DE3787092D1 - Praezisionsgeraet zum automatischen zusammenbau und dafuer anwendbares zusammenbauverfahren. - Google Patents

Praezisionsgeraet zum automatischen zusammenbau und dafuer anwendbares zusammenbauverfahren.

Info

Publication number
DE3787092D1
DE3787092D1 DE8787105880T DE3787092T DE3787092D1 DE 3787092 D1 DE3787092 D1 DE 3787092D1 DE 8787105880 T DE8787105880 T DE 8787105880T DE 3787092 T DE3787092 T DE 3787092T DE 3787092 D1 DE3787092 D1 DE 3787092D1
Authority
DE
Germany
Prior art keywords
assembly
applicable
precision device
procedure
automatic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE8787105880T
Other languages
English (en)
Other versions
DE3787092T2 (de
Inventor
Toshiro Fujigaoka-Mans Higuchi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Japan Science and Technology Agency
Original Assignee
Research Development Corp of Japan
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP62035901A external-priority patent/JPS63207530A/ja
Priority claimed from JP62035902A external-priority patent/JPS63207531A/ja
Application filed by Research Development Corp of Japan filed Critical Research Development Corp of Japan
Publication of DE3787092D1 publication Critical patent/DE3787092D1/de
Application granted granted Critical
Publication of DE3787092T2 publication Critical patent/DE3787092T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B23P19/12—Alignment of parts for insertion into bores
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
    • B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0413—Pick-and-place heads or apparatus, e.g. with jaws with orientation of the component while holding it; Drive mechanisms for gripping tools, e.g. lifting, lowering or turning of gripping tools
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/082—Integration of non-optical monitoring devices, i.e. using non-optical inspection means, e.g. electrical means, mechanical means or X-rays
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49764—Method of mechanical manufacture with testing or indicating
    • Y10T29/49771—Quantitative measuring or gauging
    • Y10T29/49776—Pressure, force, or weight determining
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49895—Associating parts by use of aligning means [e.g., use of a drift pin or a "fixture"]
    • Y10T29/49902—Associating parts by use of aligning means [e.g., use of a drift pin or a "fixture"] by manipulating aligning means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
    • Y10T29/53061—Responsive to work or work-related machine element
    • Y10T29/53083—Responsive to work or work-related machine element including means to apply magnetic force directly to position or hold work
DE87105880T 1987-02-20 1987-04-22 Präzisionsgerät zum automatischen Zusammenbau und dafür anwendbares Zusammenbauverfahren. Expired - Lifetime DE3787092T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP62035901A JPS63207530A (ja) 1987-02-20 1987-02-20 精密自動組立装置
JP62035902A JPS63207531A (ja) 1987-02-20 1987-02-20 自動組立ハンド

Publications (2)

Publication Number Publication Date
DE3787092D1 true DE3787092D1 (de) 1993-09-23
DE3787092T2 DE3787092T2 (de) 1994-04-07

Family

ID=26374912

Family Applications (1)

Application Number Title Priority Date Filing Date
DE87105880T Expired - Lifetime DE3787092T2 (de) 1987-02-20 1987-04-22 Präzisionsgerät zum automatischen Zusammenbau und dafür anwendbares Zusammenbauverfahren.

Country Status (4)

Country Link
US (3) US4884329A (de)
EP (1) EP0283547B1 (de)
KR (1) KR920006486B1 (de)
DE (1) DE3787092T2 (de)

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JPH07108674B2 (ja) * 1989-04-27 1995-11-22 日産自動車株式会社 車体組立て精度管理方法
DE3933565A1 (de) * 1989-10-07 1991-04-18 Emitec Emissionstechnologie Verfahren und vorrichtung zum montieren von gebauten wellen
JP2834832B2 (ja) * 1990-03-15 1998-12-14 松下電工株式会社 姿勢制御装置
US5097584A (en) * 1990-04-13 1992-03-24 Seagate Technology, Inc. Method for predicting twist out torque in a swage mount
US5142770A (en) * 1990-04-13 1992-09-01 Seagate Technology, Inc. Apparatus for predicting twist out torque in a swage mount
US5397212A (en) * 1992-02-21 1995-03-14 Ebara Corporation Robot with dust-free and maintenance-free actuators
US5347413A (en) * 1992-11-13 1994-09-13 Seagate Technology, Inc. De-swaging technique for head gimbal assembly
JP3232911B2 (ja) * 1993-12-20 2001-11-26 トヨタ自動車株式会社 部品自動挿入方法
US5471445A (en) * 1994-06-20 1995-11-28 International Business Machines Corporation Apparatus and method for sensing and holding an item
US5729066A (en) * 1995-09-22 1998-03-17 General Electric Company Combined radial and axial magnetic bearings
JPH09192904A (ja) * 1996-01-18 1997-07-29 Toshiba Mach Co Ltd 空気軸受式工作機械
KR100197156B1 (ko) * 1996-03-22 1999-06-15 박원훈 자석의 반발력을 이용한 원격조종 로봇용 촉각 궤환장치
US6141863A (en) * 1996-10-24 2000-11-07 Fanuc Ltd. Force-controlled robot system with visual sensor for performing fitting operation
US6348749B1 (en) * 1997-04-14 2002-02-19 Koyo Seiko Co., Ltd. Magnetic bearing device and method of starting the device
DE50103664D1 (de) * 2000-10-06 2004-10-21 Chemspeed Ltd Vorrichtung mit einem werkzeughalter und einem abnehmbar befestigbaren werkzeug
AT414289B (de) * 2002-09-30 2006-11-15 M & R Automation Gmbh Verfahren und vorrichtung für eine automatisierte montage von elektromotoren
DE10345538A1 (de) * 2003-09-30 2005-05-12 Siemens Ag Bestückkopf mit einer Greifereinheit zum Bestücken von Substraten mit elektrischen Bauelementen
US7877899B2 (en) * 2004-09-30 2011-02-01 Asics Corporation Shock absorbing device for shoe sole in rear foot part
JP4519696B2 (ja) * 2005-03-29 2010-08-04 富士通コンポーネント株式会社 入力装置
US7409757B2 (en) * 2005-06-22 2008-08-12 Northrop Grumman Corporation Automated Z-pin insertion technique using universal insertion parameters
US7353580B2 (en) * 2005-06-22 2008-04-08 Northrop Grumman Corporation Technique for automatically analyzing Z-pin dynamic insertion data
US7497001B2 (en) * 2005-06-22 2009-03-03 Northrop Grumman Corporation Technique for predicting over insertions for partial grids and defective Z-pins
US7845259B2 (en) 2005-07-14 2010-12-07 Provo Craft And Novelty, Inc. Electronic paper cutting apparatus
US7930958B2 (en) * 2005-07-14 2011-04-26 Provo Craft And Novelty, Inc. Blade housing for electronic cutting apparatus
US20070012148A1 (en) 2005-07-14 2007-01-18 Robert Workman Electronic cutting apparatus and methods for cutting
US20070012146A1 (en) * 2005-07-14 2007-01-18 Robert Workman Electronic paper cutting apparatus and method
JP2008290228A (ja) * 2007-04-24 2008-12-04 Fanuc Ltd 嵌合装置
DE102007054454B4 (de) * 2007-11-13 2010-08-26 Tyco Electronics Amp Gmbh Vorrichtung und Verfahren zum Bestücken von Leiterplatten mit Kontaktstiften
US20110280999A1 (en) 2009-12-23 2011-11-17 Provo Craft And Novelty, Inc. Foodstuff Crafting Apparatus, Components, Assembly, and Method for Utilizing the Same
DE102013002863A1 (de) * 2013-02-20 2014-08-21 Newfrey Llc Ausgleichsvorrichtung für eine Werkzeugeinheit und Fügeverfahren mittels der Werkzeugeinheit
JP2014176940A (ja) * 2013-03-15 2014-09-25 Yaskawa Electric Corp ロボットシステム、ロボット制御方法及び被加工物の製造方法
EP2990165A3 (de) * 2014-08-25 2016-06-29 Seiko Epson Corporation Roboter zum einfügen eines objekts in ein anderes
CN106862888B (zh) * 2017-02-14 2018-11-23 浙江欣通电气有限公司 静铁芯送料装置
WO2021263109A1 (en) * 2020-06-25 2021-12-30 Jabil Inc. Apparatus, system and method for a floating end effector module
CN113878588B (zh) * 2021-11-12 2023-03-31 哈尔滨工业大学（深圳） 面向卡扣式连接的基于触觉反馈的机器人柔顺装配方法

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3893217A (en) * 1974-12-13 1975-07-08 Bendix Corp System and method for automatic insertion of pins in holes
US4156548A (en) * 1976-02-27 1979-05-29 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Magnetic suspension and pointing system
US4098001A (en) * 1976-10-13 1978-07-04 The Charles Stark Draper Laboratory, Inc. Remote center compliance system
US4316329A (en) * 1979-09-19 1982-02-23 The Charles Stark Draper Laboratory Instrumented remote center compliance device
US4477975A (en) * 1981-05-22 1984-10-23 The Charles Stark Draper Laboratory Adjustable remote center compliance device
US4440031A (en) * 1981-07-31 1984-04-03 The Charles Stark Draper Laboratory Force detecting system for remote center compliance device
US4409736A (en) * 1981-07-31 1983-10-18 The Charles Stark Draper Laboratory, Inc. Null seeking system for remote center compliance device
US4439926A (en) * 1982-04-06 1984-04-03 The Charles Stark Draper Laboratory, Inc. Transferrable-center compliance system
US4621332A (en) * 1983-06-20 1986-11-04 Hitachi, Ltd. Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient
US4517744A (en) * 1984-02-21 1985-05-21 The Charles Stark Draper Laboratory, Inc. Compliant assembly system with force sensor members
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
JPS6185060A (ja) * 1984-09-29 1986-04-30 Toshiba Corp 非接触位置決め装置
US4631959A (en) * 1984-12-14 1986-12-30 Metrex Instruments Ltd. Drag anemometer
JPS62181888A (ja) * 1986-02-07 1987-08-10 三菱電機株式会社 産業用ロボツト装置
US4694230A (en) * 1986-03-11 1987-09-15 Usa As Represented By The Secretary Of Commerce Micromanipulator system

Also Published As

Publication number Publication date
KR920006486B1 (ko) 1992-08-07
US4882837A (en) 1989-11-28
US4884329A (en) 1989-12-05
EP0283547A2 (de) 1988-09-28
EP0283547B1 (de) 1993-08-18
US4882836A (en) 1989-11-28
KR880009740A (ko) 1988-10-04
EP0283547A3 (en) 1989-11-29
DE3787092T2 (de) 1994-04-07

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8381 Inventor (new situation)

Free format text: HIGUCHI TOSHIRO, FUJIGAOKA-MANSION, 509,7-5,FUJIGAOKA2-CHOME, MIDORI-KU, YOKOHAMA-SHI, KANAGAWAKEN,, JP

8381 Inventor (new situation)

Free format text: HIGUCHI TOSHIRO, FUJIGAOKA-MANSION, 509,7-5,FUJIGAOKA2-CHOME, MIDORI-KU, YOKOHAMA-SHI, KANAGAWAKEN,, JP

8328 Change in the person/name/address of the agent

Representative=s name: FIENER, J., PAT.-ANW., 87719 MINDELHEIM