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1. 发明授权

US5079832A Equipment for attaching and detaching doors to a vehicle body 失效
标题翻译：将车门连接到车身上的设备
公开(公告)号：US5079832A
公开(公告)日：1992-01-14
申请号：US509520
申请日：1990-04-13
申请人： Shougo Ozawa , Toru Yamamoto , Yasuji Watanabe , Mituyoshi Obata , Masahiko Yomota , Shizuo Maeda
发明人： Shougo Ozawa , Toru Yamamoto , Yasuji Watanabe , Mituyoshi Obata , Masahiko Yomota , Shizuo Maeda
IPC分类号： B62D65/02
CPC分类号： B62D65/02 , Y10T29/53039 , Y10T29/53052 , Y10T29/53078 , Y10T29/53383 , Y10T29/53396
摘要： This invention relates to an apparatus for automatically attaching and detaching such exterior parts as doors, a trunk, and a bonnet, etc. which are openably mounted to a vehicle body by way of such tightening device as pins, bolts, etc. on the assembling line of a vehicle. In a door attaching and detaching apparatus the position of pins for openably attaching a door on a vehicle body is detected by a pin position detection mechanism, and the position of the pin drawing out and inserting mechanism is compensated according to the position thereof. Then, the pins can be drawn out from and inserted in the vehicle body and the door by the corresponding pin drawing out and inserting mechanism. Furthermore, the position of the door holding mechanism is compensated according to the position of the pins detected by the pin position detection mechanism, thereby causing the door to be held by the corresponding door holding mechanism. In this case, the pin drawing out and inserting mechanism and the door holding mechaism are separately installed independently and are individually driven to actuate.
摘要翻译：本发明涉及一种用于自动安装和拆卸诸如门，躯干和发动机罩等外部部件的装置，其通过诸如销钉，螺栓等的紧固装置可开启地安装到车身上车辆线。在门安装和拆卸装置中，通过销位置检测机构检测用于可开启地安装车身的销的位置，并且根据其位置补偿销拔出和插入机构的位置。然后，销可以通过相应的销拔出和插入机构从车身和车门中拉出并插入车门。此外，根据由销位置检测机构检测到的销的位置来补偿门保持机构的位置，从而使门被相应的门保持机构保持。在这种情况下，引脚拔出插入机构和门保持装置分别单独安装并单独驱动以致动。

2. 发明授权

US5210931A Apparatus for attaching and detaching trunk or a hood to and from a vehicle body 失效
标题翻译：用于将行李箱或发动机罩与车体相连和拆卸的装置
公开(公告)号：US5210931A
公开(公告)日：1993-05-18
申请号：US783203
申请日：1991-10-28
申请人： Shougo Ozawa , Toru Yamamoto , Yasuji Watanabe , Mituyoshi Obata , Masahiko Yomota , Shizuo Maeda
发明人： Shougo Ozawa , Toru Yamamoto , Yasuji Watanabe , Mituyoshi Obata , Masahiko Yomota , Shizuo Maeda
IPC分类号： B62D65/02
CPC分类号： B62D65/02 , Y10T29/53039 , Y10T29/53052 , Y10T29/53383
摘要： The present invention relates to an apparatus for automatically attaching and detaching such exterior parts as doors, a trunk, and a hood, etc. which are openably mounted to a vehicle body by way of tightening devices such as pins, bolts, etc. on the assembling line of a vehicle. The invention relates to a trunk or hood attaching and detaching apparatus in which a trunk or hood is opened with respect to a vehicle body by a trunk or hood opening and closing mechanism. A holding member which constitutes the holding mechanism is closed by a driving device positioned on a base plate, so that the holding member moves and follows the position of the trunk or hood, thereby causing the trunk or hood to be held. Also, the position of the screw member screwed in the vehicle body is detected by a detection mechanism, and simultaneously the position of a nut runner mechanism is compensated on the basis of the position of the screw member detected by the detection mechanism. Thereafter, the screw member can be tightened and loosened by the nut runner mechanism.
摘要翻译：本发明涉及一种用于自动安装和拆卸诸如门，躯干和罩等的外部部件的装置，其通过诸如销钉，螺栓等的紧固装置可开启地安装到车身上车辆装配线。本发明涉及一种行李箱或罩安装和拆卸装置，其中行李箱或发动机罩通过行李箱或机罩打开和关闭机构相对于车身打开。构成保持机构的保持构件由位于基板上的驱动装置封闭，使得保持构件移动并跟随躯干或罩的位置，从而使躯干或罩被保持。此外，通过检测机构检测拧入车体的螺钉构件的位置，同时基于由检测机构检测的螺杆构件的位置来补偿螺母浇道机构的位置。此后，可以通过螺母扳手机构来拧紧和松开螺钉构件。

3. 发明授权

US5276383A Route interpolation method for robot 失效
标题翻译：机器人路线插补法
公开(公告)号：US5276383A
公开(公告)日：1994-01-04
申请号：US750397
申请日：1991-08-27
申请人： Toshihiko Nishimura , Masahiko Yomota
发明人： Toshihiko Nishimura , Masahiko Yomota
IPC分类号： B25J9/22 , B25J9/18 , G05B19/4103 , G05B19/416 , G05B19/41 , G05B19/18
CPC分类号： G05B19/4103 , G05B2219/34098 , G05B2219/34175
摘要： A robot route interpolation method for interpolation a polygonal route of a robot which is defined by the predetermined three or more points, wherein the acceleration at the time when a first velocity on the above polygonal route before a turning point is changed into a second velocity on the above polygonal route after the turning point is obtained based on the above first and second velocities so that, based on the above first velocity and the above acceleration, the above robot is moved toward the turning point at an uniform velocity of the first velocity and is also moved at an uniform acceleration in the direction of the above acceleration.
摘要翻译：一种机器人路线插值方法，用于对由所述预定的三个或更多个点限定的机器人的多边形路线进行插值，其中，当在转折点之前的上述多边形路线上的第一速度变为第二速度时，基于上述第一速度和第二速度获得转向点之后的上述多边形路线，使得基于上述第一速度和上述加速度，上述机器人以第一速度的均匀速度朝向转折点移动，并且也以上述加速度的方向以均匀的加速度移动。

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