EP2890526A1 - A positioner with angular wings - Google Patents

A positioner with angular wings

Info

Publication number
EP2890526A1
EP2890526A1 EP12823169.3A EP12823169A EP2890526A1 EP 2890526 A1 EP2890526 A1 EP 2890526A1 EP 12823169 A EP12823169 A EP 12823169A EP 2890526 A1 EP2890526 A1 EP 2890526A1
Authority
EP
European Patent Office
Prior art keywords
positioner
angular
wings
present
fixture
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.)
Withdrawn
Application number
EP12823169.3A
Other languages
German (de)
French (fr)
Inventor
Gokhan Vargin Gok
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.)
Individual
Original Assignee
Individual
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
Application filed by Individual filed Critical Individual
Publication of EP2890526A1 publication Critical patent/EP2890526A1/en
Withdrawn legal-status Critical Current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
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0408—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work for planar work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426—Fixtures for other work
    • B23K37/0435—Clamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4804—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single rotating pair followed perpendicularly by a single sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06—Work-clamping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/18—Sheet panels

Definitions

  • the present invention relates to ancillary equipment called positioner which moves in a synchronized manner with the robot in the robotic systems and holds the part to be processed and puts it into the desired position.
  • the distance between the two flanges can be adjusted; however, the turning diameter thereof changes.
  • the positioner can be adjusted while working with fixtures of different width; however, it is not possible to keep the position of the robot stable as the turning diameter changes.
  • the distance of the robot to the positioner should be changed as well. This causes an additional technical calculation and an extra cost each time.
  • the change in the turning diameter causes a decrease of inertia when the fixture width is low; and an increase of inertia when the fixture width is high. This, in turn, case causes some values such as repeatability tolerance and bearing load to increase or decrease.
  • the gap between the two flanges in the positioner is stable and cannot be changed; therefore, when it is needed to work with fixtures of different width, extra profiles need to be added to both sides of the flange. In order to do that, it is needed to determine the fixture width beforehand and form them at the design step, or to determine the width again and again and introduce them to design as an instant-adjustment is not possible even if they will be added afterwards, and to form a new profile for each fixture width. This causes extra cost, additional labor and loss of time for the customer; therefore, the production has to be waited in some situations. Moreover, as the positioner will also carry these profiles, an extra load will be imposed on the servo motor.
  • the present invention has been designed with an inspiration from current conditions and it aims to solve the above-mentioned shortcomings.
  • the object of the present invention is to eliminate all the disadvantages of the prior art, and to make it possible to process the fixtures of any width thanks to the flange positioning which can be adjusted in an angular way without requiring any extra technical calculation, cost or location change, most importantly in a way that much less changes will be observed in the inertia values and the turning diameter will stay stable on condition that the fixture width will stay in between the fixture width turning limits. Therefore, while improving the repeatability tolerance, the instability of the load imposed on the bearings will be eliminated.
  • a further object of the present invention is that the fixture turning diameter does not change no matter what the fixture width is as the flange wings are slid in a linear manner on the orbit that is located with a certain angle to the positioner axis, and therefore to keep the distance between the robot and the positioner stable in any case.
  • a further object of the present invention is to make it possible to work with the fixtures of different width without adding any extra profile thanks to the angular adjustable flange wing.
  • the fixture widths should be indicated beforehand, and the profile design should be made in accordance with that. Thanks to the positioners according to the present invention, it will not be necessary to wait for the design process after giving the fixture width, to pay for the labor cost resulting from each design, and to pay for extra expenditures for each extra profile any longer.
  • Another object of the present invention is to eliminate the extra load resulting from the profiles, which is imposed on the servo motor of the positioner, and therefore to obtain energy saving.
  • a positioner comprising flanges moving in a synchronized manner with the robot in the robotic systems and holding and bringing the fixture to be processed into the desired position; and angular wings moving the said flanges in a way that there will be a certain angle between them and the positioner axis.
  • Figure 1a is an upper perspective view of the positioner according to the present invention, when the wings are in their normal position.
  • Figure 1b is a two-dimensional upper view of the positioner according to the present invention, when the wings are in their normal position.
  • Figure 2a is an upper perspective view of the positioner according to the present invention, showing the moving direction of the wings.
  • Figure 2b is a two-dimensional upper view of the positioner according to the present invention, showing the moving direction of the wings.
  • Figure 3a is the view showing the turning diameter in the positioner according to the present invention.
  • Figure 3b is another view showing the turning diameter in the positioner according to the present invention.
  • Fixture p positioner axis
  • the positioner (1) according to the present invention comprises angular wings (3) and the flanges
  • the system according to the present invention is a system which provides the fixtures (4) of any desired width to be bound without requiring any additional cost, labor force and design even though the fixtures (4) that are connected to the positioner (1) are of different widths, wherein the said positioner allowing the part that will be processed to be hold and put into the desired position, and which provides the wing (3) to which the positioner flange (2) is connected to be slid linearly on an orbit located with an angle in order for the positioner turning diameter (d) not to change.
  • the fixture (4) is the part which will be processed.
  • the angular wings (3) are located in the most backward position while locating a fixture (4) of 2.5-meter width ( Figure 1a, Figure 1 b).
  • the fixture (4) of 2-meter width can also be located on the positioner (1) without requiring any ancillary equipment ( Figure 2a, Figure 2b).
  • Figure 2a, Figure 2b As the angular wings (3) move on the movement orbit located with an angle (k) during this adjustment, the fixture (4) and the positioner turning diameter (d) will not change, the inertia! will change to an extent that it will be unimportant for the movement mechanisms, and the change in distance between the robot and the positioner (1) will not be possible (Figure 3a, Figure 3b).
  • the reciprocal angular wing (3) couple can be driven by one or two motor, preferably by a servo motor, and all the angular wings (3) can be driven again by one single motor, and preferably by a servo motor.
  • the sliding process of the angular wings (3) can also be performed manually.
  • the pneumatic or hydraulic sliding processes are also possible. For this process, pneumatic pistons or hydraulic pistons can be used in the alternative embodiments of the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a positioner (1) comprising flanges (2) which move in a synchronized manner with the robot in the robotic systems, and which hold the fixture (4) to be processed and put it into the desired position; and angular wings (3) moving the said flanges (2) in a way that there will be a certain angle (?) between them and the positioner (1) axis (p).

Description

DESCRIPTION
A POSITIONER WITH ANGULAR WINGS
Technical Field
The present invention relates to ancillary equipment called positioner which moves in a synchronized manner with the robot in the robotic systems and holds the part to be processed and puts it into the desired position.
State of the Art
In the current systems, the distance between the two flanges can be adjusted; however, the turning diameter thereof changes. In other words, the positioner can be adjusted while working with fixtures of different width; however, it is not possible to keep the position of the robot stable as the turning diameter changes. When turning diameter changes, each time, the distance of the robot to the positioner should be changed as well. This causes an additional technical calculation and an extra cost each time.
Moreover, the change in the turning diameter causes a decrease of inertia when the fixture width is low; and an increase of inertia when the fixture width is high. This, in turn, case causes some values such as repeatability tolerance and bearing load to increase or decrease.
Moreover, in some systems, the gap between the two flanges in the positioner is stable and cannot be changed; therefore, when it is needed to work with fixtures of different width, extra profiles need to be added to both sides of the flange. In order to do that, it is needed to determine the fixture width beforehand and form them at the design step, or to determine the width again and again and introduce them to design as an instant-adjustment is not possible even if they will be added afterwards, and to form a new profile for each fixture width. This causes extra cost, additional labor and loss of time for the customer; therefore, the production has to be waited in some situations. Moreover, as the positioner will also carry these profiles, an extra load will be imposed on the servo motor.
Consequently, because of the deficiencies mentioned above and the insufficiency of the available solutions, it is necessary to make a development in the related technical field.
Object of the Invention
The present invention has been designed with an inspiration from current conditions and it aims to solve the above-mentioned shortcomings. The object of the present invention is to eliminate all the disadvantages of the prior art, and to make it possible to process the fixtures of any width thanks to the flange positioning which can be adjusted in an angular way without requiring any extra technical calculation, cost or location change, most importantly in a way that much less changes will be observed in the inertia values and the turning diameter will stay stable on condition that the fixture width will stay in between the fixture width turning limits. Therefore, while improving the repeatability tolerance, the instability of the load imposed on the bearings will be eliminated.
A further object of the present invention is that the fixture turning diameter does not change no matter what the fixture width is as the flange wings are slid in a linear manner on the orbit that is located with a certain angle to the positioner axis, and therefore to keep the distance between the robot and the positioner stable in any case.
A further object of the present invention is to make it possible to work with the fixtures of different width without adding any extra profile thanks to the angular adjustable flange wing.
In the current positioners, the fixture widths should be indicated beforehand, and the profile design should be made in accordance with that. Thanks to the positioners according to the present invention, it will not be necessary to wait for the design process after giving the fixture width, to pay for the labor cost resulting from each design, and to pay for extra expenditures for each extra profile any longer.
Another object of the present invention is to eliminate the extra load resulting from the profiles, which is imposed on the servo motor of the positioner, and therefore to obtain energy saving.
In order to achieve the above-mentioned goals, a positioner has been developed, comprising flanges moving in a synchronized manner with the robot in the robotic systems and holding and bringing the fixture to be processed into the desired position; and angular wings moving the said flanges in a way that there will be a certain angle between them and the positioner axis.
The structural and characteristic aspects of the present invention and all the advantages thereof will be understood more clearly with the following figures and the detailed description written with certain references to these figures; therefore, the evaluation should be made by taking these figures and the detailed description into consideration.
Figures for a Better Understanding of the Present Invention
Figure 1a is an upper perspective view of the positioner according to the present invention, when the wings are in their normal position. Figure 1b is a two-dimensional upper view of the positioner according to the present invention, when the wings are in their normal position.
Figure 2a is an upper perspective view of the positioner according to the present invention, showing the moving direction of the wings.
Figure 2b is a two-dimensional upper view of the positioner according to the present invention, showing the moving direction of the wings.
Figure 3a is the view showing the turning diameter in the positioner according to the present invention.
Figure 3b is another view showing the turning diameter in the positioner according to the present invention.
Description of the Part References
1. Positioner
2. Flange
3. Angular wing
4. Fixture p: positioner axis
k: movement orbit located with an angle
h: movement direction of the angular wings
d: the positioner turning diameter
a: the angle between the positioner axis and the angular wing movement axis
The drawings do not necessarily need to be scaled and the details which are not necessary to understand the present invention may have been ignored. Moreover, the parts which are at least substantially identical or which have at least substantially identical functions are shown with the same numeral.
Detailed Description of the Invention
In this detailed description, the preferred embodiments of the positioner (1) according to the present invention are described only for a better understanding of the subject.
The positioner (1) according to the present invention comprises angular wings (3) and the flanges
(2) located on the said angular wings (3). The reason why the angular wings (3) are described as "angular" is that there is a certain angle (a) between the movement orbits (k) of the angular wings
(3) that are located with an angle and the positioner axis (p). The said angle (a) is between 0° and 90°. The system according to the present invention is a system which provides the fixtures (4) of any desired width to be bound without requiring any additional cost, labor force and design even though the fixtures (4) that are connected to the positioner (1) are of different widths, wherein the said positioner allowing the part that will be processed to be hold and put into the desired position, and which provides the wing (3) to which the positioner flange (2) is connected to be slid linearly on an orbit located with an angle in order for the positioner turning diameter (d) not to change. The fixture (4) is the part which will be processed.
In an exemplary embodiment of the present invention, the angular wings (3) are located in the most backward position while locating a fixture (4) of 2.5-meter width (Figure 1a, Figure 1 b). When the angular wings (3) are slid forward, the fixture (4) of 2-meter width can also be located on the positioner (1) without requiring any ancillary equipment (Figure 2a, Figure 2b). As the angular wings (3) move on the movement orbit located with an angle (k) during this adjustment, the fixture (4) and the positioner turning diameter (d) will not change, the inertia! will change to an extent that it will be unimportant for the movement mechanisms, and the change in distance between the robot and the positioner (1) will not be possible (Figure 3a, Figure 3b).
In the positioner (1) according to the present invention, the reciprocal angular wing (3) couple can be driven by one or two motor, preferably by a servo motor, and all the angular wings (3) can be driven again by one single motor, and preferably by a servo motor. Additionally, the sliding process of the angular wings (3) can also be performed manually. Moreover, the pneumatic or hydraulic sliding processes are also possible. For this process, pneumatic pistons or hydraulic pistons can be used in the alternative embodiments of the present invention.

Claims

1. The present invention relates to the positioner (1) comprising flanges (2) which move in a synchronized manner with the robot in the robotic systems, and which hold the fixture (4) to be processed and put it into the desired position, characterized in comprising;
- angular wings (3) moving the said flanges (2) in a way that there will be a certain angle (a) between them and the positioner (1) axis (p).
2. A positioner (1) according to Claim 1 , characterized in that the said angle (a) is the one between the positioner (1 ) axis (p) and the movement orbit (k) of the angular wing (3) located with an angle, wherein this angle (a) is between 0° to 90°.
3. A positioner (1) according to Claims 1 or 2, characterized in comprising at least one motor allowing the reciprocal angular wing (3) couple to be driven.
4. A positioner (1) according to Claims 1 or 2, characterized in comprising one single servo motor allowing all the angular wings (3) to be driven.
5. A positioner (1) according to Claims 3 or 4, characterized in that the said motor is a servo motor.
6. A positioner (1) according to Claims 1 or 2, characterized in comprising angular wings (3) which are manually slid.
7. A positioner (1) according to Claims 1 or 2, characterized in comprising pneumatic pistons allowing the angular wings (3) to be slid.
8. A positioner (1) according to Claims 1 or 2, characterized in comprising hydraulic pistons allowing the angular wings (3) to be slid.
EP12823169.3A 2012-08-29 2012-08-29 A positioner with angular wings Withdrawn EP2890526A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/TR2012/000135 WO2014035352A1 (en) 2012-08-29 2012-08-29 A positioner with angular wings

Publications (1)

Publication Number Publication Date
EP2890526A1 true EP2890526A1 (en) 2015-07-08

Family

ID=47684000

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12823169.3A Withdrawn EP2890526A1 (en) 2012-08-29 2012-08-29 A positioner with angular wings

Country Status (2)

Country Link
EP (1) EP2890526A1 (en)
WO (1) WO2014035352A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE1550832A1 (en) * 2015-06-17 2016-12-18 Yaskawa Nordic Ab A robot cell comprising an industrial robot and a positioner

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE437627B (en) * 1984-04-16 1985-03-11 Torsteknik Ab MANIPULATOR FOR COOPERATION WITH AN INDUSTRIAL ROBOT
FR2850046A1 (en) * 2003-01-22 2004-07-23 Sauvageau Commercy Soudure Welding installation, especially robot-controlled, has barrel and holder motors with clutches and indexing/de-indexing system
WO2010069377A1 (en) * 2008-12-18 2010-06-24 Abb Technology Ab A kit and a method
US8338751B2 (en) * 2009-10-08 2012-12-25 Lincoln Global, Inc. Adjustable span ferris wheel positioner

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2014035352A1 *

Also Published As

Publication number Publication date
WO2014035352A1 (en) 2014-03-06

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