Clamp installation apparatus, clamp installation system and method of installing a clamp
AssigneeMitsubishi Heavy Industries, Ltd.
InventorsMotoo Tachi, Yukiharu Yamasaki
Life of this patent
Estimating the term…
Abstract
A clamp installation apparatus includes a robot arm pedestal having a rotary table; a robot arm installed on the rotary table of the robot arm pedestal and having a plurality of arms and a plurality of joints; a robot hand installed to a forefront arm of the plurality of arms; and a control device. The robot hand includes: a clamp holding section configured to hold the clamp; a fastening section configured to fasten an engaging section of the clamp to give a clamp force to a work; and a measuring section configured to collect position data of a predetermined member of the clamp. The clamp can be automatically installed and removed. Also, the heat curing can be carried out in the condition to have installed the clamp.
Claims10
A clamp installation apparatus comprising:
- a robot arm pedestal having a rotary table;
- a robot arm installed on the rotary table of the robot arm pedestal and having a plurality of arms and a plurality of joints;
- a robot hand installed to the most distal arm of the plurality of arms;
- and
- a control device,
- wherein the robot hand comprises:
- a clamp holding section configured to hold a clamp;
- a fastening section configured to fasten an engaging section of the clamp to give a clamp force to a work;
- and
- a measuring section configured to collect position data of a predetermined member of the clamp,
- wherein the control device:
- controls the clamp holding section to hold the clamp;
- controls the rotary table, the plurality of joints of the robot arm and the robot hand such that the clamp is conveyed to a first predetermined position of a work pedestal on which the work has been placed in a condition that the clamp is held, and that an engaging section of the clamp is coupled to an connection section of the work pedestal;
- and
- controls the fastening section so that the clamp force is calculated based on the position data acquired from the measuring section in a condition that the clamp and the work pedestal are connected to each other, and the calculated clamp force become a predetermined value.
A method of installing a clamp in a clamp installation system which comprises:
- a robot arm pedestal having a rotary table;
- a robot arm installed on the rotary table of the robot arm pedestal and having a plurality of arms and a plurality of joints;
- and
- a robot hand installed in a forefront arm of a plurality of arms,
- wherein the robot hand comprises:
- a clamp holding section configured to hold a clamp;
- a fastening section configured to fasten an engaging section of the clamp to give the clamp force to a work;
- a measuring section configured to collect position data of a predetermined member of the clamp;
- the method of installing a clamp comprising:
- driving the rotary table and the plurality of joints to move the robot hand above the clamp as a first clamp;
- lowering the robot hand to hold the first clamp by the clamp holding section;
- lifting the first clamp in a condition that the first clamp is held;
- conveying the first clamp to a first predetermined position of a work pedestal on which the work is put;
- lowering the robot hand and moving the robot hand in a horizontal plane so that an engaging section of the first clamp is engaged with a connection section of the work pedestal;
- calculating the clamp force based on the position data acquired from the measuring section in a condition that the first clamp and the work pedestal are coupled to each other;
- and
- driving the fastening section so that the calculated clamp force becomes a second predetermined value.
Dependencies are inferred from the claim text.