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    METHOD AND SYSTEM FOR ROBOTIC ADAPTIVE PRODUCTION
    1.
    发明申请
    METHOD AND SYSTEM FOR ROBOTIC ADAPTIVE PRODUCTION 审中-公开
    用于机器人自适应生产的方法和系统

    公开(公告)号：US20160346928A1

    公开(公告)日：2016-12-01

    申请号：US15169517

    申请日：2016-05-31

    Applicant: ABB Technology AG

    Inventor： George Q. Zhang ,  David P. Gravel ,  Soenke Kock ,  Thomas A. Fuhlbrigge ,  Heping Chen ,  Sangeun Choi ,  Arnold Bell ,  Biao Zhang

    IPC: B25J9/16

    Abstract: A method for robotic adaptive production includes modifying program instructions online while performing production activities in response to detecting a change in the production environment. A robotic adaptive production method includes modifying program instructions online while performing production activities to minimize a production task cycle time or improve a production task quality. A robotic adaptive production method includes estimating a relationship between a control parameter and a sensor input; and modifying the control parameter online to achieve an updated parameter based on the estimating. A robotic adaptive production method includes receiving sensor input relating to robotic performance during the performance of production tasks and online optimizing a process parameter based on robotic performance during the performance of the production tasks. A robotic adaptive production method includes determining the position and/or orientation of a feature based on a learned position and/or orientation of another feature and on a geometric relationship.

    Abstract translation: 一种用于机器人自适应生产的方法包括在响应于检测生产环境的变化而在执行生产活动的同时在线修改程序指令。 机器人自适应生产方法包括在执行生产活动的同时在线修改程序指令以最小化生产任务周期时间或提高生产任务质量。 机器人自适应生产方法包括估计控制参数和传感器输入之间的关系; 并且在线修改控制参数以基于估计来实现更新的参数。 机器人自适应生产方法包括在执行生产任务期间接收与机器人性能相关的传感器输入，并且在执行生产任务期间基于机器人性能在线优化过程参数。 机器人自适应生产方法包括基于学习的位置和/或另一特征的取向以及几何关系确定特征的位置和/或取向。

    Integrated robotic press and reaction frame
    2.
    发明授权
    Integrated robotic press and reaction frame 有权

    公开(公告)号：US10315280B2

    公开(公告)日：2019-06-11

    申请号：US15194992

    申请日：2016-06-28

    Applicant: Ford Motor Company ,  ABB Technology AG

    Inventor： Alexander Marrocco ,  Isaac Zolotarev ,  Arnold Bell ,  Joosok Jinn ,  Hossein Firoozgan

    IPC: B23P19/02 ,  B25J9/16 ,  B25J9/00 ,  B25J11/00 ,  B25J13/08 ,  B25J15/00

    Abstract: A press frame for a robot system includes a base, a bridge and a set of columns supporting the bridge above the base. A first robot holds a part on the base and a second robot manipulates a pressing tool to press a component into an opening. The pressing tool is backed by the bridge that opposes a reaction force resulting from pressing the component part into the part. A method of assembling components to a part by pressing the part into an opening while engaging the bridge of a reaction frame. The part is transferred to the base by a first robot that positions the part on the base. A pressing tool and a component are selected by a second robot that orients the component to be inserted in the opening. Data relating to displacement, load and time is collected by the controller.

    System, method and tooling for flexible assembly of cylinder-head valve trains
    4.
    发明授权
    System, method and tooling for flexible assembly of cylinder-head valve trains 有权

    公开(公告)号：US11020830B2

    公开(公告)日：2021-06-01

    申请号：US15379712

    申请日：2016-12-15

    Applicant: Ford Global Technologies, LLC ,  ABB Technology AG

    Inventor： Alexander Marrocco ,  Harry Kekedjian ,  Isaac Zolotarev ,  Arnold Bell ,  Michael Manuszak

    IPC: B23P19/04 ,  F01L3/10 ,  F01L1/46 ,  F02F1/42

    Abstract: An assembly method is provided by orienting a cylinder-head at a first orientation. A first plurality of spring caps and a first plurality of retainer keys are installed into the cylinder-head in the first orientation by a first robot. A first plurality of valves is installed into the cylinder-head in the first orientation by a second robot, into engagement with the first plurality of retainer keys. An end effector is provided with an actuator supported upon an adapter plate. A shaft extends from the actuator with a mating surface to engage a spring cap. Porting is provided through the shaft to convey pressurized air upon a plurality of retainer keys within the spring cap. A plurality of gripper fingers extend from the distal end of the shaft to grip a valve spring while retaining a spring cap between the valve spring and the mating surface of the shaft.

    SYSTEM, METHOD AND TOOLING FOR FLEXIBLE ASSEMBLY OF CYLINDER-HEAD VALVE TRAINS
    6.
    发明申请
    SYSTEM, METHOD AND TOOLING FOR FLEXIBLE ASSEMBLY OF CYLINDER-HEAD VALVE TRAINS 有权
    气缸盖阀门灵活组装的系统，方法和工具

    公开(公告)号：US20150240744A1

    公开(公告)日：2015-08-27

    申请号：US14190320

    申请日：2014-02-26

    Applicant: ABB Technology AG ,  Ford Global Technologies, LLC

    Inventor： Alexander Marrocco ,  Harry Kekedjian ,  Isaac Zolotarev ,  Arnold Bell ,  Michael Manuszak

    IPC: F02F1/42

    CPC classification number: B23P19/045 ,  B23P2700/50 ,  F01L1/462 ,  F01L3/10 ,  F01L2103/00 ,  F01L2103/01 ,  F02F1/4285 ,  F02F2200/00 ,  Y10T29/4927 ,  Y10T29/53552

    Abstract: An assembly method is provided by orienting a cylinder-head at a first orientation. A first plurality of spring caps and a first plurality of retainer keys are installed into the cylinder-head in the first orientation by a first robot. A first plurality of valves is installed into the cylinder-head in the first orientation by a second robot, into engagement with the first plurality of retainer keys. An end effector is provided with an actuator supported upon an adapter plate. A shaft extends from the actuator with a mating surface to engage a spring cap. Porting is provided through the shaft to convey pressurized air upon a plurality of retainer keys within the spring cap. A plurality of gripper fingers extend from the distal end of the shaft to grip a valve spring while retaining a spring cap between the valve spring and the mating surface of the shaft.

    Abstract translation: 通过使气缸头在第一方向定向来提供组装方法。 第一多个弹簧盖和第一多个保持键通过第一机器人以第一取向安装到气缸盖中。 第一多个阀通过第二机器人以第一取向安装到气缸盖中，与第一多个保持器键接合。 端部执行器设置有支撑在适配器板上的致动器。 轴从具有配合表面的致动器延伸以接合弹簧盖。 通过轴提供移动，以将加压空气输送到弹簧盖内的多个保持键上。 多个夹持器指状件从轴的远端延伸以夹持阀弹簧，同时将弹簧盖保持在阀弹簧和轴的配合表面之间。

    System, method and tooling for flexible assembly of cylinder-head valve trains
    7.
    发明授权
    System, method and tooling for flexible assembly of cylinder-head valve trains 有权
    气缸盖阀门系列的灵活组装的系统，方法和工具

    公开(公告)号：US09523328B2

    公开(公告)日：2016-12-20

    申请号：US14190320

    申请日：2014-02-26

    Applicant: Ford Global Technologies, LLC ,  ABB Technology AG

    Inventor： Alexander Marrocco ,  Harry Kekedjian ,  Isaac Zolotarev ,  Arnold Bell ,  Michael Manuszak

    IPC: F02F1/42 ,  B23P19/04 ,  F01L1/46 ,  F01L3/10

    CPC classification number: B23P19/045 ,  B23P2700/50 ,  F01L1/462 ,  F01L3/10 ,  F01L2103/00 ,  F01L2103/01 ,  F02F1/4285 ,  F02F2200/00 ,  Y10T29/4927 ,  Y10T29/53552

    Abstract: An assembly method is provided by orienting a cylinder-head at a first orientation. A first plurality of spring caps and a first plurality of retainer keys are installed into the cylinder-head in the first orientation by a first robot. A first plurality of valves is installed into the cylinder-head in the first orientation by a second robot, into engagement with the first plurality of retainer keys. An end effector is provided with an actuator supported upon an adapter plate. A shaft extends from the actuator with a mating surface to engage a spring cap. Porting is provided through the shaft to convey pressurized air upon a plurality of retainer keys within the spring cap. A plurality of gripper fingers extend from the distal end of the shaft to grip a valve spring while retaining a spring cap between the valve spring and the mating surface of the shaft.

    Abstract translation: 通过使气缸头在第一方向定向来提供组装方法。 第一多个弹簧盖和第一多个保持键通过第一机器人以第一取向安装到气缸盖中。 第一多个阀通过第二机器人以第一取向安装到气缸盖中，与第一多个保持器键接合。 端部执行器设置有支撑在适配器板上的致动器。 轴从具有配合表面的致动器延伸以接合弹簧盖。 通过轴提供移动，以将加压空气输送到弹簧盖内的多个保持键上。 多个夹持器指状件从轴的远端延伸以夹持阀弹簧，同时将弹簧盖保持在阀弹簧和轴的配合表面之间。

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