JP6085511B2 - カラー設置用エンドエフェクタ - Google Patents
カラー設置用エンドエフェクタ Download PDFInfo
- Publication number
- JP6085511B2 JP6085511B2 JP2013075829A JP2013075829A JP6085511B2 JP 6085511 B2 JP6085511 B2 JP 6085511B2 JP 2013075829 A JP2013075829 A JP 2013075829A JP 2013075829 A JP2013075829 A JP 2013075829A JP 6085511 B2 JP6085511 B2 JP 6085511B2
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- JP
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- Prior art keywords
- axis
- head portion
- collar
- tool
- target object
- Prior art date
- Legal status (The legal status 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 status listed.)
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- 239000012636 effector Substances 0.000 title description 34
- 238000009434 installation Methods 0.000 title description 3
- 238000000034 method Methods 0.000 claims description 21
- 238000002788 crimping Methods 0.000 claims description 13
- 230000006870 function Effects 0.000 description 13
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 210000003857 wrist joint Anatomy 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000011900 installation process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B21J15/02—Riveting procedures
- B21J15/022—Setting rivets by means of swaged-on locking collars, e.g. lockbolts
-
- 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
- B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
-
- 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
- B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
- B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
-
- 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
- B25J9/1697—Vision controlled systems
-
- 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
- G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40583—Detect relative position or orientation between gripper and currently handled 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global
-
- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49764—Method of mechanical manufacture with testing or indicating
- Y10T29/49778—Method of mechanical manufacture with testing or indicating with aligning, guiding, or instruction
- Y10T29/4978—Assisting assembly or disassembly
-
- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53022—Means to assemble or disassemble with means to test work or product
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
- Length Measuring Devices By Optical Means (AREA)
Description
110 カラー
120 締結具
130 ヘッド部
140 本体
150 手関節
160 長手方向軸
170 カラー分配システム
180 アーム
190 指部
200 カラーかしめ工具
210 第1の軸
215 駆動装置
220 センサシステム
230 第1のサブシステム
240 第2のサブシステム
250 第1のカメラ
260 第2のカメラ
265 駆動装置
270 バックライト
280 駆動装置システム
290 第1の直線運動副組立体
300 第2の直線運動副組立体
310 第3の直線運動副組立体
320 第2の軸
330 第1の軸回転組立体
340 第2の軸回転組立体
500 コンピュータ装置
510 メモリ装置
520 プロセッサ
530 提示インターフェース
540 入力インターフェース
550 通信インターフェース
Claims (8)
- 狭い空間内でカラー(110)を目標物体に結合する方法であって、
センサシステム(220)の第1のカメラを用いて前記狭い空間内のヘッド部(130)の第1の位置を検出することであって、前記ヘッド部(130)が、第1の軸(210)に沿って移動可能であるカラーかしめ工具(200)を含む、検出することと、
前記センサシステム(220)に通信可能に結合された駆動装置システム(280)を用いて、前記ヘッド部(130)を前記狭い空間内に配置することと、
前記センサシステム(220)の複数の第2のカメラを用いて、前記目標物体に対する前記カラーかしめ工具(200)の第2の位置を検出することと、
前記カラーかしめ工具(200)を前記目標物体に対して配置するために、前記かしめ工具(200)を前記第1の軸(210)に沿って移動させることと、
前記カラーかしめ工具(200)を用いて前記カラー(110)を前記目標物体に結合することと
を含み、
前記第2の位置を検出することが、バックライト(270)を前記第1の軸(210)に沿って移動させて前記目標物体の後方に輪郭影を生み出すことをさらに含む、方法。 - 前記ヘッド部(130)を配置することが、前記ヘッド部(130)を、前記第1の軸(210)、前記第1の軸(210)に対してほぼ垂直な第2の軸(320)、ならびに前記第1の軸(210)および前記第2の軸(320)に対してほぼ垂直な長手方向軸(160)に沿って移動させることをさらに含む、請求項1に記載の方法。
- 前記ヘッド部(130)を配置することが、前記ヘッド部(130)を前記第1の軸(210)と、前記第1の軸(210)に対してほぼ垂直な第2の軸(320)との周りで回転させることをさらに含む、請求項1または2に記載の方法。
- 複数の指部(190)を用いて、前記カラー(110)を所定位置に保持することをさらに含む、請求項1ないし3のいずれか一項に記載の方法。
- 狭い空間内でカラー(110)を目標物体に結合するために使用される、長手方向軸(160)を有する組立工具であって、
前記長手方向軸(160)に対してほぼ垂直な第1の軸(210)に沿って移動可能であるカラーかしめ工具(200)、および
前記狭い空間内の前記ヘッド部(130)の第1の位置と、前記目標物体に対する前記カラーかしめ工具(200)の第2の位置とを検出するように構成されたセンサシステム(220)
を備えるヘッド部(130)と、
前記センサシステム(220)に通信可能に結合されて、前記ヘッド部(130)を前記狭い空間内に配置することおよび前記カラーかしめ工具(200)を前記目標物体に対して配置することを容易にする駆動装置システム(280)と
を備え、
前記センサシステム(220)が、前記第1の位置を検出するように構成された第1のカメラ(250)と、前記第2の位置を検出するように構成された複数の第2のカメラ(260)と、前記目標物体の後方に輪郭影を生み出すように構成されたバックライト(270)とを備える、組立工具。 - 前記駆動装置システム(280)が、前記ヘッド部(130)を、前記長手方向軸(160)と、前記第1の軸(210)と、前記長手方向軸(160)および前記第1の軸(210)に対してほぼ垂直な第2の軸(320)とに沿って移動させるように構成されている、請求項5に記載の組立工具。
- 前記駆動装置システム(280)が、前記ヘッド部(130)を、前記第1の軸(210)と、前記長手方向軸(160)および前記第1の軸(210)に対してほぼ垂直な第2の軸(320)との周りで回転させるように構成されている、請求項5または6に記載の組立工具。
- 前記ヘッド部(130)が、前記カラー(110)を所定位置に保持するように構成された複数の指部(190)をさらに備えている、請求項5ないし7のいずれか一項に記載の組立工具。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/437,532 US9370819B2 (en) | 2012-04-02 | 2012-04-02 | Collar installation end effector |
US13/437,532 | 2012-04-02 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2013212578A JP2013212578A (ja) | 2013-10-17 |
JP2013212578A5 JP2013212578A5 (ja) | 2016-05-12 |
JP6085511B2 true JP6085511B2 (ja) | 2017-02-22 |
Family
ID=48288758
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013075829A Active JP6085511B2 (ja) | 2012-04-02 | 2013-04-01 | カラー設置用エンドエフェクタ |
Country Status (6)
Country | Link |
---|---|
US (1) | US9370819B2 (ja) |
EP (1) | EP2647450B1 (ja) |
JP (1) | JP6085511B2 (ja) |
CN (1) | CN103357812B (ja) |
BR (1) | BR102013007813B1 (ja) |
CA (1) | CA2804839C (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
PL2953772T3 (pl) | 2013-02-05 | 2019-03-29 | Comau Llc | Aparat do ciągłego podawania elementów złącznych i sposób |
US9751166B2 (en) | 2014-07-09 | 2017-09-05 | The Boeing Company | Apparatus and methods for manipulating a fastener |
WO2016018908A1 (en) * | 2014-07-29 | 2016-02-04 | Robotic Arts, Inc. | Robotically controlled architectural elements |
EP3045989B1 (en) * | 2015-01-16 | 2019-08-07 | Comau S.p.A. | Riveting apparatus |
US10052770B2 (en) | 2015-08-06 | 2018-08-21 | The Boeing Company | Fastening system with vacuum alignment tool and methods of operating same |
US9914165B2 (en) | 2015-08-28 | 2018-03-13 | The Boeing Company | Collar delivery systems for swage guns |
CN105329463B (zh) * | 2015-11-27 | 2017-09-22 | 沈阳飞机工业(集团)有限公司 | 一种用于飞机工装骨架电动定位锁紧装置 |
US10926316B2 (en) * | 2018-03-16 | 2021-02-23 | The Boeing Company | Collar positioning system |
US11033952B2 (en) * | 2018-09-24 | 2021-06-15 | The Boeing Company | Offset collar delivery for swage tools |
US10744555B2 (en) * | 2018-09-24 | 2020-08-18 | The Boeing Company | Stackable collar cartridges for swage tools |
US11434024B2 (en) * | 2019-01-10 | 2022-09-06 | The Boeing Company | Automated engagement of and disengagement from a fitting |
US11117183B1 (en) * | 2020-04-10 | 2021-09-14 | The Boeing Company | End effectors and feeders for swaging operations |
Family Cites Families (16)
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US4402053A (en) * | 1980-09-25 | 1983-08-30 | Board Of Regents For Education For The State Of Rhode Island | Estimating workpiece pose using the feature points method |
US4819522A (en) | 1987-09-10 | 1989-04-11 | Hi-Shear Corporation | Torque-off collar for installation by universal equipment |
JP2617014B2 (ja) * | 1990-04-26 | 1997-06-04 | 日本リライアンス 株式会社 | シート測長システム |
JPH0639762A (ja) * | 1992-07-24 | 1994-02-15 | Omron Corp | 部品供給装置 |
US5697521A (en) * | 1995-06-01 | 1997-12-16 | Huck International | Hand-held collar dispenser |
US5915915A (en) * | 1996-03-07 | 1999-06-29 | Komag, Incorporated | End effector and method for loading and unloading disks at a processing station |
JP3301530B2 (ja) * | 1997-02-26 | 2002-07-15 | 住友電装株式会社 | コネクタ |
WO1998047658A2 (en) | 1997-04-18 | 1998-10-29 | Huck International, Inc. | Control system for an assembly tool |
IL148639A0 (en) * | 1999-09-22 | 2002-09-12 | Swagelok Co | Apparatus for swaging ferrules |
US20040012217A1 (en) | 2002-07-18 | 2004-01-22 | Shafer Richard E. | End effector |
JP2007185723A (ja) * | 2006-01-11 | 2007-07-26 | Fujifilm Corp | 自動調芯装置及び方法 |
US8051547B2 (en) * | 2006-12-29 | 2011-11-08 | The Boeing Company | Robot-deployed assembly tool |
FR2914208B1 (fr) | 2007-03-30 | 2009-05-08 | Eads Europ Aeronautic Defence | Dispositif d'insertion et de sertissage de bague pour fixation a bague sertie sur une tige. |
US7611314B2 (en) * | 2007-08-01 | 2009-11-03 | The Boeing Company | Aligning a machine tool with a target location on a structure |
US8468671B2 (en) | 2007-11-02 | 2013-06-25 | Electroimpact, Inc. | System for loading collars onto bolts in large-scale manufacturing operations |
US20100295935A1 (en) * | 2009-05-06 | 2010-11-25 | Case Steven K | On-head component alignment using multiple area array image detectors |
-
2012
- 2012-04-02 US US13/437,532 patent/US9370819B2/en active Active
-
2013
- 2013-02-05 CA CA2804839A patent/CA2804839C/en active Active
- 2013-03-26 EP EP13161105.5A patent/EP2647450B1/en active Active
- 2013-04-01 JP JP2013075829A patent/JP6085511B2/ja active Active
- 2013-04-01 CN CN201310110369.3A patent/CN103357812B/zh active Active
- 2013-04-01 BR BR102013007813-1A patent/BR102013007813B1/pt active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
CN103357812B (zh) | 2016-07-06 |
CN103357812A (zh) | 2013-10-23 |
CA2804839C (en) | 2020-01-14 |
JP2013212578A (ja) | 2013-10-17 |
EP2647450A1 (en) | 2013-10-09 |
US9370819B2 (en) | 2016-06-21 |
BR102013007813B1 (pt) | 2022-06-21 |
CA2804839A1 (en) | 2013-10-02 |
US20130255053A1 (en) | 2013-10-03 |
BR102013007813A2 (pt) | 2015-06-16 |
EP2647450B1 (en) | 2017-05-03 |
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