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1. 发明授权

US08700205B2 Moving stop station for robotic assembly 有权
标题翻译：机器人装配停止站
公开(公告)号：US08700205B2
公开(公告)日：2014-04-15
申请号：US13198781
申请日：2011-08-05
申请人： Robert J. Scheuerman , Rick F. Rourke , Jianying Shi , Peter W. Tavora , David Groll
发明人： Robert J. Scheuerman , Rick F. Rourke , Jianying Shi , Peter W. Tavora , David Groll
IPC分类号： G06F7/00
CPC分类号： B62D65/18 , B23P21/008 , B23P2700/50
摘要： A moving stop station includes a vehicle carrier configured to move a vehicle along an assembly line, an assembly platform disposed adjacent to the assembly line, and a synchronizer in communication with the vehicle carrier and the assembly platform. The synchronizer is configured to synchronize the motion of the assembly platform with the motion of the vehicle carrier as the vehicle carrier moves along a length of the assembly line, and includes a sensor, processor, and actuator. The sensor is configured to sense the position of the vehicle carrier and to generate a position signal corresponding to the sensed position. The processor is configured to receive the position signal and selectively provide a synchronization signal in response, and the actuator is configured to receive the synchronization signal and synchronize the motion of the vehicle carrier and the motion of the assembly platform in response.
摘要翻译：移动停止站包括构造成沿着装配线移动车辆的车辆载体，与组装线相邻设置的组装平台以及与车辆载体和组装平台连通的同步器。同步器被配置成当车辆载体沿着装配线的长度移动时使组装平台的运动与车辆载体的运动同步，并且包括传感器，处理器和致动器。传感器被配置为感测车辆载体的位置并且产生对应于感测位置的位置信号。处理器被配置为接收位置信号并且响应地选择性地提供同步信号，并且致动器被配置为接收同步信号并且响应于车辆载体的运动和组装平台的运动而同步。

2. 发明申请

US20130030567A1 Controls method for automated door seal application 有权
标题翻译：自动门密封应用的控制方法
公开(公告)号：US20130030567A1
公开(公告)日：2013-01-31
申请号：US13190713
申请日：2011-07-26
申请人： Paul R. Pleace , Craig A. Rodriguez , Jean-Yves Chretien , Robert J. Scheuerman , Peter W. Tavora
发明人： Paul R. Pleace , Craig A. Rodriguez , Jean-Yves Chretien , Robert J. Scheuerman , Peter W. Tavora
IPC分类号： B25J9/16 , B23P11/00 , E06B7/16
CPC分类号： B23P19/047 , Y10T29/49826 , Y10T29/49863
摘要： An assembly and method for automated installation of a flexible seal to a periphery of a component. The method may include positioning the periphery of the component adjacent to a seal feed assembly; employing a motor to move the seal toward the periphery of the component until a predetermined torque on the motor is reached; stopping movement of the motor when the predetermined torque is reached; moving the component relative to the seal feed assembly; and, as the component is moved relative to the seal feed assembly, automatically maintaining the predetermined torque in the motor by moving the seal toward the periphery of the component. The component may be a vehicle door to which a seal is installed.
摘要翻译：用于将柔性密封件自动安装到部件的外围的组件和方法。该方法可以包括将部件的周边定位成与密封进给组件相邻; 使用电动机将密封件朝向部件的周边移动，直到达到电动机上的预定扭矩; 当达到预定扭矩时停止电机的运动; 相对于密封进给组件移动部件; 并且当组件相对于密封进给组件移动时，通过将密封件朝向部件的周边移动来自动保持马达中的预定扭矩。该部件可以是安装有密封件的车门。

3. 发明授权

US08738180B2 Robot control during an e-stop event 有权
标题翻译：机器人控制在一个紧急事件
公开(公告)号：US08738180B2
公开(公告)日：2014-05-27
申请号：US13325140
申请日：2011-12-14
申请人： Jianying Shi , David Groll , Peter W. Tavora
发明人： Jianying Shi , David Groll , Peter W. Tavora
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： B25J5/02 , B23P21/008 , B25J9/0084 , B25J9/1674 , G05B19/4182 , G05B2219/39326 , G05B2219/40272 , Y02P90/083
摘要： A system for a work cell having a carrier that moves a product along an assembly line includes an assembly robot, sensor, and controller. An arm of the robot moves on the platform adjacent to the carrier. The sensor measures a changing position of the carrier and encodes the changing position as a position signal. The controller receives the position signal and calculates a lag value of the robot with respect to the carrier using the position signal. The controller detects a requested e-stop of the carrier when the arm and product are in mutual contact, and selectively transmits a speed signal to the robot to cause a calibrated deceleration of the platform before executing the e-stop event. This occurs only when the calculated tracking position lag value is above a calibrated threshold. A method is also disclosed for using the above system in the work cell.
摘要翻译：用于具有沿着装配线移动产品的载体的工作单元的系统包括组装机器人，传感器和控制器。机器人的手臂在与载体相邻的平台上移动。传感器测量载体的变化位置，并将变化位置编码为位置信号。控制器接收位置信号，并使用位置信号计算机器人相对于载体的滞后值。当手臂和产品相互接触时，控制器检测到所要求的载体的紧急停止，并且在执行电子停止事件之前选择性地将速度信号发送到机器人以引起平台的校准减速。这仅在计算出的跟踪位置滞后值高于校准阈值时才发生。还公开了在工作单元中使用上述系统的方法。

4. 发明授权

US08649903B2 Automated seal installation 有权
标题翻译：自动密封安装
公开(公告)号：US08649903B2
公开(公告)日：2014-02-11
申请号：US13190713
申请日：2011-07-26
申请人： Paul R Pleace , Craig A. Rodriguez , Jean-Yves Chretien , Robert J. Scheuerman , Peter W. Tavora
发明人： Paul R Pleace , Craig A. Rodriguez , Jean-Yves Chretien , Robert J. Scheuerman , Peter W. Tavora
IPC分类号： B29C61/00
CPC分类号： B23P19/047 , Y10T29/49826 , Y10T29/49863
摘要： An assembly and method for automated installation of a flexible seal to a periphery of a component. The method may include positioning the periphery of the component adjacent to a seal feed assembly; employing a motor to move the seal toward the periphery of the component until a predetermined torque on the motor is reached; stopping movement of the motor when the predetermined torque is reached; moving the component relative to the seal feed assembly; and, as the component is moved relative to the seal feed assembly, automatically maintaining the predetermined torque in the motor by moving the seal toward the periphery of the component. The component may be a vehicle door to which a seal is installed.
摘要翻译：用于将柔性密封件自动安装到部件的外围的组件和方法。该方法可以包括将部件的周边定位成与密封进给组件相邻; 使用电动机将密封件朝向部件的周边移动，直到达到电动机上的预定扭矩; 当达到预定扭矩时停止电机的运动; 相对于密封进给组件移动部件; 并且当组件相对于密封进给组件移动时，通过将密封件朝向部件的周边移动来自动保持马达中的预定扭矩。该部件可以是安装有密封件的车门。

5. 发明申请

US20130158709A1 ROBOT CONTROL DURING AN E-STOP EVENT 有权
标题翻译：在停止事件期间的机器人控制
公开(公告)号：US20130158709A1
公开(公告)日：2013-06-20
申请号：US13325140
申请日：2011-12-14
申请人： Jianying Shi , David Groll , Peter W. Tavora
发明人： Jianying Shi , David Groll , Peter W. Tavora
IPC分类号： G05B19/00
CPC分类号： B25J5/02 , B23P21/008 , B25J9/0084 , B25J9/1674 , G05B19/4182 , G05B2219/39326 , G05B2219/40272 , Y02P90/083
摘要： A system for a work cell having a carrier that moves a product along an assembly line includes an assembly robot, sensor, and controller. An arm of the robot moves on the platform adjacent to the carrier. The sensor measures a changing position of the carrier and encodes the changing position as a position signal. The controller receives the position signal and calculates a lag value of the robot with respect to the carrier using the position signal. The controller detects a requested e-stop of the carrier when the arm and product are in mutual contact, and selectively transmits a speed signal to the robot to cause a calibrated deceleration of the platform before executing the e-stop event. This occurs only when the calculated tracking position lag value is above a calibrated threshold. A method is also disclosed for using the above system in the work cell.
摘要翻译：用于具有沿着装配线移动产品的载体的工作单元的系统包括组装机器人，传感器和控制器。机器人的手臂在与载体相邻的平台上移动。传感器测量载体的变化位置，并将变化位置编码为位置信号。控制器接收位置信号，并使用位置信号计算机器人相对于载体的滞后值。当手臂和产品相互接触时，控制器检测到所要求的载体的紧急停止，并且在执行电子停止事件之前，选择性地向机器人发送速度信号以引起平台的校准减速。这仅在计算出的跟踪位置滞后值高于校准阈值时才发生。还公开了在工作单元中使用上述系统的方法。

6. 发明申请

US20130035783A1 MOVING STOP STATION FOR ROBOTIC ASSEMBLY 有权
标题翻译：机动装置移动停止站
公开(公告)号：US20130035783A1
公开(公告)日：2013-02-07
申请号：US13198781
申请日：2011-08-05
申请人： Robert J. Scheuerman , Rick F. Rourke , Jianying Shi , Peter W. Tavora , David Groll
发明人： Robert J. Scheuerman , Rick F. Rourke , Jianying Shi , Peter W. Tavora , David Groll
IPC分类号： G06F7/00
CPC分类号： B62D65/18 , B23P21/008 , B23P2700/50
摘要： A moving stop station includes a vehicle carrier configured to move a vehicle along an assembly line, an assembly platform disposed adjacent to the assembly line, and a synchronizer in communication with the vehicle carrier and the assembly platform. The synchronizer is configured to synchronize the motion of the assembly platform with the motion of the vehicle carrier as the vehicle carrier moves along a length of the assembly line, and includes a sensor, processor, and actuator. The sensor is configured to sense the position of the vehicle carrier and to generate a position signal corresponding to the sensed position. The processor is configured to receive the position signal and selectively provide a synchronization signal in response, and the actuator is configured to receive the synchronization signal and synchronize the motion of the vehicle carrier and the motion of the assembly platform in response.
摘要翻译：移动停止站包括构造成沿着装配线移动车辆的车辆载体，与组装线相邻设置的组装平台以及与车辆载体和组装平台连通的同步器。同步器被配置成当车辆载体沿着装配线的长度移动时使组装平台的运动与车辆载体的运动同步，并且包括传感器，处理器和致动器。传感器被配置为感测车辆载体的位置并且产生对应于感测位置的位置信号。处理器被配置为接收位置信号并且响应地选择性地提供同步信号，并且致动器被配置为接收同步信号并且响应于车辆载体的运动和组装平台的运动而同步。

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