GB1450788A - Automatic assembly apparatus for the assembly of one component into a second component - Google Patents

Automatic assembly apparatus for the assembly of one component into a second component

Info

Publication number
GB1450788A
GB1450788A GB5599473A GB5599473A GB1450788A GB 1450788 A GB1450788 A GB 1450788A GB 5599473 A GB5599473 A GB 5599473A GB 5599473 A GB5599473 A GB 5599473A GB 1450788 A GB1450788 A GB 1450788A
Authority
GB
United Kingdom
Prior art keywords
shaft
sensed
predetermined
limit switches
positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
GB5599473A
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.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP11982072A external-priority patent/JPS4978270A/ja
Priority claimed from JP1108673A external-priority patent/JPS5344070B2/ja
Priority claimed from JP1195473A external-priority patent/JPS5344071B2/ja
Priority claimed from JP2016373A external-priority patent/JPS5321538B2/ja
Priority claimed from JP2611473A external-priority patent/JPS5318787B2/ja
Priority claimed from JP4416273A external-priority patent/JPS536743B2/ja
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Publication of GB1450788A publication Critical patent/GB1450788A/en
Expired 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
    • B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
    • B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device

Abstract

1450788 Grippers HITACHI Ltd 3 Dec 1973 [1 Dec 1972 29 Jan 1973 31 Jan 1973 21 Feb 1973 7 March 1973 20 April 1973] 55994/73 Heading B8H [Also in Division G3] In the assembly of closely inter-fitting parts 1, 2; (151, 152), Figs. 16, 17 (not shown), there is provided, between shaft 4a and holder 3, a resilient coupling whose tilt, see Figs. 1A-1F (not shown), is sensed to provide signals controlling X, Y positioning of shaft 4a. In the assembly method, part 2 is placed at a predetermined position (P A ), Fig. 2A (not shown), removed from the insertion position P B with a predetermined bias force applied in the Z direction, shaft 4a then being moved in X and Y directions, Fig. 2B (not shown), towards the insertion position. When member 2 lodges in orifice la, as detected by change in output of limit switches 11 actuated by shafts 9, stepping motors 4X, 4Y, controlling positioning of shaft 4a, are switched to control by means of strain gauges (7a, 7c; 7b, 7d), Fig. 4 (not shown), fixed to leaf springs 5, shaft 4a thus being moved until it is within a predetermined ŒX, ŒY, Figs. 5A, 5B (not shown), of a true insertion position, signals to the stepping motor 4Z providing an insertion force. Should member 2 jam during insertion, operation of limit switches 11 causes a renewed positioning of shaft 4a. A stepping motor (4H, Fig. 4) controls gripper arms 3b. In Fig. 6 (not shown) motor (4Z) is fixed, a pallet (12) supporting the member (1) being movable in X and Y directions. In a modified control circuit, Figs. 13-15 (not shown), the insertion force is sensed by summing the outputs (a<SP>1</SP>-d<SP>1</SP>) of the strain gauges, the resultant being coupled with a predetermined level set in unit (52), gate control (54) having hysteresis characteristic (PQST, Fig. 14). For manipulation of metal ring (151, Fig. 16) rings arriving on conveyer (150), a holder comprises tapered shaft and magnet (155, 156) spring supported on shaft (153). Resilient couplings.-The tilt may be sensed by differential transformers, Figs. 8B, 8C (not shown). Limit switches (42a, 42b) sensing the insertion force may operate successively for increasing force, Figs. 9, 10 (not shown). Tilting may be accommodated by pivoting about location (43, Fig. 10), or a member (17, Fig. 8A) may co-operate with balls (102, 103), a leaf spring (5) being provided.
GB5599473A 1972-12-01 1973-12-03 Automatic assembly apparatus for the assembly of one component into a second component Expired GB1450788A (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP11982072A JPS4978270A (en) 1972-12-01 1972-12-01
JP1108673A JPS5344070B2 (en) 1973-01-29 1973-01-29
JP1195473A JPS5344071B2 (en) 1973-01-31 1973-01-31
JP2016373A JPS5321538B2 (en) 1973-02-21 1973-02-21
JP2611473A JPS5318787B2 (en) 1973-03-07 1973-03-07
JP4416273A JPS536743B2 (en) 1973-04-20 1973-04-20

Publications (1)

Publication Number Publication Date
GB1450788A true GB1450788A (en) 1976-09-29

Family

ID=27548313

Family Applications (1)

Application Number Title Priority Date Filing Date
GB5599473A Expired GB1450788A (en) 1972-12-01 1973-12-03 Automatic assembly apparatus for the assembly of one component into a second component

Country Status (2)

Country Link
DE (1) DE2358498C2 (en)
GB (1) GB1450788A (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0023864A1 (en) * 1979-08-02 1981-02-11 Association Des Ouvriers En Instruments De Precision Manually controlled device, in particular a handle for controlling the movements of a driven member
GB2121380A (en) * 1982-06-01 1983-12-21 Westinghouse Electric Corp Compliance system for industrial manipulators
GB2143798A (en) * 1982-11-09 1985-02-20 Robin Desmond Radcliff Andrews Improvements in and relating to automatic assembly process equipment
EP0158088A1 (en) * 1984-03-28 1985-10-16 Johann A. Krause Maschinenfabrik GmbH Mounting device for inserting divided valve cotters
US4577513A (en) * 1982-11-09 1986-03-25 Emi Limited Strain sensing arrangement
GB2296484A (en) * 1994-12-27 1996-07-03 Ford Motor Co Automated Assembly of Torque Converters
EP2181814A1 (en) * 2008-10-30 2010-05-05 Canon Kabushiki Kaisha Gripping device and system including the same
CN111408801A (en) * 2020-05-12 2020-07-14 安川首钢机器人有限公司 Floating fitting device and method

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2504127A1 (en) * 1974-02-01 1975-09-04 Hitachi Ltd DEVICE FOR AUTOMATIC ASSEMBLY
NL7901956A (en) * 1979-03-12 1980-09-16 Leuven Res & Dev Vzw MOVEMENT CONTROL DEVICE.
EP0036912A1 (en) * 1980-03-26 1981-10-07 Maschinenfabrik Meyer AG. Gripping head for manipulator
DE3021357C2 (en) * 1980-06-06 1982-12-02 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Elastic connecting link between an arm and a magnetic holding device of a handling device
NO159980C (en) * 1982-09-21 1989-03-01 Fujitsu Ltd The carrier.
DE3322754A1 (en) * 1983-06-24 1985-01-03 ANCOS-Steuerungstechnik GmbH, 1000 Berlin Machine for automatically fitting screws in moving workpieces
DE3407551A1 (en) * 1984-03-01 1985-09-05 FRENCO Verzahnungslehren GmbH, 8500 Nürnberg RECEIVING HEAD FOR MEASURING AND / OR INSTALLATION PROCESSES
DE3409904A1 (en) * 1984-03-17 1985-09-26 Krause, Johann A., 2820 Bremen METHOD AND DEVICE FOR MOUNTING VALVES IN THE CYLINDER HEAD OF AN ENGINE
DE3418720A1 (en) * 1984-05-19 1985-11-21 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg SAFETY DEVICE FOR HANDLING DEVICES FOR SWITCHING OFF THE MOTOR DRIVE IN A COLLISION
BG41865A1 (en) * 1985-04-26 1987-09-15 Ivanov Method and device for scanning mounting of two- pieces entering one in the other
DE3800394A1 (en) * 1986-07-09 1989-07-27 Fraunhofer Ges Forschung Apparatus for performing screwing operations
DE3623056A1 (en) * 1986-07-09 1988-01-28 Fraunhofer Ges Forschung Joining device
DE3623391C2 (en) * 1986-07-11 1994-05-19 Bosch Gmbh Robert Tool carriers for handling devices
DE3640973A1 (en) * 1986-12-01 1988-06-16 Mannesmann Ag STORAGE FOR A GRIPPER OF AN INDUSTRIAL ROBOT
DE3928971A1 (en) * 1989-09-01 1991-03-14 Neumann Helmhard Coupling for attaching gripper to robot arm - permits limited lateral and angular movement of gripper relative to arm
DE4010374A1 (en) * 1990-03-30 1991-10-02 Kuka Schweissanlagen & Roboter METHOD AND DEVICE FOR ASSEMBLING INSERTS IN OR AT RECEIVERS
DE4011328A1 (en) * 1990-04-07 1991-10-10 Bosch Gmbh Robert Tool carrier for handling device - has transducers detecting forces acting on relatively movable section supporting tool
CN103447788A (en) * 2012-06-05 2013-12-18 翔元自动化机械有限公司 Device for determining centers of elements

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2988237A (en) * 1954-12-10 1961-06-13 Jr George C Devol Programmed article transfer
US3306442A (en) * 1964-11-02 1967-02-28 George C Devol Multi-program apparatus
DE1922714C3 (en) * 1968-01-02 1974-07-25 International Business Machines Corp., Armonk, N.Y. (V.St.A.) Program-controlled fluid-operated positioning device for workpieces

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0023864A1 (en) * 1979-08-02 1981-02-11 Association Des Ouvriers En Instruments De Precision Manually controlled device, in particular a handle for controlling the movements of a driven member
GB2121380A (en) * 1982-06-01 1983-12-21 Westinghouse Electric Corp Compliance system for industrial manipulators
US4458424A (en) * 1982-06-01 1984-07-10 Westinghouse Electric Corp. Compliance system for industrial manipulators
GB2143798A (en) * 1982-11-09 1985-02-20 Robin Desmond Radcliff Andrews Improvements in and relating to automatic assembly process equipment
US4577513A (en) * 1982-11-09 1986-03-25 Emi Limited Strain sensing arrangement
EP0158088A1 (en) * 1984-03-28 1985-10-16 Johann A. Krause Maschinenfabrik GmbH Mounting device for inserting divided valve cotters
GB2296484A (en) * 1994-12-27 1996-07-03 Ford Motor Co Automated Assembly of Torque Converters
US5718043A (en) * 1994-12-27 1998-02-17 Ford Global Technologies, Inc. Automated assembly of torque converters to transmissions
GB2296484B (en) * 1994-12-27 1998-07-29 Ford Motor Co Automated assembly of torque converters
EP2181814A1 (en) * 2008-10-30 2010-05-05 Canon Kabushiki Kaisha Gripping device and system including the same
US8182197B2 (en) 2008-10-30 2012-05-22 Canon Kabushiki Kaisha Gripping device and system including the same
CN101722519B (en) * 2008-10-30 2012-06-13 佳能株式会社 Gripping device and system including the same
CN111408801A (en) * 2020-05-12 2020-07-14 安川首钢机器人有限公司 Floating fitting device and method
CN111408801B (en) * 2020-05-12 2022-01-18 安川首钢机器人有限公司 Floating fitting device and method

Also Published As

Publication number Publication date
DE2358498C2 (en) 1984-07-05
DE2358498A1 (en) 1974-07-11

Similar Documents

Publication Publication Date Title
GB1450788A (en) Automatic assembly apparatus for the assembly of one component into a second component
US4117431A (en) Magnetic proximity device
EP0320112B1 (en) Magnetic sensing proximity detector
US4634107A (en) Gripper arm and method of operation
CA1237739A (en) Supporting device
DK0461228T3 (en) Synchronous setting device for office chairs and the like
EP0729049A3 (en) Lens focussing system for a camera
EP1188943A3 (en) Magnetic levitation rotating machine
EP0358055A3 (en) Machine tool control
US4527108A (en) Linear actuator with magnets
TW229271B (en) Sensor for detecting vibration and shock
US2568586A (en) Displacement or torque amplifier
EP0506005A3 (en) A device for measuring the dimension of an object
US4829844A (en) Power assist handle
EP0875451A3 (en) Electronic throttle control system for aircraft
US4041294A (en) Automatic assembly control method and apparatus therefore
CA2023677A1 (en) Acceleration sensor and acceleration sensing system
US4837537A (en) Reed switch device
US5664318A (en) Process and arrangement for determining reference positions for planar hybrid stepper motors
US20050035613A1 (en) Placing device and method for placing objects onto substrates
JPH1113855A (en) Magnetic coupling device
PLANTE et al. Vibration isolator actuator for a segmented mirror(Patent)
US3062058A (en) Automatic balance-indicating apparatus
JP2642818B2 (en) Position measuring device
PEPI et al. Fine figuring actuator(Patent)

Legal Events

Date Code Title Description
PS Patent sealed
PCNP Patent ceased through non-payment of renewal fee