Machine element or mechanism – Mechanical movements – Reciprocating or oscillating to or from alternating rotary
Patent
1982-11-08
1986-01-28
Staab, Lawrence J.
Machine element or mechanism
Mechanical movements
Reciprocating or oscillating to or from alternating rotary
414749, 901 16, 74479, B25J 1100, F16H 1906
Patent
active
045663467
DESCRIPTION:
BRIEF SUMMARY
The present invention relates to a programmable fine manipulator particularly adapted to the assembling method in the field of products of small or average volumes.
Manipulators are already known which comprise a frame structure with respect to which two movable members can slide in both ways of two orthogonal directions under the action of actuating members. These known manipulators are often designated under the name of table XY and the movable members are constituted of two superimposed plates, whereas the actuators (motor or jack) are respectively mounted on said movable members. As a result of which these known manipulators show great inertia and have to comprise an overhanging arm, fast with one of the said movable members in order to grasp the parts to be assembled.
Such manipulators operate with average accuracy, of between 0.2 and 0.5 mm. They are not very well adapted to the assembling method because:
1. For each element to be assembled, they have to travel to and fro between the gripping point and the setting down point.
2. For any new element to be taken up, it is mostly necessary to change the grasping tool.
In addition, these structures with overhanging movable arms are rigid, which is incompatible with the precision requirements.
It is the object of the present invention to overcome these drawbacks. The manipulator of this invention achieves this object. The manipulator of the type comprising a frame structure with respect to which two movable members can slide in both ways of two different directions under the action of actuating members, is noteworthy in that at least one of the said movable members has the structure of a frame which can slide in its plane with respect to the said frame structure and in that the other movable member is mounted inside the said frame structure so as to slide with respect to the latter in parallel to its plane.
Preferably, in order to reduce as much as possible the inertia of the manipulator, the actuating members are fixedly mounted on the frame structure and the movement is transmitted to the movable members via transmissions, such that the transmission associated with the movable member inside said frame structure comprises a sliding element.
Preferably, the movable element internal to the frame structure is also shaped as a frame, so that movable members can pass therethrough.
The transmission associated with the inner movable member can be provided with a shaft driven in rotation, a pulley being slidable with respect thereto, which pulley is fast in rotation with said shaft, the movement of said inner movable member being imparted by the pulley. It is particularly advantageous if the transmissions are of the belt and pulley type.
The frame structure can optionally be made to move for example in a direction which is orthogonal to the moving directions of the said movable members. And a manipulator XYZ is thus obtained.
It is therefore obvious that the device according to the present invention makes it possible. tool, fixedly mounted, offset-gantry type structure.
Such a structure is for example obtained by mounting the assembly consisting of the frame structure and of the two movable frames on columns, which makes the manipulator according to the invention much more rigid, this rigidity being compatible with the precision targets demanded by the applications considered in the field of micromechanics.
The figures in the accompanying drawing will illustrate how the invention can be carried out.
FIG. 1 is a partial diagrammatical perspective view of the manipulator according to the invention.
FIG. 2 is a perspective view of the inside frame and of its driving device.
FIG. 3a is a cross-section along line III--III of FIG. 2.
FIG. 3b is a cross-sectional view of an alternative embodiment of the bar of FIG. 3a.
FIG. 4 is a perspective view of the outer frame and of its driving device.
FIG. 5 is a perspective view showing the position of the inner and outer frames and of their driving devices.
Where applicable in these figures, identical references are used to d
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