公开(公告)号：US10668583B2

公开(公告)日：2020-06-02

申请号：US15735908

申请日：2016-07-27

Applicant: MITSUBISHI HEAVY INDUSTRIES, LTD.

Inventor： Takahiro Inagaki ,  Toshihiro Tombe ,  Takuya Goto ,  Makoto Hirai ,  Naoki Goto ,  Masanobu Mizukami ,  Katsumi Nakamura

IPC: B23P19/10 ,  B21J15/14 ,  B25J9/16 ,  B21J15/42 ,  B25J13/00 ,  B25J11/00 ,  B64C3/18 ,  B64C1/06 ,  B64F5/10

Abstract: In order to hold a long member without using a fixing jig and without deforming the long member in holding the long member, a long member assembling device is provided with: multiple hand parts for gripping a long member; and arm parts and trunk parts for moving the hand parts to adjust the positions of the hand parts gripping the long member. The hand parts have a configuration such that, when the positions thereof are adjusted by the arm parts and the trunk parts, the hand parts are capable of moving in the longitudinal direction of the long member while gripping the long member.

公开(公告)号：US10940525B2

公开(公告)日：2021-03-09

申请号：US16097637

申请日：2017-05-19

Applicant: MITSUBISHI HEAVY INDUSTRIES, LTD.

Inventor： Takahiro Inagaki ,  Hiroyuki Saito

IPC: B21J15/28 ,  B21J15/36 ,  B21J15/42 ,  B21J15/44 ,  B21J15/32 ,  B23P19/04 ,  B21J15/30 ,  B21J15/10 ,  B21J15/02 ,  B21J15/48

Abstract: An automatic riveting device is provided with a rivet suction attachment unit for attaching the head of a rivet by suction, a tightening unit for tightening a stringer and clip by the rivet, and a control unit. The control unit controls the rivet suction attachment unit so that the rivet suction attachment unit to which the head of the rivet is attached is moved toward an upper side support body and the shaft part of the rivet is inserted into a through hole formed in riveting position P, and controls the tightening nit so that after the rivet suction attachment unit inserts the rivet into the through hole and retreats from the riveting position P, an upper anvil and a lower anvil are brought into proximity and the stringer and clip are tightened by the rivet.

公开(公告)号：US10814488B2

公开(公告)日：2020-10-27

申请号：US15577792

申请日：2016-07-19

Applicant: MITSUBISHI HEAVY INDUSTRIES, LTD.

Inventor： Toshihiro Tombe ,  Takuya Goto ,  Takahiro Inagaki ,  Makoto Hirai ,  Naoki Goto ,  Masanobu Mizukami ,  Katsumi Nakamura

IPC: B25J9/16 ,  B25J13/00 ,  G05B19/418 ,  B21J15/14 ,  B23P19/10 ,  B64C3/18 ,  B64F5/10 ,  B25J9/00 ,  B25J13/08 ,  B64C1/06 ,  B64C1/12

Abstract: To hold a long member in the original shape of the long member at a precise position, a long member assembling device has: a plurality of hand parts configured to grip a long member; arm parts and trunk parts configured to move the hand parts to adjust the positions of the plurality of hand parts gripping the long member; a storage unit in which the original shape of the long member is stored; and a control unit configured to, on the basis of the original shape of the long member stored in the storage unit, drive the arm parts and the trunk parts to adjust the positions of the plurality of hand parts gripping the long member such that the shape of the long member gripped by the plurality of hand parts matches the original shape of the long member stored in the storage unit.

公开(公告)号：US10556350B2

公开(公告)日：2020-02-11

申请号：US15576907

申请日：2016-07-12

Applicant: MITSUBISHI HEAVY INDUSTRIES, LTD.

Inventor： Toshihiro Tombe ,  Naoki Goto ,  Makoto Hirai ,  Takuya Goto ,  Takahiro Inagaki

IPC: B25J13/02 ,  B25J13/00 ,  B25J13/08 ,  B25J9/16 ,  B21J15/00 ,  B21J15/42 ,  B21J15/14 ,  B64F5/10 ,  B23P19/04 ,  B23P19/10 ,  B25J9/00 ,  B25J15/00

Abstract: A long member assembling device has hand parts configured to grip a long member, arm parts and trunk parts configured to adjust a position of each of the hand parts, a hand part configured to grip the long member, the hand part numbering less than the hand parts, an arm part and a trunk part configured to move the hand part and adjust a position of the hand part gripping the long member, the arm part and the trunk part having higher positioning accuracy than the hand parts, and a control unit configured to, on the basis of an original shape of the long member stored in a memory, drive the arm parts and the trunk parts to adjust the positions of the hand parts and the hand part such that the shape of the long member gripped by the hand parts matches the original shape.

公开(公告)号：US11780091B2

公开(公告)日：2023-10-10

申请号：US16304976

申请日：2017-06-08

Applicant: MITSUBISHI HEAVY INDUSTRIES, LTD.

Inventor： Akira Kono ,  Takuya Goto ,  Takeshi Yamada ,  Katsumi Nakamura ,  Kazuto Nakamura ,  Kenichi Tsuruda ,  Takahiro Inagaki

IPC: B25J9/16 ,  G05D1/02

CPC classification number: B25J9/1687 ,  B25J9/1612 ,  B25J9/1664 ,  B25J9/1697 ,  G05D1/0251 ,  B25J19/02 ,  B25J19/023

Abstract: To provide a robot control system and a robot control method capable of placing a component grasped by a robot hand at an accurate location on another member. A robot control system is provided with: a robot hand configured to grasp a clip; a camera configured to capture an image of the clip grasped by the robot hand, a calculation unit configured to calculate a position of the clip or an inclination of a component based on an imaging result of the clip captured by the camera, and a robot control unit configured to control the robot hand to adjust, based on the position of the clip or the inclination of the component calculated by the calculation unit, a position or an inclination of the robot hand and move the clip to a stringer.

公开(公告)号：US09481093B2

公开(公告)日：2016-11-01

申请号：US14373932

申请日：2013-01-31

Applicant: MITSUBISHI HEAVY INDUSTRIES, LTD.

Inventor： Yusuke Ikeda ,  Mikio Nakamura ,  Takahiro Inagaki ,  Yosuke Ikeda ,  Yuji Kondo ,  Toshiyuki Funato ,  Takayuki Yoneda ,  Hiromi Osaka

IPC: B25J15/06 ,  B23P19/00 ,  B21J15/32

CPC classification number: B25J15/0616 ,  B21J15/32 ,  B23P19/006

Abstract: A case, in which an inner bottom surface is formed, and a chuck tool in which a lower surface is formed are provided. The inner bottom surface is a concave surface. The lower surface is a concave surface. An elongated member chucking apparatus changes an orientation of an elongated member inside the case to a predetermined orientation with respect to the chuck tool by sandwiching the elongated member between the inner bottom surface and the lower surface. The elongated member is held by the chuck tool in the predetermined orientation.

Abstract translation: 设置有内底面的壳体和形成有下表面的卡盘工具。 内底面是凹面。 下表面是凹面。 细长构件夹紧装置通过将细长构件夹在内底表面和下表面之间，将壳体内的细长构件的取向改变为相对于卡盘工具的预定取向。 细长构件由卡盘工具以预定取向保持。

公开(公告)号：US20150251212A1

公开(公告)日：2015-09-10

申请号：US14437414

申请日：2013-10-28

Applicant: MITSUBISHI HEAVY INDUSTRIES, LTD.

Inventor： Yusuke Ikeda ,  Toshiyuki Funato ,  Yosuke Ikeda ,  Akihito Suzuki ,  Kunihiro Kuroi ,  Takahiro Inagaki ,  Yuji Kondo ,  Tsugumaru Yamashita

IPC: B05D1/00 ,  B05B3/02

CPC classification number: B05D1/002 ,  B05B3/02 ,  B05C5/0216 ,  B05C13/02 ,  F16B33/004 ,  F16B33/06

Abstract: A sealant applying apparatus includes a fastener rotating unit which supports a fastener to be rotatable around a central axis, and a sealant discharging unit which applies a sealant to the fastener by discharging the sealant. The fastener rotating unit includes a first holding member and a second holding member which hold the fastener to be rotatable, and a base which supports the first and second holding members. The first holding member is installed to the base to be exchangeable.

Abstract translation: 密封剂施加装置包括：紧固件旋转单元，其支撑紧固件能够围绕中心轴线旋转;以及密封剂排出单元，其通过排出密封剂而向紧固件施加密封剂。 紧固件旋转单元包括第一保持构件和保持紧固件可旋转的第二保持构件和支撑第一和第二保持构件的基部。 第一个保持构件安装在基座上可更换。

公开(公告)号：US09956582B2

公开(公告)日：2018-05-01

申请号：US14437414

申请日：2013-10-28

Applicant: MITSUBISHI HEAVY INDUSTRIES, LTD.

Inventor： Yusuke Ikeda ,  Toshiyuki Funato ,  Yosuke Ikeda ,  Akihito Suzuki ,  Kunihiro Kuroi ,  Takahiro Inagaki ,  Yuji Kondo ,  Tsugumaru Yamashita

IPC: B05D1/00 ,  B05B3/02 ,  B05C13/02 ,  F16B33/00 ,  B05C5/02 ,  F16B33/06

CPC classification number: B05D1/002 ,  B05B3/02 ,  B05C5/0216 ,  B05C13/02 ,  F16B33/004 ,  F16B33/06

Abstract: A sealant applying apparatus includes a fastener rotating unit which supports a fastener to be rotatable around a central axis, and a sealant discharging unit which applies a sealant to the fastener by discharging the sealant. The fastener rotating unit includes a first holding member and a second holding member which hold the fastener to be rotatable, and a base which supports the first and second holding members. The first holding member is installed to the base to be exchangeable.

公开(公告)号：US20140361565A1

公开(公告)日：2014-12-11

申请号：US14373932

申请日：2013-01-31

Applicant: MITSUBISHI HEAVY INDUSTRIES, LTD.

Inventor： Yusuke Ikeda ,  Mikio Nakamura ,  Takahiro Inagaki ,  Yosuke Ikeda ,  Yuji Kondo ,  Toshiyuki Funato ,  Takayuki Yoneda ,  Hiromi Osaka

IPC: B25J15/06

CPC classification number: B25J15/0616 ,  B21J15/32 ,  B23P19/006

Abstract: The present invention is provided with a case, in which an inner bottom surface is formed, and a chuck tool in which a lower surface is formed. The inner bottom surface is a concave surface. The lower surface is a concave surface. An elongated member chucking apparatus changes an orientation of an elongated member inside the case to a predetermined orientation with respect to the chuck tool by sandwiching the elongated member between the inner bottom surface and the lower surface. The elongated member is held by the chuck tool in the predetermined orientation.

Abstract translation: 本发明提供一种形成内底面的壳体和形成下表面的卡盘工具。 内底面是凹面。 下表面是凹面。 细长构件夹紧装置通过将细长构件夹在内底表面和下表面之间，将壳体内的细长构件的取向改变为相对于卡盘工具的预定取向。 细长构件由卡盘工具以预定取向保持。