• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    An automatic industrial robot is provided with an autoadaptive tactile device connected to a tool for performing at least one operation upon a workpiece. The tool is carried by a working head including a toolholder, and control means for effecting relative movement between the workpiece supporting means and the working head so as to bring a tool in the toolholder into a predetermined position relative to the workpiece subject to a certain tolerance. The toolholder is connected to the working head by a coupling which can be selectively freed to allow limited shifting of the toolholder relative to the working head and clamped so as to clamp the toolholder relative to the working head.
    公开号:SU878184A3
    申请号:SU762394552
    申请日:1976-09-03
    公开日:1981-10-30
    发明作者:Дъауриа Антонио
    申请人:Инж.С.Оливетти Энд К., С.П.А., (Фирма)；
    IPC主号:
    专利说明:

    (54) SELF-LEAVING DEVICE FOR DRIVERS The invention relates to a machine tool industry. A known homing device for machine tools, an iCO holding control unit, a support for the workpiece, a tool spindle and a tool mounted in a cartridge associated with a working head by means of an assembly comprising two connecting elements, one of which is connected the head and is equipped with an electromagnet associated with the power supply, and the second is associated with the tool and is installed with the possibility of communication by means of an electromagnet with the first element, and the head is installed with the possibility of moving lenii and in the direction perpendicular to the plane of contact tl connecting elements. A disadvantage of the known devices is the low accuracy of the adjustment of the position and the working head with the cartridge relative to the support. The purpose of the invention is to improve the accuracy of adjusting the position of the working head with the cartridge relative to the support. MACHINES The above objective is achieved by the fact that the connecting node is provided with a limiter relative to the movement of two elements of the connecting node in the plane of their contact, the electromagnet being provided with an additional source of low voltage. In addition, the element of the connecting unit, connected to the head, can be made of two parts, hinged to each other, and provided with a sleeve, installed with the possibility of rotation and axial displacement with respect to the element,. associated with the tool, the sleeve being associated with a limiter of the relative movement of the two elements of the coupling assembly. In addition, the device may be provided with a pneumatic assembly comprising an air supply regulator and at least one channel for injecting air into the gap between the two elements of the connecting unit, the air supply regulator being connected to the control unit. FIG. 1 shows a machining center, a general view of FIG. 2 - a variant with a pilot plant of the device, a partial section on
    FIG. 3 shows a second variant of a self-homing device, a section; Fig.4 section aa on fig.Z; in fig. 5 is a diagram of a machining center control system shown in FIG. 1; in fig. b - view of a part of a variant of the device shown in FIG. 3; Fig. 7 shows a series of phases during operation performed by a device which is shown in Figs. 6
    The device contains a base 1 of a mechanical processing center, equipped with a stationary worktable 2, on which part 3 to be processed is attached. Two front columns 4 are fixed to the base 1, covered with a crossbar 5. At the rear edge of the base 1 there are vertical side walls b connected by the rear wall 7, which are covered by a second crossbar 5 and an adjacent toothed rack 8 from above. Crossbars 5 are connected by a significant number of longitudinal beams, the ends 9 of which are connected in the form of a carriage sliding along the first kladinam 5. At the distal end of the carriage meshes with a fixed rack 8 can be mounted pinion driven in rotation by means of a stepping motor
    10. The IM controls the corresponding control block 11 by issuing a number of pulses proportional to the movement that the corresponding beam 12 must perform along the X axis,
    The machining heads 13 have calipers 14 that slide along the beams 12 in the direction of the U axis. For this purpose, each of the caliper 14 is attached to the brush 15, which engages with the rack 16, which is fixedly connected to the beam 12, and which is driven by the second a stepper motor 17 controlled by a block 11.
    Each caliper 14 is provided with a third gear 18 (FIG. 2), rotated by a third stepper motor 19, which also controls the unit
    11. The gear 18 engages with a toothed rack 20 cut on the drum 21 of the processing head 13 in order to move the head along the Z axis. The shaft 22 has the ability to rotate inside the drum 21 and is connected via a gear box 23 to the electric motor .24 to bring the fixed in the chuck 25 of the tool 26. The chuck 25 is mounted in the machining head 13 with the possibility of movement, which is described below.
    The change of cartridge 25 in connection with the technological operations carried out is carried out automatically. For this tsel to the rear wall 7 (FIG. Rack mounted 27 with the tool
    26, in which in a predetermined order are placed the various applied cartridges 25. There are two programming blocks 28 provided (FIG. 5 serving to provide the blocks 11 with the information necessary for the stepping motor 10, 17 and 19 to issue to each head 13 commands about returning to the rack a tool working on a specific operation, searching for a new tool working on a certain operation, searching for a new tool, removing it from the corresponding cell of the rack 27, and setting the head 13 to the required position relative to workpiece 3.
    Two .28 programming blocks are controlled through a data processing device, such as a mini-computer. A registration unit 29 is provided for each head 13, the activation of which is carried out through manual control, including a trigger 30, which records the programs.
    The cartridge 25 (FIG. 2) is connected to the processing head 13 by means of a coupling 31, which can be or is released to provide a certain displacement of the cartridge 25 relative to the head 13, or fixed to rigidly fix the cartridge 25 in the head 13. The coupling 31 turns on the first a part, in which the sleeve 32 is used, is fixedly connected to the drum 21. At the lower end of the sleeve 32, there is a bronze ring 33 in which there is a reference plane 34 for the second part 31, which uses the disk 35 of the cartridge 25.
    In addition, an electromagnet 36 is placed in the sleeve 32 with a winding 37, which is energized by two different voltages according to the signal of the control unit 11 (Fig. 5): the first voltage is 8 V and the second is 25 V. The electromagnet 36 has an air gap between two parts, one of which is the core 38 of the winding 37, and the second part is the disk 35 of the cartridge 25.
    The disk 35 is provided with two holes 39 and 40, provided for installing two axial pins 41 connected to the core 38 of the electromagnet 36 in diametrically opposite locations. The diameters of the holes 4.0 exceed the diameters of the pins 41, and this provides a certain stroke of the cartridge 25 with respect to the sleeve 32.
    The chuck 25 is provided with a short roller 42, which rotates with the tool 26 and serves to engage with the spindle of the head 13. This spindle includes a sleeve 43, which has two identical spiral grooves 44 at an upper end that are located at an angle of 180 to each other. Two read-through pins 45, having c in axis 46, which is connected to shaft 22 through swivel 47, enter grooves 44. A pressure spring 48 is placed between the sleeve 43 and axis 46, which causes the sleeve 43 to move in a downward direction, as e shown in the drawing. The short roller 42 in the chuck 25 is provided with two radial pins 49, the purpose of which is to enter into two grooves 50 made for this in the sleeve 43, and to turn the tool 26 into rotation. A series of balls 51 located in the elastic ring 52 serves to maintain the chuck 25 at the axial position in cases where there is no complete charging of the electromagnet 36. In the sleeve 32 there is also an annular channel 53 into which the compressed air enters through flexible hose 54. Through four axial channels, of which only one is visible in FIG. 2, channel 53 is connected to as many outlets 55, having with in the bronze ring 33, what is needed to create an air gap or cushion between the plane 34 of the ring 33 and the adjacent disk plane 35. Finally, in the ring 33 there is a sensor 56 designed to issue signals about the presence of the cartridge 25 and to prevent both the air supply and the powering of the electromagnet 36 while the cartridge 25 is connected to the head 13. The self-guided device works as follows. When the processing head is hung to the storage location on the rack 27 of the new tool 26 (FIG. 1), the cartridge 25 is already positioned so that the hole 40 is in line with the axial pin 41 (FIG. 2), while the sleeve 43 can be at any angle relative to the short roller. If the pins 49 do not fit into the grooves 50, then the sleeve 43 pushes upwards in the opposite direction from the direction of the spring 48: In this case, the spiral grooves 44 together with the pins 45 cause the rotation of the sleeve 43 until the grooves 50 are on one line with the pins 49. Then the spring 48 causes the sleeve 43 to bounce off, which overcomes the force of the elastic ring 52 and reaches the position shown in Fig. 2. At this moment, the control unit 11 (Fig. 5) issues a signal about energizing the electromagnet 36 with a current of 8 V and supplying compressed air through the hose 54 to the channels 53. The air pressure is regulated so that its operation through the outlets 55 located in the disk 35, almost balances the action of the electromagnet 36. For this reason, the electromagnet 36 holds the cartridge 25 and the cartridge may radially shift within the limits defined by the diameter of the holes 40 and the size of the air gap between the plane 34 and the disk 35. This movement is is also given to the sleeve 43 and to the axis 46, while the shaft 22 can remain at rest due to the hinged connection 47. With such a connection 25 with the processing head, the latter is now shifted by the signal of the blocks 11 and 28 (Fig. 5) to those until it reaches, within the tolerance established by the stepper motors 10 and 17, the position occupied by the workpiece 3, provided as an example, with a large blind hole in the sleeve installed in the workpiece 3. The processing head 13 now moves downwards and using the stepper motor 19 to align the tool 26 with the hole 57. If the tool 26 is not exactly aligned with the hole 57, this mutual position will cause the tool 26 to move relative to the shaft 22. Once the necessary position of the tool 26 is reached , the stepping motor 19 stops as the tool 26 has reached the limits of its translational motion. Thereafter, the engine passes a signal to control unit 11, which commands the powering of electromagnet 36 with a current with a voltage of 24 volts and at the same time stops the air supply to the hose 54. Thus, the cartridge 25 remains rigidly fixed with the sleeve 32, and the electric motor 24 can be used for machining purposes. At the end of the machining process, the processing head 13 first rises and then moves in order to return the cartridge 25 to the rack 27. Now the power supply to the electromagnet 36 is completely stopped, and the compressed air is supplied to the outlets 55. At this time the compressed air, no longer the counterbalanced energy supplied to the electromagnet 36 can overcome the action of the elastic ring 52 on the balls 51, so that the cartridge 25 separates from the processing head 13 and returns to the appropriate place on the rack 27 (firm). According to an embodiment of the device, the machining hook 13 is adapted to fasten a sensitive tool therein.
    The support of the processing head 13 bears on itself a drum 58 (FIG. 3), having a possibility of vertical sliding (this drum is similar to the drum 21 shown in FIG. 2). Below the drum 58 there is a fixed sleeve 59 to which the bronze ring 60 is attached. Four axial channels 61 are made in the ring 60, which are supplied with air through the ring channel 62 and ending in the outlet opening 63, located in the lower end.
    The sleeve 59 contains an electromagnet 36, similar to that shown in FIG. 2, the magnetic circuit of which consists of a disk 64 connected to a chuck 65. The disk 64 bears a sleeve 66 inside which a plunger 67 slides with a certain input, which is attached to the disk 68 of the cartridge 65 with its base. The disk 68 is connected to the disk 64 when the presence of an angular reversal by means of a pin 69 that fits into a groove 70 provided in the disk 64. A short 71 fits the upper end of the plunger 67, and a sensor 72 is connected to the roller above, which is intended to give signals about any movement of the short roller along the axis in a reasonable way.
    A first pressure spring 74 is located between the short roller 71 and the shoulder 73 of the sleeve 66, the second spring 75 is located between the disk 68 and the sleeve 66. The force of the spring 74 exceeds the force of the spring 75, with the result that the cartridge 65 usually takes the upper position shown in FIG. .
    The disk 64 has two diametrically positioned holes 76, in which there are two fixed pins 77, which are located in a ring 60. There are, on the ring 60, in addition, two elastic pins 78, which are also located at different ends diameter and. alternate with pins 77. Each pin 78 is fixed in piston 79 (FIG. 3), slid inside cylinder 80 bore hole in ring 60, and is shifted downward by means of pressure spring 81. It is envisaged that the pins 78 fit into the grooves 82 of the disk 64, as a result of which the tool installed in the disk must only move along the X axis.
    Between the lower end of the piston 79 and the cylinder 80 there is an air chamber 83 filled with air that is accessible through the radial channels 84 and the angular channel 85 from the outer hose 86 (FIG. 3).
    Four hollow cylindrical plunger 87 located along the perimeter
    90 angle
    to each other, and
    each of them is made in one piece with the piston 88, which slides inside the cylindrical blind hole 89, can interact with the cylindrical surface 90 of the short roller 71. The spring 91 displaces each piston 88 inwards, at which time the compressed air can enter the annular chamber 92 through p d piping 93 and 94. Typically, each piston stops opposite ring 95 (FIG. 3) so that it leaves a certain gap between the end of the centering plunger 87 and the surface 90. The two plunger 87 are positioned appropriately at an angle Scrap 90 to each other along the axes X and Y in each of them a position sensor 96 is installed, similar to sensor 72.
    The cartridge 65 consists of a piston 97, which has the possibility of a vertical stroke using pneumatic means and is fitted at the base with a pistol 98, into which two protrusions 99 belonging to the two grippers 100 fall. These grips rotate on two pins 101 of the cartridge 65 and are intended to gripping the part 102 and bringing it to the installation site to the hole 103 in the part 104.
    The processing head shown in FIG. 3 and 4, operates as follows.
    Suppose that the cartridge 65 can be moved in two directions X and Y, so that the grooves 82 will not be needed, and if this were the main use envisaged for this system, it might not be executed on disk 64.
    Firstly, the programming unit 28 and the control unit 11 (FIG. 5) force the processing head 13 to shift in order to align it with the chuck 25 selected on the rack 27 (Fig 1). The control unit 11 (FIG. 5) forces the compressed air into the hoses 86 (FIG. 3), so that through the channels 85 and 84 the pins 78 are drawn by overcoming the action of the spring 81. The block 11 now gives a signal to feed the electromagnet 36 (FIG. 3) current with a voltage of 8 V, thus connecting the disk 64 with the processing bare 13
    Now, by operating the spring 91 on the pistons 88, the first piston centering of the cartridge in the working head 13 is performed. Thereafter, the compressed air is supplied to the pipes 94 and 93, thus the four pistons 87 are drawn in and the compressed air enters the disk 64 is in a free-motion state with respect to the head 13, as shown in FIG. 2. Then through the block. 11, the programming unit 28 causes the cartridge 65 to move to a position (not shown) in which the supply of the hose 86 is possible (FIG. 3). Now the piston is in working condition, i.e. it starts moving downwards so that the grippers 100 engage the part 102, which is in the calculated position, determined by the commands of the programming unit 28, when the grippers 100 converge, the tool 65 is displaced relative to the processing head 13, causing the disk 64 to slide around the ring 60 This process is facilitated by compressed water entering through the outlet 63, so that an air gap is created between the two surfaces, the disk 64 and the ring 60, which are in direct contact.
    At the end of the stroke of the piston 97, the head 13 is already moving upwards, and the compressed air is no longer supplied to the pipes 94 and 93. Through the body of the plungers 87, the spring 91 now centers the plunger 67 together with the disk 64, the chuck 65 and in detail 102. The electromagnet in this case is supplied the current is 24 volts, and the compressed air comes out of the exhaust holes 63, with the result that the cartridge 25 remains rigidly connected to the head 13.
    The processing head 13 is now aligned with the installation location of the 103 V hole of the part 104, into which the part 102 is placed. If the position occupied by the commands coming from block 11 does not exactly match the set one, then the search movement controlled by the aid of two sensors 72 and 96, which are activated by block 11 selectively through the corresponding multiplier 105 and which transmit to the minicomputer the corresponding data converted to digital values by converter 106.
    The search movement controls the mini-computer 107, which is expressed in spiral movements of the head 13.
    More specifically, it is expressed that when the part 102 touches the shaft 104 without centering relative to the hole 103, the spring 75 slows down, while the short roller 71 moves upward, causing the sensor 72 to give a signal which, in combination with the readings of the tool height reached, causes the corresponding search alternation. Spring 75 can also be compressed on other phases of the cycle, for example, due to the inability to grab the pin or because of an unsuccessful search for the part, or because of other unexpected obstacles. In these cases, the sensor 72 generates the same signal about repeating loop interlaces as many times as necessary. When the desired position is reached, the sensor 72 signals this. The part 102 is installed at the installation location of the hole 103, after which the piston 97 comes into action and opens the grippers 100. If the installation location of the hole 103 or part 102 is provided with a camera or other suitable input means, the search movement is stopped while the electromagnet 36 is connected to 8B, the installation movement of the part 102 into the mounting hole 103 is carried out and an air gap is created.
    When the cartridge 25 needs to be returned to the rack (Fig. 1), the control unit 11 causes the head 13 to move to the corresponding storage place of the cartridge, after which the power supply to the electromagnet 36 is completely stopped, and air is again supplied to the outlet holes 63. Compressed air provides the release of the cartridge .25 from the head 13.
    If the part to be mounted is a screw, then the cartridge can be equipped with a screwdriver 108 (Fig. 6) fixed in spindle 109, which is driven by its own electric motor 110 through a gearbox 111. In this case, the roller 71 is made hollow so that a spring 112, entered between the short roller itself and the shoulder of the plunger 113, connected by two grooves 114, to the corresponding two pins 115 of the spindle 109. This spindle 109 can then be moved relative to the head 13 thanks to the coupling 31, which is similar to and shown in FIG. 2 and 3. In addition, the short roller 71 may be subjected to axial movement with respect to the tip of the screwdriver 108. Through the plunger 87 this movement is recorded by the sensor 72.
    In order to explain the corresponding movement of the plunger 113 with respect to the short shaft 71 (Fig. 7), the plunger 113 is depicted as an indicator 116 moving relative to the scale 117 of the process head 13.
    In the first phase (Fig. 7a, c), if the head 13, controlled by block 11 and possibly performing a search movement, brings the screw 118 to the position corresponding to the hole 119 in the part 120, then the spring 112 (Fig. 6) is not compressed and the car goes into the next phase. On the other hand, if the spring is compressed, for example, because a hole has not been found (Fig. 7c), a signal 72 gives a signal about this, which creates an unconditional jump command in the program and processing stops (polanization).
    权利要求:
    Claims (4)
    [1]
    In the second phase (Fig. 7c, d), the screwdriver 108 is set to the desired position, i.e. not yet rotated. If the spring 112 is compressed, the machine moves to the next phase, on the other hand, if the spring is not compressed, this means that the threaded part 121, in which the screw 118 is wrapped, is not found with a tool or the screw 118 is not found, or the screw or part has been torn off. In this case, the signal from the sensor 72 that the spring 112 is not compressed causes stopping the processing. In the third phase (Fig. 7a, f), the screwdriver 108 rotates until the screw 118 reaches the stop in the part 120, causing , stopping the llO motor (Fig. 6). If everything is in order, the spring 112 is not compressed and the parts are properly fitted. On the other hand, if the spring 112 is compressed, it means that the screw does not fill its place when screwing in, and therefore it will not touch the part 120, so that in this case the machining is also stopped and the part is rejected. Therefore, writing the electromagnet 36 with two different currents in each case creates two different conditions for the coupling 31: in the first case, the cartridge 25 (65) may undergo a certain displacement with respect to the head 13, while in the second cartridge 25 (65) is installed with respect to the head 13 itself. The electromagnet can be replaced by another mechanical or hydraulic means suitable for driving in two different ways in order to ensure the progress of the cartridge in the process head - one way and for the purpose of gesturing Another way of using the proposed device is to increase the machining accuracy and productivity of the invention. 1. A self-guided device for machine tools containing a control unit, a support for the workpiece, tool spins and tools installed in the cartridge. connected to the working head by means of a connecting unit comprising two elements, the first of which is connected to the head and is provided, for example, with an electromagnet connected with power supply, and the second is connected with the tool and is connected with the possibility of communication by means of an electromagnet with the first element, and the working head is mounted for movement in the direction perpendicular to the plane of contact of two elements of the connecting node, characterized in that, in order to improve the accuracy of regulation the position of the working head with the cartridge relative to the support; the connecting unit is equipped with a limiter of the relative movement of these two elements in the plane of their contact, and The magnet is provided with an additional low voltage source.
    [2]
    2. The device according to Claim 1, which is based on the fact that the element associated with the head is made of two parts that are hinged to each other.
    [3]
    3. Understatement of paras. 1 and 2, differing in that the element associated with the tool is provided with a sleeve installed rotatably and axially displaced with respect to the element associated with the tool, the sleeve being associated with a relative restraint movement of the two elements of the coupling assembly .
    [4]
    4. The device according to claim 1, which is equipped with a pneumatic assembly, contains an air supply regulator and at least one channel for injecting air into the gap between the elements of the connecting node, and the air supply regulator is connected control unit. The source of information taken into account in the examination 1. Rashkovich MP and others. Inductive transducers for automation of machine tools. M., Mechanical Engineering, 1969, p. 106-111. ABOUT
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    同族专利:
    公开号 | 公开日
    NO763022L|1977-03-04|
    JPS5815253B2|1983-03-24|
    GB1566443A|1980-04-30|
    US4145802A|1979-03-27|
    CA1084735A|1980-09-02|
    SE431132B|1984-01-16|
    JPS5232184A|1977-03-11|
    IT1047161B|1980-09-10|
    FR2322693B1|1982-11-19|
    FR2322693A1|1977-04-01|
    SE7609601L|1977-03-04|
    CH621503A5|1981-02-13|
    NO151851B|1985-03-11|
    US4092719A|1978-05-30|
    DE2640256A1|1977-03-10|
    NO151851C|1985-06-19|
    GB1566444A|1980-04-30|
    FR2322694B1|1981-02-20|
    SE428183B|1983-06-13|
    JPS598501B2|1984-02-24|
    NO763023L|1977-03-04|
    DE2640256C2|1988-01-07|
    FR2322694A1|1977-04-01|
    CH613648A5|1979-10-15|
    DE2640257A1|1977-03-17|
    JPS5232185A|1977-03-11|
    DE2640257C2|1990-02-08|
    NO150389B|1984-07-02|
    CA1060564A|1979-08-14|
    SE7609657L|1977-03-04|
    NO150389C|1984-10-10|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    IT69197/75A|IT1047161B|1975-09-03|1975-09-03|WORKING CENTER FOR AUTOMATIC PROGRAMMING WITH SELF-ADAPTIVE TOUCH DEVICE|
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