FR2620815A1 - Robot for measuring gauge blocks - Google Patents

Abstract

The robot for measuring gauge blocks for automatic calibration by mechanical comparison of sets of gauge blocks with parallel plane end faces comprises a set of block holder carriages 1 which have a bottom wall with cut-outs 87, 88 for storing the pairs of blocks at the storage station H, I and transferring the pairs of blocks between the storage station H, I and the measurement station B, and adapted to retract during the measurement of the blocks, and an x-y measurement table C; 14,15 with crossed motorised movements allowing the blocks to be moved under the measurement pin along two perpendicular directions in a horizontal plane, and used as a reference table during the measurement, the table C; 14,15 being provided with a cut-out 85 which as it moves allows the sensitive lower key to pass through, and set-back portions 20, 21, 84 allowing retraction of a block holder carriage 1 during the measurements. The robot makes it possible to use a measurement station fitted with inductive means for detecting the position of the sensitive keys interacting with the blocks to be measured, and it is fitted with control and computation means for automatically moving the sets of blocks to be measured as well as performing the measurements and recording the results of the measurements.

Description

 AUTOMATE CALIPER MEASURER.

 The present invention relates to a -automate gauge shims for the automatic realization of the calibration by mechanical comparison sets of gauge blocks parallel flat end faces, of the type comprising a support table, a storage position of wedges to calibrate, a measuring station equipped with a reference plane support and a central station. measurement comprising an articulated floating structure equipped with a first sensitive key, a second movable upper sensitive key relative to the first key to come into contact with the parallel flat end faces of a wedge to be calibrated and inductive means detecting the position of the sensitive keys, means for transporting holds between the storage station and the measurement station, and control and calculation means for automatically controlling the transfer of the sets of holds to be measured from the storage station to the measurement station, the conduct of measurements and the recording of the results of the measurements.

 The measurement by mechanical comparison of sets of gauge blocks involves a device generally having two opposing keys which come into contact with the opposite faces of the shim.

 In addition to the manual devices specially designed for this type of measurement, which require the presence of an operator, there is known a first type of automatic gauge gauge measurement machine which comprises a shim storage station and means for transferring the shims of the shim. storage station at a measuring station, which transfer means are constituted by PTFE grids or rollers on which the shims rub. As a result of the relative movement between the shims and the transfer means, friction occurs which causes scratches on the reference shims and the controller shims. Such a system is therefore not satisfactory from a mechanical point of view. Moreover, a large part of the motorization of the functions is carried out using stepper motors distributed throughout the structure of the machine. Such engines which are constantly under tension constitute significant sources of heat which harm the quality of the measurements and exclude any possibility of rollover of all that would allow the dust out of ca-les throughout the duration of the measure.

 According to another type of known automatic machine, the shims are not displaced from their support during the measurement, but it is instead the two inductive measuring sensors which are positioned at the different measuring points on the storage station. In this case, in the absence of a single measurement table having very strict geometrical characteristics, it is very difficult, if not impossible, to have a stable reference plane for the set of measurements.

 The present invention aims at remedying the aforementioned drawbacks and at producing a shim-setting automaton which makes it possible to fully automatically calibrate, in a precise and reliable manner by mechanical comparison, sets comprising a large number of shims with parallel flat end faces, for example more than a hundred pairs of shims, in a wide range of measurement, for example for shims whose length is between approximately 0.5 and 100 mm, while preserving in a safe way the integrity of the various shims subjected to measures.

 These aims are achieved by means of an automaton of the type defined at the beginning of the description, characterized in that it comprises a set of support carriages having a bottom wall provided with cutouts, for storing pairs of holds at the station. storage and transfer pairs of holds between the storage station and the measuring station and adapted to fade when measuring the wedges, and a measuring table xy motorized cross movements to move the wedges under the measuring axis in two perpendicular directions in a horizontal plane and serving as a reference table During the measurement, the table being provided with a cutout allowing during its displacements the passage of the lower sensitive key, and recessed portions allowing retraction of a forklift during measurements.

 Each support carriage comprises a bottom wall in which are formed two substantially rectangular openings in which project at least three wedge support legs located slightly recessed below the upper surface of said bottom wall, two pairs of wheels defining a front axle and a rear axle, with a wheel spacing of the rear axle which is greater than that of the nose wheels, two guide studs aligned along the axis of the carriage and formed on the underside of the axle wall; bottom, and a grip pin formed on the upper face of the bottom wall at the rear of the carriage.

 The upper part of the cross-motion xy table comprises an upper plate in which are formed four recessed portions for receiving the wheels of a carriage and a carriage guide groove, and which has an upstanding flat portion forming a plane of support for a pair of shims, which is provided with recessed portions for receiving the wedge support tabs formed in the bottom wall of a carriage and a recessed groove-shaped portion for the passage of the lower key of measured.

 According to a particular embodiment, the storage station comprises at least a first carriage support ring, provided with rotating drive means and indexing means and at least one translation generator mounted on a turntable to perform transferring the trolleys between the first support ring and the xy table.

 Preferably, the storage station further comprises a second carriage support ring placed outside the first ring and also provided with rotational drive means and indexing means and a second translation generator mounted on a fixed table angularly offset relative to the turntable around the rings to perform the transfer of the carriages between the second support ring and the first support ring.

 According to another characteristic of the present invention, the datalogger comprises a stepping motor driven by said control and calculation means and coupled by a coupling with two degrees of freedom with the support of the upper sensitive key to move up or down the sensitive key greater than a predetermined speed.

 In this case, the automat advantageously comprises a protective cover ensuring the dusting of the mechanical measuring and storage assembly and reducing the sudden changes in temperature during the measurements, and the protective cover caps the whole of the station. storage, measuring station and means of transport of the holds with the exception of the step-by-step driving motor of the support of the upper sensitive key.

Other characteristics and advantages of the invention will emerge from the following description of a particular embodiment, given by way of example, with reference to the appended drawings, in which:
FIG. 1 is a schematic view from above showing the main elements constituting an automaton according to the invention,
FIG. 2 is a more detailed top view of a part of the automaton showing the transfer device between the storage station and the measurement station,
FIG. 3 is a top view of the upper plate of the cross-motion measuring table visible in FIG. 2,
FIG. 4 is a side view of the plate of FIG. 3,
FIG. 5 is a section along line VV of FIG. 3,
FIG. 6 is a plan view of a trolley for carrying shims,
FIG. 7 is a view of a device for moving a plate of the cross-motion measuring table according to the arrow F of FIG. 2;
FIG. 8 is a sectional view along the line
VIII-VIII of Figure 7,
FIGS. 9 and 10 are vertical axial sectional views along two perpendicular planes of a device for controlling the setting in measuring position or in the retracted position of a sensitive touch of the datalogger;
FIGS. 11 and 12 are front and side views of a contact indicator device for locating the position of the floating assembly of the datalogger,
FIG. 13 is a cut-away view showing part of the measurement unit with a floating structure supporting the upper sensitive key,
FIG. 13A is a diagrammatic view of the datalogger showing the two sensitive keys and the assembly of the articulated floating structure,
FIG. 14 is an axial sectional view of the rotary table and the translation generator visible in FIG. 2,
FIG. 15 is a cut-away elevational view of a device for supporting a wedge carrier storage ring,
FIG. 16 is a view in axial section of an indexing device making it possible to locate the position of the two concentric storage rings,
FIG. 17 is a cut-away elevational view of a device for driving a wedge carrier storage ring,
FIG. 18 is a block diagram showing the power supply circuits of all the motors and circuits of
The controller,
FIGS. 19 to 21 are block diagrams showing control circuits for movements of the cross-motion measuring table, FIG. 21 more particularly showing the protection circuit of the drive motors in the event of overload,
FIG. 22 shows the block diagram of the release system of the lower sensitive key which cooperates with the control device of FIGS. 9 and 10,
FIG. 23 is a block diagram showing the control circuits of the rotary table supporting a translation generator,
FIG. 24 is a block diagram representing the various modules constituting a device for controlling the synchronized movements of storage crowns and translation generators,
FIG. 25 is a top view of a pair of gauge blocks supported by one and the same carrier carriage,
FIGS. 26 to 31 represent flowcharts summarizing the various steps implemented during a measurement sequence carried out using the automaton according to the invention.

 The main constituent elements of a shim measuring machine according to the invention are shown diagrammatically in FIG.

A measuring unit B and two concentric storage crowns H, I are mounted on a marble support table
A resting itself on a frame.

 The two concentric rings H, I, whose upper surfaces are designed to receive in the storage position radially arranged pallet carrier carriages, can be rotated independently of each other with the aid of The rings H, I are mounted on the table A by means of support blocks J which can be for example five in number. An indexing device K makes it possible to identify at any moment the position of the two concentric rings. The crowns can be adapted to store, for example, a set of 122 or 123 carriages.

 The measurement unit B essentially comprises a comparator of shims with parallel end plane faces which have not been shown in FIG. 1 and cooperate with the shims to be measured which are placed on a motorized measuring table C capable of displacing the shims. along two perpendicular axes x and y in a horizontal plane. The measuring table C, which serves as a support reference at the time of the measurements, has a very precise displacement geometry.

 FIG. 1 also shows a translation generator E mounted on a turntable F which itself rests on the support table A. The translation generator E makes it possible to route each carriage of the set of fork carriage not shown. in FIG. 1, from the inner ring I to the measuring table C and vice versa.

 A second translation generator G, located at 1800 of the first translation generator E with respect to the storage rings H, I, is mounted on a fixed table 32 resting itself on the support table A. The second translation generator E ensures the transfer of the forklifts from the inner ring I to the outer ring H and vice versa.

 The support table A further carries a subset D placed in the vicinity of the measuring table C and the measuring unit B to control the opening and closing of the measuring fork. The subassembly comprises in particular a translational sensor, for example of the optoelectronic type, for pre-identifying the contact of the upper key of the measurement unit B with the upper face of the blocks to be measured.

 The automaton according to the invention comprises a set of support carriages which, during a measurement cycle, permanently support, the gauge blocks in the storage position, ensure the sequential transport of the gauge blocks between the storage crowns H, I and the measurement table C during the measurement cycle and disappear in the measurement table C during the measurement of the shims as will be explained in more detail in the following description.

 A transparent cover, not shown in the figures, ensures the dusting of the mechanical assembly of measurement and storage and prevents sudden changes in temperature during measurements.

An electronic thermometer, a printer, a display device and a computer with its interfaces count the mechanical assembly shown in FIG. 1, and the box furthermore incorporates a box containing specific electronic circuits comprising pre-programmed sequences driven by the calculator software. These sequences perform
The starting or stopping of the motorization elements relating to the different functions.

The wedge measuring automat according to the invention makes it possible to calibrate by mechanical comparison games with up to, for example, 122 pairs of spacers with parallel plane ends, the
Length can be between 0.5 and 100 mm. When all the pairs of holds (reference wedge-hold to be checked) have been put in place on the two concentric storage rings, the measuring chamber defined by the space above the table
A is closed by the protective cover and the controller controlled by its microcomputer performs calibration of the complete set without requiring the presence or intervention of an operator. This calibration can consist of automatically measuring a number of times "n" the same set of holds. The control and the reliability of the operation of the automaton are ensured by a specific software which also allows the end of the measuring cycles to be edited. results on calibration documents.

 The different subsets of the automaton of FIG. 1 will now be described successively in more detail.

 The storage system comprises two concentric rings referenced 53, 54 in Figure 2, which are independent of each other in rotation and can store in total in the example considered a maximum of 123 carriages' hold.

 Each inner ring 53 or outer ring 54 has on its upper face sixty radial grooves 81, respectively 82 which serve to guide the forklift carriages 1. Each groove 81 respectively 82 is framed by two holes 79, respectively 80 for positioning each carriage 1 by blocking the front axle consisting of the wheels 4 having the smallest center distance (Fig 2 and 6).

 Each inner ring 53 or outer ring 54 further comprises on its lower face facing each groove 81 respectively 82, sixty two indexing holes 137 respectively 138 to ensure incremental rotation.

 A fixed bridge of passage 52 supported by feet 51 (FIG. 15) is formed in the vicinity of the inner ring 53 on the side of the translation generator E while a fixed stop 78 against the fall of carriages is placed in the vicinity of the crown. external 54 on the opposite side to the bridge 52 and in the axis of the translation generator E (Fig 2).

 The rings 53, 54 are supported and guided in rotation by five supports J (FIG. 1) referenced 55 in FIG. 15 which are equipped with four ball bearings 58 provided with adjusting rings 57 and mounted on holding pins 56, two of which are vertical to allow lateral guidance of the rings 53, 54 by the bearings 58 and two are horizontal to ensure the support of the rings 53, 54.

 A block 59 for indexing the rings 53, 54 (FIG. 16) is mounted on the marble support table to control the position of each ring 53, 54. The block 59 comprises two inverters 66 (mini-switches) each controlled by a rod 6G indexing support supporting a roller 64 housed in the indexing holes 137 respectively 138 of the rings 53, 54. Each indexing rod 60 cooperates with a spring 61 and comprises a guide pin 62.

The rollers 64 consist of bearings mounted on horizontal axes 63 and separated from the support rod by spacer rings 65.

 The rotation of each of the rings 53, 54 is ensured by friction using a pressure roller constituted by a pulley 76 provided with an O-ring 77, mounted on a bearing 75 and driven by a geared motor 74 of the type synchronous (Fig 17).

 Each motor unit 68 is fixed by its axis 69 off-center on a support 67 itself fixed to the marble table.

A pressure spring 73 is mounted between a fixed axis 71 external to the engine block and mounted on a stop 70 of the engine block and a movable axis 72.

 The rotating table F supporting a translation generator E (FIGS. 1, 2 and 14) makes it possible to route each carriage portales of the inner ring 53 onto the measuring table C and vice versa.

 The translation generator E is constituted by a screw 43-nut 44 whose screw 43 is motorized via a 49-49'-pulley 49 "pulley link from a motor 48 mounted on a support 47 secured to a plate 38 on which is placed a carriage holder 1 and which supports the bearings 39, 40 in which the screw 43 is mounted by means of bearings 42 locked by rings 41.

 A rod 45 secured to the nut 44 and terminated by a hooking finger 46 allows the gripping and translation of the forklifts '1 of the inner ring 53 to the plate 48 of the turntable F and vice versa, and the plateau 48 from the rotary table F to the measuring table C and vice versa.

 The turntable F comprises a support 31 provided with a vertical axis 33 mounted in angular contact bearings 34 and driven by a synchronous motor 35 to pivot the plate 38. The position of the turntable F is controlled by a disk. notches 36 integral with the axis 33 and controlling an inverter 37 (microswitch) via a pressure roller.

The notched disk 36 allows indexing in three positions
taking or removing
0: taking or removing the carriage 1 on the inner ring 53,
1800: removal or gripping of the carriage 1 on the measuring table C,
1950: release of the arm 46.

 The guiding of the support carriages 1 on the support plane 38 of the turntable F is obtained thanks to a groove of width identical to that of the grooves 81, 82 of the rings 53, 54.

 The positions of the translation generator E (screen 44-rod 45) are controlled by two end-of-stroke inverters 50 connected in series (FIG. 2).

 The following will now be described with reference to FIGS. 2 to 8 and 14 particularly important elements of the automaton according to the invention, namely the holder carriages 1 and the measuring table C with crossed movements.

 The carriages 1 are equal in number. the number of pairs of holds to be measured. In the example of two storage rings 53, 54 can support 122 pairs of shims, the number of trolleys will be 122.

 Each carriage 1 comprises a bottom wall 90 in which are formed two openings 87, 88 of substantially rectangular shape intended to serve as housing respectively for a shim to measure and for a corresponding reference shim of the same caliber. Each carriage 1 is reserved for a nominal value of standard shim, but the general structure of the various carriages remains the same. Three bearing spans 2 are formed inside each opening 87, 88, at a level slightly lower than that of the bottom wall 90 to support the wedges.

 Each carriage 1 is provided with four wheels 4 constituted by ball bearings mounted on axes 3 and constituting a front and a rear train. The front axle has a width less than that of the rear axle so as not to interfere with the rolling paths and to allow simple retraction of the carriages with respect to the upper table 15 of the measuring table C by simultaneously lowering the four wheels of the carriage. 1 in holes 20 for positioning the front axle and holes 21 for positioning the rear axle as will be explained later.

 Each carriage 1 is provided on its underside with two guide pins 6 which engage in the radial grooves 81, 82 of the rings 53, 54, the corresponding groove of the plate 38 of the turntable F or a groove of the same width 83 in the upper plate 15 of the measuring table C. The carriage 1 further comprises at its rear portion, on its upper face a hooking stud 5 which cooperates with the hooks It end of the rod 45 of the generator translation E or the translation generator G whose structure is identical to that of the translation generator E of Figure 14 except that the plate 38 is mounted directly on a fixed support 32 and not on a support 31 incorporating a axis of rotation 33 and the elements associated with this axis of rotation.

 In the case where the carriages 1 support shims whose length is greater than 30 mm, vertical retaining rods are engaged in housings 89, for example five in number, formed in the bottom wall 90 in the vicinity of the rectangular openings. 87, 88, in order to avoid a rocking of the holds during the transfers. The size of the rectangular openings 87, 88 can moreover be adapted to the section of the shims.

 FIG. 25 shows a top view of a reference block 135 and a gauge block 136 to be measured as they are when they were brought side by side by a carriage on the top plate 15 of the measuring table and deposited on the latter after retracting the transport carriage 1.The cross-motion measuring table C, which will be described in more detail below, simultaneously moves the wedges 135 and 136 so as to perform, after positioning at a point O of loading and unloading a measurement n0 1 at a central point on the reference wedge 135, a measurement n02 at a central point on the wedge to be measured 136, four measurements king03, 4, 5, 6 in the corners of the wedge to be measured 136 and again a measurement n07 at the center point of the gauge block 136 and again a measurement n08 at the center point of the reference block 135.

 The upper plate 15, which will be described with reference to FIGS. 2 to 5, has a T-shaped cut-out 85 which makes it possible, during displacements of the upper plate 15, to clear the space situated under the measurement points n01 to 8 to allow the lower sensitive key 131- (Fig 13A) to come into contact with the underside of the wedges 135, 136 when they bear on the support plane 19 of the tray 15 of the table C after retraction of the carriage.

 FIGS. 3 to 5 show the configuration of the top plate 15 of the measuring table, with two pairs of housings 20, 21 intended to receive respectively the front axle and the rear axle of the carriage 1 and allowing the bottom 90 of the carriage 1 to come to rest on the flat upper face of the plate 15. A flat portion 19 slightly elevated relative to the upper surface of the plate 15 is formed in a central portion inscribed in the inter-sieur of a quadrilateral whose angles coincide with the dwellings 2G, 21. This raised flat portion 19 serves as a support plane for the wedges 135, 136 after retraction of the carriage 1.

These recesses 84 are formed in the raised support portion 19 to allow the erasing of the support legs 2 wedges
When the wheels of the carriage 4 are lowered into the housings 20, 21. It will also be seen in FIGS. 3 and 5 the groove 83 for guiding the carriages in which the nipples 6 are engaged, and the opening in a cutout 85 of shape. adapted to the location of the measuring points on the shims to allow the passage of the lower sensitive key 131 for each measuring point. The legs 2 of the carriage 1 are positioned so as not to be superimposed on measuring points. The plate 15 also defines a cavity 86 under its central support part of a carriage and has on its underside parallel slideways 92. which cooperate with complementary slides or lower plate 14 (Fig 2 and 4).

 FIG. 2 shows, in plan view, the whole of the cross-motion measuring table with a measuring plate 10 provided with lateral reinforcements 12, 13 and a bridge 11 for connection to the plate 38 of the rotary table F, and two plates 15, 14 superposed with crossed movements each provided on their lower face of slides 92, 95 respectively oriented in the direction of movement of the corresponding plate.

 The devices 18, 18 'for driving the trays 14, 15 respectively each comprise a servomotor equipped with a direct current motor 29, 29' driving a potentiometer 27, 27 'of servocontrol with continuous rotation by means of a link by gears 28, 28 '(FIGS. 2, 7 and 8).

 The driving rod 30, 30 'of each crossed carriage 14, 15 which cooperates with drive shafts 7, 8, 9, 9' is displaced by a drive nut 22, 22 'which is itself displaced. by the rotation of the drive screw 24 mounted on bearings 25, 25 'locked by rings 26, 26', and secured to the output shaft of the motor 29, 29 '. The drive nut 22, 22 'is guided in its movement by a guide rod 23, 23'.

 The drive rod 30 'itself comprises an axis 93 whose free end opposite the device 18' for driving cooperates with a roller 94 engaged in a guide 16 of the drive shaft.

 We will now briefly describe with reference to FIGS. 9 to 13 and 13A the measuring unit B cooperating with the measuring table C which has just been described.

The measuring unit B can be made from a conventional comparator of shims with parallel flat end faces, such as the apparatus of the type 130B-24 marketed by the
FEDERAL company with headquarters in the United States of America. Such an apparatus has in particular been the subject of US Pat. No. 3,471,934 and generally presents the structure shown in FIG. 13A, namely an upper reference sensitive pad 127 mounted at the end of a support 111. articulated on an arm 128
He himself pivoted about an axis 132 relative to the fixed support 110 and flexibly connected to a counterweight 129. A lower arm 130 is itself flexibly connected to the counterweight 129 and is pivotally mounted around an axis 133 relative to the fixed support 110. A lower sensitive key 131 passing through The support 15 of a measuring wedge 134 is articulated on the lower arm 130. The position of the upper sensitive key 127 is adjustable and the floating body consisting of various elements 133, 129, 128, 120, 111 is retractable. The inductive measurement device 139 associated with the sensitive keys 127, 131 can be mounted under the bottom sensitive key 131 or in the vicinity of the support 111.

 A datalogger of the type defined above, however, must be adapted to automatic operation. Thus, the system for raising or lowering the upper key 127 is constituted according to the invention by a drive system controlled by a stepper motor 112 controllable by the computer via an interface, via a translator indexer. Such a motor 112 is located outside the measuring chamber closed by the dust cover and therefore can not disturb the measurements.

 Furthermore, the locking system of the upper key 127 in the measurement position is made automatic, as well as the passage of the drive of the upper key 127 from a fast speed to a slow speed. The release system of the lower key is itself motorized and controlled by the cal culator.

 A grooved piece 117 secured to the control screw 113 for raising or lowering the upper key 127 placed at the lower end of its support 111 receives, via a half-gimbal 114, a driving pin 115 integral with rotation of the output shaft of the motor 112. The drive finger 115 is provided with two ball bearings 116 which are inscribed in the groove e the part 117. This coupling with two degrees of freedom allows the comparator floating assembly. holds to be free around its equilibrium position. An adjustable support 110 'makes it possible to fix the motor 112 on the top of the comparator housing 110. The control screw 113 is fixed by a nut 118 to the grooved part 117 which cooperates with a bearing 119 mounted on the floating assembly comprising a body 120 inside which are housed the control screw 113 rotatable and the support 111 to move the sensitive key 127.

 In order to catch the games and avoid slight movements of the upper sensitive key 127 during its translations or measurement, a key 123 provided with two ball rollers 122 is disposed in the body 12G as shown in Figure 13. The rollers 122 are engaged in a groove 121 of the support 111 of the upper key 127 and provide a constant pressure through two springs 124 whose force is adjusted by two support screws 125. This device for stabilizing and immobilizing the sensitive key 127 is protected by a housing 126 attached to the body 120 and in which the adjusting screws 125 are mounted.

 FIGS. 9 and 10 show an example of a device for moving the floating body for supporting the upper key 127 to allow the "measuring" or "disengaging" position of the floating assembly to be set. An axis 98 mounted via a bearing 100 in a support 96, 97 is integral with the output shaft of a geared motor 99 which can rotate in the forward or reverse direction. The axis 98 urges a first cam located in the frame 110 'of the measuring comparator to move the floating body carrying the upper fork 127 and place it in the "measuring" or "disengaging" position. A second cam 102 fixed on the axis 98 in a housing 101 actuates two inverters 103, 104 which identify the positions of the key 131.

 FIGS. 11 and 12 show an optoelectronic translation sensor which makes it possible to locate the altitude of the floating assembly formed by the support 111 of the upper key 127 and sends the calculator a positive voltage which indicates to the software that it can The motor 112 descent of the upper key 127 on the slow speed about 200 mm from the measurement position. This sensor 106 consists of a mechanical comparator whose dial has been replaced by an optocoupler 109 and the needle replaced by an opaque disk 108 having at its periphery a notch 107 extending over 1800. This sensor 106 which comprises a support 105 is mechanically preset to have no contact with the floating assembly 111 at the time of measurement.

 In addition, the electronic circuits of the display system comprise an operational amplifier mounted as a voltage comparator whose non-inverting input is connected to the output of the voltage follower. The output of the comparator informs the software that the inductive probe has entered the measurement range, so that it stops the descent at a slow speed of the floating assembly 111.

 The circuits and electrical and electronic devices controlled by the computer and making it possible to operate the motorized elements of the various functions according to defined sequences, and to exploit the information provided by the computers, will now be described more specifically with reference to FIGS. 18 to 24. different sensors.

Figure 18 shows the power supplies for the electronic circuits and the various DC and AC motors. These power supplies comprise a first block 152 constituted by the power supply 5V, 1
Ampere intended to supply all the integrated circuits TT2, and a second block composed by a symmetrical power supply + 15V and -15V.

The second block is composed of a + 15V and -15V symmetrical power supply. A relay 145 controlled either manually or by the software (circuit 146) interrupts these voltages at the output e regulators 147, 148 connected by rectifier-filter circuits 149, 150 to a transformer 2x18V-45VA, thus avoiding the displacement of cross tables 14, 15 when resetting the software. The +15 volts output is divided into two branches at the output of a polarized relay 142 controlled by the torque limiter 141 of the translation generators. Relay 142 feeds on the one hand the + 15V parts and, on the other hand, a logic voltage level sent to the computer in the event of disjunction controlled by the torque limiter (computer pause control circuit 143). A manual control 144 resets the relay 142. The direct + 15V output powers the relays and the operational amplifiers. The second output passes through the torque limiter 141 and supplies only the motors of the translation generators.

FIGS. 19 to 21 show the diagrams of the circuits for controlling the displacements of the xy tables 14, 15 which are carried out by two servo-motors equipped with DC motors 164, each driving a potentiometer 160 for servocontrol by means of a link by gears. The different positions to be occupied by these tables are driven by the software using a BCD command. This control is connected to a binary decoder 153, each output of which, followed by a logic circuit 156 comprising an adjustment device 158, changes the level of a voltage divider 154. This level constitutes, for each point occupied by the tables. the corresponding reference voltage at this point. A logic circuit 155 directly connected to the computer makes it possible to select the position "small" or "large" shims by the input A6 and cooperates with the selection circuits 157 associated with the circuits
Logic 156.

 The decoder 153 ensures the luminous reproduction of the measured points, as well as the transmission to the software of a logical level indicating to it that the measuring cycle is in progress or the end of the measurement cycle.

The operation of the servo along an x or y axis is as follows
The reference voltage 159 selected by the software is sent to the input or servo motor where it is compared to the voltage present on the slider of the slave potentiometer 160 using the difference amplifier 161. In case of difference between these voltages the motor 164 rotates in the appropriate direction by driving the potentiometer 160, the signal from the difference amplifier 161 serving to control the motor 164 after amplification (circuit 162) and application to a power circuit 163. When the equality between these two voltages is obtained the motor 164 stops, and the table is at the point requested by the software.

 For each axis the motor 164 is protected by a torque limiter 169 whose purpose is to stop the movement in case of overload and send a logic voltage level on the computer by the circuit 170. A second circuit 172 sends during the rotation from the motor a logic level to the computer on the output 66 through the logic circuit 173. The state of this level indicates to the software that the engine is running. When the position is reached The motor stops, output B6 changes state indicating that the measurement can be made.

 The torque limit triggers 169 receive the difference amplifier output signals 167 to which the supply voltages of the motors 164 of the crossed tables are applied, and secondly a control voltage supplied by a circuit 166. .

 FIG. 22 shows the block diagram of the clearance system of the bottom key 131 which can be placed in the "measuring" or "clearing" position by means of a geared motor 220V 175. The setting in position of this key is controlled by software, by sending a high logic level on the corresponding input to the desired position (terminal A3 or A4). A security performed by logic circuits 186 prohibits both movements are controlled at the same time. A circuit 187 further indicates to the software via the output B3 whether the gearmotor 175 is rotating. An output B8 also indicates to the computer whether the probe is in the "measurement" position.

The motor 175 cooperates with an inverter of the key release system 176, an anti-rebound circuit 177, a control circuit 178 and a power circuit 179 for the release position setting, and with a measuring position inverter 181, an anti-rebound circuit 182, a position indicator light 180, a position indicator 183 connected to the terminal
B8, a control circuit 184 and a power circuit 185 for setting the measuring position.

 FIG. 23 shows the block diagram of the motor control 188 of the translation generator E of FIGS. 1 and 2 and the motor 190 of the rotary table F of FIGS. 1 and 2. As indicated above, the position of the table F is controlled. by a disk 3f notches, controlling an inverter 37 (reference 191 in Figure 23). The positions of the translation generator E are themselves controlled by two end-of-travel inverters 196 connected in series. The inverters 1S1, 196 are connected by anti-bounce circuits 192, 197 and monostable circuits 193, 198 to one Logic transmission circuit 195 cooperating with a control circuit 194 by the computer to supply a BCD counter 199 and a decimal decoder 200 whose outputs are connected to power circuits 189 for supplying the DC motor gearbox 188 and the motorcycle Rectifier with AC 19C.

The table below shows the functions performed according to the output number of decimal decoder 200.

<Tb>

number
<tb> of <SEP> the <SEP><SEP> function executed
<tb> exit
<tb> nettle
<tb><SEP> O <SEP> Position <SEP> rest
<tb><SEP> 1 <SEP><SEP> entry of <SEP> finger <SEP> snap
<tb><SEP> 2 <SEP><SEP> Rotation of <SEP><SEP> Table <SEP> 0 <SEP> to <SEP> 18CO <SEP>
<tb><SEP> 3 <SEP><SEP> output of <SEP> finger <SEP> snap
<tb><SEP> 4 <SEP><SEP> Rotation of <SEP><SEP> Table <SEP> of <SEP> 18GO <SEP> to <SEP> 1950
<tb><SEP> 5 <SEP> Waiting <SEP> and <SEP><SEP> Indication at <SEP><SEP> Software <SEP><SEP> Ending <SEP>
<tb><SEP> sequence
<tb><SEP> 6 <SEP> Back <SEP> to <SEP> the <SEP> position <SEP> 1800
<tb><SEP> 7 <SEP><SEP> entry of <SEP> finger <SEP> snap
<tb><SEP> 8 <SEP><SEP><SEP> Rotation The <SEP><SEP> table <SEP> 18GO <SEP> to <SEP> 0 <SEP>
<tb><SEP> 9 <SEP><SEP> output of <SEP> finger <SEP> snap
<tb><SEP> O
<tb><SEP> O <SEP>
<Tb>
These functions are executed according to two preprogrammed sequences by the wiring.

 Decoding 200 being in the idle position, the software triggers the first sequence by sending a positive voltage slot. The sequence of movements is executed by means of the position reversers of the table 1Ç1 and the end-of-travel inverters of the translation generator 196. In the release position, at 1950, the sequence is interrupted, the software receives a positive voltage window and triggers the start of the measurement cycle; it's the end of the first sequence. When the measurement is complete the software sends a positive voltage slot which triggers the start of the second sequence.

 The sequence of the different cycles until the return to the rest position is identical to the first sequence. A prepositioning command of the counter 199 controlled by the software allows starting from the chosen position. This makes it possible to automatically bring the fork carriage back onto the crown in the event of stopping during the sequence.

 The motor of the translation generator is powered via a torque limiter. This safety is intended to stop the engine in case of overload.

 Two safety fingers are also provided on the notched disk 36 of FIG. 14 to stop the rotation in case of overruns.

 FIG. 24 shows the block diagram of the various modules involved during the rotational movements of the two storage rings and the movements of the second translation generator (rear translator G) which ensures the transfer of the portecales of the inner ring 53 towards the crown outside 54 and vice versa. The positions of the rear translator F are controlled by a forward end-of-travel reverser 208 and a rear-end reverser 208 connected in series and connected respectively by anti-rebound circuits 24, 209 to the nO 2 rotation modules of the crown. The outer and inner ring positions are also controlled by inverters 205, 210 connected by anti-rebound circuits 206, 211 and timing circuits 2G7, 212 respectively to the modules # 3. reentry of the translator and n 5 stop of the inner ring.

 The command of the crowns is carried out according to two different cycles selected by the software.

 The first cycle includes the rotation of the inner ring and at the end of the movement, the transmission of the positive voltage slot to the computer indicating the end of the cycle.

The second cycle comprises: 1. The output of the rear translator (module No. 1,213) 2. The rotation of the outer ring (module No. 2,215) 3. The retraction of the rear translator (module No. 3,217) 4. The rotation of the inner ring (module No. 4 21) 5. The transmission of a positive slot indicating the end of the cycle
(Module No. 5,221).

In FIG. 24, the block 201 provided with a control terminal A7 corresponds to the selection of the cycles, and the block 202 provided with the control terminals A9, A10 constitutes a control circuit.
control by the computer which controls the phases of the modules n 215 and nO 4 219. The modules nO 1 to nO 5 are respectively associated with a power circuit 214 of the motor of the translator, to a power circuit 216 of the motor of the crown external to ur 218 motor power circuit of the translator, to a circuit 220 of power of the engine of the inner ring, and a logic transmission circuit 222 end of cycle including a dreary B liaisi son with the calculator.

 Various alternative embodiments are naturally possible with respect to the embodiment described above.

Thus, the following variants may in particular be envisaged.

 The position control of the x-y tables 14, 15 could be achieved by angular encoders mounted on the axes of the motors or by incremental rules for locating the positions of the tables x-y.

 The locking of the upper key 127 could be achieved using a DC motor which would exert a tightening torque to block more effectively the upper key during measurements.

 The motorization of the release system of the lower key 131 can be achieved with a geared motor powered by a low-voltage direct current.

 The optoelectronic translation sensor 106 could be replaced by an incremental translation sensor with digital output.

The motorization of the turntable F could be carried out with a geared motor powered by a low voltage direct current. This option would control the rotation of the table with a cycle comprising:
- an acceleration phase,
a constant speed phase,
a deceleration phase.

 The motorization of the driving of the storage rings 53, 54 could also be carried out with a geared motor fed by a low voltage direct current.

 In general, all the electric inverters used can be replaced by contactless optoelectronic inverters.

 The measurements are carried out with the automaton according to the invention as follows.

 The reference shims and shims are arranged in the forklifts corresponding to their nominal value, after having been thoroughly cleaned. All carriages are stored on the crowns in descending order of the listed nominal values, and the largest wedge will be measured first. The dust cover is closed and the shims stay a few hours to stabilize their temperature before the start of measurement cycles.

 The measurements are made at eight points, the measurements at points 2 and 7 and 1 and 8 take place respectively in the same place (see Figure 25).

 The detailed process of the various operations and measurements has been represented on the flowchart of FIGS. 26 to 31 which comprises a succession of steps or tests referenced 301 to 390.

The object of each step or test 301 to 390 has been explicitly indicated in each frame of the flowchart in Figures 26 to 31 and will not be repeated in this description, but should be considered as expressly part of this cription.

Claims (10)

1. shim-setting automaton for the automatic realization of the calibration by mechanical comparison of gauge sets with flat parallel end faces, of the type comprising a support table (A), a station (H, I) for storing shims to be calibrated (135, 136), a measuring station (B) equipped with a reference plane support (C) and a measuring unit comprising an articulated floating structure equipped with a first sensitive key (131), a second sensitive key (127) movable above the first key (131) to come into contact with the parallel flat end faces of a wedge to be calibrated and inductive means for detecting the position of the sensitive keys (127, 131), means (E, F, G) for shim transport between the storage station (H, I) and the measurement station (B), and control and calculation means for automatically controlling the transferring sets of measuring shims from the storage station (H, I) to the station measuring device (B), the measurement control and the recording of the measurement results, characterized in that it comprises a set of trolley-holders (1) having a bottom wall provided with cutouts (87,88), for storing the pairs of holds at the storage station (H, I) and the transfer of the pairs of holds between the storage station (H, I) and the measurement station (B) and adapted to disappear during the measurement of shims, and a measuring table (C; 14, 15) xy motorized cross-movements for moving the wedges under the axis e measurement in two perpendicular directions in a horizontal plane and serving as a reference table during the measurement, the table (C; 14,15) being provided a cutout (85) allowing during its movements the passage of the lower sensitive key, and recessed portions (20, 21, 84) for the retraction of a carriage-shims (1) during measurements.  Automaton according to claim 1, characterized in that each wedge carrier (1) comprises a bottom wall (90) in which are arranged two substantially rectangular openings (87, 88) in which at least three legs (2) project. of a wedge support slightly recessed below the upper surface of said bottom wall, two pairs of wheels (4) defining a front axle and a rear axle, with a wheel spacing of the rear axle which is greater than that of the wheels of the front axle, two guide pins (6) aligned according to The axis of the carriage and formed on the underside of the bottom wall (90), and a grip pin (5) formed on the upper face of the bottom wall (90) at the rear of the carriage. 3. The automaton as claimed in claim 2, characterized in that the cross-motion xy table (C) comprises two crossed supports (14, 15) with crossed-roller cylinders controlled by two DC servomotors (29, 29). '). An automaton according to claim 2 or claim 3, characterized in that the upper part (15) of the cross-motion xy table (C) comprises an upper plate (15) in which four recessed parts (20, 21) for receiving the wheels (4) of a carriage (1) and a carriage guide groove (83), and which has an upstanding flat portion (19) forming a support plane for a pair of wedges, which is provided with recessed portions for receiving the shim support tabs (2) formed in the bottom wall (90) of a carriage and a recessed groove portion (85) for the passage of the bottom key measuring (131). 5. Automaton according to any one of claims 1 to 4, characterized in that the storage station (H, I) comprises at least a first ring (I, 53) carriages support, provided with drive means rotation (L) and indexing means (K) and at least one translation generator (E) mounted on a turntable (F; 31) for transferring the carriages (1) between the first support ring (53); ) and the xy table (C; 14, 15). 6. The machine according to claim 5, characterized in that the storage station (H, I) further comprises a second carriage support ring (H; 54) placed outside the first ring (I; 53). and also provided with rotational drive means (L) and indexing means (K) and a second translation generator (G) mounted on a fixed table (32) angularly offset from the turntable (F; 31) around the rings for transferring the carriages (1) between the second support ring (54) and the first support ring (53). 7. Automaton according to claim 5 or claim 6, characterized in that each ring (I, 53; H, 54) carriages carrier comprises on its flat upper face radial grooves (81, 82) for guiding the carriages and at least one of the locking recesses (79, 80) of the front axle or the rear axle of the carriage wheels. 8. An automaton according to any one of claims 1 to 7, characterized in that the e measurement unit comprises a stepper motor (112) controlled by said control and calculation means and coupled by a coupling with two degrees of freedom with the support of the upper sensing key (127) to move to Up or down the upper sensitive key (127) at a predetermined speed. 9. An automaton according to claim 8, characterized in that it comprises elastic means engaged in a groove of the support of the upper sensing key (127) to make up the games and avoid slight movements of the upper key (127) during of his translations or measure. 10. An automaton according to claim 8 or claim 9, characterized in that it further comprises a translation sensor for locating the position of the articulated floating structure and to control the switching or drive motor of the support of the upper sensitive key. a fast speed at a slow speed, and a voltage comparator arranged in the display circuit of the inductive means for detecting the position of the sensitive keys for detecting the input of the sensitive keys in a measurement range and controlling the Stop the movement of the top touch pad. 11. An automaton according to any one of claims 8 to 10, characterized in that it comprises a protective cover ensuring the dust-free mechanical assembly for measuring and storage and reducing sudden temperature changes during the in that the protective cap covers the entire storage station, the measurement station and the means for transporting the holds, with the exception of the step motor (112) for driving the support of The upper sensitive key (127).