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1. 发明申请

US20180257240A1 REMOTE-CONTROL MANIPULATOR SYSTEM AND METHOD OF OPERATING THE SAME 审中-公开
公开(公告)号：US20180257240A1
公开(公告)日：2018-09-13
申请号：US15755179
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko HASHIMOTO , Masayuki KAMON
IPC分类号： B25J13/08 , G06T7/70 , G06T7/62 , B25J9/16 , B25J19/04
CPC分类号： 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
摘要： A remote-control manipulator system includes a manipulator configured to receive a manipulating instruction from an operator, a slave arm configured to perform a series of works comprised of a plurality of processes, a camera configured to image operation of the slave arm, a display device configured to display an image captured by the camera, a storage device configured to store information related to environment in a workspace as an environment model, and a control device. The control device is configured, while operating the slave arm manually or hybridly, to acquire circumference information that is information related to a circumference area of an area imaged by the camera based on the environment model stored in the storage device, and display on the display device so that the image captured by the camera and the circumference information are interlocked.

2. 发明申请

US20180243920A1 INDUSTRIAL REMOTE CONTROL ROBOT SYSTEM 审中-公开
公开(公告)号：US20180243920A1
公开(公告)日：2018-08-30
申请号：US15755121
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko HASHIMOTO , Masayuki KAMON
IPC分类号： B25J13/06 , B25J3/00 , B25J9/16 , B25J19/02
CPC分类号： 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
摘要： Remote control robot system includes a master device, slave arm having plurality of control modes including automatic and manual mode, control device configured to operate slave arm, an entering-person sensing device configured to detect entering person into operational area of slave arm, entering-person identifying information acquisition device configured to acquire entering-person identifying information for identifying whether entering person is operator who carries master device, and operation regulating device configured to regulate operation of slave arm based on information acquired from entering-person sensing device and information acquisition device. In automatic mode, operation regulating device regulates operation of slave arm when entering person is detected. In manual mode, operation regulating device allows operation of slave arm to continue when entering person is detected and entering person is operator, and regulates operation of the slave arm when entering person is other than operator.

3. 发明申请

US20170066044A1 MOBILE PLATFORMS FOR PERFORMING OPERATIONS ALONG AN EXTERIOR OF A FUSELAGE ASSEMBLY 审中-公开
标题翻译：用于执行装配操作的移动平台
公开(公告)号：US20170066044A1
公开(公告)日：2017-03-09
申请号：US15352524
申请日：2016-11-15
申请人： The Boeing Company
发明人： Harinder S. Oberoi , Richard Griffith Reese, IV , Kevin Marion Barrick , Quang T. Do , Jeffrey Lawrence Miller , Vanco Stojanoski
IPC分类号： B21J15/28 , B21J15/32 , B23P19/10 , F16B19/06 , B64F5/00 , B25J9/16 , B25J11/00 , G05B19/418 , G05D1/00 , G05D3/12 , B21J15/14 , B25J5/00
CPC分类号： B21J15/28 , B21J15/02 , B21J15/10 , B21J15/142 , B21J15/32 , B21J15/40 , B23P19/10 , B23P21/002 , B23P2700/00 , B25B5/163 , B25J5/007 , B25J9/1682 , B25J9/1687 , B25J9/1697 , B25J11/005 , B25J11/007 , B29C39/026 , B29C39/10 , B29C39/123 , B29C39/22 , B29C45/14336 , B29C2045/14368 , B29C2793/0081 , B29K2715/00 , B29L2031/748 , B60G3/145 , B60G7/001 , B60G7/008 , B60G2204/143 , B60G2204/418 , B60G2206/8207 , B60G2300/60 , B60P3/025 , B64C1/06 , B64F5/10 , B64F5/50 , F16B19/06 , G05B19/41805 , G05B2219/45071 , G05D1/0088 , G05D3/12 , Y02P90/86 , Y10S901/01 , Y10S901/02 , Y10S901/41
摘要： A method and apparatus for performing an assembly operation. A tool may be macro-positioned relative to an exterior of a fuselage assembly. The tool may be micro-positioned relative to a particular location on the exterior of the fuselage assembly. An end effector is removably associated with an external robotic device associated with an external mobile platform. The tool is removably associated with the end effector. An assembly operation may be performed at the particular location on the panel using the tool.
摘要翻译：一种用于执行组装操作的方法和装置。相对于机身组件的外部，工具可以被宏定位。该工具可以相对于机身组件的外部上的特定位置被微定位。端部执行器可移除地与与外部移动平台相关联的外部机器人装置相关联。该工具可拆卸地与末端执行器相关联。可以使用该工具在面板上的特定位置处执行组装操作。

4. 发明授权

US09364926B2 System and method of assembling components 有权
标题翻译：组件的组装方法
公开(公告)号：US09364926B2
公开(公告)日：2016-06-14
申请号：US13875298
申请日：2013-05-02
申请人： The Boeing Company
发明人： Edward John Batt
IPC分类号： B23P19/00 , B23P21/00 , G01B5/20 , G01B3/14 , B23P13/00 , B23P19/04 , B64F5/00
CPC分类号： B64F5/0009 , B23P13/00 , B23P19/04 , B23P19/105 , B23P21/002 , B23P2700/01 , B64F5/10 , Y10T29/49826 , Y10T29/53996
摘要： A system for distortional clamping of a flexible member may include a dimensional reader and a positioning fixture. The dimensional reader may have a plurality of reader pogos that may be axially movable into contacting relation with a detail to measure a detail contour. The positioning fixture may have a plurality of positioning pogos and at least one clamping finger configured to mechanically clamp a flexible member between the positioning pogos and the clamping finger. The positioning pogos may be axially movable to deflect the flexible member into a contour that may be complementary to the detail contour.
摘要翻译：用于柔性构件的扭曲夹紧的系统可以包括尺寸读取器和定位夹具。尺寸读取器可以具有多个读取器pogos，其可以轴向移动成与细节的接触关系以测量细节轮廓。定位夹具可以具有多个定位杆和至少一个夹紧指状物，其构造成在定位杆和夹紧爪之间机械地夹紧柔性构件。定位杆可以是可轴向移动的，以将柔性构件偏转成与细节轮廓互补的轮廓。

5. 发明授权

US09259673B2 Assembly machine for disposable syringe-driven filter 有权
标题翻译：一次性注射器驱动过滤器装配机
公开(公告)号：US09259673B2
公开(公告)日：2016-02-16
申请号：US13903661
申请日：2013-05-28
申请人： Jianhua Yuan , Yejames Yuan
发明人： Jianhua Yuan , Yejames Yuan
IPC分类号： B01D29/88 , B01D24/00 , B01D25/00 , B01D27/00 , B23P21/00
CPC分类号： B01D29/88 , B01D24/001 , B01D25/001 , B01D27/005 , B23P21/002 , Y10T29/53961
摘要： An assembly machine for assembling disposable syringe-driven filter is provided, which includes a rack and an automatic controller arranged on the rack. The automatic controller is electrically connected with a rotating table, a first automatic loading mechanism, an automatic filter disc-sucking mechanism, a second automatic loading mechanism, and an automatic unloading mechanism. Using the first and second automatic loading mechanisms, the automatic filter disc-sucking mechanism, and the automatic unloading mechanism, as well as the automatic controller, the assembly machine can realize the automatic loading of the upper cover of a disposable syringe-driven filter, the automatic placing of filter disc, the automatic loading and assembling of the lower cover of filter and the automatic unloading of the disposable syringe-driven filter, so that the automatic production of the disposable syringe-driven filter can be realized.
摘要翻译：提供了一种用于组装一次性注射器驱动过滤器的组装机，其包括布置在机架上的机架和自动控制器。自动控制器与旋转台，第一自动装载机构，自动过滤盘吸入机构，第二自动装载机构和自动卸载机构电连接。使用第一和第二自动装载机构，自动过滤盘抽吸机构和自动卸载机构以及自动控制器，组装机器可实现一次性注射器驱动过滤器的上盖的自动装载，过滤盘的自动放置，过滤器的下盖的自动装载和组装以及一次性注射器驱动过滤器的自动卸载，从而可以实现一次性注射器驱动的过滤器的自动生产。

6. 发明申请

US20160009420A1 Assembly Fixture for Supporting a Fuselage Assembly 审中-公开
标题翻译：用于支持机身组件的组装夹具
公开(公告)号：US20160009420A1
公开(公告)日：2016-01-14
申请号：US14559277
申请日：2014-12-03
申请人： The Boeing Company
发明人： Harinder S. Oberoi , Richard Griffith Reese, IV , Kevin Marion Barrick , Quang T. Do , Alan S. Draper , Alfredo Jose Gerosa , Branko Sarh , Gregory Gudzinski
IPC分类号： B64F5/00
CPC分类号： B21J15/28 , B21J15/02 , B21J15/10 , B21J15/142 , B21J15/32 , B21J15/40 , B23P19/10 , B23P21/002 , B23P2700/00 , B23P2700/01 , B25B5/163 , B25J5/007 , B25J9/1682 , B25J9/1687 , B25J9/1697 , B25J11/005 , B25J11/007 , B29C39/026 , B29C39/10 , B29C39/123 , B29C39/22 , B29C45/14336 , B29C2045/14368 , B29C2793/0081 , B29K2715/00 , B29L2031/748 , B60G3/145 , B60G7/001 , B60G7/008 , B60G2204/143 , B60G2204/418 , B60G2206/8207 , B60G2300/60 , B60P3/025 , B64C1/06 , B64F5/10 , B64F5/50 , F16B19/06 , G05B19/41805 , G05B2219/45071 , G05D1/0088 , G05D3/12 , Y02P90/86 , Y10S901/01 , Y10S901/02 , Y10S901/41
摘要： A method and apparatus for building an assembly fixture for holding a fuselage assembly. A number of cradle fixtures may be driven across a floor to an assembly area. The number of cradle fixtures may be configured to form the assembly fixture.
摘要翻译：一种用于构建用于保持机身组件的组装夹具的方法和装置。一些托架固定装置可以穿过地板被驱动到组装区域。托架固定件的数量可以被配置成形成装配夹具。

7. 发明申请

US20160009418A1 Clamping Feet for an End Effector 审中-公开
标题翻译：夹紧脚的终点效应器
公开(公告)号：US20160009418A1
公开(公告)日：2016-01-14
申请号：US14559191
申请日：2014-12-03
申请人： The Boeing Company
发明人： Harinder S. Oberoi , Melissa Ann Findlay , Jorge Alberto Arriaga , Branko Sarh , Alan S. Draper
IPC分类号： B64F5/00 , B29C39/12 , B29C39/22 , B25B5/16
CPC分类号： B21J15/28 , B21J15/02 , B21J15/10 , B21J15/142 , B21J15/32 , B21J15/40 , B23P19/10 , B23P21/002 , B23P2700/00 , B25B5/163 , B25J5/007 , B25J9/1682 , B25J9/1687 , B25J9/1697 , B25J11/005 , B25J11/007 , B29C39/026 , B29C39/10 , B29C39/123 , B29C39/22 , B29C45/14336 , B29C2045/14368 , B29C2793/0081 , B29K2715/00 , B29L2031/748 , B60G3/145 , B60G7/001 , B60G7/008 , B60G2204/143 , B60G2204/418 , B60G2206/8207 , B60G2300/60 , B60P3/025 , B64C1/06 , B64F5/10 , B64F5/50 , F16B19/06 , G05B19/41805 , G05B2219/45071 , G05D1/0088 , G05D3/12 , Y02P90/86 , Y10S901/01 , Y10S901/02 , Y10S901/41
摘要： An attachment for an end effector. The attachment may include a clamp and a foot adhesively bonded to an edge of the clamp and having a set of interlocking features that form a mechanical interlock with the clamp.
摘要翻译：末端执行器的附件。附件可以包括夹具和脚部，其粘合地结合到夹具的边缘并且具有与夹具形成机械互锁的一组互锁特征。

8. 发明申请

US20160008869A1 Two-Stage Riveting 有权
标题翻译：两阶段铆接
公开(公告)号：US20160008869A1
公开(公告)日：2016-01-14
申请号：US14559483
申请日：2014-12-03
申请人： The Boeing Company
发明人： Harinder S. Oberoi , Melissa Ann Findlay , Branko Sarh , Alan S. Draper , Jorge Alberto Arriaga
IPC分类号： B21J15/28 , B21J15/14 , F16B19/06 , B21J15/02 , B25J11/00 , B25J9/16
CPC分类号： B21J15/28 , B21J15/02 , B21J15/10 , B21J15/142 , B21J15/32 , B21J15/40 , B23P19/10 , B23P21/002 , B23P2700/00 , B25B5/163 , B25J5/007 , B25J9/1682 , B25J9/1687 , B25J9/1697 , B25J11/005 , B25J11/007 , B29C39/026 , B29C39/10 , B29C39/123 , B29C39/22 , B29C45/14336 , B29C2045/14368 , B29C2793/0081 , B29K2715/00 , B29L2031/748 , B60G3/145 , B60G7/001 , B60G7/008 , B60G2204/143 , B60G2204/418 , B60G2206/8207 , B60G2300/60 , B60P3/025 , B64C1/06 , B64F5/10 , B64F5/50 , F16B19/06 , G05B19/41805 , G05B2219/45071 , G05D1/0088 , G05D3/12 , Y02P90/86 , Y10S901/01 , Y10S901/02 , Y10S901/41
摘要： A method and apparatus for fastening two parts together. An initial interference fit may be created between a fastener and at least a portion of a hole extending through the two parts while maintaining a force equilibrium. A final interference fit may be created between the fastener and the hole, while maintaining a new force equilibrium.
摘要翻译：一种用于将两部分紧固在一起的方法和装置。可以在紧固件和延伸穿过两个部件的孔的至少一部分之间产生初始的过盈配合，同时保持力平衡。可以在紧固件和孔之间产生最终的过盈配合，同时保持新的力平衡。

9. 发明申请

US20140366353A1 DEVICE FOR ASSEMBLING RAILWAY WHEEL WITH BRAKE DISCS 有权
标题翻译：用制动盘组装铁路车轮的装置
公开(公告)号：US20140366353A1
公开(公告)日：2014-12-18
申请号：US14374280
申请日：2012-09-14
申请人： Toru Iwahashi , Naoto Kouchi
发明人： Toru Iwahashi , Naoto Kouchi
IPC分类号： F16D65/12 , B23P21/00 , B60B17/00
CPC分类号： F16D65/124 , B23P21/002 , B25B27/14 , B60B17/00 , B60B17/0006 , B60B17/0068 , B60B30/08 , B60B31/06 , B60B2900/113 , B61H5/00 , F16D65/12 , F16D2065/138 , F16D2065/1392 , F16D2250/0084 , Y10T29/53974
摘要： A device for assembling a railway wheel with brake discs, the brake discs arranged to face each other across a railway wheel web and a center-deviation prevention key penetrating the web, includes a disc support supporting an internal hole of one of the brake discs; a wheel support provided concentrically with the disc support within the disc support, and supporting a hub's bore of the railway wheel on the brake disc supported by the disc support; and a bolt support provided concentrically with the disc support and the wheel support outside of the disc support, and supporting the bolt to correspond to bolt holes formed in the brake discs and the web of the railway wheel. The disc support and the wheel support are individually rotatable about a railway wheel central axis. The disc and wheel supports and the bolt support move up and down relatively to each other.
摘要翻译：一种用于组装具有制动盘的铁路车轮的装置，所述制动盘布置成跨越铁路车轮腹板和穿过腹板的中心偏离防止键相互相对地布置，包括支撑其中一个制动盘的内部孔的盘支撑件; 车轮支撑件与盘支撑件同心地设置在盘支撑件内，并且支撑在由盘支撑件支撑的制动盘上的铁路车轮的轮毂孔; 以及螺钉支撑件，其与盘支撑件和车轮支撑件同心地设置在盘支撑件的外部，并且支撑螺栓以对应于形成在制动盘和铁路车轮的腹板中的螺栓孔。盘支撑件和车轮支撑件可以围绕铁路车轮中心轴线单独地旋转。盘和轮支撑件和螺栓支撑件相对于彼此上下移动。

10. 发明授权

US4577284A Adaptive robot batch assembly system 失效
标题翻译：自适应机器人批量装配系统
公开(公告)号：US4577284A
公开(公告)日：1986-03-18
申请号：US673447
申请日：1984-11-20
申请人： Arthur E. Christy , Elmer J. Gill
发明人： Arthur E. Christy , Elmer J. Gill
IPC分类号： B23P21/00 , B23Q7/04 , B25J21/00 , G05B19/418 , G06F15/46 , G06F15/20
CPC分类号： G05B19/4182 , B23P21/002 , B23Q7/046 , B25J21/00 , Y02P90/04 , Y02P90/083 , Y10S483/901 , Y10S700/90
摘要： A technique for accomplishing automated small batch assembly using a sophisticated computer program controlled robot (8) is disclosed wherein the robot work envelope (51) is divided into three independent work areas. Each work area is provided with a port (53, 55, 57) to which a self-contained, task oriented mobile workstation (130) may be attached. Manipulator (10) is controlled to perform the steps associated with the assembly tasks on the mobile workstations in priority sequence.
摘要翻译：公开了一种使用复杂的计算机程序控制机器人（8）实现自动化小批量组装的技术，其中机器人工作包络（51）被分成三个独立的工作区域。每个工作区域设置有端口（53,55,57），可以附接有独立的，面向任务的移动工作站（130）。控制机器人（10）以优先级顺序在移动工作站上执行与组装任务相关的步骤。

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