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1. 发明授权

US08950065B2 Weld gun part clamp device and method 有权
标题翻译：焊枪部件夹紧装置及方法
公开(公告)号：US08950065B2
公开(公告)日：2015-02-10
申请号：US13621509
申请日：2012-09-17
申请人： Comau, Inc.
发明人： Velibor Kilibarda
IPC分类号： H05K3/30 , B23K11/11 , B23K11/31
CPC分类号： B23K11/314 , B23K11/115 , B23K11/315 , F16B2200/10 , Y10S483/901 , Y10S901/27 , Y10S901/28 , Y10S901/29 , Y10S901/30 , Y10S901/50 , Y10T29/49075 , Y10T29/4913 , Y10T29/49815 , Y10T29/49826 , Y10T29/4984 , Y10T29/5313 , Y10T29/53174 , Y10T74/20305 , Y10T74/20311 , Y10T74/20329 , Y10T74/20335 , Y10T403/7005 , Y10T403/7007 , Y10T403/7073 , Y10T483/17
摘要： A combination component handling and connecting device connectable to a multi-axis robot for use in moving and connecting components and subassemblies includes a housing and an actuator fixedly connected to the housing. The actuator includes an actuating link movable from a first position to a second position. Connected to the actuating link is an end effector for concurrent movement with the actuating link. The component handling and connecting device includes a clamp having a first jaw and a second jaw. The second jaw is connected to the actuating link for selectively moving the second jaw toward the first jaw operative to engage a component.
摘要翻译：可连接到用于移动和连接部件和子组件的多轴机器人的组合部件处理和连接装置包括壳体和固定地连接到壳体的致动器。致动器包括可从第一位置移动到第二位置的致动连杆。连接到致动链路的是端部执行器，用于与致动连杆同时运动。部件处理和连接装置包括具有第一钳口和第二钳口的夹具。第二钳口连接到致动链路，用于选择性地将第二钳口朝向第一钳口移动，以操作以接合部件。

2. 发明申请

US20130284795A1 ROBOTIC HIGH DENSITY WELDING BODY SHOP 有权
公开(公告)号：US20130284795A1
公开(公告)日：2013-10-31
申请号：US13910297
申请日：2013-06-05
申请人： Comau, Inc.
发明人： Velibor Kilibarda
IPC分类号： B62D65/02
CPC分类号： B62D65/02 , B23K37/047 , B23P21/004 , B23P2700/50 , B62D65/00
摘要： A method and apparatus for managing the delivery of component parts and tooling to a robotic welding assembly positioned on a motor vehicle body assembly line. Automatic guided vehicles deliver component parts from a source of parts to a parts staging area on the robotic welding assembly including a substage awaiting area, a substage in-use area and a substage empty area, and further automatic guided vehicles deliver tooling from a tooling management area to the robotic welding assembly whereafter the tooling, upon model changeover, is moved to a tooling use area proximate the assembly line whereafter, upon further model changeover, the tooling is removed from the tooling use area and loaded onto an automatic guided vehicle for return to the tooling management area.

3. 发明授权

US09528556B2 Multiple natural frequency coupling apparatus 有权
标题翻译：多重固有频率耦合装置
公开(公告)号：US09528556B2
公开(公告)日：2016-12-27
申请号：US14244307
申请日：2014-04-03
申请人： Comau, Inc.
发明人： Robert M. Kerchen
IPC分类号： F16D25/04 , F16D3/80 , F16D3/64 , F16F15/126 , F16D3/74 , F16D47/02
CPC分类号： F16D3/80 , F16D3/64 , F16D3/74 , F16D25/046 , F16D47/02 , F16D2300/22 , F16F15/126
摘要： A multiple natural frequency coupling apparatus for connecting a rotatable driving member to a rotatable driven member of a drive line. The coupling apparatus of the present invention provides a substantially cylindrical housing having a longitudinal axis with a substantially cylindrical outer shaft coaxially aligned with and connected to the housing. A substantially cylindrical inner shaft is coaxially aligned with the outer shaft and the housing. A substantially cylindrical chuck housing is coaxially aligned with the housing, the outer shaft, and the inner shaft wherein the fluid chuck housing is connected to the inner shaft. A substantially cylindrical collapsible sleeve is coaxially aligned with and between the fluid chuck housing and the outer shaft, wherein the collapsible sleeve may move between a non-actuated position, wherein the collapsible sleeve does not engage the outer shaft thereby providing the coupling apparatus with a first torsional stiffness corresponding to a first natural frequency, and an actuated position, wherein the collapsible sleeve engages the outer shaft thereby providing the coupling apparatus with a second torsional stiffness corresponding to a second natural frequency.
摘要翻译：一种用于将可旋转驱动构件连接到驱动线的可旋转从动构件的多重固有频率耦合装置。本发明的联接装置提供了一种基本上圆柱形的壳体，其具有纵向轴线，该纵向轴线具有与壳体同轴对准并连接到壳体的基本上圆柱形的外轴。基本上圆柱形的内轴与外轴和壳体同轴对准。基本上圆柱形的卡盘壳体与壳体，外轴和内轴同轴对准，其中流体卡盘壳体连接到内轴。基本上圆柱形的可折叠套筒与流体卡盘壳体和外轴同轴对准，其中可折叠套筒可在非致动位置之间移动，其中可折叠套筒不与外轴接合，从而为联接装置提供对应于第一固有频率的第一扭转刚度和致动位置，其中可折叠套筒接合外轴，从而为联接装置提供对应于第二固有频率的第二扭转刚度。

4. 发明申请

US20150128719A1 ASSEMBLY LINE QUALITY CONTROL CART AND METHOD 审中-公开
标题翻译：组装线质量控制台和方法
公开(公告)号：US20150128719A1
公开(公告)日：2015-05-14
申请号：US14538038
申请日：2014-11-11
申请人： Comau, Inc.
发明人： Velibor Kilibarda
IPC分类号： B62D65/00 , G01N3/20 , B23K11/30
CPC分类号： B62D65/00 , B23K11/3063 , B23K11/3072 , B23P21/004 , B23P2700/50 , G01N3/20 , Y10T29/4973 , Y10T29/49748 , Y10T29/534
摘要： Disclosed are assembly line equipment maintenance devices and methods. A maintenance cart is selectively engaged to a transport conveyor and integrated into a moving assembly line. The cart can include maintenance tools to refurbish robot end effector tools or replacement tools engageable by robot wrists. The maintenance or replacement tools can include a variety of maintenance equipment including weld tip dressing tools, weld force gauges, replacement weld guns, and test coupon disks.
摘要翻译：公开了装配线设备的维护装置和方法。维护车选择性地接合到运输输送机并且集成到移动的装配线中。推车可以包括维修工具来翻新机器人末端执行器工具或可由机器人手腕接合的更换工具。维护或更换工具可以包括各种维护设备，包括焊缝修整工具，焊接力量规，替换焊枪和测试试样盘。

5. 发明授权

US09821473B2 Robotic smart end effector tooling 有权
公开(公告)号：US09821473B2
公开(公告)日：2017-11-21
申请号：US14527098
申请日：2014-10-29
申请人： Comau, Inc.
发明人： Velibor Kilibarda , Joseph Cyrek , David Reid
IPC分类号： B25J15/04 , B05B15/02 , B05C5/02 , B05C11/10 , B05C17/01 , B23K11/31 , B25J15/00 , B25J9/10 , B25J11/00
CPC分类号： B25J15/0483 , B05B15/5223 , B05C5/0216 , B05C11/1005 , B05C11/1021 , B05C17/0143 , B23K11/315 , B25J9/10 , B25J11/005 , B25J15/0019 , B25J15/04 , G05B2219/31095 , G05B2219/39468 , G05B2219/49304 , G05B2219/49305 , Y10S901/02 , Y10S901/41 , Y10S901/42 , Y10T29/49826 , Y10T74/20335
摘要： A robotic end effector system and method having a plurality of end effectors which are selectively suitable for particular applications on a workpiece. The end effectors include a resident controller adapted to execute tasks specific to the end effector and are rapidly attachable and removable from the robot for easy change over to different workpieces.

6. 发明授权

US09802664B2 High density welding 有权
公开(公告)号：US09802664B2
公开(公告)日：2017-10-31
申请号：US14245459
申请日：2014-04-04
申请人： COMAU, Inc.
发明人： Velibor Kilibarda
IPC分类号： B62D65/00 , B62D65/02 , B23K37/047 , B65G35/00 , B23K101/00
CPC分类号： B62D65/022 , B23K37/047 , B23K2101/006 , B23P2700/50 , B62D65/02 , B65G35/00 , Y10T29/49622 , Y10T29/49826 , Y10T29/49828 , Y10T29/49829 , Y10T29/534
摘要： Methods for welding motor vehicle body component subassemblies at a weld stations are disclosed. First and second pallets may be arranged for reciprocal movement between a load/unload station and the weld station and the pallets are alternately moved from a load/unload station to the weld station while the other pallet is moved from the weld station to a load/unload station. Each pallet may have a plurality of substations for receipt of component subassemblies and, while each pallet is at the load/unload station, the component subassembly at each substation is moved to the next successive substation and a further component is added to the moved component.

7. 发明授权

US09410895B2 Process and apparatus for inspecting a high volume material jointing operation 有权
标题翻译：用于检查大量材料接合操作的过程和设备
公开(公告)号：US09410895B2
公开(公告)日：2016-08-09
申请号：US14206246
申请日：2014-03-12
申请人： Comau, Inc
发明人： Velibor Kilibarda , He Wang , Martin Kinsella
IPC分类号： G01B11/06 , G01N21/84 , G01B11/25 , G01N21/95 , B21J15/02 , B21J15/28 , B23K31/12 , B23P19/06
CPC分类号： G01N21/84 , B21J15/025 , B21J15/28 , B23K31/125 , B23P19/06 , G01B11/25 , G01N21/9515 , G05B2219/45088 , G05B2219/45126 , Y10T29/49769 , Y10T29/49947 , Y10T29/53078
摘要： A method of sequentially performing a plurality of jointing operations includes positioning an automated device to form a mechanical joint into a workpiece and forming a mechanical joint into the workpiece. Once the mechanical joint is formed, the workpiece is scanned to generate data indicating the surface geometry of the workpiece at a location including the mechanical joint. One or more geometric features of the surface geometry are identified, and if the identified geometric features are within respective predetermined specification thresholds, the automated device is repositioned to form a subsequent mechanical joint into the workpiece.
摘要翻译：依次执行多个接合操作的方法包括定位自动化装置以在工件中形成机械接头并在工件中形成机械接头。一旦形成机械接头，就扫描工件以产生指示工件在包括机械接头的位置处的表面几何形状的数据。识别表面几何形状的一个或多个几何特征，并且如果所识别的几何特征在相应的预定规格阈值内，则自动装置被重新定位以形成随后的机械接头进入工件。

8. 发明申请

US20140217155A1 High Density Welding 有权
标题翻译：高密度焊接
公开(公告)号：US20140217155A1
公开(公告)日：2014-08-07
申请号：US14245459
申请日：2014-04-04
申请人： COMAU, Inc.
发明人： Velibor Kilibarda
IPC分类号： B62D65/02 , B65G35/00
CPC分类号： B62D65/022 , B23K37/047 , B23K2101/006 , B23P2700/50 , B62D65/02 , B65G35/00 , Y10T29/49622 , Y10T29/49826 , Y10T29/49828 , Y10T29/49829 , Y10T29/534
摘要： Methods for welding motor vehicle body component subassemblies at a weld stations are disclosed. First and second pallets may be arranged for reciprocal movement between a load/unload station and the weld station and the pallets are alternately moved from a load/unload station to the weld station while the other pallet is moved from the weld station to a load/unload station. Each pallet may have a plurality of substations for receipt of component subassemblies and, while each pallet is at the load/unload station, the component subassembly at each substation is moved to the next successive substation and a further component is added to the moved component.
摘要翻译：公开了在焊接站处焊接机动车辆部件组件的方法。第一和第二托盘可以布置成用于在加载/卸载站和焊接站之间的往复运动，并且托盘交替地从加载/卸载站移动到焊接站，而另一个托盘从焊接站移动到负载/ 卸载站。每个托盘可以具有用于接收组件子组件的多个变电站，并且当每个托盘处于加载/卸载站时，每个变电站处的组件子组件被移动到下一个连续的变电站，并且另外的组件被添加到移动的组件。

9. 发明申请

US20130082169A1 DIRECT VEHICLE BODY LOCKING SENSOR APPARATUS AND METHOD 有权
标题翻译：直接车身身体锁定传感器装置及方法
公开(公告)号：US20130082169A1
公开(公告)日：2013-04-04
申请号：US13633461
申请日：2012-10-02
申请人： Comau, Inc.
发明人： Velibor Kilibarda
IPC分类号： G01D5/30
CPC分类号： B62D65/026 , B62D65/028 , B62D65/18 , Y10T29/49767 , Y10T29/49771 , Y10T29/49998 , Y10T29/53052 , Y10T29/53087 , Y10T29/53961 , Y10T29/53974
摘要： Disclosed herein is a sensing device for use in providing positive feedback of the position of a vehicle body securing device used to selectively secure a vehicle body to a vehicle body support movable along a path of travel. A vehicle body securing device is selectively movable between a locked position and an unlocked position. An indicator is connected to the securing device and is reciprocally movable to and from a target area when the securing device is in one of the locked position and the unlocked position. A sensor has a field of view selectively alignable with the target area. The sensor is operable to detect when the indicator is positioned at the target area to provide a positive indication of the position of the securing device.
摘要翻译：本文公开了一种用于提供用于将车体选择性地固定到可沿着行进路径移动的车体支撑件的车体固定装置的位置的正反馈的感测装置。车体固定装置可选择性地在锁定位置和解锁位置之间移动。指示器连接到固定装置，并且当固定装置处于锁定位置和解锁位置之一时可往复运动地与目标区域相接触。传感器具有可选择性地与目标区域对准的视场。传感器可操作以检测指示器何时定位在目标区域以提供固定装置的位置的肯定指示。

10. 发明申请

US20150088300A1 ROBOTIC SMART END EFFECTOR TOOLING 有权
标题翻译：机器智能终端效应器
公开(公告)号：US20150088300A1
公开(公告)日：2015-03-26
申请号：US14527098
申请日：2014-10-29
申请人： Comau, Inc.
发明人： Velibor Kilibarda , Joseph Cyrek , David Reid
IPC分类号： B25J11/00 , B25J9/10 , B25J15/00
CPC分类号： B25J15/0483 , B05B15/5223 , B05C5/0216 , B05C11/1005 , B05C11/1021 , B05C17/0143 , B23K11/315 , B25J9/10 , B25J11/005 , B25J15/0019 , B25J15/04 , G05B2219/31095 , G05B2219/39468 , G05B2219/49304 , G05B2219/49305 , Y10S901/02 , Y10S901/41 , Y10S901/42 , Y10T29/49826 , Y10T74/20335
摘要： A robotic end effector system and method having a plurality of end effectors which are selectively suitable for particular applications on a workpiece. The end effectors include a resident controller adapted to execute tasks specific to the end effector and are rapidly attachable and removable from the robot for easy change over to different workpieces.
摘要翻译：机器人端部执行器系统和方法具有多个端部执行器，其选择性地适合于工件上的特定应用。末端执行器包括适于执行特定于末端执行器的任务的驻车控制器，并且可快速地从机器人附接和移除，以便于转换到不同的工件。

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