CS240320B1

CS240320B1 - Adjustable assembly head especially for industrial robots

Info

Publication number: CS240320B1
Application number: CS846002A
Authority: CS
Inventors: Jozef Dragoun; Marian Ondrejovic; Jozef Makata
Original assignee: Jozef Dragoun; Marian Ondrejovic; Jozef Makata
Priority date: 1984-08-08
Filing date: 1984-08-08
Publication date: 1986-02-13
Also published as: CS600284A1

Abstract

Vynález je určený ako montážna hlavica priemyselných robotov s raprodukovatelnou presnosťou polohovania. Nosič hlavice je v jej teiese uchytený pružnými členmí v dvoch rovinách. V nosiči je uložený regulovatelný zdroj kmitania.The invention is intended as a mounting head industrial robots with raproducible positioning accuracy. The head carrier is in her teiese gripped by the flexible two in one planes. Adjustable in the carrier oscillation source.

Description

Vynález sa týká riešenia adaptivně) montážně) hlavice, najma pre priemyselné roboty.The invention relates to an adaptive assembly head, in particular for industrial robots.

Aplikácie montážnych operácií kladů na priemyselné roboty vysoké nároky z hradiska reprodukovateinej přesnosti polohovania, častokrát řádové až v tisícinách milimetra. Tieto požadavky spíňajú priemyselné roboty len vo výnimočných prípadoch. Vo všeobecnosti sa preto pre zvýšenie přesnosti polohovania priemyselných robotov používajú adaptivně montážně hlavice. Tieto hlavice můžu mať aktívnu, alebo pasívnu adaptívnosť, připadne můžu byť riešené s kombináciou aktívnej a pasívnej prispůsobivosti. Aktivně adaptivně montážně hlavice sú opatřené snímačmi, ktoré indikujú dotykom, silovým posobením, opticky, adebo iným spůsobom skutočnú momentálnu polohu montovaných objektov, informujú o tejto polohe riadiaci systém priemyselného robota, ktorý situáciu vyhodnotí a vydá potřebné inštrukcie na korekciu polohy. Pasivné adaptivně montážně hlavice korigujú chyby momentálnej polohy pružnostmi prispósobenia konštrukčnej kinematiky, pričom použité pružné členy můžu mať různý stupeň volnosti.Application of assembly operations to industrial robots with high demands from the field of reproducible positioning accuracy, often in the order of thousands of millimeters. Industrial robots only meet these requirements in exceptional cases. In general, adaptive mounting heads are therefore used to increase the positioning accuracy of industrial robots. These heads may have active or passive adaptability, or they may be solved with a combination of active and passive adaptability. The actively adaptive mounting heads are equipped with sensors that indicate by touch, force, optically or otherwise the actual momentary position of the assembled objects, inform the industrial robot control system about this position, which evaluates the situation and gives the necessary position correction instructions. The passive adaptive mounting heads correct the momentary position errors by adjusting the elasticity of the structural kinematics, and the elastic members used may have different degrees of freedom.

Najznámejšia a naj používané jšia adaptívna montážna hlavica je na principe vzdialeného středu pružnosti, aplikovaného na základe pasivného a aktívneho prispůsobenia. Jej princip spočívá v uložení pružných členov, ktorých jedna skupina umožňuje nakláňanie osi vkládaného objektu okolo vzdialeného středu pružnosti a druhá skupina pružných členov umožňuje posuvný pohyb vkládaného objektu v smere kolmom na os polohovaných objektov. Toto riešenie umožňuje korekciu ohýb radiálnych posunov a uhlových odklonov medzi osami spojovaných, respektive párovaných objektov.The best known and most commonly used adaptive mounting head is on the principle of a distant center of elasticity, applied on the basis of passive and active adaptation. Its principle is to accommodate resilient members, one group of which allows the axis of the inserted object to tilt about the distal center of elasticity, and the other group of the elastic members allows a displaceable movement of the inserted object in a direction perpendicular to the axis of the positioned objects. This solution enables the correction of radial displacement bends and angular deflections between the axes of the connected or paired objects, respectively.

Nevýhodou tohoto riešenia adaptívnej montážnej hlavice je konštantná poloha vzdialeného středu pružnosti, ktorá je daná konštrukciou dvoch skupin pružných členov. Niektoré modifikácie Uvedeného riešenia umožňujú nastavit vZdialenošť pttTOhy vzdialeného středu pružnosti .v. určitom rozsahu. Sú známe aj modifikácie, ktoré majú niekol'ko vzdialených stredov pružnosti. Pre všetky modifikácie však zostáva nevýhodou, že nie je možné polohu vzdialeného středu menif plynule počas procesu polohovania a využitie týchto hlavic je možné len v určitom obmedzenom rozsahu dížok vkládaných objektov.The disadvantage of this solution of the adaptive mounting head is the constant position of the distal center of elasticity, which is due to the construction of the two groups of elastic members. Some modifications of the present solution make it possible to set the distance of the distal center of elasticity at a distance. to some extent. Modifications are also known which have several distant centers of elasticity. For all modifications, however, it remains a disadvantage that it is not possible to position the distal center of the menifs smoothly during the positioning process, and the use of these heads is only possible within a limited range of lengths of the inserted objects.

Vyššie uvedené nevýhody odstraňuje adaptívna montážna hlavica, najma pre priemyselné roboty podlá vynálezu, ktorého podstatou je, že nosič je v telese uchytený pružnými členmi v dvoch rovinách. V nosiči je uložený regulovatelný zdroj kmitania. Podstatou vynálezu je aj to, že pružnost aspoň jednoho z pružných členov je přestavitelná. Do podstaty vynálezu patří aj to, že zdroj kmitania je tvořený elektromotorem, na ktorého hriadeli je pevne prestavitelne uložené závažie. Podstatu vynálezu tvoří i to, že nad horným čelom nosiča. je odpružené výkyvné uložený doraz. Podstata vynálezu spočívá v tom, že doraz je tvořený tanierom uloženým na tlačnej pružině, ktorého dotyková plocha je s nosičom opatřená klznou vrstvou a na druhej ploché je vytvořené lůžko. V lůžku je uložený gulový čap, ktorého válcová časť je posuvné uložená v otvore upínaeej stopky a je na nej vytvořená pozdížná drážka, do ktorej zasahuje vymedzovacia skrutka zaskrutkovaná v upínaeej stopke. Podstatou vynálezu je aj to, že v otvore upínaeej stopky nad čelom valcovej Časti gulového čapu je uložený snímač sily.The above-mentioned disadvantages are overcome by an adaptive mounting head, in particular for industrial robots according to the invention, which is based on the fact that the carrier is held in the body by elastic members in two planes. An adjustable source of vibration is stored in the carrier. It is also an object of the invention that the elasticity of at least one of the elastic members is adjustable. It is also within the scope of the invention that the source of oscillation is formed by an electric motor, on which the shaft is a fixed adjustable weight. It is also an object of the invention that above the upper face of the carrier. is a spring-loaded pivot bearing. The principle of the invention consists in that the stop is formed by a plate mounted on a compression spring, the contact surface of which is provided with a sliding layer with the carrier and on the other flat a seat is formed. A ball pin is mounted in the receptacle, the cylindrical part of which is slidably mounted in the bore of the clamping shank and a longitudinal groove is formed therein, into which a spacer screw screwed in the shank is inserted. It is also an object of the invention that a force sensor is mounted in the bore of the clamping shank above the face of the cylindrical part of the ball joint.

Adaptívnou montážnou hlavioou podlá vynálezu sa docieli potrebnej polohy vzdialeného středu pružnosti v lubovolnej vzdialenosti od hlavice núteným jej rozkmitáním v radiálnom smere. Výhody hlavice sú aj v možnosti nastavenia pružnosti aspoň jednoho pružného člena, možnost regulácie frekvencie a amplltúdy kmitania pomoeou změny otáčok hriadela so· závažím, možnosti změny dynamického účinku nevyváženej hmoty.The adaptive mounting head according to the invention achieves the necessary position of the distal center of elasticity at any distance from the head, forced by its oscillation in the radial direction. The advantages of the head are also in the possibility of adjusting the elasticity of at least one elastic member, the possibility of regulating the frequency and amplitude of the oscillation by varying the shaft speed with the weight, the possibility of changing the dynamic effect of the unbalanced mass.

Velmi významnou výhodou je axiálna pružnost umožňujúca jemné navedeme polohových objektov do požadovanej polohy a možnost regulovania a snímania priebehu montážnej sily.A very significant advantage is the axial flexibility allowing fine positioning of the position objects to the desired position and the possibility of regulating and sensing the course of the mounting force.

Na připojených výkresoch je znázorněný schematický princip vynálezu a dve příkladné riešenia vynálezu, kde na obr. 1 je schematicky nakreslená hlavica v kludovom stave, na obr. 2 je schematicky nakreslená hlavica vo vychýlenej polohe polohovanej súčiastky nad otvorom, do ktorého má byť založená, na obr. 3 je schématicky nakreslená hlavica v polohe, kedy je polohovaná sú čiastka stotožnená s otvorom, do ktorého má byť založená, na obr. 4 je schematicky nakreslená hlavica vo fáze zasúvania súčiastky do otvoru, na obr. 5 je nakreslené konkrétné prevedenie hlavice v řeze a na obr. 6 je nakreslené v řeze konkrétné prevedenie hlavice s dorazom.The accompanying drawings show a schematic principle of the invention and two exemplary embodiments of the invention. 1 is a schematic drawing of the head in the idle state, FIG. 2 is a schematic drawing of the head in the deflected position of the positioning component above the opening into which it is to be inserted, FIG. 3 is a schematic drawing of the head in the position in which the amount is aligned with the opening into which it is to be placed, FIG. 4 is a schematic drawing of the head in the phase of inserting a part into the opening; FIG. 5 shows a particular embodiment of the head in cross-section, and FIG. 6 is a sectional view of a particular embodiment of the head with a stop.

Adaptívna montážna hlavica pre priemyselné roboty pozostáva z telesa 1 (obr. 5) v tvare puzdra, na ktorom je naskrutkované veko 11 opatřené upínacou stopkou 10. V telese 1 je uložený nosič 3 prostredníctvom prvého pružného člena 2, ktorý je tvořený gumovou membránou a druhého pružného člena 8 tvořeného tromi tažnými pružinami rozmiestnenými po obvode po 120°. Jeden koniec tažných pružin je uchytený na přírubě 12 uchytenej na zdroji kmitania 5, ktorý je tvořený elektromotorem uloženým v nosiči 3. Druhé konce tažných pružin sú uchytené na nastavovacích skrutkách 9 zaskrutkovaných v telese 1. Na zdroj kmitania 5 je připojený elektrický vodič 15 vedený cez priechodku 16 uložená v telese 1. Na hriadeli 32 zdroja kmitania 5 je uchytené prostredníctvom poistnej skrutky 7 závažie 6. Prvý pružný člen 2 je na vonkajšom obvode pevne uchytený maticou 13 na telese 1. Na dolnom konci nosiča 3 je naskrutkovaný držiak' 4.The adaptive mounting head for industrial robots consists of a housing 1 (Fig. 5) in the form of a housing on which the cap 11 is screwed with a clamping shank 10. The housing 1 accommodates a carrier 3 by means of a first elastic member 2 consisting of a rubber membrane and a resilient member 8 formed by three tension springs distributed circumferentially over 120 °. One end of the tension springs is mounted on a flange 12 attached to the vibration source 5, which is formed by an electric motor mounted in the carrier 3. The other ends of the tension springs are mounted on the adjusting screws 9 screwed in the housing 1. On the shaft 32 of the oscillation source 5, a weight 6 is secured by means of a locking screw 7. The first resilient member 2 is fixedly attached to the outer circumference by a nut 13 on the body 1. At the lower end of the carrier 3 a holder 4 is screwed.

V držiaku 4 je zaskrutkovaný uchopovač 24 (obr. 1 až obr. 3 j.The gripper 24 is screwed in the holder 4 (FIGS. 1 to 3).

Ďalšie riešenie adaptívnej montážnej hlavice (obr. 8) je zhodné s predchádzajúcim riešením s tým rozdielom, že nosič 3 je opatřený ochranným vekom 18, na ktorom sú uchytené tažné pružiny druhého pružného člena 8. Nad čelom ochranného veka 18 je odpružené prostredníctvom tlačnej pružiny 23 uložený doraz 23 v tvare taniera, na ktorého hornej ploché je vytvořené lóžko 14.Another solution of the adaptive mounting head (Fig. 8) is identical to the previous solution except that the carrier 3 is provided with a protective cap 18 on which the tension springs of the second resilient member 8 are mounted. a plate-shaped stop 23 on the upper flat surface of which a bed 14 is formed.

V lůžku 14 je uložený gulový čap 21, ktorý je válcovou časťou uložený posuvné v otvore 27 upínacej stopky 10. Na valcovej časti gu1'ového čapu 21 je vytvořená pozdlžna drážka 31, do ktorej zasahuje vymedzovacia skrutka 22 zaskrutkovaná v dutej stopke 10 Nad horným čelom valcovej časti gulového čapu 21 je v otvore 27 upínacej stopky 10 umiestnený snímač 17 sily.A ball pin 21 is mounted in the seat 14, which is supported by a cylindrical portion sliding in the bore 27 of the shank 10. A longitudinal groove 31 is formed on the cylindrical portion of the ball pin 21 into which a spacer bolt 22 screwed in the hollow shank 10 above the upper face. In the cylindrical part of the ball pin 21, a force sensor 17 is located in the opening 27 of the shank 10.

Funkcia adaptívnej montážnej hlavice je nasiedovná: Spuštěním zdroja kmitania 5 sa prostredníctvom závažia 6 a rozdielnej pružnosti prvého pružného člena '2 a druhého pružného člena 8 rozkmitá v radiálnom směre nosič 3 s držiakom 4 uchopovača ,24, v ktorom. je uchytená polohovaná súčiastka 26 (obr. 1 až 4], Pod polohovanú súčiastku 26 sa prisunie puzdro 25 s otvorom. Pri vzniku kontaktu ihrany polohovanej súčiastky 26 s hranou otvoru puzdra 25 vzniknú podmienky pre stotožnenie csi 30 nosiča 3 s osou 28 puzdra 25 (obr. 3). Po stotožnení osi 30 nosiča 3 a osi 28 puzdra 25 sú eliminované nenepresnoeti v polohe spojovaných objektov spočívajúce v odklone o uhol a od asi 29 hlavlce a vo vyosení o hodnotu Δ, před poloho váním a može dójsť lt založeniu polohovanej súčiastky 26 do otvoru puzdra 25 (obr.The function of the adaptive mounting head is as follows: By actuating the vibration source 5, the carrier 3 with the gripper holder 4, in which it is moved, oscillates in the radial direction by the weight 6 and the different resilience of the first resilient member 2 and the second resilient member 8. the positioning component 26 (Figs. 1 to 4) is attached below the positioning component 26. The housing 25 is slid with the bore 25. Upon contact of the positioning component 26 with the edge of the housing 25, the conditions for aligning the csi 30 of the carrier 3 with the axis 28 of the housing 25 After aligning the axis 30 of the carrier 3 and the axis 28 of the sleeve 25, inaccuracies in the position of the connected objects consisting of a tilt angle of about 29 head and an offset of Δ are eliminated before positioning and positioning of the positioning component can occur. 26 into the housing opening 25 (FIG.

4) . Podlá prvého příkladného riešenia (obr.4). According to a first exemplary solution (FIG.

5) má gumová meinbrána, aplikovaná ako prvý pružný člen 2 a tažné pružiny, ako druhý pružný člen 8 aj axiálnu pružnost, preto je použitie tohoto riešenia obmedzené pre menšie zakladacie sily. Druhé příkladné riešenie (obr. 6) limituje axiálnu pružnost prvého pružného člena 2 a druhého pružného člena 8 dosadnutím čela valcovej časti gul'ového čapu 21 na čelo v otvore 27 upínacej příkladné riešenia. Příkladné je možné pouumožní použitie hlavice aj pri vačších zakládacích, respektive lisovacích silách a podlá potřeby aj regulácia tejto sily. Relativný pohyb nosiča 3 v radiálnom smere umožňuje klzná vrstva 19 na doraze 20. Změnu frekvencie a amplitúdu kmitania možno zabezpečit změnou otáčok zdroje kmitania 5. Amplitúdu kmitania možno nastavit změnou hmotnosti závažia 6, respetíve jeho umiestnením, alebo nastavením predpatia druhého pružného člena 8.5) the rubber meinbore applied as the first resilient member 2 and the tension springs, as the second resilient member 8 also has axial elasticity, therefore, the use of this solution is limited to smaller loading forces. The second exemplary solution (FIG. 6) limits the axial elasticity of the first resilient member 2 and the second resilient member 8 by abutting the face of the cylindrical portion of the ball pin 21 on the face in the opening 27 of the clamping example. By way of example, it is possible to use the head also at larger loading or pressing forces and, if necessary, to regulate this force. Relative movement of the carrier 3 in the radial direction is provided by the slide 19 at the stop 20. The frequency and amplitude of the oscillation can be varied by varying the speed of the oscillating source 5. The oscillation amplitude can be adjusted by changing the weight of the weight 6 or positioning it.

Adaptívnu montážnu hlavicu možno realizovat aj v inom převedení, ako sú popísané příkladné rešenia. Příkladné je možné použiť druhý pružný člen 8, alebo prvý pružný člen 2 bez axiálnej pružnosti. Taktiež je možné tieto realizovat na báze iných materiálov, alebo iných konštrukčných usporiadaní, například namiesto gumovej membrány možno použiť membránu kovová. Ako zdroj radiálneho kmitania možno příkladné použit elektromagnet, alebo íný princip budenia kmitania.The adaptive mounting head can also be realized in a different configuration than the described solutions. By way of example, it is possible to use a second elastic member 8 or a first elastic member 2 without axial elasticity. It is also possible to realize these on the basis of other materials or other constructional arrangements, for example a metal membrane can be used instead of a rubber membrane. As a source of radial oscillation, an electromagnet or other principle of excitation of oscillation can be used.

Claims

A holder 4 is screwed to the end of the carrier 3. A gripper 24 is screwed into the holder 4 (FIGS. 1 to 3). A further solution of the adaptive mounting head (Fig. 8) is identical to the previous solution with the difference that the carrier 3 is protected by a protective cap 18 on which the tension springs of the second elastic member 8 are clamped. a plate-shaped stop 23 on which the top 14 is provided with a bed 14. In the bed 14 there is a spherical pin 21, which is cylindrically displaceable in the opening 27 of the clamping shank 10. A longitudinal bar is formed on the cylindrical portion of the spherical pin 21 a groove 31, into which a spacer screw 22 screwed in the hollow shank 13 engages above the upper face of the cylindrical portion of the ball pin 21, a force sensor 17 is located in the opening 27 of the clamping shank 10. The function of the adaptive mounting head is as follows: By actuating the vibration source 3 through the weight 6 and the different resilience of the first resilient member 2 and the second resilient member 8, the carrier 3 vibrates in the radial direction with the gripper 4, 24 in which. The positioning part 26 (Figs. 1 to 4j) is attached below the positioning part 26. The opening 25 is moved under the positioning part 26. When the edge of the positioning part 26 is contacted by the opening of the case 23, conditions for the identification of the carrier 30 with the housing axis 28 (Fig. 3). aligning the axis 30 of the carrier 3 and the axis 28 of the housing 25 are eliminated by the non-transitions in the position of the objects to be connected in the inclination by the angle α from about 29 of the head and in the offset by the value áním, before the positioning can occur the component 26 into the opening of the housing 25 (FIG.

An adaptive mounting head, in particular industrial robots, comprising housing-shaped bodies, at the upper face provided with a swinging shank, and in a hollow body a resiliently supported carrier with a gripping gripper attached, characterized in that the carrier (3) is attached to the body (1) the elastic members (2, 8) in two planes, wherein the carrier (3) accommodates a controllable source of the emitter (5).

2. Adaptive mounting head according to claim 1, characterized in that the resilience of at least one of the resilient members (2, 8) is adjustable.

3. An adaptive mounting head according to claim 1, characterized in that the source of oscillation (5) is formed by an electric motor on which the weight (6) is displaceably mounted on the shaft (32).

An adaptive mounting head according to claim 1, characterized in that the body (1) has a spring-loaded stop (20j) which is spring-loaded on the inside of the lid (11).

4). According to the first exemplary embodiment (FIG. 5), the rubber membrane applied to the first elastic member 2 and the tension springs, as the second elastic member 8, also has axial elasticity, despite the use of this solution the limited loading forces are limited. A second exemplary solution (FIG. 6) limits the axial elasticity of the first resilient member 2 and the second resilient member 8 by engaging the face of the cylindrical portion of the spherical pin 21 on the face of the opening 27 of the exemplary solution. Exemplary applications include the use of the head even at higher loading and pressing forces and, if necessary, the regulation of this force. The relative movement of the carrier 3 in the radial direction permits a thinning layer 19 on the end 20. The frequency variation and the amplitude of the oscillation can be ensured by varying the speed of the oscillation source 5. The amplitude of the oscillation can be adjusted by varying the weight of the weight 6, resp. The adaptive mounting head can also be implemented in a different conversion than the exemplary solutions described. An example is a second resilient member 8, or a first resilient member 2 without axial resilience. It is also possible to use these on the basis of other materials or other structural arrangements, for example a metal membrane, instead of a rubber membrane. An electromagnet or other principle of oscillation may be used as the source-oscillation.

Adaptive mounting head according to claim 4, characterized in that the stop (20) is formed by a drier mounted on a compression spring (23) whose contact surface with the carrier (3) is provided with a sliding layer (19) and a second bed (14) is formed on the second flat surface. in which the spherical pin (21) is inserted, wherein the cylindrical portion of the spherical pin (21) is slidably supported by the opening of the clamping shank (10) and is provided with a slot (31) into which the limiting screw (22) engages in the clamping stop (10).

6. "Adaptive mounting head according to claim 5, characterized in that a force transducer (17) is mounted in the opening of the clamping shank (10) above the face of the cylindrical portion of the ball stud (21).