Tool driving or impacting – With work engaging means supporting drive – Anchored to work
Patent
1985-04-15
1987-09-29
Kazenske, E. R.
Tool driving or impacting
With work engaging means supporting drive
Anchored to work
173139, B21J 1304
Patent
active
046963510
DESCRIPTION:
BRIEF SUMMARY
The present invention relates to a robot for assemblying parts of a manipulating or a nonmanipulating type, and more particularlty to a robot comprising at least one holder for the parts in an assembly area and a head carrying the assembly tool and translatingly and/or rotationally movable with respect to the part holder by means of guiding supports. The head is positioned by motors and carries in a fixed or sliding mode a device for applying the tool to a part with a predetermined force.
At present, the use of industrial robots is becoming increasingly diversified: new sections of the industry are progressively introducing the use of robots into areas where they were previously unknown; also, the operations robots are required to carry out are evolving to become for example more complex, more delicate or more accurate.
Certain robots are required to carry out operations implying the use of a mechanical force which is sometimes important. When the mobile components of a robot are lightly built for allowing them to move at a high speed, they are unable to absorb the reaction resulting from the application of a force to the part. In the case of robots referred to as nonmanipulating robots, such as for example the portal-type robots, this problem has found no solution up to now. Consequently, many operations cannot be performed by portal-type robots, and auxiliary instruments have to be used, or the operations even have to be carried out manually. The robot of the invention can be advantageously used for overcoming the difficulties encountered in this case. To achieve this purpose, the robot of the invention is provided with the characteristic features described in claim 1.
The appended drawings illustrate purely by way of examples certain embodiments of the invention, or details of certain of said embodiments. It should be noted that the scope of the invention is in no way limited to the embodiments which are represented in the drawings.
FIG. 1 is a side view of one of the embodiments of the invention,
FIG. 2 is a sectional view showing the device enabling to apply a force on the tool,
FIG. 3 is a sectional view showing another version of the device enabling to apply a force on the tool,
FIG. 4 is a vertical sectional view of a preferred embodiment of the invention, and
FIG. 5 is a plan view of the embodiment shown in FIG. 4.
Referring now to the embodiment of the invention illustrated in FIG. 1, the robot comprises at least one holder 10 for the parts 11 in an assembly area. A head 1 is translatingly and/or rotationally movable with respect to the holder 10 and can have for example 2 or 3 degrees of freedom. The head 1 is moved on guiding supports, of which only one 3 can be seen in FIG. 1. The other guiding support 4 (see FIG. 5) is oriented perpendicularly to the drawing. A motor 6 is used to move the head along the guiding support 3 shown in FIG. 1. A guiding support for enabling a vertical movement of the head has been omitted in this embodiment, but can be provided without difficulty in other embodiments.
The various movements of the working head 1 are generated and controlled by usual components, such as for example servomotors 6 rotating worms. The working head 1 is moved along the guiding supports in the usual manner; the sliding along the guiding supports 3, 4 can be ensured for example by using rollers of a conventional type.
The control of the robot assembly can also be ensured by conventional means; such means are generally hydraulic, pneumatic, or electric. Further, the system is generally controlled by one or several microprocessors, or even by a computer (not illustrated in the drawings).
According to the invention, the robot comprises a device 20 to enable the application of a mechanical force by a tool 21 to a part 11.
This device can be carried in a fixed mode by the head, but in the embodiment of FIG. 1 the device is slidingly movable with respect to the head 1 in the direction of the force which is applied to the part. The means enabling this sliding motion will be described hereafter in
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C O D Inter Techniques SA
Kazenske E. R.
Wolfe James L.
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