An assembling device for manufacturing a panel assembly, which includes at least two tooling systems, which both include wooden slat gripping, positioning and securing means, and insulation panel gripping and positioning means, and a tooling controller communicatively coupled to the tooling systems, wherein the tooling systems are instructed so that, if the length of a wooden slat exceeds a predetermined threshold, the wooden slat gripping means grip the wooden slat at different parts, and are moved relatively to each other in order to align their centerlines and to correct the straightness of the wooden slat.

A processor may receive assembly data associated with one or more assembly robots and an object. The object may be assembled by the one or more assembly robots performing one or more assembly maneuvers. The processor may analyze the assembly data and the one or more assembly maneuvers associated with assembling the object. The processor may identify one or more alterable factors associated with the one or more assembly maneuvers. The processor may generate an optimized assembly plan based, at least in part, on altering the one or more alterable factors associated with the one or more assembly maneuvers. The processor may assemble the object based on the optimized assembly plan.

The disclosure is provided to shorten a total allowed cycle time of insertion or a press-fitting operation. A control device of a robot performing insertion or a press-fitting operation includes: a measuring part, measuring an elapsed time from a time point of starting a correcting operation in a case where the insertion or the press-fitting operation does not end normally; a calculating part, calculating a total remaining time of the correcting operation by subtracting a time from a start to an end of the correcting operation from a preset total allowed time of the correcting operation; a comparing part, comparing the remaining time with a required operation time which is an elapsed time from the start to the end of the correcting operation; and a control part, interrupting the correcting operation before the allowed time elapses in a case where the remaining time is less than the required operation time.

An assembly method comprising: providing a digital model of an aircraft airframe (200), the digital model comprising digital models of component parts (202, 204) of the airframe (200); providing the component parts (202, 204), each comprising one or more predrilled fastener holes; fixing a first component part (202a) to a support structure (1102); fixing a second component part (204a) to an end effector (1112) of a robot arm (1110); using the airframe digital model, controlling the robot arm (1110) to move the second component part (204a) relative to the first component (202a) as specified in the airframe digital model to cause one or more predrilled holes in the second component (204a) part to align with one or more predrilled holes in the first component part (202a); and attaching the second component part (204a) to the first component part (202a) using fasteners through the aligned predrilled holes.

A tooling system for assembling a hybrid vehicle transmission includes a positioning device, support structure, gripper, clutch actuator, rotational actuator, and controller. The positioning device positions a hybrid module relative to a transmission housing. The gripper grips an input shaft of the hybrid module. The clutch actuator actuates the clutch of the hybrid module. The rotational actuator rotates the gripper about an assembly axis. The controller controls operation of the clutch actuator, positioning device, gripper, and rotational actuator such that an operation is performed that includes the clutch actuator actuating the clutch, the gripper gripping the input shaft of the hybrid module, the rotational actuator rotating the gripper to rotate the input shaft of the hybrid module relative to an input shaft of the transmission module, and the positioning device translating the hybrid module toward the transmission module to seat a housing of the hybrid module on the transmission housing.

The present invention relates to a near-site robotic construction system. The system includes a work station situated on a near-site position in a close proximity to a building foundation on which a building is under construction and providing shelter and workspace for at least one robot to work; and a computer-assisted cloud based near-site robotic construction platform installed on a cloud server system and configured to provide for a user to operate through a web browser, import and extract a building information modelling data, and plan a predetermined motion command set partly based on the extracted building information modelling data, wherein the at least one robot is configured to work in accordance with the predetermined motion command set to prefabricate a plurality of components for the building in the work station on the near-site position.

A robot 140 includes a control unit 160 configured such that a reference line L connecting a root portion of a first arm (upper arm 143) and an end portion of a second arm (forearm 144) is assumed on a main plane determined in a space where the robot 140 is installed, an angle β formed by the first arm (upper arm 143) and the reference line L is decreased while increasing a crossing angle α between the first arm (upper arm 143) and the second arm (forearm 144) on the side facing the reference line L, the end portion of the second arm (forearm 144) is moved in a work pressurizing direction (F direction) which is determined to be along the reference line L, and a work pressurizing unit (push-in unit 153) is pressurized in the work pressurizing direction (F direction) by the end portion of the second arm (forearm 144).

A method of producing a component part (202, 204) of an aircraft airframe (200), the method comprising: providing a first digital model, the first digital model being a digital model of the component part (202, 204); producing an initial physical part using the first digital model; measuring a surface of the initial physical part; creating a second digital model using the measurements of the surface of the initial physical part, the second digital model being a digital model of the initial physical part; specifying one or more fastener holes (606) in the second digital model; and drilling one or more fastener holes (606) in the initial physical part using the second digital model with the one or more fastener holes specified therein, thereby producing the component part (202, 204) of an aircraft airframe (200).

A method of producing a shim for use in an aircraft airframe (200) comprising: providing a plurality of component parts (202, 204) of the aircraft airframe (200); measuring a surface of each of the component parts (202, 204) and creating a digital models of the component part (202, 204) therefrom; digitally assembling together the digital models of the component parts (202, 204) thereby to produce a digital model (600) of at least part of the aircraft airframe (200); using that digital model (600), creating a digital model of a shim (604), the digital model of the shim (604) filling a gap between at least two digital models of component parts (202, 204) in the digital model (600) of at least part of the aircraft airframe (200); and producing a physical shim using the digital model of the shim (604).

An assembly method comprising: providing a digital model of an aircraft airframe (200), the digital model comprising digital models of component parts (202, 204) of the airframe (200); providing the component parts (202, 204), each comprising one or more predrilled fastener holes; fixing a first component part (202a) to a support structure (1102); fixing a second component part (204a) to an end effector (1112) of a robot arm (1110); using the airframe digital model, controlling the robot arm (1110) to move the second component part (204a) relative to the first component (202a) as specified in the airframe digital model to cause one or more predrilled holes in the second component (204a) part to align with one or more predrilled holes in the first component part (202a); and attaching the second component part (204a) to the first component part (202a) using fasteners through the aligned predrilled holes.