Device for opening/closing

Patent metadata

Field	Value
Publication number	US-2022016695-A1
Application number	US-202017295190-A
Country	US
Kind code	A1
Filing date	Mar 19, 2020
Priority date	Mar 27, 2019
Publication date	Jan 20, 2022
Grant date	—

Abstract

An opening-closing apparatus capable of, when using a robot arm to selectively open and close a component of a sliding nozzle device, reliably opening and closing the component to respective given positions. The apparatus comprises: a hand-like distal module engageable with an openable-closable component of a sliding nozzle device; a force sensor to detect a force received by the module; and a robot arm to which the module and the sensor are mounted. The robot arm is controllably operated to: move the module toward the component of the sliding nozzle device and engage the module with the component of the sliding nozzle device; then move the module to move the component, if the absolute value of the force detected by the sensor is equal to or less than a given threshold; and stop the movement of the module, when the absolute value of the force detected by the sensor reaches the threshold.

First claim

1 . An opening-closing apparatus for selectively opening and closing an openable-closable component of a sliding nozzle device, comprising:
a hand-like distal module configured to be engaged with the openable-closable component of the sliding nozzle device; a force sensor configured to detect a force received by the hand-like distal module; and a robot arm to which the hand-like distal module and the force sensor are mounted.

2 . The opening-closing apparatus as claimed in claim 1 , wherein the hand-like distal module is configured to be engaged with the openable-closable component of the sliding nozzle device, in a state in which the hand-like distal module is freely fitted around a portion of the openable-closable component with a gap therebetween in a horizontal direction.

3 . The opening-closing apparatus as claimed in claim 1 , which further comprises a plate holding device capable of holding a plate for the sliding nozzle device, wherein the hand-like distal module is detachably held by the plate holding device.

4 . The opening-closing apparatus as claimed in claim 1 , wherein the plate holding device comprises: a plurality of holding portions for holding the hand-like distal module; a widening and narrowing means to selectively widening and narrowing a distance between opposed ones of the plurality of holding portions; and a pressing portion for pressing the hand-like distal module when the hand-like distal module is held by the plurality of holding portions.

5 . The opening-closing apparatus as claimed in claim 1 , which further comprises a control unit configured to control operation of the robot arm, wherein the control unit is operable to controllably operate the robot arm so as to: move the hand-like distal module toward the openable-closable component of the sliding nozzle device and engage the hand-like distal module with the openable-closable component of the sliding nozzle device; then move the hand-like distal module to move the openable-closable component, if an absolute value of the force detected by the force sensor is equal to or less than a given threshold; and stop the movement of the hand-like distal module, when the absolute value of the force detected by the force sensor reaches the given threshold.

Assignees

• Krosakiharima Corp

Inventors

• Yoshimura Mamoru
• Funato Junichi
• Yamaguchi Yusuke
• Imahase Toshihiro

Classifications

• B22D41/38

  Means for operating the sliding gate · CPC title

• B25J9/1679

  characterised by the tasks executed · CPC title

• B22D41/34

  Supporting, fixing or centering means therefor · CPC title

• B22D41/24

  characterised by a rectilinearly movable plate (B22D41/38 - B22D41/42 take precedence) · CPC title

• B25J15/00 Primary

  Gripping heads {and other end effectors (grippers used in machine tools B23Q7/04; gripping members fitted on cranes B66C1/42, B66C1/44; gripping means used for mounting electrical components H05K13/04; gripping means used in the manufacture of semiconductors H10P72/7602)} · CPC title