. Then, a movement to enter an interior side of a door (91) in order to perform a bolt loosening action is realized by rotation using the shaft S1 and shaft S2. The movement in this case is movement such as to face the direction of the door (91). As a result, when moving to a door holding position (Step S26), the dual arm robot is at an attitude facilitating performing a bolt loosening action.
摘要翻译：提供了一种可以减小机器人的安装位置的尺寸的开门方法和装置，并且可以实现循环时间的减少。在双臂机器人中，两个臂由轴S1和轴S2中的每一个旋转。结果，通过使用轴S1的旋转来实现门打开动作（步骤ST2）。然后，通过使用轴S1和轴S2的旋转来实现进入门（91）的内侧以进行螺栓松动的动作。在这种情况下的运动是例如面向门（91）的方向的运动。结果，当移动到门保持位置（步骤S26）时，双臂机器人处于有助于执行螺栓松动的姿态。

3. 发明申请

US20110022217A1 WORK MOUNTING SYSTEM AND METHOD OF MOUNTING 失效
标题翻译：工作安装系统和安装方法
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
IPC分类号： B25J9/18 , B25J13/08
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

US08950050B2 Vehicle body door opening method and device, door removing device and method, door holding device and method, and socket 有权
标题翻译：车身门开启方法及装置，门拆装置及方法，门保持装置及方法及插座
公开(公告)号：US08950050B2
公开(公告)日：2015-02-10
申请号：US13337585
申请日：2011-12-27
申请人： Kenichi Asamizu , Masashi Iwata , Tomohisa Katayama , Gentoku Fujii , Sumio Noguchi
发明人： Kenichi Asamizu , Masashi Iwata , Tomohisa Katayama , Gentoku Fujii , Sumio Noguchi
IPC分类号： B25J9/02 , B25J9/00 , B62D65/06
CPC分类号： B25J9/0087 , B62D65/06 , Y10T29/49213 , Y10T29/49815 , Y10T29/53961
摘要： A door opening method and device are provided that can reduce the size of the installation location of a robot, as well as achieve a reduction in cycle time. In a dual arm robot, two arms are rotated by each of an shaft S1 and an shaft S2. As a result, a door opening action (Step ST2) is realized by rotation using the shaft S1. Then, a movement to enter an interior side of a door (91) in order to perform a bolt loosening action is realized by rotation using the shaft S1 and shaft S2. The movement in this case is movement such as to face the direction of the door (91). As a result, when moving to a door holding position (Step S26), the dual arm robot is at an attitude facilitating performing a bolt loosening action.
摘要翻译：提供了一种可以减小机器人的安装位置的尺寸的开门方法和装置，并且可以实现循环时间的减少。在双臂机器人中，两个臂由轴S1和轴S2中的每一个旋转。结果，通过使用轴S1的旋转来实现门打开动作（步骤ST2）。然后，通过使用轴S1和轴S2的旋转来实现进入门（91）的内侧以进行螺栓松动的动作。在这种情况下的运动是例如面向门（91）的方向的运动。结果，当移动到门保持位置（步骤S26）时，双臂机器人处于有助于执行螺栓松动的姿态。

5. 发明授权

US08721252B2 Work aligning system and method of moving work 有权
标题翻译：工作对齐系统和移动工作方法
公开(公告)号：US08721252B2
公开(公告)日：2014-05-13
申请号：US12922516
申请日：2009-02-16
申请人： Atsushi Osada , Kenichi Asamizu , Hirofumi Kimura
发明人： Atsushi Osada , Kenichi Asamizu , Hirofumi Kimura
IPC分类号： B65G47/14
CPC分类号： B65G47/1478 , B23P19/001 , B25J9/0093 , B25J9/1697 , B25J15/0052 , B25J15/0608 , B65G47/22 , B65G47/24 , B65G47/92 , B65G2203/0225 , B65G2203/041
摘要： A work aligning system capable of easily altering the kind of works to be aligned. The work aligning system (1) comprises a storage device (10) in which nuts (11) are stored, a take-out base (30) on which the nuts (11) are placed, and a robot (20) for grasping and taking out the nuts from the take-out base (30) and aligning the nuts. An electromagnet (53) is provided at the tip end of the robot arm (23) of the robot (20). The storage device (10) is equipped with a plurality of buckets (131-134) in which nuts (11) of different kinds are stored, and a feed screw mechanism (14) for moving one bucket selected from the plurality of buckets (131-134) to a position near the take-out base (30). The take-out base (30) is equipped with a part (31) on which the nuts (11) are placed and a drive device (32) for discharging the nuts (11) on the part (31) to one bucket selected from the plurality of buckets (131-134).
摘要翻译：一种工作对准系统，能够轻松地改变要对齐的作品种类。工件对准系统（1）包括储存有螺母（11）的存储装置（10），放置有螺母（11）的取出基座（30），以及用于把持和从取出座（30）取出螺母并对准螺母。在机器人（20）的机器人手臂（23）的前端设有电磁体（53）。存储装置（10）配备有多个桶（131-134），其中存储有不同种类的螺母（11），以及用于移动从多个桶（131）中选择的一个桶的进给螺杆机构（14） -134）到靠近取出基座（30）的位置。所述取出座（30）配备有其上放置有螺母（11）的部分（31）和用于将所述部件（31）上的所述螺母（11）排放到一个铲斗上的驱动装置（32）多个水桶（131-134）。

6. 发明授权

US08406920B2 Work mounting system and method of mounting work 失效
标题翻译：工作安装系统及安装方法
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）。

7. 发明申请

US20110022228A1 DOOR REMOVING SYSTEM AND DOOR REMOVING METHOD 审中-公开
标题翻译：门去除系统和门去除方法
公开(公告)号：US20110022228A1
公开(公告)日：2011-01-27
申请号：US12921523
申请日：2009-02-16
申请人： Atsushi Mikurube , Takao Shibayama , Kenichi Asamizu , Taketo Ishida , Yoshio Ishikawa , Mitsuo Maeda
发明人： Atsushi Mikurube , Takao Shibayama , Kenichi Asamizu , Taketo Ishida , Yoshio Ishikawa , Mitsuo Maeda
IPC分类号： B25J9/16 , B25J9/02
CPC分类号： B62D65/06 , B25J9/0084 , B25J9/0087 , B25J9/1682 , G05B2219/39156
摘要： A door removing system which occupies less space, reduces costs, and reduces cycle time. A door removing system (1) removes from an automobile body (10) a door (11) fixed to the body (10) by bolts (12). The door removing system (1) is provided with a double-arm robot (20) for holding the door (11) in the vertical direction, a single-arm robot (30) for removing the bolts (12), and a controlling device for controlling the robots. The controlling device holds the door (11) in the vertical direction by a pair of manipulators (22A, 22B) of the double-arm robot (20), removes the bolts (12) by the single-arm robot (30) with the door (11) held by the manipulators, and then transfers the door (11) by the double-arm robot (20).
摘要翻译：占用较少空间的门去除系统，降低成本，缩短循环时间。门去除系统（1）通过螺栓（12）从车体（10）移除固定到本体（10）上的门（11）。门去除系统（1）设有用于沿垂直方向保持门（11）的双臂机器人（20），用于移除螺栓（12）的单臂机器人（30）和控制装置用于控制机器人。控制装置通过双臂机器人（20）的一对操纵器（22A，22B）在垂直方向上保持门（11），通过单臂机器人（30）将螺栓（12）门（11），然后通过双臂机器人（20）传送门（11）。

8. 发明申请

US20110018291A1 WORK ALIGNING SYSTEM AND METHOD OF MOVING WORK 有权
标题翻译：工作对准系统和移动方法
公开(公告)号：US20110018291A1
公开(公告)日：2011-01-27
申请号：US12922516
申请日：2009-02-16
申请人： Atsushi Osada , Kenichi Asamizu , Hirofumi Kimura
发明人： Atsushi Osada , Kenichi Asamizu , Hirofumi Kimura
IPC分类号： B23P19/00
CPC分类号： B65G47/1478 , B23P19/001 , B25J9/0093 , B25J9/1697 , B25J15/0052 , B25J15/0608 , B65G47/22 , B65G47/24 , B65G47/92 , B65G2203/0225 , B65G2203/041
摘要： A work aligning system capable of easily altering the kind of works to be aligned. The work aligning system (1) comprises a storage device (10) in which nuts (11) are stored, a take-out base (30) on which the nuts (11) are placed, and a robot (20) for grasping and taking out the nuts from the take-out base (30) and aligning the nuts. An electromagnet (53) is provided at the tip end of the robot arm (23) of the robot (20). The storage device (10) is equipped with a plurality of buckets (131-134) in which nuts (11) of different kinds are stored, and a feed screw mechanism (14) for moving one bucket selected from the plurality of buckets (131-134) to a position near the take-out base (30). The take-out base (30) is equipped with a part (31) on which the nuts (11) are placed and a drive device (32) for discharging the nuts (11) on the part (31) to one bucket selected from the plurality of buckets (131-134).
摘要翻译：一种工作对准系统，能够轻松地改变要对齐的作品种类。工件对准系统（1）包括储存有螺母（11）的存储装置（10），放置有螺母（11）的取出基座（30），以及用于把持和从取出座（30）取出螺母并对准螺母。在机器人（20）的机器人手臂（23）的前端设有电磁体（53）。存储装置（10）配备有多个桶（131-134），其中存储有不同种类的螺母（11），以及用于移动从多个桶（131）中选择的一个桶的进给螺杆机构（14） -134）到靠近取出基座（30）的位置。所述取出座（30）配备有其上放置有螺母（11）的部分（31）和用于将所述部件（31）上的所述螺母（11）排放到一个铲斗上的驱动装置（32）多个水桶（131-134）。

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