Geometrical instruments – Gauge – With support for gauged article
Patent
1984-01-12
1986-06-24
Martin, Jr., William D.
Geometrical instruments
Gauge
With support for gauged article
33178E, 33573, G01B 712
Patent
active
045960763
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
This invention concerns a device for handling a cylindrical or spherical piece, which may comprise, for example, the nipper of a programmable automaton or robot. That device is equipped with simple means to measure the diameter of the piece carried during its handling.
In a great many industrial manufacturing processes, robots are used to handle pieces with a view, for example, to their doing machining or assembly. To verify the presence of the pieces, count them, check their condition and possibly regulate the manufacturing process accordingly, it is advantageous to integrate means of measuring the pieces with the handling device itself.
Of course, numerous robots are equipped with sensors, usually placed at the joints of the elements of the arm designed to grip the piece, which make it possible to determine the position of those elements. However, the limited precision of those sensors and the lack of rigidity of the elements comprising the arm, notably, when the robot is supposed to handle heavy pieces of up to approximately twenty kilograms, make it impossible to take measurements with the necessary precision, which is in the order of a few microns.
Thus, this invention will combine with the handling device a measuring means of simple design to assure rapid, reliable and precise measurement of the pieces being carried.
SUMMARY OF THE INVENTION
For that purpose, the handling device, containing two arms between which the piece is to be gripped, presents in at least one of those arms a dihedron or a trihedron in which the piece is capable of being engaged, depending on whether it is cylindrical or spherical.
Furthermore, a length sensor is mounted on the edge of the dihedron or at the vertex of the trihedron in order to determine the distance from the surface of the piece to the edge or to the vertex, that distance representing the diameter of the piece.
The operating principle of such measuring means, in which the position of a cylindrical piece placed in a V-shaped groove, in relation to the edge of that V-shape, makes it possible to deduce the diameter of the piece, is by itself known. It is described, for example, in the work "Taschenbuch der Langenmesstechnik," Springler VErlag, Berlin, 1954, pp. 466 and 467, and will not be further explained below. This invention presents not only the particular structure for such measuring but also the ability to grip the piece being measured.
BRIEF DESCRIPTION OF THE DRAWING
The invention will be clearly understood by reading the following specification given with reference to the attached drawings, among which:
FIG. 1 is a sectional view of a device according to a first embodiment of the invention; and
FIGS. 2 and 3 are perspective views of two other embodiments of the invention.
DETAILED DESCRIPTION OF THE DRAWING
As can best be seen in FIG. 1, the handling device 1 provided to grip a cylindrical piece 2 contains at least two arms 3 and 4 spaced-apart and hinged at 5, so as to be able to grip and hold the piece 2 between the arms. A V-shaped groove or dihedron is formed in arm 4 in which the piece 2 is engaged. The dihedron preferably consists of the outer surface of two or four bars 6 made of a wear-resistant material, such as hard metal, sapphire or even polycrystalline diamond. A length measuring sensor 8 is mounted at the vertex 7 of the dihedron enabling the detection of the position of the surface opposite the piece 2.
Any reasonable type of sensor may be used. It can, for example, be inductive, capacitive, resistive, pneumatic or an optical sensor, and measurement can either necessitate a contact between the end of the sensor and the piece or dispense with it.
Any angle can be formed by the dihedron, but the relation between the diameter of the piece 2 and the indications of the sensor 8 depend on that angle. By choosing for that angle a known value of approximately 112.degree.53'12", the ratio of diameter variations for two given pieces on the corresponding displacement of the measuring sensor is equal to 10, which m
REFERENCES:
patent: 1401119 (1921-12-01), Aldeborgh
patent: 1617284 (1927-02-01), Ames
patent: 1648497 (1927-11-01), Moore et al.
patent: 2303007 (1942-11-01), Thomason
patent: 2408672 (1946-10-01), Mennesson
patent: 3135056 (1964-06-01), Sleeter
patent: 3315367 (1967-04-01), Walsh
patent: 4132001 (1979-01-01), Petrik
Berger Peter L.
Martin, Jr. William D.
Meseltron S.A.
LandOfFree
Device for handling a cylindrical or spherical piece does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Device for handling a cylindrical or spherical piece, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Device for handling a cylindrical or spherical piece will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2080400