WO2004085233A1 - 車体フレーム用位置決め治具装置 - Google Patents
車体フレーム用位置決め治具装置 Download PDFInfo
- Publication number
- WO2004085233A1 WO2004085233A1 PCT/JP2004/003256 JP2004003256W WO2004085233A1 WO 2004085233 A1 WO2004085233 A1 WO 2004085233A1 JP 2004003256 W JP2004003256 W JP 2004003256W WO 2004085233 A1 WO2004085233 A1 WO 2004085233A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- positioning jig
- body frame
- positioning
- vehicle body
- jig
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
Definitions
- the present invention relates to a positioning jig device for a vehicle body frame that supplies a vehicle body frame to a predetermined work position and fixes the position thereof.
- a welding port is provided at a plurality of welding stations, and a body frame is positioned on a jig from a work transfer path for each welding station. We are doing welding by putting it in.
- a jig for positioning the body frame at the welding station must be prepared for each body frame.
- the positioning relationship between the body frame and the welding robot input to the welding station differs depending on the combination of the body frame type and the corresponding jig and welding robot type. It is necessary to prepare many exclusive jigs consisting of In this case, the number of types of jigs increases with the increase of the types of body frames and welding robots, which causes a problem that equipment costs increase.
- the positional relationship with the welding robot must be adjusted every two to three months, so there is a problem that management for maintaining accuracy is complicated.
- a positioner capable of adjusting the position of the body frame is arranged at each welding station, and the work is performed using the transfer port pot.
- the body frame is supplied to each positioner from the transport path, and the positioner adjusts the body frame to a position and orientation corresponding to the welding port and performs welding.
- the positioners provided at the respective welding stations can be shared for the respective welding stations.
- a positioner is indispensable, and at least a positioner with a different configuration according to the type of body frame is required. Disclosure of the invention
- An object of the present invention is to provide a positioning jig device for a body frame that can position the body frame with high accuracy using a minimum necessary positioning jig depending only on the type of the body frame.
- Another object of the present invention is to provide a positioning jig device for a vehicle body frame that can reduce the cost required for the positioning jig.
- the body frame fixed to the positioning jig configured according to the form of the body frame is supplied to the work position by the positioning port pot.
- the engaging portion constituting the positioning jig holding mechanism is engaged with the end of the positioning jig, and the body frame is positioned in a desired working posture by the positioning opening pot.
- a desired operation can be performed with high accuracy in a stable state.
- the positioning jig can be set to an arbitrary working posture by the positioning port pot by supporting the engaging portion so as to be able to swing and supporting the engaging portion so as to be displaceable toward the positioning jig. can do.
- Figure 1 is a plan view of the welding system.
- FIG. 2 is an explanatory side view of a positioning state of the body frame by the positioning robot and the positioning jig holding mechanism in the welding station.
- FIG. 3 is a perspective view illustrating a positioning state of the body frame by the positioning robot and the positioning jig holding mechanism in the welding station.
- FIG. 4 is a cross-sectional view taken along the line IV-IV shown in FIG.
- FIG. 5 is a cross-sectional view taken along a line VV shown in FIG. BEST MODE FOR CARRYING OUT THE INVENTION
- FIG. 1 shows a welding system to which the positioning jig device for a vehicle body frame according to the present invention is applied.
- FIG. 10 is a plan configuration diagram of FIG.
- the welding system 10 is a system for performing actual welding on a body frame 12 supplied in a tentatively assembled state, and includes a body frame placement section having a placement table 14 on which a plurality of body frames 12 are placed. 16; a welding station 18 for performing actual welding on the body frame 12 supplied from the body frame placement section 16; and a body frame placement section 1
- a positioning robot 22 having a positioning jig 20 for transporting and positioning the vehicle body frame 12 from 6 to the welding station 18.
- Welding station 18 has positioning jig 2 in cooperation with positioning robot 2.
- a positioning jig holding mechanism 24 for holding 0 and two welding port pots 26 and 28 for performing actual welding on the positioned body frame 12 are provided.
- the positioning port pot 22 is provided on a base 30 on a first arm 32 rotatable in the direction of arrow A, and on the end of the first arm 32.
- a second arm 34 rotatable in the direction of arrow B; a third arm 36 disposed at an end of the second arm 34 and rotatable in the direction of arrow C; and an end of the third arm 36
- It has a fourth arm 38 provided and rotatable in the direction of arrow D, and a fifth arm 40 provided at an end of the fourth arm 38 and rotatable in the direction of arrow E.
- a positioning jig At the end of the fifth arm 40, a positioning jig
- the positioning jig 20 has a substantially L-shaped jig base 42 whose one end is connected to the fifth arm 40 of the positioning robot 22, and connecting plates 4 4 and 4 6.
- a substantially L-shaped connecting arm 48 attached to the other end of the jig base 42 through the first fixing part 50, 52 arranged on the jig base 42; Second fixing portions 54 and 56 are provided on the upper connecting plate 44.
- the body frame 12 is provided for, for example, a four-wheel buggy.
- Two upper frames 58, 60 provided at the upper part, two lower frames 62, 64 provided at the lower part, and a plurality of sub-frames 66 connecting the respective frames 58, 60, 62, 64 And Brackets 72, 74 having holes 68, 70 for suspending the suspension are provided at the front of the lower frames 62, 64.
- Brackets 80, 82 having holes 76, 78 for pivotally supporting the ends of the swing arms are provided at the rear portions of the lower frames 62, 64.
- the first fixing part 5 CK 52 constituting the positioning jig 20 is provided on brackets 86 and 88 erected on the jig base 42 and above the brackets 86 and 88, and fixing ports 90 and 92 are screwed. And screw portions 94 and 96 to be combined.
- the second fixing portions 54 and 56 include brackets 98 and 100 erected at both ends of the support plate 84 fixed on the connecting plates 44 and 46, and a bracket 98. , 100 and a screw portion 106, 1.08 to which the fixing port 102, 104 is screwed.
- the brackets 98 and 100 are provided with reinforcing ribs 110 and 112, respectively.
- An engaging portion 114 is provided at an end of the connecting arm 48 that constitutes the positioning jig 20. As shown in FIG. 5, the engaging portion 114 has an opening portion 116 and a concave portion 118 formed by expanding an internal space.
- the positioning jig holding mechanism 24 includes two columns 122, 124 erected on the base 120, bearings 126, 128 disposed at the upper end of the columns 122, 124, and a bearing 126. , 128, and a supporting portion 134 rotatably supported by rotating shafts 130, 132.
- the upper supports 122 and 124 are connected by a connecting plate 136. Also, one end of a substantially L-shaped fixed arm 138 is fixed to the columns 122 and 124, and a fixed part for fixing the support part 134 is fixed to the upper end of the fixed arm 138. A hole 142 into which the pin 140 is inserted is formed.
- the support portion 134 has rotating shafts 130 and 132 arranged on both sides at the center, and brackets 144 and 146 through which the upper end portion of the fixed arm 138 passes are provided at one end. . Brackets 144 and 146 have holes 14 into which fixing pins 140 are inserted. 8, 150 are formed.
- a long hole portion 152 is formed on the other end portion side of the support portion 134, and a cylindrical support sleeve 154 is inserted into the long hole portion 152 from the other end portion.
- metal seals 156, 158 are provided, and through these metal seals 156, 158, a cylindrical mouth member is provided. 16 0 is inserted into the support sleep 15 4 in a freely displaceable and rotatable state.
- a flange 162 is formed at one end of the rod member 160 so as to engage with the support sleeve 154 to prevent it from falling off. Also, a hole 164 is formed at one end of the rod member 160, and the hole 164 is urged in a direction in which the mouth member 160 projects from the support portion 134. A coil spring 1 6 6 (elastic member) is provided. In addition, a communication hole 168 communicating with the outside is formed in the long hole portion 152, and air can enter and exit through the communication hole 168, and the length of the rod member 160 can be increased. It is configured such that displacement with respect to the hole 15 2 becomes easy.
- a cylinder 170 is provided at the other end of the rod member 160.
- two sets of engaging portions 17 2, 17 4, 17 6, and 17 8 disposed opposite to each other can be approached or separated from each other.
- the engaging portions 17 2, 17 4, 17 6, and 17 8 are claws that engage with the concave portions 1 18 of the engaging portions 1 14 arranged on the connecting arm 48 of the positioning jig 20. It has a part 180.
- the welding system 10 according to the present embodiment is basically configured as described above. Next, the operation thereof will be described.
- a positioning jig 20 corresponding to the type of the body frame 12 is mounted on the fifth arm 40 of the positioning port pot 22.
- the positioning port pot 22 is driven to move the positioning jig 20 to the vehicle body frame disposing portion 16, and then the vehicle body frame 12 assembled to the positioning jig 20 by temporary welding is removed. Fix it.
- brackets 72 and 74 are members for attaching a suspension to the body frame 12
- brackets 80 and 82 are members for attaching a swing arm to the body frame 12.
- the fixing work of the vehicle body frame 12 to the positioning jig 20 is performed, for example, by using the positioning jig 20 moved to the vehicle body frame disposing portion 16 by the positioning hole pot 22.
- the fixing ports 90, 92, 102, 104 are screwed together using a nutrunner driven by a thermopowder. It can be automated by using
- the positioning port pot 22 is driven again, and the body frame 12 is transported together with the positioning jig 20 to the welding station 18.
- the positioning jig holding mechanism 24 provided at the welding station 18 has a hole 14 at the end so that the support portion 13 4 is in a horizontal state.
- the fixed pin 140 is inserted into the fixed arm 150 through the hole 142 of the fixed arm 1380.
- drive the cylinder 170 that composes the positioning jig holding mechanism 24 to set the engaging portions 17 2, 17 4, 17 6, and 17 8 close to each other. .
- the positioning opening pot 22 is driven to displace the engaging portion 114 disposed at the end of the connecting arm 48 connected to the positioning jig 20 in the direction of arrow F shown in FIG.
- the engaging portions 17 2, 17 4, 17 6, 17 8 of the engaging portions 1 18, which constitute the positioning jig holding mechanism 24, are formed in the concave portions 1 18 of the engaging portions 1 14. Is inserted.
- the rod member 160 supporting the engaging portions 17 2, 17 4, 17 6, 17 8 Since the coil spring 16 arranged in the long hole 15 2 of the 13 4 is configured to be displaceable in the direction of arrow F, the engaging part 1 14 and the engaging part 17 2 17 The shock when engaging with 4,176,178 is absorbed.
- the claw portion 180 becomes the engaging portion 1 14 , And the end of the positioning jig 20 is connected to the support portion 134.
- one end of the positioning jig 20 to which the vehicle body frame 12 is fixed is held by the positioning robot 22, and the other end is held by the positioning jig holding mechanism 24.
- the positioning port pot 22 By positioning the positioning port pot 22, the first arm 32, the second arm 34, the third arm 36, the fourth arm 38, and the fifth arm 40 are moved to form a welding station.
- the body frame 12 in 18 is set to a desired posture.
- the rod member 160 constituting the positioning jig holding mechanism 24 moves in the direction of the arrow G with the movement of the positioning robot 22 and also rotates about the support sleeve 15 54.
- the positioning port pot 22 can easily set the body frame 12 to an arbitrary posture.
- the welding robots 26 and 28 disposed on both sides of the body frame 12 are driven to perform the main welding work on the body frame 12.
- the body frame 12 since the body frame 12 is positioned and held by the positioning port pot 22 and the positioning jig holding mechanism 24, the body frame 12 does not swing during welding, and a high precision
- the welding operation can be performed while maintaining the positioning state.
- the welding operation can be continued by changing the posture of the body frame 12 in consideration of workability.
- the positioning jig device for a vehicle body frame of the present invention can also be applied to the positioning of a vehicle frame other than a four-wheeled buggy, for example, a three- or two-wheeled vehicle frame.
- the positioning robot since the positioning robot holds the positioning jig and supplies the vehicle body frame to the work position as it is for positioning, there is no need to provide a dedicated jig at each work position, and the work line The cost required for the jig in can be greatly reduced.
- the positioning posture of the body frame at each work position can be arbitrarily set by position control of the positioning robot according to the type of the body frame. Furthermore, since the positioning jig is held at both ends by the positioning opening pot and the positioning jig holding mechanism, the body frame is positioned in an extremely stable state, thereby performing the work with high precision. can do.
- the vehicle body frame positioning jig device of the present invention can be applied to various vehicle bodies as long as the vehicle body has a frame structure.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/550,242 US7459656B2 (en) | 2003-03-25 | 2004-03-12 | Positioning jig device for vehicle body frame |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003082134A JP3839783B2 (ja) | 2003-03-25 | 2003-03-25 | 車体フレーム用位置決め治具装置 |
JP2003-082134 | 2003-03-25 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004085233A1 true WO2004085233A1 (ja) | 2004-10-07 |
Family
ID=33094910
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/003256 WO2004085233A1 (ja) | 2003-03-25 | 2004-03-12 | 車体フレーム用位置決め治具装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7459656B2 (ja) |
JP (1) | JP3839783B2 (ja) |
CN (1) | CN100369784C (ja) |
WO (1) | WO2004085233A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105345768A (zh) * | 2015-11-27 | 2016-02-24 | 芜湖银星汽车零部件有限公司 | 一种铝合金件加工用活动式支撑定位平台 |
CN109015636A (zh) * | 2018-08-13 | 2018-12-18 | 广州瑞松北斗汽车装备有限公司 | 汽车制造生产线钣金件视觉抓取方法 |
CN112719741A (zh) * | 2020-12-04 | 2021-04-30 | 中煤科工集团唐山研究院有限公司 | 一种水仓清理机装运机构支撑部的配焊工装 |
Families Citing this family (31)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060210388A1 (en) * | 2004-12-01 | 2006-09-21 | Robert Giaier | Method of manipulating and assembling automotive frame, chassis, and body |
DE202007004183U1 (de) * | 2007-03-16 | 2008-08-07 | Kuka Systems Gmbh | Rahmungseinrichtung |
JP4726945B2 (ja) * | 2008-12-19 | 2011-07-20 | 本田技研工業株式会社 | ワーク位置決めシステムおよびワーク位置決め方法 |
US20100154193A1 (en) * | 2008-12-19 | 2010-06-24 | Honda Motor Co., Ltd. | Sensing method, accuracy control method, workpiece positioning system and workpiece positioning method |
JP4819862B2 (ja) * | 2008-12-22 | 2011-11-24 | 本田技研工業株式会社 | センシング方法 |
DE102009018619B4 (de) * | 2009-04-27 | 2014-07-17 | Fft Edag Produktionssysteme Gmbh & Co. Kg | Roboterabstützung |
US8423190B1 (en) * | 2009-06-11 | 2013-04-16 | Kabushiki Kaisha Yaskawa Denki | Manipulator system |
DE102009031821A1 (de) * | 2009-07-03 | 2011-01-05 | Benteler Automobiltechnik Gmbh | Vorrichtung und Verfahren zur spanenden Bearbeitung eines Bauteils |
JP5257348B2 (ja) * | 2009-12-08 | 2013-08-07 | 三菱自動車工業株式会社 | 車体生産装置 |
JP2011148010A (ja) * | 2010-01-19 | 2011-08-04 | Yaskawa Electric Corp | ポジショナを備えたロボットシステム |
CN102019527B (zh) * | 2010-12-14 | 2013-04-24 | 南车南京浦镇车辆有限公司 | 模块化可调式客车端墙组焊胎 |
CN102485413B (zh) * | 2010-12-31 | 2014-12-10 | 上汽通用五菱汽车股份有限公司 | 一种双向夹紧装置 |
EP2524861B1 (de) * | 2011-05-20 | 2014-04-23 | FFT EDAG Produktionssysteme GmbH & Co. KG | Vorrichtung und Verfahren zur Handhabung eines Fahrzeugmontagewerkzeugträgers bei einer Fahrzeugfertigungslinie, Fahrzeugmontagewerkzeugträger und Montagestation |
SI2554459T1 (sl) * | 2011-08-01 | 2017-02-28 | Comau S.P.A. | Sistem za sestavljanje komponent na karoseriji motornega vozila |
KR101269011B1 (ko) | 2011-09-28 | 2013-05-29 | 비스티온 인테리어스 코리아 주식회사 | 스킨의 표시체 위치결정용 지그 |
FR2993231B1 (fr) * | 2012-07-10 | 2014-07-11 | Peugeot Citroen Automobiles Sa | Installation pour transferer des caisses de vehicules automobiles vers un poste de percage et pour les reacheminer vers la ligne de fabrication |
JP5981811B2 (ja) * | 2012-09-06 | 2016-08-31 | 川崎重工業株式会社 | 搬送システム及び搬送システムの搬送方法 |
JP5792226B2 (ja) * | 2013-05-29 | 2015-10-07 | 株式会社神戸製鋼所 | 多関節リンク機構の逆運動学解法、及びこの逆運動学解法を利用した教示データ作成装置 |
DE202014101663U1 (de) * | 2014-04-09 | 2015-07-21 | Kuka Systems Gmbh | Handhabungseinrichtung |
US20150314403A1 (en) * | 2014-05-01 | 2015-11-05 | Siemens Energy, Inc. | Arrangement for laser processing of turbine component |
CN105563064B (zh) * | 2014-10-16 | 2018-04-10 | 广州新成机械技术有限公司 | 大型零件现场加工方法 |
US9844841B2 (en) * | 2015-05-08 | 2017-12-19 | Lincoln Global, Inc. | Drop center positioner with multiple rotate modules |
JP6378434B2 (ja) * | 2015-06-04 | 2018-08-22 | 本田技研工業株式会社 | 車体組立方法および車体組立装置 |
MX2018005099A (es) | 2015-10-27 | 2018-06-06 | Comau Spa | Sistema y proceso correspondiente para ensamblar juntos dos componentes en una linea de ensamblaje de carroceria de vehículo. |
JP6398958B2 (ja) * | 2015-12-03 | 2018-10-03 | トヨタ自動車株式会社 | ワーク支持システム |
US10401845B2 (en) | 2016-01-05 | 2019-09-03 | Caterpillar Inc. | Manufacturing system having sub-dimensional processing modules |
JP2018025201A (ja) * | 2016-08-08 | 2018-02-15 | いすゞ自動車株式会社 | 固定ユニット |
US11179793B2 (en) * | 2017-09-12 | 2021-11-23 | Autodesk, Inc. | Automated edge welding based on edge recognition using separate positioning and welding robots |
CN108114864A (zh) * | 2017-12-29 | 2018-06-05 | 北京星和众工设备技术股份有限公司 | 车窗夹具以及车窗涂胶系统 |
US11254381B2 (en) * | 2018-03-19 | 2022-02-22 | Divergent Technologies, Inc. | Manufacturing cell based vehicle manufacturing system and method |
CN111266762B (zh) * | 2018-12-05 | 2022-07-05 | 广州中国科学院先进技术研究所 | 一种基于多个机器人协同焊接方法及系统 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06329241A (ja) * | 1993-05-17 | 1994-11-29 | Daifuku Co Ltd | 移載装置 |
JP2000006862A (ja) * | 1998-06-24 | 2000-01-11 | Nissan Motor Co Ltd | ワーク搬送装置およびワーク搬送方法 |
JP2003145364A (ja) * | 2001-11-08 | 2003-05-20 | Daihatsu Motor Co Ltd | 位置決め装置 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4256947A (en) * | 1977-06-06 | 1981-03-17 | Ettore De Candia | Car body welding assembly system |
JPS62238099A (ja) | 1986-04-08 | 1987-10-19 | Honda Motor Co Ltd | 被溶接物の保持装置 |
JPS62279098A (ja) | 1986-05-29 | 1987-12-03 | Honda Motor Co Ltd | ワ−ク移載装置 |
JPS63260681A (ja) | 1987-04-17 | 1988-10-27 | Honda Motor Co Ltd | 二輪車車体の組立方法 |
JPH07106451B2 (ja) | 1988-08-30 | 1995-11-15 | 本田技研工業株式会社 | ワークの溶接方法 |
JPH06104275B2 (ja) | 1989-02-23 | 1994-12-21 | 本田技研工業株式会社 | 二輪車車体の組立方法 |
JPH02220775A (ja) | 1989-02-23 | 1990-09-03 | Honda Motor Co Ltd | 二輪車車体の組立装置 |
JP2957105B2 (ja) | 1995-02-20 | 1999-10-04 | 本田技研工業株式会社 | 自動二輪車のフレーム保持装置及び自動二輪車のフレーム溶接方法 |
JP3351753B2 (ja) | 1998-11-26 | 2002-12-03 | 本田技研工業株式会社 | 自動二輪車等の車体フレームの自動溶接システム |
FR2791916B1 (fr) * | 1999-04-06 | 2001-05-04 | Abb Preciflex Systems | Procede de maintien en position d'une piece dans un poste d'assemblage |
DE29909047U1 (de) * | 1999-05-22 | 2000-10-19 | KUKA Schweissanlagen GmbH, 86165 Augsburg | Positioniervorrichtung für Werkstückträger oder Werkstücke |
JP4545885B2 (ja) | 2000-05-30 | 2010-09-15 | 本田技研工業株式会社 | 自動二輪車用車体フレームのフレーム部材保持装置 |
JP2001340962A (ja) | 2000-05-30 | 2001-12-11 | Honda Motor Co Ltd | 自動二輪車用車体フレームの組立方法および装置 |
ITRM20010289A1 (it) * | 2000-05-30 | 2002-11-28 | Honda Motor Co Ltd | Procedimento ed apparecchiatura per l'assemblaggio del telaio di un veicolo, in particolare per motocicli. |
-
2003
- 2003-03-25 JP JP2003082134A patent/JP3839783B2/ja not_active Expired - Fee Related
-
2004
- 2004-03-12 WO PCT/JP2004/003256 patent/WO2004085233A1/ja active Application Filing
- 2004-03-12 CN CNB2004800076452A patent/CN100369784C/zh not_active Expired - Fee Related
- 2004-03-12 US US10/550,242 patent/US7459656B2/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06329241A (ja) * | 1993-05-17 | 1994-11-29 | Daifuku Co Ltd | 移載装置 |
JP2000006862A (ja) * | 1998-06-24 | 2000-01-11 | Nissan Motor Co Ltd | ワーク搬送装置およびワーク搬送方法 |
JP2003145364A (ja) * | 2001-11-08 | 2003-05-20 | Daihatsu Motor Co Ltd | 位置決め装置 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105345768A (zh) * | 2015-11-27 | 2016-02-24 | 芜湖银星汽车零部件有限公司 | 一种铝合金件加工用活动式支撑定位平台 |
CN105345768B (zh) * | 2015-11-27 | 2017-08-04 | 芜湖银星汽车零部件有限公司 | 一种铝合金件加工用活动式支撑定位平台 |
CN109015636A (zh) * | 2018-08-13 | 2018-12-18 | 广州瑞松北斗汽车装备有限公司 | 汽车制造生产线钣金件视觉抓取方法 |
CN112719741A (zh) * | 2020-12-04 | 2021-04-30 | 中煤科工集团唐山研究院有限公司 | 一种水仓清理机装运机构支撑部的配焊工装 |
Also Published As
Publication number | Publication date |
---|---|
US20060245901A1 (en) | 2006-11-02 |
CN1761599A (zh) | 2006-04-19 |
US7459656B2 (en) | 2008-12-02 |
CN100369784C (zh) | 2008-02-20 |
JP2004284553A (ja) | 2004-10-14 |
JP3839783B2 (ja) | 2006-11-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2004085233A1 (ja) | 車体フレーム用位置決め治具装置 | |
US11235475B2 (en) | Robotic apparatus, interchangeable tool, and method for controlling robotic apparatus | |
JP4471939B2 (ja) | 姿勢制御治具 | |
JP5288047B2 (ja) | ローラーヘミング加工システム | |
JP4217125B2 (ja) | 生産システム | |
JP2009539624A5 (ja) | ||
JP6426673B2 (ja) | ロボットシステム | |
JP2006035346A (ja) | 部品組付け方法 | |
JP3666658B2 (ja) | 車両のラジエータモジュールの組付け方法及びその組付け装置 | |
JP4613476B2 (ja) | クランプ治具 | |
JP2000158135A (ja) | 自動溶接システム | |
JP2007203340A (ja) | 自動溶接システム | |
JP2016144863A (ja) | ロボット装置、交換装置、およびロボットシステム | |
JP2009034801A (ja) | アーム式ローダー | |
JP4621334B2 (ja) | 溶接ラインにおける治具自動交換方法 | |
JP2002283168A (ja) | マシニングセンタにおけるワークの加工方法 | |
JP4726945B2 (ja) | ワーク位置決めシステムおよびワーク位置決め方法 | |
JP2003071647A (ja) | 自動組付設備及び自動組付方法 | |
JP4301142B2 (ja) | デフの組立方法 | |
JPH1177321A (ja) | 溶接装置及び溶接方法 | |
JP4737135B2 (ja) | 部品投入方法および部品投入装置 | |
JPH0957550A (ja) | 自動組立装置 | |
JP3871533B2 (ja) | 治具設備 | |
JPS63156605A (ja) | ワ−クの保持装置 | |
CN109803797B (zh) | 机器人 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
DPEN | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed from 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 20048076452 Country of ref document: CN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2006245901 Country of ref document: US Ref document number: 10550242 Country of ref document: US |
|
122 | Ep: pct application non-entry in european phase | ||
WWP | Wipo information: published in national office |
Ref document number: 10550242 Country of ref document: US |