KR880009740A - 정밀 자동 조립장치 및 이를 이용한 조립방법 - Google Patents

정밀 자동 조립장치 및 이를 이용한 조립방법 Download PDF

Info

Publication number
KR880009740A
KR880009740A KR870004974A KR870004974A KR880009740A KR 880009740 A KR880009740 A KR 880009740A KR 870004974 A KR870004974 A KR 870004974A KR 870004974 A KR870004974 A KR 870004974A KR 880009740 A KR880009740 A KR 880009740A
Authority
KR
South Korea
Prior art keywords
insertion part
movable body
automatic assembly
precision automatic
hole
Prior art date
Application number
KR870004974A
Other languages
English (en)
Other versions
KR920006486B1 (ko
Inventor
히구찌 도시로
Original Assignee
아까바네 노부히사
신기쥬 쓰가이 하쓰 지교오단
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 JP62035901A external-priority patent/JPS63207530A/ja
Priority claimed from JP62035902A external-priority patent/JPS63207531A/ja
Application filed by 아까바네 노부히사, 신기쥬 쓰가이 하쓰 지교오단 filed Critical 아까바네 노부히사
Publication of KR880009740A publication Critical patent/KR880009740A/ko
Application granted granted Critical
Publication of KR920006486B1 publication Critical patent/KR920006486B1/ko

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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
    • 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
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0413—Pick-and-place heads or apparatus, e.g. with jaws with orientation of the component while holding it; Drive mechanisms for gripping tools, e.g. lifting, lowering or turning of gripping tools
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/082—Integration of non-optical monitoring devices, i.e. using non-optical inspection means, e.g. electrical means, mechanical means or X-rays
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49764—Method of mechanical manufacture with testing or indicating
    • Y10T29/49771—Quantitative measuring or gauging
    • Y10T29/49776—Pressure, force, or weight determining
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49895—Associating parts by use of aligning means [e.g., use of a drift pin or a "fixture"]
    • Y10T29/49902—Associating parts by use of aligning means [e.g., use of a drift pin or a "fixture"] by manipulating aligning means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
    • Y10T29/53061—Responsive to work or work-related machine element
    • Y10T29/53083—Responsive to work or work-related machine element including means to apply magnetic force directly to position or hold work

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Operations Research (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

내용 없음.

Description

정밀 자동 조립장치 및 이를 이용한 조립방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 종래예에 따른 RCC기구의 구성도.
제2도는 제1도의 RCC 기구의 동작 설명도.
제3도는 본 발명의 제1실시예를 보인 정밀 자동 조립장치의 전체의 블록도.

Claims (10)

  1. 부재에 형성된 구멍에 삽입부품을 끼워넣기 위한 정밀지동 조립장치에 있어서, a) 이동 가능한 핸드와, b) 상기핸드에 조립된 가동체와, c)상기 가동체를 지지함과 동시에 복수개의 축방향으로 상기 가동체를 제어하기 위하여 복수개의 전자장치를 구비하는 전자형 손목기구와, d) 상기 가동체의 위치를 검출하기 위한 위치 검출장치와, e) 상기 가동체의 선단부에 장착된 상기 삽입부품과, f) 상기 삽입부품을 상기 구멍에 삽입할 때에, 상기 삽입부품에 작용하는 외력과 상기 삽입부품이 상기 부재에 접촉하는 위치를 상기 위치 검출장치로 부터의 출력신호와 상기 전자장치의 여자코일의 전류치에 의거하여 추정하는 수단과, g) 상기수단(f)로 부터의 출력신호에 의거하여 상기 삽입부품의 상태를 조정하는 장치를 포함하는 정밀자동 조립장치.
  2. 제1항에 있어서, 각각의 상기 전자장치는 전자석을 포함함을 특징으로 하는 정밀자동 조립장치.
  3. 제1항에 있어서, 각각의 상기 전자장치는 공심코일과, 그기에 대응하는 자극을 구비한 리니어 직류액추에이터를 포함함을 특징으로 하는 정밀자동 조립장치.
  4. 제1항에 있어서, 상기 가동체의 선단부에는 상기 삽입부품이 장착되도록 한 척이 구비되어 있음을 특징으로 하는 정밀자동 조립장치.
  5. 부재에 형성된 구멍에 삽입부품을 끼워넣기 위한 정밀지동 조립장치에 있어서, a) 이동 가능한 핸드와, b) 상기핸드에 조립된 가동체와, c) 상기 가동체를 지지함과 동시에 상기 가동체를 복수개의 축방향으로 제어하기 위한 공심코일과 그기에 대응하는 자극을 구비한 리니어 직류 액추에이터와, d) 상기 가동체의 선단부에 장착된 삽입부품과, e) 상기 삽입부품을 상기 구멍에 삽입할 때, 상기 삽입부품에 작용하는 외력과 상기 삽입부품이 상기 부재에 접촉하는 위치를 상기 리니어 직류 액추에이터의 공심코일의 전류치에 의거하여 추정하는 수단과,f)상기 수단(e)로 부터의 출력신호에 의거하여 상기 삽입부품의 상태를 조정하는 장치를 구비하도록 한 것을 특징으로 하는 정밀자동 조립장치.
  6. 제5항에 있어서, 상기 가동체를 Z축방향으로 지지하기 위한 스프링을 구비하도록 한 것을 특징으로 하는 정밀자동 조립장치.
  7. 제5항에 있어서, 상기 삽입부품이 원기둥형의 핀임을 특징으로 하는 정밀자동 조립장치.
  8. 제5항에 있어서, 상기 삽입부품이 각 주형의 핀임을 특징으로 하는 정밀자동 조립장치.
  9. 부재에 형성된 구멍에 삽입부품을 끼워넣기 위한 정밀자동 조립방법에 있어서, a) 삽입부품이 장착된 가동체를 지지함과 동시에 복수의 축방향으로 상기 가동체를 제어하기 위한 복수의 전자장치를 구비하는 전자형 손목기구를 갖는 핸드를 이동 가능하게 배치하는 단계와, b) 상기 핸드에 의해서 상기 삽입부품을 상기 부재의 구멍에 대해 대략적으로 위치 결정하고, 그때에 상기 삽입부품에 작용하는 외력과 상기 삽입부품이 상기 구멍에 접촉하는 점의 위치를 검출하는 단계와, c)상기 삽입부품의 선단부에 수평방향의 힘이 가해진 경우에 상기 전자장치에 의해서 상기 삽입부품을 병진시키고, 상기 삽입부품의 선단부에 상기 삽입부품을 회전시키는 힘이 가해진 경우에, 상기 전자장치에 의해서 상기 삽입부품을 그것의 콤플라이언스 센터를 중심으로 회전시키는 단계와, d) 상기 삽입부품의 상태를 조정하면서 상기 삽입부품을 상기 구멍에 삽입하는 단계를 포함함을 특징으로 하는 정밀자동 조립방법.
  10. 제9항에 있어서, 상기 단계(d)에 의한 삽입부품의 상태의 조정은 상기 삽입부품의 상기 구멍에의 삽입 이동거리와, 상기 삽입부품과 상기 구멍간의 틈새의 양에 의거하여서 행하도록 한 것을 특징으로 하는 정밀자동 조립방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019870004974A 1987-02-20 1987-05-19 정밀자동조립장치 및 이를 이용한 조립방법 KR920006486B1 (ko)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP62-35902 1987-02-20
JP62-35901 1987-02-20
JP87-35902 1987-02-20
JP62035901A JPS63207530A (ja) 1987-02-20 1987-02-20 精密自動組立装置
JP87-35901 1987-02-20
JP62035902A JPS63207531A (ja) 1987-02-20 1987-02-20 自動組立ハンド

Publications (2)

Publication Number Publication Date
KR880009740A true KR880009740A (ko) 1988-10-04
KR920006486B1 KR920006486B1 (ko) 1992-08-07

Family

ID=26374912

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019870004974A KR920006486B1 (ko) 1987-02-20 1987-05-19 정밀자동조립장치 및 이를 이용한 조립방법

Country Status (4)

Country Link
US (3) US4884329A (ko)
EP (1) EP0283547B1 (ko)
KR (1) KR920006486B1 (ko)
DE (1) DE3787092T2 (ko)

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07108674B2 (ja) * 1989-04-27 1995-11-22 日産自動車株式会社 車体組立て精度管理方法
DE3933565A1 (de) * 1989-10-07 1991-04-18 Emitec Emissionstechnologie Verfahren und vorrichtung zum montieren von gebauten wellen
JP2834832B2 (ja) * 1990-03-15 1998-12-14 松下電工株式会社 姿勢制御装置
US5097584A (en) * 1990-04-13 1992-03-24 Seagate Technology, Inc. Method for predicting twist out torque in a swage mount
US5142770A (en) * 1990-04-13 1992-09-01 Seagate Technology, Inc. Apparatus for predicting twist out torque in a swage mount
US5397212A (en) * 1992-02-21 1995-03-14 Ebara Corporation Robot with dust-free and maintenance-free actuators
US5347413A (en) * 1992-11-13 1994-09-13 Seagate Technology, Inc. De-swaging technique for head gimbal assembly
JP3232911B2 (ja) * 1993-12-20 2001-11-26 トヨタ自動車株式会社 部品自動挿入方法
US5471445A (en) * 1994-06-20 1995-11-28 International Business Machines Corporation Apparatus and method for sensing and holding an item
US5729066A (en) * 1995-09-22 1998-03-17 General Electric Company Combined radial and axial magnetic bearings
JPH09192904A (ja) * 1996-01-18 1997-07-29 Toshiba Mach Co Ltd 空気軸受式工作機械
KR100197156B1 (ko) * 1996-03-22 1999-06-15 박원훈 자석의 반발력을 이용한 원격조종 로봇용 촉각 궤환장치
DE69736348T2 (de) * 1996-10-24 2006-11-30 Fanuc Ltd. Roboterkraftsteuersystem mit visuellem sensor für zusammenfügungsarbeiten
US6348749B1 (en) * 1997-04-14 2002-02-19 Koyo Seiko Co., Ltd. Magnetic bearing device and method of starting the device
CA2434336C (en) * 2000-10-06 2009-08-18 Chemspeed Ltd. Device having a tool holder and a tool which can be secured removably
AT414289B (de) * 2002-09-30 2006-11-15 M & R Automation Gmbh Verfahren und vorrichtung für eine automatisierte montage von elektromotoren
DE10345538A1 (de) * 2003-09-30 2005-05-12 Siemens Ag Bestückkopf mit einer Greifereinheit zum Bestücken von Substraten mit elektrischen Bauelementen
US7877899B2 (en) * 2004-09-30 2011-02-01 Asics Corporation Shock absorbing device for shoe sole in rear foot part
JP4519696B2 (ja) * 2005-03-29 2010-08-04 富士通コンポーネント株式会社 入力装置
US7353580B2 (en) * 2005-06-22 2008-04-08 Northrop Grumman Corporation Technique for automatically analyzing Z-pin dynamic insertion data
US7409757B2 (en) * 2005-06-22 2008-08-12 Northrop Grumman Corporation Automated Z-pin insertion technique using universal insertion parameters
US7497001B2 (en) * 2005-06-22 2009-03-03 Northrop Grumman Corporation Technique for predicting over insertions for partial grids and defective Z-pins
US7845259B2 (en) 2005-07-14 2010-12-07 Provo Craft And Novelty, Inc. Electronic paper cutting apparatus
US7930958B2 (en) * 2005-07-14 2011-04-26 Provo Craft And Novelty, Inc. Blade housing for electronic cutting apparatus
US20070012148A1 (en) 2005-07-14 2007-01-18 Robert Workman Electronic cutting apparatus and methods for cutting
US20070012146A1 (en) * 2005-07-14 2007-01-18 Robert Workman Electronic paper cutting apparatus and method
JP2008290228A (ja) * 2007-04-24 2008-12-04 Fanuc Ltd 嵌合装置
DE102007054454B4 (de) * 2007-11-13 2010-08-26 Tyco Electronics Amp Gmbh Vorrichtung und Verfahren zum Bestücken von Leiterplatten mit Kontaktstiften
US20110280999A1 (en) 2009-12-23 2011-11-17 Provo Craft And Novelty, Inc. Foodstuff Crafting Apparatus, Components, Assembly, and Method for Utilizing the Same
DE102013002863A1 (de) * 2013-02-20 2014-08-21 Newfrey Llc Ausgleichsvorrichtung für eine Werkzeugeinheit und Fügeverfahren mittels der Werkzeugeinheit
JP2014176940A (ja) * 2013-03-15 2014-09-25 Yaskawa Electric Corp ロボットシステム、ロボット制御方法及び被加工物の製造方法
EP2990165A3 (en) * 2014-08-25 2016-06-29 Seiko Epson Corporation Robot for fitting an object in another
CN106862888B (zh) * 2017-02-14 2018-11-23 浙江欣通电气有限公司 静铁芯送料装置
WO2021263109A1 (en) * 2020-06-25 2021-12-30 Jabil Inc. Apparatus, system and method for a floating end effector module
CN113878588B (zh) * 2021-11-12 2023-03-31 哈尔滨工业大学（深圳） 面向卡扣式连接的基于触觉反馈的机器人柔顺装配方法

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3893217A (en) * 1974-12-13 1975-07-08 Bendix Corp System and method for automatic insertion of pins in holes
US4156548A (en) * 1976-02-27 1979-05-29 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Magnetic suspension and pointing system
US4098001A (en) * 1976-10-13 1978-07-04 The Charles Stark Draper Laboratory, Inc. Remote center compliance system
US4316329A (en) * 1979-09-19 1982-02-23 The Charles Stark Draper Laboratory Instrumented remote center compliance device
US4477975A (en) * 1981-05-22 1984-10-23 The Charles Stark Draper Laboratory Adjustable remote center compliance device
US4440031A (en) * 1981-07-31 1984-04-03 The Charles Stark Draper Laboratory Force detecting system for remote center compliance device
US4409736A (en) * 1981-07-31 1983-10-18 The Charles Stark Draper Laboratory, Inc. Null seeking system for remote center compliance device
US4439926A (en) * 1982-04-06 1984-04-03 The Charles Stark Draper Laboratory, Inc. Transferrable-center compliance system
US4621332A (en) * 1983-06-20 1986-11-04 Hitachi, Ltd. Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient
US4517744A (en) * 1984-02-21 1985-05-21 The Charles Stark Draper Laboratory, Inc. Compliant assembly system with force sensor members
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
JPS6185060A (ja) * 1984-09-29 1986-04-30 Toshiba Corp 非接触位置決め装置
US4631959A (en) * 1984-12-14 1986-12-30 Metrex Instruments Ltd. Drag anemometer
JPS62181888A (ja) * 1986-02-07 1987-08-10 三菱電機株式会社 産業用ロボツト装置
US4694230A (en) * 1986-03-11 1987-09-15 Usa As Represented By The Secretary Of Commerce Micromanipulator system

Also Published As

Publication number Publication date
EP0283547A2 (en) 1988-09-28
US4884329A (en) 1989-12-05
DE3787092T2 (de) 1994-04-07
EP0283547A3 (en) 1989-11-29
EP0283547B1 (en) 1993-08-18
KR920006486B1 (ko) 1992-08-07
US4882837A (en) 1989-11-28
DE3787092D1 (de) 1993-09-23
US4882836A (en) 1989-11-28

Similar Documents

Publication Publication Date Title
KR880009740A (ko) 정밀 자동 조립장치 및 이를 이용한 조립방법
US4072918A (en) Bistable electromagnetic actuator
DE59901100D1 (de) Servo-Druckregler mit gestuftem Magnetanker
JP2005087000A (ja) ステータハウジングにシャフトを押し込む装置
US3882337A (en) Hall plate contact-less operator and method of its adjustment
DE3683015D1 (de) Lineare motoren.
DE59700140D1 (de) Bistabiler Kleinmagnet
ATE354172T1 (de) Magnetsystem
US4801910A (en) Magnetic actuating mechanism
JP2008237017A (ja) ステータハウジングにシャフトを押し込む装置
JPH10336976A (ja) 回転電機の着磁装置
IT1320476B1 (it) Attuatore elettromagnetico a bobina mobile, particolarmente per unavalvola di controllo, con elemento elastico integrato nella bobina.
JPH0244703A (ja) 電磁駆動装置
JPH07274475A (ja) リニアアクチュエータ
JPS63164135A (ja) 作動片の駆動装置
JP2004531076A (ja) 対象物を基板に載着するための載着装置および方法
SU1422244A2 (ru) Устройство линейного перемещени
ATE200941T1 (de) Ein schutzschalter
JP2000014119A (ja) リニアモータ
JP4832710B2 (ja) 測長機を組付けるための方法、および相応する測長機
JP2529457Y2 (ja) 光ピックアップ装置
JP2995605B2 (ja) 光スイッチの製造方法
RU2157929C1 (ru) Магнитная подвеска
SE9503688D0 (sv) Elektromagnetiskt manöverdon
JP2003262513A (ja) 円柱型部品位置決め装置および方法

Legal Events

Date Code Title Description
A201 Request for examination
G160 Decision to publish patent application
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20060706

Year of fee payment: 15

EXPY Expiration of term