Kabushiki Kaisha Kobe Seiko Sho

Honda Giken Kogyo Kabushiki Kaisha

Masahiko Yomota

Toru Yamamoto

Shizuo Maeda

Yasuji Watanabe

Shougo Ozawa

Mituyoshi Obata

Toshihiko Nishimura

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.

Route interpolation method for robot

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.

Apparatus for attaching and detaching trunk or a hood to and from a

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.

Equipment for attaching and detaching doors to a vehicle body

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Nishinomiya, Japan

Masahiko Yomota