ASSEMBLY MANUFACTURING APPARATUS AND ASSEMBLY MANUFACTURING METHOD

• US 20180104777A1
• Filed: 07/11/2016
• Published: 04/19/2018
• Est. Priority Date: 10/28/2015
• Status: Active Grant

• Current Assignee: Mitsubishi Heavy Industries, Ltd.
• Original Assignee: Mitsubishi Heavy Industries, Ltd.
• Inventors: TOMBE, Toshihiro, GOTO, Naoki, HIRAI, Makoto
• Granted Patent: US 10,913,134 B2
• Time in Patent Office: Days
• CPC Class Codes: B21J 15/142 Aerospace structures
• CPC Class Codes: B23P 19/04 for assembling or disassembling parts
• CPC Class Codes: B23P 19/10 Aligning parts to be fitted together
• CPC Class Codes: B23P 2700/01 Aircraft parts
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 13/089 Determining the position of the robot with reference to its environment
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B64F 5/10 Manufacturing or assembling aircraft, e.g. jigs therefor
• CPC Class Codes: B64F 5/50 Handling or transporting aircraft components
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G05B 2219/37288 Tracking lasers follow object, reflection gives 3-D position
• CPC Class Codes: G05B 2219/39123 Manipulate, handle flexible object
• CPC Class Codes: G05B 2219/39129 One manipulator holds one piece, other inserts, screws other piece, dexterity
• CPC Class Codes: Y10S 901/47 Optical

Abstract

An object of the present invention is to provide an assembly manufacturing device and an assembly manufacturing method capable of reducing error when the actual position of a long member is detected, and precisely setting a reference point and a coordinates system. The long member assembly apparatus provides a plurality of hand parts for gripping a long member, a touch plate for securing the first end of the long member and restricting the movement of the long member in the longitudinal direction, a laser tracker for detecting the installation position of the touch plate, and a reference determining part for determining reference coordinates or reference point to be used in for adjusting the position of the hand parts, based on the installation position of the touch plate detected by the laser tracker.

Claims

1. An assembly manufacturing device, comprising:

a plurality of first gripping parts that grip a first member having a long shape;

a retaining part that retains a first end of the first member and restricts movement of the first member in the longitudinal direction;

a first driving part that moves the first gripping parts and adjusts a position of the first gripping parts that grip the first member;

a detecting part that detects the installation position of the retaining part;

a reference determining part for determining a reference point or reference coordinates used for adjusting the position of the first gripping part, based on the installation position of the retaining part detected by the detecting part;

a storing part for storing an original shape of the first member; and

a control unit for driving the first driving part and adjusting the positions of the plurality of gripping parts that grip the first member, such that the shape of the first member gripped by the first gripping part matches the original shape, based on the original shape stored in the storage part and the reference coordinates or reference point determined by the reference determining part.

2. The assembly manufacturing device according to claim 1, further comprising a first reflecting part that reflects laser light, provided on the retaining part;

wherein the detecting part comprises;

an irradiating part that irradiates laser light while scanning;

a light receiving part that receives the laser light reflected by the first reflecting part; and

a position calculating part that calculates an installation position of the retaining part on which the first reflecting part is provided, based on the laser light reflected by the first reflecting part and received by the light receiving part; and

the reference determining part determines the reference coordinates or reference point based on the installation position of the retaining part calculated by the position calculating part.

3. The assembly manufacturing device according to claim 2, further comprising two or one mutually separated second reflecting parts provided a different position than the retaining part;

wherein one or two mutually separated first reflecting parts are provided on the retaining part;

the position calculating part calculates the installation position of the second reflecting part based on the laser light reflected by the second reflecting part and received by the light receiving part; and

the reference determining part determines the reference coordinates based on the installation position of the second reflecting part and the installation position of the retaining part calculated by the position calculating part.

4. The assembly manufacturing device according to claim 2,

wherein three first reflecting parts are provided, mutually separated on the retaining part;

the position calculating part calculates the installation position of the retaining part on which the first reflecting parts are provided, based on the laser light reflected by the first reflecting parts and received by the light receiving part; and

the reference determining part determines the reference point based on the installation position of the retaining part calculated by the position calculating part.

5. The assembly manufacturing device according to claim 2, wherein the position where the first reflecting part is provided on the retaining part is determined based on the detection error of the detecting part and the positional error of the reference point determined by the reference determining part.

6. An assembly manufacturing device according to claim 2, further comprising:

second gripping parts that grip the first member in a quantity fewer than the first gripping parts;

a second driving part that moves the second gripping parts and adjusts the position of the second gripping parts that grip the first member, having higher precision than the positional precision during positional adjustment of the first gripping part by the first driving part; and

a third reflecting part provided on the second gripping part;

wherein the position calculating part calculates the installation position of the third reflecting part based on the laser light reflected by the third reflecting part and received by the light reflecting part;

the reference determining part determines the position that the second gripping part grips the first member based on the installation position of the third reflecting part that was calculated by the position calculating part; and

the control unit drives the first driving part and the second driving part, and adjusts the position of the plurality of first gripping parts and the second gripping parts such that the shape of the first member gripped by the first gripping parts and the second gripping part matches the original shape of the first member stored in the storing part, based on the original shape of the first member stored in the storing part and the reference coordinates or reference point determined by the reference determining part.

7. The assembly manufacturing device according to claim 2, further comprising:

a mounting robot for mounting a second member to the first member; and

a fourth reflecting part provided on the mounting robot;

wherein the position calculating part calculates the installation position of the fourth reflecting part, based on the laser light reflected by the fourth reflecting part and received by the light receiving part, and

the reference determining part determines the position where the mounting robot mounts the second member, based on the installation position of the fourth reflecting part calculated by the position calculating part.

8. An assembly manufacturing method, comprising:

a step where a plurality of first gripping parts grip a first member having a long shape;

a step where a retaining part retains the first end of the first member and restricts movement of the first member in the longitudinal direction;

a step where a first driving part that moves the first gripping parts and adjusts a position of the gripping parts that grip the first member;

a step where a detecting part detects the installation position of the retaining part;

a step where a reference determining part determines a reference point or a reference coordinates that is used for adjusting the position of the first gripping part, based on the installation position of the retaining part detected by the detecting part, wherein

a control unit drives the first driving part and adjusts the positions of the plurality of first gripping parts that grip the first member, such that the shape of the first member gripped by the first gripping parts matches the original shape, based on the original shape stored in the storing part and the reference coordinates or reference point determined by the reference determining part.