POWER ASSIST APPARATUS, AND ITS CONTROL METHOD

• US 20100185321A1
• Filed: 07/25/2008
• Published: 07/22/2010
• Est. Priority Date: 07/31/2007
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Odashima, Tadashi
• Granted Patent: US 8,326,454 B2
• Time in Patent Office: Days
• US Class Current: 700/230
• CPC Class Codes: B23P 19/10 Aligning parts to be fitted together
• CPC Class Codes: B23P 2700/50 Other automobile vehicle parts, i.e. manufactured in assembly lines
• CPC Class Codes: B25J 15/0616 with vacuum
• CPC Class Codes: B25J 9/0018 Bases fixed on ceiling, i.e. upside down manipulators
• CPC Class Codes: B62D 65/06 the sub-units or components being doors, windows, openable roofs, lids, bonnets, or weather strips or seals therefor assembling sealing arrangements with vehicle parts, e.g. doors, windows B60J10/45
• CPC Class Codes: B66C 1/0243 Separate cups
• CPC Class Codes: B66C 1/0256 Operating and control devices
• CPC Class Codes: B66D 3/18 Power-operated hoists

Abstract

Provided are a power assist apparatus and its control method, which realize improvements in positioning precision and in workability while reducing the burden of a work positioning operation on a operator by burdening a portion of the positioning work on the power assist apparatus and while making good use of the decision or experience (or institution or knack) by the operator when the operator positions the work by using the power assist apparatus. The power assist apparatus thus autonomously cooperated with the working action of the operator comprises a transfer tool including an articulated robot, a sucking jig and a free joint for gripping and transferring windows, and a control device for controlling the actions of the transfer tool. The control device divides and stores a series of working tasks into a plurality of working section, and sets control logics for the individual working sections and for the individual working directions, in which the power assist apparatus has degrees of freedom.

Claims

1. A power assist apparatus, comprising a conveyor holding and conveying a work and a controller controlling the conveyor, holding the work by the conveyor, autonomously controlling the conveyor by the controller cooperating with an operator'"'"'s operation,

wherein the controller memorizes a route conveying the work by the conveyor, the route divided into multiple workflow sections, and controls an action of the conveyor in directions where the conveyor works freely in the workflow sections.

2. The power assist apparatus according to claim 1, further comprising:

a limit device for limiting the action of the conveyor in the directions where the conveyor works freely, and

wherein the limit device is connected to the controller and is controlled by the controller.

3. A control method of a power assist apparatus, holding a work and autonomously conveying the work cooperating with an operator'"'"'s operation, wherein the power assist apparatus comprises pads for suctioning the work, a joint working freely in multiple directions and supporting the pads, and a supporter working freely in multiple directions and supporting the pads through the joint, the method comprising:

dividing a route for conveying the work by the conveyor into multiple workflow sections and memorizing the divided workflow sections; and

setting a control logic for controlling the directions of the workflow sections where the joint works freely and where the supporter works freely.

4. The control method of the power assist apparatus according to claim 3,

wherein the control logic includes permissions to cancel either the operator'"'"'s operation or the autonomous action of the power assist apparatus.