SMART LOADER APPARATUS FOR TRUNK LID HINGE
First Claim
1. A smart loader apparatus for a trunk lid hinge, comprising:
- a hinge alignment jig at which a trunk lid hinge is aligned and disposed at a predetermined position;
a smart loader of which a transfer gripper for gripping the trunk lid hinge aligned at the hinge alignment jig is disposed at a front end portion, and the smart loader includes an articulated arm for transferring the trunk lid hinge gripped by the transfer gripper to a predetermined position of a vehicle body;
a driving portion that drives the transfer gripper and the articulated arm to change a position of the transfer gripper and allows the transfer gripper to grip or release the trunk lid hinge;
a force and torque (FT) sensor installed at a portion at which the articulated arm and the transfer gripper are connected for sensing a direction of a force applied to the transfer gripper or the trunk lid hinge in an operational standby state of the articulated arm and the transfer gripper; and
a controller that controls the driving portion to move the transfer gripper in the direction of the force sensed by the FT sensor.
1 Assignment
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Accused Products
Abstract
A smart loader apparatus for a trunk lid hinge includes a hinge alignment jig at which a trunk lid hinge is aligned and disposed at a predetermined position, a smart loader of which a transfer gripper for gripping the trunk lid hinge aligned at the hinge alignment jig is disposed at a front end portion, and the smart loader includes an articulated arm for transferring the trunk lid hinge gripped by the transfer gripper to a predetermined position of a vehicle body, a driving portion that drives the transfer gripper and the articulated arm to change a position of the transfer gripper, a force and torque (FT) sensor installed at a portion at which the articulated arm and the transfer gripper are connected, and a controller that controls the driving portion to move the transfer gripper in the direction of the force sensed by the FT sensor.
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Citations
14 Claims
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1. A smart loader apparatus for a trunk lid hinge, comprising:
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a hinge alignment jig at which a trunk lid hinge is aligned and disposed at a predetermined position; a smart loader of which a transfer gripper for gripping the trunk lid hinge aligned at the hinge alignment jig is disposed at a front end portion, and the smart loader includes an articulated arm for transferring the trunk lid hinge gripped by the transfer gripper to a predetermined position of a vehicle body; a driving portion that drives the transfer gripper and the articulated arm to change a position of the transfer gripper and allows the transfer gripper to grip or release the trunk lid hinge; a force and torque (FT) sensor installed at a portion at which the articulated arm and the transfer gripper are connected for sensing a direction of a force applied to the transfer gripper or the trunk lid hinge in an operational standby state of the articulated arm and the transfer gripper; and a controller that controls the driving portion to move the transfer gripper in the direction of the force sensed by the FT sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A control method of a smart loader apparatus, comprising:
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aligning a trunk lid hinge to be assembled at a vehicle body on a hinge alignment jig; gripping the trunk lid hinge aligned at the hinge alignment jig with a transfer gripper disposed at an end portion of an articulated arm and transferring the trunk lid hinge to a predetermined position of the vehicle body; sensing a direction of a force applied to the transfer gripper or the trunk lid hinge in an operational standby state of the articulated arm and the transfer gripper with a force and torque (FT) sensor installed between the articulated arm and the transfer gripper; and correcting a position of the transfer gripper in the direction of the force sensed by the FT sensor. - View Dependent Claims (11, 12, 13, 14)
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Specification