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1. 发明专利

JPS59152034A Automatic alignment device of screw fastening device 失效
标题翻译：螺丝紧固装置的自动对准装置
公开(公告)号：JPS59152034A
公开(公告)日：1984-08-30
申请号：JP2437383
申请日：1983-02-16
申请人： Nissan Motor Co Ltd
发明人： KITAMURA KENGO
IPC分类号： B23P19/06 , B23P19/00
CPC分类号： B23P19/102
摘要： PURPOSE:To equip a screw fastening device with sure performance by providing the self-centripetal effect using a three-dimensional floating mechanism and an approx. V-shaped guide groove formed in a guide member, and thereby correcting automatically the relative locational accuracy of a screw with the screw driver unit. CONSTITUTION:In this floating mechanism 1, a movable base 7 formed as in a single piece with Y-axis base plate 6 is supported by a fixed base 5 fixed to a mounting bracket 2 under slidable guidance along the Y axis. In the casing 23 of screw driver 3, a guide tube 26 is accommodated slidable in the axial direction, and a driver is inserted therein. A screw guide 30 is mounted at the top of this tube 26, and an approx. V-shaped guide groove 33a to absorb and correct the variation in the location of adjuster screws 4a, 4b is formed at the guide piece 33 on the tip of this screw guide 30, wherein the center of the circuilar arc 33b is identical to the axis of driver 28.
摘要翻译：目的：通过使用三维浮动机构和约三分之一的浮动机构提供自对心效果来配备螺丝紧固装置，确保性能。 V形引导槽形成在引导构件中，从而自动校正螺钉与螺丝刀单元的相对位置精度。构成：在该浮动机构1中，与Y轴基板6一体形成的可动基座7由沿着Y轴的滑动导向固定于安装支架2的固定基座5支撑。在螺杆驱动器3的壳体23中，引导管26被容纳在轴向方向上可滑动并且驱动器插入其中。螺钉导向件30安装在该管26的顶部，用于吸收和校正调节螺钉4a，4b的位置变化的V形导向槽33a形成在该螺钉导向件30的顶端处的导向件33上，其中，圆弧33b的中心与轴线司机28。

2. 发明专利

JPS59146720A Supporting unit of fastener tightening device in industrial robot 失效
标题翻译：支持工业机器人紧固装置的支持单位
公开(公告)号：JPS59146720A
公开(公告)日：1984-08-22
申请号：JP1771083
申请日：1983-02-05
申请人： Nissan Motor Co Ltd
发明人： KITAMURA KENGO , MURATA HITOSHI
IPC分类号： B23P19/00 , B23P19/06
CPC分类号： B23P19/10 , B23P19/06
摘要： PURPOSE:To facilitate the positioning of the fastener tightening device with respect to a main body and simplify incorporating process by a method wherein an engaging member, engaging with an incorporated component, and a guide member, engaging self-centripetally with a positioning part formed on the main body, are provided in the device. CONSTITUTION:An adaptor bracket 18, connected to the arm of the robot, is attached to the lower surface of a base plate 11 for the supporting unit M of a nut tightening unit N while a movable plate 12 is attached to the upper surface of the plate 11 through a floating mechanism 19. The supporting unit M consists of a floating amount set mechanism 14, setting the floating amount of the plate 12, the engaging member 16, engaging with an engaging hole, and the guide member 17, engaging with the positioning hole self-centripetally. The member 17 is energized by air through a piston 52 and the guide taper part 42a of a guide 42 is fitted into the positioning hole 3 under moving self-centripetally to stop the robot under this condition.
摘要翻译：目的：为了促进紧固件紧固装置相对于主体的定位，并且通过一种方法简化结合过程，其中与组合部件接合的接合构件和引导构件自动向心地与形成在主体设置在设备中。构成：连接到机器人的臂的适配器支架18附接到用于螺母紧固单元N的支撑单元M的基板11的下表面，而可动板12附接到螺母紧固单元N的上表面板11通过浮动机构19.支撑单元M由浮动量设定机构14构成，设置板12的浮动量，接合构件16与接合孔相接合，并且引导构件17与定位孔自向心。构件17由空气通过活塞52通电，引导件42的引导锥形部分42a在自动向下移动到定位孔3中，以在该状态下停止机器人。

3. 发明专利

JPS59124530A Device for supporting tightener of industrial robot 失效
标题翻译：支持工业机器人的装置
公开(公告)号：JPS59124530A
公开(公告)日：1984-07-18
申请号：JP23030082
申请日：1982-12-29
申请人： Nissan Motor Co Ltd
发明人： KITAMURA KENGO , MURATA HITOSHI
IPC分类号： B23P19/06
CPC分类号： B23P19/06
摘要： PURPOSE:To facilitate the positioning of a tightener to a main body, by supporting the tightener in a floatable manner and providing an engaging member and a guide member so that the engaging member is engaged with an element to be tightened on the main body and the guide member is self-centripetally engaged in the positioning hole of the main body. CONSTITUTION:A device for supporting a nut tightener N comprises a flat base plate 11 secured on the multi-joint of a robot, a movable plate 12 supported in a floatable manner on the base plate and coupled thereto by a thrust member, and a locking member for securing the movable plate in an optional position. A floated quantity setting mechanism, which secures the movable plate 12 in a normal position, an engaging member 16 capable of being engaged in the engaging hole 15 of a strut P to be assembled with an automobile body B, and a guide member 17, which is centripetally engaged in the positioning hole 3 of the strut tower 2 of the automobile body, are provided. The guide member 17 is equipped with a centering member 73 movable back and fourth in the positioning hole 3 toward its inside surface.
摘要翻译：目的：为了便于将紧固器定位到主体，通过以可浮动的方式支撑收紧器，并且提供接合构件和引导构件，使得接合构件与要紧固的元件接合在主体上，并且引导构件自对准地接合在主体的定位孔中。构成：用于支撑螺母紧固器N的装置包括固定在机器人的多关节上的平的基板11，以可浮动的方式支撑在基板上并通过推力构件联接的可动板12，以及锁定用于将可动板固定在可选位置的构件。将可动板12固定在正常位置的浮动量设定机构，能够嵌合在与汽车体B组装的支柱P的卡合孔15中的卡合部件16以及引导部件17，被设置为向心地接合在汽车车身的支柱塔2的定位孔3中。引导构件17配备有定位构件73，定心构件73可以在定位孔3中朝向其内表面后方和后方移动。

4. 发明专利

JPS5953275A Method and device for automatic fixing of car parts 失效
标题翻译：汽车零件自动固定的方法和装置
公开(公告)号：JPS5953275A
公开(公告)日：1984-03-27
申请号：JP16396082
申请日：1982-09-22
申请人： Nissan Motor Co Ltd
发明人： KITAMURA KENGO , MURATA HITOSHI
IPC分类号： B23P21/00 , B62D65/00
CPC分类号： B62D65/00 , B23P2700/50 , B60G2202/312 , B60G2206/91 , B60G2206/92 , B60G2206/931
摘要： PURPOSE:To facilitate automatic fixing of car parts within a short time by previously positioning car parts carried to a car body by a robot and a fastening- tool tightening device carried by another robot before positioning them to the car body. CONSTITUTION:For applying to the fixing of a strut P of a front suspension as a car part, a holding hand H to hold the strut P is fixed to one robot Ra, and a tightening device N to fasten a nut 7 is fixed to the other robot Rb via a support device S. For fixing, a clamp member 12 of the hand H and a movable member 52 of the support device S are fast fixed, while a hook member 55 is hooked on the strut P for positioning both of P and N in advance. Then, both members 12 and 52 are brought into a floating state, while a guide member 56 is hooked at a positioning hole 3 of a car body B to position three of B, P, and N, and then the nut 7 is fastened to the fixing bolt 6.
摘要翻译：目的：为了便于在很短的时间内自动固定汽车零件，通过先将机器人承载到车身上的汽车零件以及由另一个机器人承载的紧固工具紧固装置定位到车身之前。构成：为了将作为汽车部件的前悬架的支柱P固定，将支撑杆P固定在一个机器人Ra上，并且将紧固螺母7固定在紧固装置N上其他机器人Rb通过支撑装置S.为了固定，手H的夹紧构件12和支撑装置S的可动构件52被快速固定，而钩构件55钩在支柱P上，用于定位P 和N。然后，将构件12和52置于浮动状态，同时将引导构件56钩在车体B的定位孔3上以定位B，P和N三个位置，然后将螺母7紧固到固定螺栓6。

5. 发明专利

JPS59149835A Optic axis adjusting method of car head lamp 失效
标题翻译：汽车头灯的光轴调整方法
公开(公告)号：JPS59149835A
公开(公告)日：1984-08-27
申请号：JP2327683
申请日：1983-02-15
申请人： Nissan Motor Co Ltd
发明人： KITAMURA KENGO
IPC分类号： B60Q1/06 , B23P19/06 , B60Q1/04 , B60Q1/068
CPC分类号： B60Q1/0683
摘要： PURPOSE:To aim at a distinct improvement in efficiency without extending an adjusting screw any longer, by making a wrench adapter engage with the adjuster screw prior to optic axis adjusting operation, while rotating the adapter with a screw driver in time of adjustment and removing the adapter after completion. CONSTITUTION:Before a car body is taken in an optic axis adjusting shop, a hexagon socket 17 at one end of a wrench adapter 15 is kept engaged intact with a head H of each of adjuster screws AS1 and AS2 in advance. Next, positioning in X- and Z-axes of a screw driver unit 3 to the screw AS1 is made to take place and thereby both shaft centers of the screw AS1 and a driver 8 come congruent. And, a hexagon socket 9 engages with a hexagonal bit 18 of the adapter 15 whereby the driver 8 rotates clockwise or counterclockwise, turning the screw AS1 and performing the specified optic axis adjustment, and after operation is all over, the wrench adapter 15 is removed, thus adjustment ends. As a result, operatability can be improved without the necessity of inserting the driver into the inmost recesses as well as without any requirements for extending a normal length of the adjuster screw.
摘要翻译：目的：为了在不延长调节螺钉的情况下，通过在光轴调整操作之前使扳手适配器与调节螺丝啮合，在调整调整螺丝刀的同时旋转适配器并移除适配器完成后规定：在将车体带入光轴调整车间之前，扳手适配器15的一端的内六角座17预先与调节螺钉AS1和AS2的头部H完全接合。接下来，使螺钉驱动器单元3的X轴和Z轴定位到螺钉AS1上，由此螺钉AS1和驱动器8的两个轴中心均一致。并且，六角形插座9与适配器15的六边形钻头18接合，由此驱动器8顺时针或逆时针旋转，转动螺钉AS1并执行指定的光轴调节，并且在操作完成之后，扳手适配器15被移除，因此调整结束。结果，可以提高可操作性，而不需要将驱动器插入到最内侧的凹部中，而且不需要延长调节螺钉的正常长度。

6. 发明专利

JPS59146721A Automatic centering device for screw tightening apparatus 失效
标题翻译：螺丝紧固装置自动中心装置
公开(公告)号：JPS59146721A
公开(公告)日：1984-08-22
申请号：JP1917783
申请日：1983-02-08
申请人： Nissan Motor Co Ltd
发明人： KITAMURA KENGO
IPC分类号： B23P19/00 , B23P19/06
CPC分类号： B23P19/102 , B23P19/06
摘要： PURPOSE:To perform a screw tightening work surely by a method wherein the automatic centering device is provided with a self-centripetal effect by a three- dimensional floating mechanism and the taper part of a guide tube to correct a relative position automatically even when there is a variation in the accuracy of the relative position. CONSTITUTION:A screw driver unit 3 is equipped with the guide tube 21 and is arranged with a tightening tool 22 while the tip end of the tube 21 is formed into a taper expanded at the end thereof to facilitate positioning with respect to an adjustor screw 4a. Even when there exist variations of X, Y, Z axial directios in a screw 4a with respect to the unit 3, the self-centripetal effect is effected by the sliding contact of the screw 4a with the taper part 23 of a head H and the posture of the screw is changed by floating the unit 3 into X, Y, Z axial directions. When the unit 3 has arrived at a predetermined position and the aligning as well as the positioning thereof with respect to the screw 4a are finished, the adjustment of an optical axis is effected.
摘要翻译：目的：通过一种方法可靠地执行螺丝紧固工作，其中通过三维浮动机构和引导管的锥形部分设置自动定心装置，即使在存在相对位置精度的变化。构成：螺丝刀单元3装备有引导管21，并且配置有紧固工具22，同时管21的末端形成为在其端部膨胀的锥形，以便于相对于调节螺钉4a的定位。即使当相对于单元3在螺钉4a中存在X，Y，Z轴向的变化时，通过螺钉4a与头部H的锥形部23的滑动接触来实现自对心效应，通过将单元3浮动成X，Y，Z轴向来改变螺钉的姿势。当单元3到达预定位置并且对准以及相对于螺钉4a的定位完成时，进行光轴的调节。

7. 发明专利

JPS59143781A Method of automatically installing vehicle part and device therefor 失效
标题翻译：自动安装车辆部件及其装置的方法
公开(公告)号：JPS59143781A
公开(公告)日：1984-08-17
申请号：JP1770983
申请日：1983-02-05
申请人： Nissan Motor Co Ltd
发明人： KITAMURA KENGO , MURATA HITOSHI
IPC分类号： B62D65/00 , B62D65/02
CPC分类号： B62D65/02
摘要： PURPOSE:To aim at automating the installation of vehicle parts with the use of only one robot, by using a gripping hand to grip and transfer a fastener fastening device after the gripping hand has been released from a vehicle part. CONSTITUTION:After a clamp member 63 in a gripping hand H opens to release the gripping condition of a strut P, a robot retracts the gripping hand H to prevent the interference thereof with the strut P which is temporarily installed, and then, shifts into the next step of fastening a nut. When the clamp member 63 reaches a position in the vicinity of the position where it grips a gripped member 110 in a supporting device S in a nut fastening device N, the clamp member 63 is actuated to open, and then initiates to close after is approaches to the side of the gripped member 110. Upon completion of the gripping the robot carries the nut fastening device N which is gripped by the gripping hand H, to a nut supply device to take up a nut, and thereafter, transfers the nut fastening device N to a position above the strut P which is temporarily installed.
摘要翻译：目的：为了使仅使用一个机器人来自动安装车辆部件，通过在夹持手从车辆部件释放之后，使用夹紧手来夹紧和转移紧固件紧固装置。构成：在夹持手H中的夹持构件63打开以释放支柱P的夹持状态之后，机器人缩回夹持手H以防止与暂时安装的支柱P的干涉，然后移入紧固螺母的下一步。当夹紧构件63到达紧固在螺母固定装置N中的支撑装置S中的夹持构件110的位置附近的位置时，夹紧构件63被致动而打开，然后在接近后开始关闭在抓握结束时，机器人将由夹持手H夹持的螺母紧固装置N携带到螺母供给装置上以卷取螺母，然后将螺母紧固装置 N到暂时安装的支柱P上方的位置。

8. 发明专利

JPS59124529A Device for supporting tightener of industrial robot 失效
标题翻译：支持工业机器人的装置
公开(公告)号：JPS59124529A
公开(公告)日：1984-07-18
申请号：JP23029982
申请日：1982-12-29
申请人： Nissan Motor Co Ltd
发明人： KITAMURA KENGO , MURATA HITOSHI
IPC分类号： B23P19/06
CPC分类号： B23P19/06
摘要： PURPOSE:To facilitate the positioning of a tightener to a main body, by supporting the tightener in a floatable manner and providing an engaging member and a guide member so that the engaging member is engaged with an element to be tightened on the main body and the guide member is self-centripetally engaged with the positioning part of the main body and can be held in a retracted position. CONSTITUTION:A device for supporting a nut tightener N comprises a flat base plate secured on the multi-joint arm of a robot, a movable plate 12 supported in a floatable manner on the base plate, and a locking member for securing the movable plate in an optional position. A mechanism for setting the floated quantity of the movable plate, an engaging member 16 capable of being engaged in the engaging hole of a strut to be assembled with an automobile body, and a guide member 17, which is self-centripetally engaged in the positioning hole of the automobile body, are provided. The guide member 17 is equipped with a mechanism for holding the guide member in a retracted position by moving a locking pin 47 back or forth in a floating member 46 through the action of an air cylinder 49.
摘要翻译：目的：为了便于将紧固器定位到主体，通过以可浮动的方式支撑紧固器并提供接合构件和引导构件，使得接合构件与要紧固的元件接合在主体上，并且引导构件与主体的定位部分自对准地接合并且可以保持在缩回位置。构成：用于支撑螺母紧固器N的装置包括固定在机器人的多关节臂上的平坦基板，以可浮动方式支撑在基板上的可动板12和用于将可动板固定在可选位置用于设定可移动板的浮动量的机构，能够接合在与汽车主体组装的支柱的接合孔中的接合构件16和引导构件17，其自对向地接合在定位提供了汽车车身的孔。引导构件17配备有用于通过气缸49的作用使锁定销47在浮动构件46中前后移动而将引导构件保持在缩回位置的机构。

9. 发明专利

JPS6118578A Fixing of car window panel 失效
标题翻译：汽车窗板固定
公开(公告)号：JPS6118578A
公开(公告)日：1986-01-27
申请号：JP13946684
申请日：1984-07-05
申请人： Nissan Motor Co Ltd
发明人： KITAMURA KENGO
IPC分类号： B62D65/00 , B60J1/00 , B62D65/06 , F16B11/00
CPC分类号： B62D65/06
摘要： PURPOSE:To prevent positional shifting by mounting a window panel along a guide member fixed previously to the chassis side. CONSTITUTION:A guide member 3 is mounted on the welded flange section 2c along a rear pillar 2. A slit groove 4 and a guide face 5 are formed at one end section of said guide member 3 while a mount/dismount hook 6 is formed integrally at the other end. Then a foldable rear window panel 1 is mounted over the opening of chassis along the guide member 3. Here, the end section of the side panel section 1a will contact with the adhesive S, but since the gap between the inner face side of the side panel section 1a and the panel joint face 2d is larger than the final regular dimension, the amount of adhesive to be cut is minimized.
摘要翻译：目的：通过沿着先前固定在机箱侧的导向部件安装窗户面板来防止位置偏移。构成：引导构件3沿着后支柱2安装在焊接凸缘部2c上。狭缝槽4和引导面5形成在所述引导构件3的一个端部处，同时安装/拆卸钩6形成为一体在另一端然后，可折叠的后窗面板1沿着引导构件3安装在底盘的开口上。这里，侧板部分1a的端部将与粘合剂S接触，但是由于侧面的内表面侧之间的间隙面板部分1a和面板接合面2d大于最终的常规尺寸，所以待切割的粘合剂的量最小化。

10. 发明专利

JPS59143780A Method of automatically installing vehicle parts and device therefor 失效
标题翻译：自动安装车辆部件及其装置的方法
公开(公告)号：JPS59143780A
公开(公告)日：1984-08-17
申请号：JP1690383
申请日：1983-02-05
申请人： Nissan Motor Co Ltd
发明人： KITAMURA KENGO , MURATA HITOSHI
IPC分类号： B62D65/00 , B23P19/04 , B62D65/12
CPC分类号： B23P19/04 , B23P2700/50 , B60G2204/4304 , B60G2206/921 , B60G2206/931 , B62D65/12 , Y10T29/49829 , Y10T29/53365 , Y10T29/53391
摘要： PURPOSE:To sufficiently obtain the working space of a robot, by bringing a fastening device to a vehicle body with the use of another robot after the installation is temporarily carried out, to fasten a fastener. CONSTITUTION:After a clamp member 63 in a gripping hand H opens to relase the shaft part PS of a strut P, a robot Ra returns to its original position to stand by the next step. A vehicle body B in which a strut P is temporarily installed is transferred to a second working station ST2 by means of a conveyor 1. At this time a robot Rb is standing by in a position where it will not interfere with the vehicle body 1 transmitted by the conveyor 1 after the robot Rb feeds nuts 10 to a nut fastening device N. An attaching bolt 6 is pulled upward in association with fastening of the nut 10, so that the strut 10 is surely installed in a predetermined position in the vehicle body B when the fastening torque of the nut 10 reaches a specified value.
摘要翻译：目的：为了充分获得机器人的工作空间，在暂时执行安装后，通过使用另一机器人将紧固装置固定在车体上，来紧固紧固件。构成：在夹持手H中的夹持构件63打开以使支柱P的轴部PS相对位置之后，机器人Ra返回到其初始位置以在下一个步骤中待机。其中支柱P临时安装的车体B通过传送带1传送到第二工作站ST2。此时，机器人Rb站立在不会与发送的车体1干涉的位置在机器人Rb将螺母10供给到螺母紧固装置N之后，通过输送机1.与螺母10的紧固相关联地将安装螺栓6向上拉，使得支柱10可靠地安装在车身中的预定位置当螺母10的紧固扭矩达到规定值时。

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