Handling: hand and hoist-line implements – Contact lens applicator
Reexamination Certificate
2001-06-21
2003-06-03
Kramer, Dean J. (Department: 3652)
Handling: hand and hoist-line implements
Contact lens applicator
C294S086400, C294S902000, C901S039000
Reexamination Certificate
active
06572164
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a structure for absorbing positional displacement in a setting jig of an article which is clamped by robot arms.
2. Description of the Related Art
In factories in various industrial fields, there have been recently employed systems for assembling articles by means of robot arms.
In
FIGS. 7 and 8
, when assembling the electric connecting box to be mounted on an automobile in the automobile industry, for example, such a process that a plate connector
1
(an example of the articles) to be disposed therein being conveyed from a setting jig
3
by means of a robot
2
and fixed at a determined position, has been conducted.
The plate connector
1
is formed in a rectangular plate-like shape having four side faces
4
, for example. The setting jig
3
has four holding frames
5
, in an L shape as seen in a plan view, which are provided upright at four corners corresponding to four corners of the plate connector
1
. In other words, the plate connector
1
is contained and held within the four holding frames
5
of the setting jig
3
.
The robot
2
has a clamping part
6
, and is so constructed that the robot can convey the plate connector
1
to the determined position, after it has moved downward in a direction of an arrow mark P and clamped the plate connector
1
. The clamping part
6
has a pair of movable robot arms
7
,
7
which are adapted to move close to each other in directions of an arrow mark Q thereby to clamp the plate connector
1
. The robot arms
7
,
7
are provided with flat contact faces
8
,
8
which are adapted to be brought into contact with the side faces
4
,
4
for clamping the plate connector
1
.
In the above described conventional art, there has been formed a backlash having a size D between the plate connector
1
and each of the holding frames
5
. This backlash has been required in consideration of setting and taking out of the plate connector
1
with respect to the setting jig
3
. However, there has been a problem that in a case where strict positioning accuracy of the plate connector
1
is required in a next process after the plate connector
1
has been clamped and conveyed by the robot arms
7
,
7
, a positional displacement of the plate connector
1
cannot be absorbed, and management by the robot
2
would be difficult.
Meanwhile, the plate connector
1
is so constructed that it can be reliably fitted to a mating member
9
as shown in
FIG. 9
, provided that the plate connector
1
has been set in a normal direction with respect to the setting jig
3
. If triangular marks
10
,
11
are aligned, this means that the plate connector
1
has been set in the normal direction. However, there has been a fear of misassembly if the plate connector
1
has been set on the setting jig
3
in a wrong direction as shown in FIG.
10
.
SUMMARY OF THE INVENTION
In order to solve the above described problems, according to one aspect of the present invention, there is provided a positional displacement absorbing structure for absorbing the positional displacement of an article clamped by a pair of robot arms, wherein the pair of robot arms respectively include recesses on their faces opposed to the article, the article includes projections on its faces opposed to the pair of robot-arms, the projections being adapted to be respectively engaged in the recesses, and each of the projections being formed with a pair of inclined faces with which peripheral edges of the recesses are adapted to slidably contact.
According to a second aspect of the invention, projections on opposite sides of the article are formed having different sizes.
According to a third aspect of the invention, the recesses of the robot arms on opposite sides of the article are also formed having different sizes in accordance with the sizes of the projections.
According to the first aspect of the present invention, when a pair of the robot arms have clamped the article, the positional displacement of the article can be absorbed. In other words, even though the positional displacement has occurred with respect to the article, the inclined faces of the projections of the article slidably contact clamping edges defined by the peripheral surfaces of the recesses of the robot arms when the article is clamped by the pair of the robot arms, and the article is moved to the normal position as the pair of the robot arms approach. The positional displacement can be thus absorbed.
According to the second aspect of the present invention, because the projections on alternate sides of the article are formed having different sizes, an article, which has been set in a wrong direction, will not be assembled to a mating member. Thus, misassembly can be avoided while the positional displacement is absorbed.
According to the second aspect of the present invention, because the recesses are also formed having different sizes in accordance with the sizes of the projections, the pair of the robot arms cannot reliably grasp the article in a case where the article has been set in the wrong direction. Accordingly, misassembly can be prevented before the article is conveyed to the mating member.
REFERENCES:
patent: 4368913 (1983-01-01), Brockmann et al.
patent: 4371100 (1983-02-01), Muhlbauer et al.
patent: 4645411 (1987-02-01), Madwed
patent: 4822091 (1989-04-01), Vermeer et al.
patent: 5120101 (1992-06-01), Vranish
patent: 5178431 (1993-01-01), Voellmer
patent: 5466025 (1995-11-01), Mee
Murakami Takao
Sawada Yoshitsugu
Armstrong Westerman & Hattori, LLP
Kramer Dean J.
Yazaki -Corporation
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