DD239558A1

DD239558A1 - DEVICE FOR POSITION-ORIENTED GRIPPING OF ROTATIONAL SYMMETRIC PARTS WITH SUB-FORMING ELEMENT

Info

Publication number: DD239558A1
Application number: DD27893385A
Authority: DD
Inventors: Herbert Brodmann; Horst Groeger; Carsten Knop
Original assignee: Smab Forsch Entw Rat
Priority date: 1985-07-25
Filing date: 1985-07-25
Publication date: 1986-10-01

Abstract

Die Erfindung betrifft eine Einrichtung zum lageorientierten Greifen rotationssymmetrischer Teile mit Nebenformelement durch einen Industrieroboter und ist besonders geeignet fuer Aufgaben, bei denen eine lageorientierte Bereitstellung des rotationssymmetrischen Teiles zum Bearbeiten und Montieren erforderlich ist. Das Ziel der Erfindung besteht darin, die automatische Lageorientierung ohne vorherige Groborientierung und ohne zusaetzliche Geraete und Antriebe zu realisieren. Aufgabe ist es daher, eine einfache Einrichtung zu entwickeln, die die Lageorientierung unter Nutzung der Drehbewegung des Roboterhandgelenkes ohne vorherige Groborientierung realisiert. Geloest wird die Aufgabe dadurch, dass in einem Greifer ein Zentrierteil mit einer Schaltklinke angeordnet ist, deren Stellung von einem Uebertragungsglied an die Robotersteuerung gemeldet und dort verarbeitet wird. Das Lageorientieren erfolgt derart, dass zunaechst Greifeinrichtung und Werkstueck zu einander zentriert werden und danach durch Drehen des Roboterhandgelenkes nach einem Nebenformelement gesucht wird, bei dessen Erkennung die Drehbewegung beendet wird.The invention relates to a device for position-oriented gripping rotationally symmetrical parts with auxiliary element by an industrial robot and is particularly suitable for tasks in which a position-oriented provision of the rotationally symmetric part for editing and mounting is required. The aim of the invention is to realize the automatic position orientation without prior Groborientierung and without additional devices and drives. Task is therefore to develop a simple device that realizes the position orientation using the rotational movement of the robot wrist without prior Groborg orientation. Geloest the task is characterized in that a centering part is arranged with a pawl in a gripper whose position is reported by a Uebertragungsglied to the robot controller and processed there. The orientation of the position is such that first gripping device and workpiece are centered to each other and then searched by turning the robot wrist for a secondary feature, in the detection of the rotational movement is terminated.

Description

-2- 239 §58-2- 239 §58

Ausführungsbeispiel embodiment

Die Erfindung wird nachstehend an einem Ausführungsbeispiel näher erläutert.The invention will be explained in more detail using an exemplary embodiment.

Die dazugehörige Zeichnung zeigt:The accompanying drawing shows:

— einen Schnitt durch die komplette Greifeinrichtung.- A section through the complete gripping device.

MitHilfe der erfindungsgemäßen Greifeinrichtung werden rotationssymmetrische Werkstücke 17 miteinerzentrischen Bohrung und einer Nut lageorientiert von einem Magazinplatz 16 gegriffen und der nachfolgenden Bearbeitung zugeführt. Die Greifeinrichtung ist durch den Anschlußflansch 1 mit dem Handgelenk des Industrieroboters verbunden und wird die federnden Aufhängungen 2 in Verbindung mit den Mikrotastern 15 vor übermäßiger Belastung im Falle einer Kollision geschützt.With the aid of the gripping device according to the invention, rotationally symmetrical workpieces 17 with a centered bore and a groove are positionally gripped by a magazine location 16 and fed to the subsequent processing. The gripping device is connected by the connecting flange 1 with the wrist of the industrial robot and the resilient suspensions 2 is protected in connection with the micro-probes 15 from excessive load in the event of a collision.

Der eigentliche Greifer besteht aus dem Gehäuse 3, dem Kolben 11, der die Greifeinrichtung antreibt, den Kraftübertragungselementen Kolbenstange 12, Kniehebel 13 und den Greifhebeln 9. Die Rückholfedern 10 garantieren das Erreichen der Ausgangslage nach der Beendigung des Greifvorganges. Mit dem Mikrotaster 14 wird die Stellung der Kolbenstange 12 und bedingt durch die mechanische Verbindung die Stellung der Greifhebel 9 überwacht.The actual gripper consists of the housing 3, the piston 11, which drives the gripping device, the power transmission elements piston rod 12, toggle 13 and the gripping levers 9. The return springs 10 guarantee reaching the starting position after the completion of the gripping process. With the micro-probe 14, the position of the piston rod 12 and conditionally monitored by the mechanical connection, the position of the gripping lever 9.

Die Einrichtung zum Lageorientieren besteht aus dem Zentrierzapfen 4, der Schaltklinke 5 mit der Schaltklinkenfeder 6, dem Stößel 7 und dem Mikrotaster 8.The device for position orientation consists of the centering pin 4, the pawl 5 with the pawl spring 6, the plunger 7 and the micro-switch 8.

Zum lageorientierten Greifen wird zunächst der Zentrierzapfen 4 in die zentrische Bohrung des Werkstückes 17 eingeführt, wobei durch die Einführschräge gewisse Lageabweichungen ausgeglichen werden. Im Normalfall wird dabei die Schaltklinke 5 in den Zentrierzapfen 4 gedrückt, und es erfolgt über den Stößel 7 das Schalten des Mikrotasters 8. Nach der Auswertung dieses Signals wird der Greifer so lange um seine eigene Achse gedreht, bis die Schaltklinke 5 durch den Druck der Schaltklinkenfeder 6 in die Nut einrastet. Dieser Vorgang wirkt wieder über den Stößel 7 auf den Mikrotaster 8, dessen Stellung ausgewertet wird und denFor position-oriented gripping the centering pin 4 is first introduced into the central bore of the workpiece 17, wherein the position of the insertion be compensated for certain positional deviations. Normally, while the pawl 5 is pressed into the centering pin 4, and it takes place via the plunger 7, the switching of the micro-probe 8. After the evaluation of this signal, the gripper is rotated so long about its own axis until the pawl 5 by the pressure of Shift pawl spring 6 engages in the groove. This process acts again on the plunger 7 on the micro-probe 8, whose position is evaluated and the

Antrieb des Roboterhandgelenkes abschaltet. ιDrive of the robot wrist turns off. ι

Trifft die Schaltklinke 5 beim Einführen des Zentrierzapfens 4 direkt die Nut, so erfolgt kein Schalten des Mikrotasters 8, und die Lageorientierung ist auch hier durch das Einrasten der Schaltklinke 5 in die Nut des Werkstückes 17 gegeben. Durch die pneumatisch angetriebene Kolbenbewegung wird nun die Greifkraft erzeugt, mit der die Greifhebel 9 das Werkstück 17 greifen.Does the pawl 5 when inserting the centering 4 directly the groove, so there is no switching of the micro-probe 8, and the positional orientation is given here by the engagement of the pawl 5 in the groove of the workpiece 17. By the pneumatically driven piston movement, the gripping force is now generated, with which the gripping lever 9, the workpiece 17 engage.

Die Orientierung des Werkstückes 17 ist jetzt durch die Kombination Nut-Schaltklinke definiert.The orientation of the workpiece 17 is now defined by the combination groove pawl.

Claims

Claim:

Device for position-oriented gripping rotationally symmetrical parts with secondary feature realized in a known gripper using the rotational movement of the robot wrist the position orientation during the gripping process, characterized in that in the gripping device a centering pin with a pawl which is connected via a transmission member with a micro-probe is arranged, and that the signal generated by the pawl via the micro-probe is processed by the robot controller for the gripper drive.

For this 1 page drawing

Field of application of the invention

The invention relates to a device for producing a positional orientation for rotationally symmetrical parts with auxiliary element by an industrial robot and is particularly suitable for tasks in which a position-oriented automatic provision of the rotationally symmetric part for editing and mounting is required.

Characteristic of the known technical solutions

There are several solutions for correct positioning gripping, clamping and positioning known. In DD-WP 202650 a clamping device is described by means of which a workpiece is first fixed. Then there is the possibility of unspecified position orientation and only then is the part tight. The disadvantage of this solution is that the possibility of an automatic position orientation is not discussed. DD-WP 217461 describes a device for the oriented gripping of rotationally symmetrical parts with secant-shaped section. Here, the roughly pre-oriented part is first turned off in a device such that the secant-shaped section points in the direction of the gripper (positional deviations of 15 ° -20 ° are permissible). With the closed gripper, the part is now pressed against a switch, wherein it aligns so that both gripper jaws rest on the secant-shaped portion. By pressing the switch, the orientation process is completed and the part can be gripped. The disadvantage here is the presence of an additional device in the working area of the robot and the restriction to a secant-shaped secondary feature. In DE-PS 3310159 a gripper for an industrial robot is described with which a correction of the position orientation between two end positions is possible. Here, the parallel gripper is designed so that it is rotatably mounted in the axis of the workpiece to an intermediate plate. At this intermediate plate, a motor is also mounted, which drives the rotational movement of the gripper. A disadvantage of this device is that it does not address the drive control to achieve the positional orientation and that an additional motor is necessary.

Pen the latter two solutions has the disadvantage that an automatic position orientation is only possible if previously a Groborientierung was performed. This always disturbances occur when the appropriate tolerances are not met.

Object of the invention

The aim of the invention is to develop a simple interference-proof device for position-oriented gripping rotationally symmetric parts with auxiliary feature by means of IR, which does not restrict the working area of the robot, can be used for a variety of secondary features, does not require additional drive and allows automatic position orientation without prior manual Groborientierung , Additional facilities for situation-oriented should be eliminated and cost and working time savings can be achieved.

Explanation of the essence of the invention

The invention is based on the object to develop a simple means for position-oriented gripping rotationally symmetrical parts with one or more evenly distributed over the circumference side elements where using the rotational movement of the robot wrist, the position orientation is realized during the gripping member without prior Groborg orientation.

According to the invention the object is achieved in that in a gripper, a centering part and a pawl, which is held by spring in the starting position, are arranged. The pawl is designed so that it can form a positive connection with the secondary feature. The position of the pawl is transmitted via a transmission link in conjunction with a micro-switch of the industrial robot control as a linear signal. The position-oriented gripping of the workpiece takes place in such a way that first the centering part centers the workpiece to the gripping device and thus brings the position of the workpiece and gripping device into agreement. From the position of the pawl, which is signaled via the transmission link of the industrial robot control, it can be seen whether a secondary feature is perceived by the pawl. If this is not the case, then the gripping device is rotated by the drive of the robot wrist about the axis of the centering until the detection of a secondary feature is signaled by the pawl, whereupon the drive is turned off. After that the part is seized. The positional orientation of the part for further processing is ensured by the fact that the orientation of \ Nebenformelementes is defined.