FR2703283A1 - Robot tool - Google Patents
Robot tool Download PDFInfo
- Publication number
- FR2703283A1 FR2703283A1 FR9304083A FR9304083A FR2703283A1 FR 2703283 A1 FR2703283 A1 FR 2703283A1 FR 9304083 A FR9304083 A FR 9304083A FR 9304083 A FR9304083 A FR 9304083A FR 2703283 A1 FR2703283 A1 FR 2703283A1
- Authority
- FR
- France
- Prior art keywords
- yoke
- robot tool
- tool according
- axis
- carried
- 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
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
- 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
- B23P19/107—Aligning parts to be fitted together using oscillating, rotating or vibrating movements
-
- 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
- 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)
Abstract
Description
La présente invention concerne un outil de robot pour l'insertion d'une pièce cylindrique dans un alésage.The present invention relates to a robot tool for inserting a cylindrical part into a bore.
Cet outil comporte trois degrés de liberté en translation selon trois directions X, Y et Z perpendiculaires entre elles et trois degrés de liberté en rotation autour de ces 'trois directions. Il est caractérisé en ce qu'il comporte en outre des moyens pour soumettre la pièce à insérer à des micro vibrations pendant l'insertion.This tool has three degrees of freedom in translation in three directions X, Y and Z perpendicular to each other and three degrees of freedom in rotation around these 'three directions. It is characterized in that it further comprises means for subjecting the part to be inserted to micro vibrations during insertion.
Les trois directions forment de préférence un trièdre trirectangle dont l'un des axes est l'axe de la pièce cylindrique à insérer. L'outil comporte avantageusement des moyens de rappel élastique agissant à l'encontre des trois degrés de liberté en translation.The three directions preferably form a triangular trihedron one of whose axes is the axis of the cylindrical part to be inserted. The tool advantageously comprises elastic return means acting against the three degrees of freedom in translation.
On a décrit ci-après, à titre d'exemple non limitatif, un mode de réalisation d'un outil de robot selon l'invention avec référence aux dessins annexés dans lesquels
La Figure 1 est une vue en élévation de l'outil;
La Figure 2 en est une coupe selon II-II de
la Figure 1, le vibrateur et son contrepoids
n'étant pas représentés;
La Figure 3 en est une vue en plan.An embodiment of a robot tool according to the invention has been described below, by way of non-limiting example, with reference to the accompanying drawings in which
Figure 1 is an elevational view of the tool;
Figure 2 is a section along II-II of
Figure 1, the vibrator and its counterweight
not being represented;
Figure 3 is a plan view.
Tel qu'il est représenté au dessin, l'outil de robot selon l'invention est destiné à insérer une pièce cylindrique 1 dans un alésage 2.As shown in the drawing, the robot tool according to the invention is intended to insert a cylindrical part 1 into a bore 2.
Il comprend une pince 3 dont les mors 4 peuvent tenir la pièce 1 et qui est fixée sur une chape inférieure 5.It includes a clamp 3 whose jaws 4 can hold the part 1 and which is fixed to a lower yoke 5.
Cette chape est reliée à une chape intermédiaire 6 par deux axes 7 parallèles à un axe X; ces axes sont fixés à la chape intermédiaire et sont montés coulissants dans des douilles à billes 8 fixées à la chape inférieure 5. Les deux chapes 5 et 6 peuvent ainsi avoir un mouvement relatif de translation suivant l'axe X. Deux lames élastiques 9 fixées à la chape intermédiaire 6 et prenant appui sur des butées 10 portées par la chape inférieure 5 s'opposent au déplacement de cette chape inférieure selon l'axe X et maintiennent ces deux chapes dans une position relative centrée.This yoke is connected to an intermediate yoke 6 by two axes 7 parallel to an axis X; these axes are fixed to the intermediate yoke and are slidably mounted in ball bushings 8 fixed to the lower yoke 5. The two yokes 5 and 6 can thus have a relative movement of translation along the axis X. Two elastic blades 9 fixed to the intermediate yoke 6 and bearing on stops 10 carried by the lower yoke 5 oppose the displacement of this lower yoke along the axis X and maintain these two yokes in a relative centered position.
La chape intermédiaire 6 est reliée à une chape supérieure 11 par deux axes 12 parallèles à un axe
Y perpendiculaire à l'axe X; ces axes 12 sont fixés à la chape supérieure 11 et montés coulissants dans des douilles à billes 13 fixées à la chape intermédiaire 6. Les deux chapes 6 et 11 peuvent ainsi avoir un mouvement relatif de translation suivant l'axe Y.The intermediate yoke 6 is connected to an upper yoke 11 by two axes 12 parallel to an axis
Y perpendicular to the X axis; these axes 12 are fixed to the upper yoke 11 and mounted to slide in ball bushings 13 fixed to the intermediate yoke 6. The two yokes 6 and 11 can thus have a relative translational movement along the Y axis.
deux lames élastiques 14 fixées à la chape supérieure ll et prenant appui sur l'une des butées 15 portées par la chape intermédiaire 6 s'opposent au déplacement de cette chape intermédiaire selon l'axe Y et maintiennent les deux chapes 6 et 11 dans une position relative de translation centrée.two elastic blades 14 fixed to the upper yoke ll and bearing on one of the stops 15 carried by the intermediate yoke 6 oppose the displacement of this intermediate yoke along the Y axis and hold the two yokes 6 and 11 in a relative position of centered translation.
Un pivot 16 parallèle à un axe Z perpendiculaire aux axes X et Y et lui-même parallèle à l'axe de l'alésage 2 est terminé par une rotule 17; il est monté coulissant dans une douille à billes 18 solidaire d'une cloche supérieure 19. La rotule 17 est maintenue dans un évidement sphérique de la chape supérieure 11 par une rondelle d'appui 20 fixée sur cette chape. Cette rondelle repose normalement dans une cloche inférieure 21 qui est solidaire de la cloche supérieure 19, et peut s'écarter de cette cloche 21 quand le pivot 16 coulisse dans la douille à billes 18. Quatre lames élastiques 22 sont fixées en croix à la cloche inférieure 21 et prennent appui sur des butées 23 portées par la rondelle d'appui 20.Ces lames maintiennent la chape supérieure 11 en position de translation centrée par rapport à la cloche inférieure 21; elles maintiennent également des positions centrées pour la rotation autour de l'axe
X et autour de l'axe Y, deux lames agissant alors en flexion et deux en torsion. La rondelle d' appui 20 porte un ergot 24 qui est en butée contre une encoche 25 de la cloche supérieure 19 en limitant le mouvement de pivotement autour de l'axe Z. I1 n'est pas prévu de rappel pour la rotation autour 'de cet axe Z; en effet la position autour de cet axe peut être quelconque puisque la pièce 1 est cylindrique.A pivot 16 parallel to an axis Z perpendicular to the axes X and Y and itself parallel to the axis of the bore 2 is terminated by a ball joint 17; it is slidably mounted in a ball bushing 18 secured to an upper bell 19. The ball joint 17 is held in a spherical recess in the upper yoke 11 by a support washer 20 fixed on this yoke. This washer normally rests in a lower bell 21 which is integral with the upper bell 19, and can deviate from this bell 21 when the pivot 16 slides in the ball bushing 18. Four elastic blades 22 are fixed crosswise to the bell lower 21 and are supported on stops 23 carried by the support washer 20. These blades maintain the upper yoke 11 in translation position centered relative to the lower bell 21; they also maintain centered positions for rotation around the axis
X and around the Y axis, two blades then acting in bending and two in torsion. The support washer 20 carries a lug 24 which is in abutment against a notch 25 of the upper bell 19 by limiting the pivoting movement around the axis Z. I1 is not provided for a return for the rotation around 'of this Z axis; indeed the position around this axis can be arbitrary since the part 1 is cylindrical.
Les axes X, Y et Z forment un triède trirectangle dont l'axe Z est l'axe de la pièce cylindrique 1 à insérer. The X, Y and Z axes form a tri-rectangular triede whose Z axis is the axis of the cylindrical part 1 to be inserted.
La cloche supérieure 19 est fixée au robot.The upper bell 19 is fixed to the robot.
Un vibrateur électro-magnétique 26 est fixé sur l'un des côtés de la chape inférieure 5. Un contrepoids 27 fixé sur le côté opposé de la chape équilibre le poids du vibrateur. Ce vibrateur est agencé pour engendrer des vibrations à la fréquence de 50 HZ et dont l'amplitude, du même ordre de grandeur que le jeu entre la pièce 1 et l'alésage 2, est comprise entre 7 et 10 microns.An electromagnetic vibrator 26 is fixed on one of the sides of the lower yoke 5. A counterweight 27 fixed on the opposite side of the yoke balances the weight of the vibrator. This vibrator is arranged to generate vibrations at the frequency of 50 HZ and whose amplitude, of the same order of magnitude as the clearance between the part 1 and the bore 2, is between 7 and 10 microns.
En fonctionnement, le vibrateur 26 engendre au niveau de la pièce 1 des microvibrations qui facilitent son glissement dans l'alésage 2. te système compliant associé aux vibrations permet de compenser les défauts d'alignement entre la pièce et son alésage, avec des jeux d'insertion comprise entre 7 et 10 microns.In operation, the vibrator 26 generates microvibrations at the level of the part 1 which facilitate its sliding in the bore 2. The compliant system associated with the vibrations makes it possible to compensate for misalignments between the part and its bore, with play of insertion between 7 and 10 microns.
Il va de soi que la présente invention ne doit pas être considérée comme limitée au mode de réalisation décrit et représenté mais en couvre, au contraire, toutes les variantes. It goes without saying that the present invention should not be considered as limited to the embodiment described and shown but, on the contrary, covers all its variants.
Claims (11)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9304083A FR2703283B1 (en) | 1993-04-01 | 1993-04-01 | Robot tool. |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9304083A FR2703283B1 (en) | 1993-04-01 | 1993-04-01 | Robot tool. |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2703283A1 true FR2703283A1 (en) | 1994-10-07 |
FR2703283B1 FR2703283B1 (en) | 1995-05-12 |
Family
ID=9445816
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR9304083A Expired - Fee Related FR2703283B1 (en) | 1993-04-01 | 1993-04-01 | Robot tool. |
Country Status (1)
Country | Link |
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FR (1) | FR2703283B1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004030186A1 (en) * | 2002-09-30 | 2004-04-08 | M & R Automation Gmbh | Method and device for an automated assembly of electric motors |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105958748B (en) * | 2016-06-30 | 2018-05-22 | 江苏朗信电气有限公司 | A kind of rotor axial direction gap adjustment machine |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1652869A1 (en) * | 1968-01-08 | 1971-02-25 | Hans Gotz | Assembly aid |
FR2445199A1 (en) * | 1978-12-27 | 1980-07-25 | Jaz Sa | Wrist for rivet-placing robot arm - uses ball joint pincer mounting with springs connecting ball segment to motor crank shaft on slide plate |
US4367591A (en) * | 1979-09-07 | 1983-01-11 | Hitachi, Ltd. | Fitting device |
FR2561973A1 (en) * | 1984-03-30 | 1985-10-04 | Inst Nat Sciences Appliq | Passive compliant wrist, which can be fitted to the end of a remote manipulation arm for various objects |
JPS61103740A (en) * | 1984-10-24 | 1986-05-22 | Mitsubishi Electric Corp | Hand device of industrial robot |
DE3822435A1 (en) * | 1988-07-02 | 1990-01-04 | Fraunhofer Ges Forschung | Assembly device for precise positioning and mounting of parts with vibration support |
-
1993
- 1993-04-01 FR FR9304083A patent/FR2703283B1/en not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1652869A1 (en) * | 1968-01-08 | 1971-02-25 | Hans Gotz | Assembly aid |
FR2445199A1 (en) * | 1978-12-27 | 1980-07-25 | Jaz Sa | Wrist for rivet-placing robot arm - uses ball joint pincer mounting with springs connecting ball segment to motor crank shaft on slide plate |
US4367591A (en) * | 1979-09-07 | 1983-01-11 | Hitachi, Ltd. | Fitting device |
FR2561973A1 (en) * | 1984-03-30 | 1985-10-04 | Inst Nat Sciences Appliq | Passive compliant wrist, which can be fitted to the end of a remote manipulation arm for various objects |
JPS61103740A (en) * | 1984-10-24 | 1986-05-22 | Mitsubishi Electric Corp | Hand device of industrial robot |
DE3822435A1 (en) * | 1988-07-02 | 1990-01-04 | Fraunhofer Ges Forschung | Assembly device for precise positioning and mounting of parts with vibration support |
Non-Patent Citations (2)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 010, no. 286 (M - 521) 27 September 1986 (1986-09-27) * |
U.SCHWEIGERT: "Vibrationsunterstützung ermöglicht Präzisionsmontage", TECHNISCHE RUNDSCHAU, vol. 84, no. 6, 7 February 1992 (1992-02-07), BERN, CH, pages 48 - 52, XP000247720 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004030186A1 (en) * | 2002-09-30 | 2004-04-08 | M & R Automation Gmbh | Method and device for an automated assembly of electric motors |
Also Published As
Publication number | Publication date |
---|---|
FR2703283B1 (en) | 1995-05-12 |
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ST | Notification of lapse |