FR2506195A1 - Outil de montage a tete orientable avec coussin de fluide - Google Patents

Outil de montage a tete orientable avec coussin de fluide Download PDF

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Publication number
FR2506195A1
FR2506195A1 FR8110115A FR8110115A FR2506195A1 FR 2506195 A1 FR2506195 A1 FR 2506195A1 FR 8110115 A FR8110115 A FR 8110115A FR 8110115 A FR8110115 A FR 8110115A FR 2506195 A1 FR2506195 A1 FR 2506195A1
Authority
FR
France
Prior art keywords
articulation
head
tool
sliding surfaces
signal
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.)
Granted
Application number
FR8110115A
Other languages
English (en)
French (fr)
Other versions
FR2506195B1 (enExample
Inventor
Peter Schmid
Jacques Jacot-Descombes
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.)
MICROBO SA
Original Assignee
MICROBO SA
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 to CH317881A priority Critical patent/CH644291A5/fr
Application filed by MICROBO SA filed Critical MICROBO SA
Priority to FR8110115A priority patent/FR2506195A1/fr
Publication of FR2506195A1 publication Critical patent/FR2506195A1/fr
Application granted granted Critical
Publication of FR2506195B1 publication Critical patent/FR2506195B1/fr
Granted legal-status Critical Current

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23F—MAKING GEARS OR TOOTHED RACKS
    • B23F19/00—Finishing gear teeth by other tools than those used for manufacturing gear teeth
    • 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
    • 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
    • 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
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B23Q1/38—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members using fluid bearings or fluid cushion supports
    • 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
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
FR8110115A 1981-05-15 1981-05-19 Outil de montage a tete orientable avec coussin de fluide Granted FR2506195A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CH317881A CH644291A5 (en) 1981-05-15 1981-05-15 Orientation device with a centre of rotation outside a machine (assembly) tool
FR8110115A FR2506195A1 (fr) 1981-05-15 1981-05-19 Outil de montage a tete orientable avec coussin de fluide

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH317881A CH644291A5 (en) 1981-05-15 1981-05-15 Orientation device with a centre of rotation outside a machine (assembly) tool
FR8110115A FR2506195A1 (fr) 1981-05-15 1981-05-19 Outil de montage a tete orientable avec coussin de fluide

Publications (2)

Publication Number Publication Date
FR2506195A1 true FR2506195A1 (fr) 1982-11-26
FR2506195B1 FR2506195B1 (enExample) 1984-03-16

Family

ID=25692383

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8110115A Granted FR2506195A1 (fr) 1981-05-15 1981-05-19 Outil de montage a tete orientable avec coussin de fluide

Country Status (2)

Country Link
CH (1) CH644291A5 (enExample)
FR (1) FR2506195A1 (enExample)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2492715A1 (fr) * 1980-10-27 1982-04-30 Lord Corp Dispositif articule et reglable d'introduction d'organes dans des elements complementaires pour montage automatise de mecanismes
FR2558404A1 (fr) * 1983-12-23 1985-07-26 Citroen Sa Poignet de robot magnetique
EP0223012A3 (de) * 1985-10-16 1988-11-30 Preh Industrieausrüstungen GmbH Montageeinrichtung
US5020964A (en) * 1989-11-27 1991-06-04 Ford Motor Company Method and apparatus for robotic transfer of workpieces
WO1991008871A3 (en) * 1989-12-19 1991-07-25 Amada Co Ltd A transmission coupling for a manipulator head
EP0648572A1 (fr) * 1993-10-14 1995-04-19 Renault Automation Dispositif d'insertion d'une pièce cylindrique dans un alésage
WO2002067649A1 (en) * 2001-02-20 2002-08-29 Infotech, Ag Automatic micro-alignment pick-up head
WO2008052594A1 (de) 2006-10-31 2008-05-08 Alphasem Gmbh Vorrichtung zum positionieren und/oder anpressen eines flächigen bauteils relativ zu einem substrat und verfahren zum positionieren eines aufnahmewerkzeugs relativ zu einem substrat
WO2017178390A1 (de) * 2016-04-12 2017-10-19 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Dämpfungseinrichtung
CN109894838A (zh) * 2019-04-12 2019-06-18 博众精工科技股份有限公司 贴合设备的控制方法、装置、设备及存储介质

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2638383B1 (fr) * 1988-11-03 1993-10-22 Smp 2 Dispositif d'alimentation en liquide d'arrosage d'un mandrin flottant
DE3930629A1 (de) * 1989-09-13 1991-03-14 Siemens Ag Vorrichtung zum parallelen ausrichten der auflageflaechen zweier bauteile und verfahren zum betrieb der vorrichtung
DE4222575C1 (enExample) * 1992-07-09 1993-08-12 Harting Elektronik Gmbh, 4992 Espelkamp, De
DE19531832C2 (de) * 1995-08-29 1998-07-02 Univ Dresden Tech Verfahren zur Ermittlung und geregelten Kompensation von Positions- und Orientierungsfehlern beim Fügen von Bauteilen durch Längspressen und Vorrichtung hierzu

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2294016A1 (fr) * 1974-12-13 1976-07-09 Bendix Corp Systeme et procede pour inserer automatiquement un rivet dans un trou
FR2322694A1 (fr) * 1975-09-03 1977-04-01 Olivetti & Co Spa Dispositif tactile auto-adaptable pour machines operatrices
US4098001A (en) * 1976-10-13 1978-07-04 The Charles Stark Draper Laboratory, Inc. Remote center compliance system
FR2445199A1 (fr) * 1978-12-27 1980-07-25 Jaz Sa Poignet elastique monte a la partie terminale d'un organe de manipulation a distance d'objet
WO1980001547A1 (en) * 1979-02-02 1980-08-07 C Johansson Mechanical device for guiding the relative movement between two movable parts

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2294016A1 (fr) * 1974-12-13 1976-07-09 Bendix Corp Systeme et procede pour inserer automatiquement un rivet dans un trou
FR2322694A1 (fr) * 1975-09-03 1977-04-01 Olivetti & Co Spa Dispositif tactile auto-adaptable pour machines operatrices
US4098001A (en) * 1976-10-13 1978-07-04 The Charles Stark Draper Laboratory, Inc. Remote center compliance system
FR2445199A1 (fr) * 1978-12-27 1980-07-25 Jaz Sa Poignet elastique monte a la partie terminale d'un organe de manipulation a distance d'objet
WO1980001547A1 (en) * 1979-02-02 1980-08-07 C Johansson Mechanical device for guiding the relative movement between two movable parts

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2492715A1 (fr) * 1980-10-27 1982-04-30 Lord Corp Dispositif articule et reglable d'introduction d'organes dans des elements complementaires pour montage automatise de mecanismes
FR2558404A1 (fr) * 1983-12-23 1985-07-26 Citroen Sa Poignet de robot magnetique
US4609325A (en) * 1983-12-23 1986-09-02 Automobiles Peugeot Robot wrist
EP0223012A3 (de) * 1985-10-16 1988-11-30 Preh Industrieausrüstungen GmbH Montageeinrichtung
US5020964A (en) * 1989-11-27 1991-06-04 Ford Motor Company Method and apparatus for robotic transfer of workpieces
WO1991008871A3 (en) * 1989-12-19 1991-07-25 Amada Co Ltd A transmission coupling for a manipulator head
US5328222A (en) * 1989-12-19 1994-07-12 Amada Company, Limited Transmission coupling for a manipulator head
US5397159A (en) * 1989-12-19 1995-03-14 Amada Company, Limited Transmission coupling for a manipulator head
EP0648572A1 (fr) * 1993-10-14 1995-04-19 Renault Automation Dispositif d'insertion d'une pièce cylindrique dans un alésage
FR2711084A1 (fr) * 1993-10-14 1995-04-21 Renault Automation Dispositif d'insertion d'une pièce cylindrique dans un alésage.
WO2002067649A1 (en) * 2001-02-20 2002-08-29 Infotech, Ag Automatic micro-alignment pick-up head
US6463359B2 (en) 2001-02-20 2002-10-08 Infotech Ag Micro-alignment pick-up head
WO2008052594A1 (de) 2006-10-31 2008-05-08 Alphasem Gmbh Vorrichtung zum positionieren und/oder anpressen eines flächigen bauteils relativ zu einem substrat und verfahren zum positionieren eines aufnahmewerkzeugs relativ zu einem substrat
CN101632164B (zh) * 2006-10-31 2016-02-24 库力科及索法模压焊接有限责任公司 用于相对于基底定位和/或压制平面部件的装置及用于相对于基底定位拾取工具的方法
WO2017178390A1 (de) * 2016-04-12 2017-10-19 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Dämpfungseinrichtung
CN109894838A (zh) * 2019-04-12 2019-06-18 博众精工科技股份有限公司 贴合设备的控制方法、装置、设备及存储介质
CN109894838B (zh) * 2019-04-12 2020-06-16 博众精工科技股份有限公司 贴合设备的控制方法、装置、设备及存储介质

Also Published As

Publication number Publication date
CH644291A5 (en) 1984-07-31
FR2506195B1 (enExample) 1984-03-16

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