BR112017023074A2 - aparelho de fabricação de conjunto e método de fabricação de conjunto - Google Patents

aparelho de fabricação de conjunto e método de fabricação de conjunto

Info

Publication number
BR112017023074A2
BR112017023074A2 BR112017023074-7A BR112017023074A BR112017023074A2 BR 112017023074 A2 BR112017023074 A2 BR 112017023074A2 BR 112017023074 A BR112017023074 A BR 112017023074A BR 112017023074 A2 BR112017023074 A2 BR 112017023074A2
Authority
BR
Brazil
Prior art keywords
assembly fabrication
touch sensitive
sensitive plate
assembly
long
Prior art date
Application number
BR112017023074-7A
Other languages
English (en)
Japanese (ja)
Inventor
Tombe Toshihiro
Goto Naoki
Hirai Makoto
Original Assignee
Mitsubishi Heavy Industries, Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Heavy Industries, Ltd. filed Critical Mitsubishi Heavy Industries, Ltd.
Publication of BR112017023074A2 publication Critical patent/BR112017023074A2/pt

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B21J15/142—Aerospace structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/50—Handling or transporting aircraft components
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
    • B23P2700/01—Aircraft parts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37288—Tracking lasers follow object, reflection gives 3-D position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39123—Manipulate, handle flexible object
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39129—One manipulator holds one piece, other inserts, screws other piece, dexterity
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Transportation (AREA)
  • Manufacturing & Machinery (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Position Input By Displaying (AREA)

Abstract

um objetivo da presente invenção é fornecer um dispositivo de fabricação de conjunto e um método de fabricação de conjunto capazes de reduzir o erro quando a posição real de um membro longo é detectada, e ajustar de modo preciso um ponto de referência e um sistema de coordenadas. o aparelho de conjunto de membro longo (1) fornece uma pluralidade de partes de pega (8) para prender um membro longo (10), uma placa sensível ao toque (5) para prender a primeira extremidade do membro longo (10) e restringir o movimento do membro longo (10) na direção longitudinal, um rastreador de laser (7) para detectar a posição de instalação da placa sensível ao toque (5), e uma parte de determinação de referência para determinar as coordenadas de referência ou ponto de referência a serem usados para ajustar a posição das partes de pega (8), com base na posição de instalação da placa sensível ao toque (5) detectada pelo rastreador a laser (7).
BR112017023074-7A 2015-10-28 2016-07-11 aparelho de fabricação de conjunto e método de fabricação de conjunto BR112017023074A2 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2015-212038 2015-10-28
JP2015212038A JP6498590B2 (ja) 2015-10-28 2015-10-28 組立体製造装置及び組立体製造方法
PCT/JP2016/070379 WO2017073116A1 (ja) 2015-10-28 2016-07-11 組立体製造装置及び組立体製造方法

Publications (1)

Publication Number Publication Date
BR112017023074A2 true BR112017023074A2 (pt) 2018-07-10

Family

ID=58630059

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112017023074-7A BR112017023074A2 (pt) 2015-10-28 2016-07-11 aparelho de fabricação de conjunto e método de fabricação de conjunto

Country Status (8)

Country Link
US (1) US10913134B2 (pt)
EP (1) EP3275586B1 (pt)
JP (1) JP6498590B2 (pt)
KR (1) KR102035915B1 (pt)
CN (1) CN107530843B (pt)
BR (1) BR112017023074A2 (pt)
CA (1) CA2983790C (pt)
WO (1) WO2017073116A1 (pt)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6812455B2 (ja) * 2016-11-11 2021-01-13 三菱重工業株式会社 部品製造方法及び部品製造システム
JP6622775B2 (ja) * 2017-10-12 2019-12-18 ファナック株式会社 計測システム
JP7118745B2 (ja) * 2018-05-30 2022-08-16 三菱重工業株式会社 加工装置及び加工方法
JP2020049633A (ja) * 2018-09-28 2020-04-02 三菱重工業株式会社 ロボットの教示作業支援システム及び教示作業支援方法
CN112846683B (zh) * 2019-11-26 2022-05-10 上海微电子装备（集团）股份有限公司 零部件集成装配误差测量装置及装配误差调整方法
CN114043263B (zh) * 2021-11-08 2023-11-21 陕西飞机工业有限责任公司 一种曲度带弯边零件弯边边缘精度铣切导轨夹具

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GB0008303D0 (en) 2000-04-06 2000-05-24 British Aerospace Measurement system and method
JP2001300823A (ja) * 2000-04-19 2001-10-30 Japan Aircraft Mfg Co Ltd 組立治具装置
JP2001334426A (ja) * 2000-05-29 2001-12-04 Honda Motor Co Ltd 汎用式治具における機種切換装置
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JP5513443B2 (ja) * 2011-05-27 2014-06-04 ジャパンマリンユナイテッド株式会社 レーザ計測システム
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Also Published As

Publication number Publication date
JP2017080848A (ja) 2017-05-18
EP3275586B1 (en) 2021-02-24
CA2983790C (en) 2019-11-05
KR102035915B1 (ko) 2019-10-23
EP3275586A4 (en) 2018-04-18
US20180104777A1 (en) 2018-04-19
CA2983790A1 (en) 2017-05-04
JP6498590B2 (ja) 2019-04-10
KR20170129261A (ko) 2017-11-24
US10913134B2 (en) 2021-02-09
CN107530843A (zh) 2018-01-02
CN107530843B (zh) 2020-03-03
WO2017073116A1 (ja) 2017-05-04
EP3275586A1 (en) 2018-01-31

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Legal Events

Date Code Title Description
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B08F Application dismissed because of non-payment of annual fees [chapter 8.6 patent gazette]

Free format text: REFERENTE A 6A ANUIDADE.

B08K Patent lapsed as no evidence of payment of the annual fee has been furnished to inpi [chapter 8.11 patent gazette]

Free format text: EM VIRTUDE DO ARQUIVAMENTO PUBLICADO NA RPI 2678 DE 03-05-2022 E CONSIDERANDO AUSENCIA DE MANIFESTACAO DENTRO DOS PRAZOS LEGAIS, INFORMO QUE CABE SER MANTIDO O ARQUIVAMENTO DO PEDIDO DE PATENTE, CONFORME O DISPOSTO NO ARTIGO 12, DA RESOLUCAO 113/2013.