US 11,938,534 B2
Device for opening/closing
Mamoru Yoshimura, Fukuoka (JP); Junichi Funato, Fukuoka (JP); Yusuke Yamaguchi, Fukuoka (JP); and Toshihiro Imahase, Fukuoka (JP)
Assigned to KROSAKIHARIMA CORPORATION, Fukuoka (JP)
Appl. No. 17/295,190
Filed by KROSAKIHARIMA CORPORATION, Fukuoka (JP)
PCT Filed Mar. 19, 2020, PCT No. PCT/JP2020/012312
§ 371(c)(1), (2) Date May 19, 2021,
PCT Pub. No. WO2020/196270, PCT Pub. Date Oct. 1, 2020.
Claims priority of application No. 2019-061258 (JP), filed on Mar. 27, 2019.
Prior Publication US 2022/0016695 A1, Jan. 20, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B22D 11/10 (2006.01); B22D 41/34 (2006.01); B25J 13/08 (2006.01)
CPC B22D 11/10 (2013.01) [B22D 41/34 (2013.01); B25J 13/08 (2013.01)] 6 Claims
OG exemplary drawing
 
1. An opening-closing apparatus for selectively opening and closing an openable-closable component of a sliding nozzle device, the opening-closing apparatus comprising:
a positional sensor for determining determined three-dimensional positional coordinates of the openable-closable component of the sliding nozzle device;
a distal module configured to be engaged with the openable-closable component of the sliding nozzle device based on the determined three-dimensional positional coordinates of the openable-closable component;
a force sensor configured to detect a force received by the distal module; and
a robot arm to which the distal module and the force sensor are coupled,
wherein the distal module includes an engagement portion configured to be engaged with the openable-closable component of the sliding nozzle device, in a state in which the engagement portion of the distal module is freely fitted around a portion of the openable-closable component with a gap therebetween in a horizontal direction, and
wherein the gap is sized to provide for engagement of the engagement portion with the openable-closable component of the sliding nozzle device even when there is an error in the determined three-dimensional positional coordinates of the openable-closable component.