U.S. patent number RE35,605 [Application Number 07/902,223] was granted by the patent office on 1997-09-16 for work positioning device for assembly line.
This patent grant is currently assigned to Nissan Motor Co., Ltd.. Invention is credited to Minoru Nomaru, Atsushi Takahama.
United States Patent |
RE35,605 |
Nomaru , et al. |
September 16, 1997 |
Work positioning device for assembly line
Abstract
A work piece support device features two pincer members which
can be moved toward and away from each other and which can be
varied in length in manner to accommodate different shaped work
pieces. The device is mounted on a manipulator which selectively
displace the same in three mutually opposed directions. Location
and locking probes can be used in combination with the support
device to locate and/or lock the work piece in place.
Inventors: |
Nomaru; Minoru (Yokohama,
JP), Takahama; Atsushi (Yokosuka, JP) |
Assignee: |
Nissan Motor Co., Ltd.
(Yokohama, JP)
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Family
ID: |
16199948 |
Appl.
No.: |
07/902,223 |
Filed: |
June 22, 1992 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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Reissue of: |
282158 |
Dec 9, 1988 |
04976484 |
Dec 11, 1990 |
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Foreign Application Priority Data
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Dec 10, 1987 [JP] |
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62-187091 |
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Current U.S.
Class: |
294/119.1;
269/242; 269/71; 294/902; 414/589; 414/729; 901/16; 901/35;
901/39 |
Current CPC
Class: |
B23Q
1/626 (20130101); B25B 1/18 (20130101); B25B
1/2405 (20130101); B25B 1/241 (20130101); B25B
5/06 (20130101); B25J 9/046 (20130101); B25J
15/02 (20130101); B62D 65/02 (20130101); Y10S
294/902 (20130101) |
Current International
Class: |
B23Q
1/25 (20060101); B23Q 1/62 (20060101); B25B
1/18 (20060101); B25B 1/24 (20060101); B25B
1/00 (20060101); B62D 65/02 (20060101); B62D
65/00 (20060101); B25J 015/08 () |
Field of
Search: |
;901/16,31,39,35,46
;414/729,741,589 ;294/86.4,119.1,902,907 ;269/69,70,71,73,242 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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0149429A |
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Jul 1985 |
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EP |
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1141181 |
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Feb 1985 |
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SU |
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2120202 |
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Nov 1983 |
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GB |
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Primary Examiner: Bucci; David A.
Assistant Examiner: Eller; James
Attorney, Agent or Firm: Pennie & Edmonds
Claims
What is claimed is:
1. In a device for supporting a work piece.Iadd., .Iaddend.
first and second pincer members, said first and second pincer
members being disposed on a base member in a manner to be slidably
movable toward and away from each other, said first pincer being
elongatable;
first and second work receiving members, said first and second work
receiving members being disposed at the upper ends of said first
and second pincer members;
first drive means associated with said first and second pincers for
moving said first and second pincers toward and away from .[.one
another.]. .Iadd.each other.Iaddend., said first drive means
including a device which converts rotational motion into linear
motion;
second drive means associated with said first pincer for
selectively elongating .[.the same.]. .Iadd.said first
pincer.Iaddend.; and
a location .[.device.]. .Iadd.means .Iaddend.comprising a probe
mounted adjacent said first and second pincers and operatively
connected .[.with.]. .Iadd.to .Iaddend.a servo .[.device to enable
the probe to be extended.]. .Iadd.extension means for extending
said probe .Iaddend.to engage .[.a location.]. .Iadd.with an
.Iaddend.aperture formed in .[.the.]. .Iadd.a .Iaddend.work piece
supported on said device.
2. In a device for supporting a work piece.Iadd., .Iaddend.
first and second pincer members, said first and second pincer
members being disposed on a base member in a manner to be slidably
movable toward and away from each other, said first pincer being
elongatable;
first and second work receiving members, said first and second work
receiving members being disposed at the upper ends of said first
and second pincer members;
first drive means associated with said first and second pincers for
moving said first and second pincers toward and away from .[.one
another.]. .Iadd.each other.Iaddend., said first drive means
including a device which converts rotational motion into linear
motion; .[.and.].
second drive means associated with said first pincer for
selectively elongating .[.the same.]. .Iadd.said first
pincer.Iaddend.; and
a work piece retention device comprising a probe member having a
projection formed thereon, said probe .Iadd.member .Iaddend.being
mounted adjacent said first and second pincers, .[.and being
operatively connected with a servo device to enable it to be
selectively extended so as to pass through an aperture in the work
piece being supported on said device and then rotated such that
when said probe is retracted toward said servo device, the
projection engages said work piece and secures the same in.].
.Iadd.means for supporting said probe member in an extendable and
rotatable manner, means for rotating said probe member to a first
angular position and for extending it in said first angular
position through an aperture formed in said work piece, and means
for rotating said probe member to a second angular position and for
retracting it in said second angular position, so as to engage said
projection against the work piece to secure the work piece in a
predetermined .Iaddend.position on said device. .Iadd.3. A device
for supporting a work piece according to claim 1, further
comprising:
a manipulator for selectively positioning said work piece
supporting device, said manipulator comprising:
a first base plate, mounted to a base for support thereon;
a second plate, located above and arranged essentially parallel
with said first plate, said second plate being slideably mounted on
said first plate so as to be moveable in first and second opposite
directions essentially parallel to a face of said first plate;
a third plate, located above and arranged essentially parallel with
said second plate, said third plate being slideably mounted on said
second plate so as to be moveable in third and fourth opposite
directions substantially parallel to a face of said first plate,
said third and forth directions extending at right angles with
respect to said first and second directions;
first, second and third apertures in the central portions of said
first, second and third plates, respectively; and
an elongated post member, said post member being arranged in a
direction normal with respect to the major surfaces of said first,
second and third plates and arranged to pass through said first,
second and third apertures. .Iaddend..Iadd.4. A device for
supporting a work piece according to claim 2 further
comprising:
a manipulator for selectively positioning said work piece
supporting device, said manipulator comprising:
a first base plate, mounted to a base for support thereon;
a second plate, located above and arranged essentially parallel
with said first plate, said second plate being slideably mounted on
said first plate so as to be moveable in first and second opposite
directions essentially parallel to said first plate;
a first motor, mounted on said first plate so as to be located
between said first and second plates, said first motor being
operatively connected with said second plate by way of a first
drive connection, said first motor being selectively energizable to
drive said second plate in a selected one of said first and second
directions;
a third plate, located above and arranged substantially parallel
with said second plate, said third plate being slideably mounted on
said second plate so as to be moveable in third and fourth opposite
directions substantially parallel with respect to said first plate,
said third and fourth directions extending at right angles with
respect to said first and second directions;
a second motor, mounted on said second plate so as to be located
between said second and third plates, said second motor being
operatively connected with said third plate by a second drive
connection, said second motor being selectively energizable to
drive said third plate in a selected one of said third and fourth
directions; first, second and third apertures in the central
portions of said first, second and third plates respectively;
and
an elongated post member, arranged in a direction normal with
respect to the major surfaces of said first, second and third
plates and arranged to pass through said first, second and third
apertures, said post member being slideably supported by said third
plate; and a third motor, said third motor being located at the
bottom of said post member. .Iaddend.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates generally to a work positioning
device for use on a production line or the like and more
specifically to work a positioning device or manipulator which can
be adjusted in a manner which allows a large variety of different
work pieces to be accurately supported and/or secured in
predetermined positions.
2. Description of the Prior Art
FIGS. 1 and 2 show a previously proposed device which is capable of
moving a plurality of work pieces to a predetermined position. This
arrangement consists of support bracket 1 on which a rotatable
member 2 is mounted. The rotatable member 2 includes a plurality of
radially extending gauge plates 3a-3e. The support bracket 1 is
further provided with an actuator 4 which is operatively connected
with the rotatable member 2 in a manner wherein the latter can be
selectively rotate and selectively move the gauge plates 3a-3e to
new positions.
Each of the gauge plates is provided with a pinch lever type clamp
5 and an actuator 6 which is arranged to operatively connected with
the clamp in a manner which enables the same to be selectively
motivated. In this arrangement the actuators 6 are connected with
the clamps 5 by way of linkage mechanism 7.
With this arrangement appropriate operation of the actuator 4
permit the gauge plates to be rotated in a manner to bring the
desired one into a working position. In this case the working
position is one wherein the gauge plate assumes the essentially
vertical position denoted "0" in FIG. 1.
Operation of the actuator 6 induces the clamp to be moved into a
position wherein a work piece is secured in position.
As it is necessary to be able to enable the adjustments in three
dimensions, a manipulator arrangement generally denoted by the
numeral 10 operatively connected to the lower end of the support
bracket 1. In this instance the manipulator 10 includes a base 8
which can be moved along a first axis. A motor 9 is arranged to
enable the manipulator to be moved along a second axis which is
arranged normally to the one along which the base is movable. In
addition to this a knee joint-like arrangement is provided with
motors 11, 12 and 13 which allows the height of the mounting
bracket 1 to be selectively changed.
However, with this arrangement as the number of gauge plates is
limited, it is necessary to change the same from time to time in
order to permit different work pieces to be appropriately
supported. This apart from being troublesome consumes valuable
working time.
For further disclosure relating to the above described arrangement
reference can be had to U.S. Pat. No. 4,691,905 issued on Sep. 8,
1987 in the name of Tamura et al and which is assigned to the same
entity as the instant application.
SUMMARY OF THE INVENTION
An object of the present invention is to provide an arrangement
which can support a large variety of different work pieces and
which can be rapidly adjusted to the appropriate clamping
configuration and easily moved to the appropriate supporting
position.
In brief, the above objects are achieved by an arrangement wherein
which features two pincer members which can be moved toward and
away from each other and which can be varied in length in manner to
accommodate different shaped work pieces. The device is mounted on
a manipulator which selectively displace the same in three mutually
opposed directions. Location and locking probes can be used in
combination with the support device to locate and/or lock the work
piece in place.
More specifically, the present invention is deemed to comprise a
device for supporting a work piece which features: first and second
pincer members, said first and second pincer members being disposed
on a base member in a manner to be slidably movable toward and away
from each other, the first pincer being elongatable; and first and
second work receiving members, said first and second work receiving
members being disposed at the upper ends of said first and second
members; first drive means associated with said first and second
pincers for moving said first and second pincers toward and away
from one another, said first drive means including a device which
converts rotational motion into linear motion, and second drive
means associated with said first pincer for selectively elongating
the same.
A further aspect of the present invention is deemed to comprise the
above mentioned device being supported on a manipulator which
features: a base member; a first plate member, said first plate
member being supported on said base member in a manner wherein it
is movable along a first axis relative to the base member; a second
plate member, said second plate member being supported on said
first plate member in a manner wherein it is movable along a second
axis relative to said base member; a post member, said post member
being supported on second plate member in a manner to be movable
along a third axis, said third axis extending essentially normally
to said second plate member; first, second and third translation
devices, said first second and third translation devices being
arranged to convert rotational motion into linear motion; motor
means, said motor means including an encoder, said encoder being
disposed with said motor means and arranged to produce pulses
indicative of the rotational energy produced by the same.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 and 2 shows the prior art arrangement discussed in the
opening paragraphs of the instant disclosure;
FIG. 3 is a elevational view of an arrangement which characterizes
a first embodiment of the present invention;
FIG. 4 is a sectional elevation taken along section line b--b of
FIG. 3;
FIG. 5 is a sectional view taken along section line c--c of FIG.
3;
FIG. 6 is a sectional elevation showing the mechanism which allows
each of the height of each of the pincers to be selectively
adjusted;
FIG. 7 is a elevational view showing a work piece having a channel
type cross-section being supported by the finger arrangement
according to the present invention;
FIG. 8 shows an example of how the finger arrangement according to
the present invention can be adjusted so as to accommodate
different shaped work pieces;
FIG. 9 is a perspective view showing a vehicle chassis supported on
manipulators which are equipped with a work support device
according to the present invention;
FIG. 10 is a perspective view showing in detail the arrangement of
one of the manipulators shown in FIG. 9;
FIG. 11 is a perspective view of showing an example a manipulator
which is used in conjunction with the work support arrangements
according to the present invention;
FIG. 12 is a perspective view showing a probe-like member which is
arranged to act a locator which ensures that the work piece is
secure with precision and which characterizes a second embodiment
of the present invention; and
FIGS. 13 and 14 shows a third embodiment of the present invention
which features a clamping device for holding the work piece in the
required positions.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
FIG. 3 shows a first embodiment of the present invention. In this
arrangement two finger-like clamping pincer members 21 and 22 are
supported on a frame 25 in a manner to be movable toward and away
from one another. Spherical or cylindrical shaped support members
23, 24 are mounted on upper ends of the pincers 21 and 22 (as they
will be referred to hereinafter).
It should be noted however, that the shape and orientation of these
members and the material from which they are formed may be varied
widely depending on the shape and type of work piece that is
required to be supported, without departing from the scope of the
present invention.
The pincers 21 and 22 are provided with guides 27, 28 (see FIGS. 4
and 5) which are slidably supported by guide members 26. As shown,
the guide members 26 are fixedly secured to the frame 25 in a
manner to extend laterally inward toward the pincers.
A motor 29 is supported on the underside of the frame 25 and
operatively connected with the pincers 21, 22 by way of drive
mechanisms which includes a drive gear 30 which is mounted on the
output shaft of the motor 29, a driven gear 31 disposed in meshing
engagement with the driving gear 30, first and second feed shafts
32, 33 which are provided with an external thread and which are
fixedly connected to the driven gear 31 for synchronous rotation
therewith, first and second internally threaded followers 34, 35
which are respectively received on the feed shafts 32, 33 in a
manner to under linear motion in response to the rotation of the
shafts.
The lead angle of the threads on the feed shafts 32, 33 are
arranged in opposite directions so that depending on the direction
of rotation of the feed shafts the internally threaded followers
34, 35 are moved either toward or away from one another. The
internally threaded followers 34 and 35 are operatively connected
with the pincers whereby the motor and associated drive mechanism
defines enables the pincers 21, 22 to be opened and closed (viz.,
slid along the guides 26 away from and toward each other,
respectively).
One or preferably both of the pincers 21, 22 are arranged to be
telescopically elongatable (viz., telescopical in a manner which
permits the vertical displacement of the work supporting sections
of the same). In this instance each pincers comprises a fixed
housing 22a (discussion will be limited to pincer 22 for
simplicity) which as a motor 37 connected to the external surface
thereof. A hollow movable member 22b on which the work supporting
members 23, 24 of each of the pincers are disposed, is
reciprocatively disposed in the outer housing 22a. The lower end of
member 22 is provide with an internally threaded nut 41 which is
fixedly secured in the illustrated position. A feed shaft 40 is
rotatably mounted in the fixed housing 22a by way of roller bearing
or the like (no numeral). The internally threaded nut 41 is
operatively disposed on the feedshaft 40 in a manner wherein,
depending on the direction of rotation of the shaft, the nut 41 is
arranged to move up or down along the shaft. The motor 37 is
connected with the feed shaft 40 by way of meshing gears 38, 39 in
a manner which establishes a drive connection therebetween.
In order to securely lock each pincer in a predetermined extended
position, a brake device is provided. In this instance the brake
includes a clamping sleeve 43 which is fixedly connected to the
inner wall of the fixed housing 22a in a manner to define an
annular chamber (no numeral). Ports 44 formed in the fixed housing
22a permit the supply of hydraulic fluid into the annular chamber
defined between the sleeves and the fixed housing 22a. When
hydraulic fluid under pressure is supplied into the annular chamber
the sleeve flexes and secures the hollow movable member 22b in
whatever position it happens to be set in.
With the above description arrangement when the work piece W
includes a flanged channel section the pincers can be separated to
the width of the channel section in the manner illustrated in FIG.
7 wherein the work support members 23, 24 engage the sides s of the
channel section and lower faces of the flanges f.
On the other hand, in the event that the work piece has a cross
section of the nature indicated by the solid line in FIG. 8 wherein
the width of the channel increases from 1a to 1b and the left hand
flange fl is located at a lower level than the right hand one fh
(viz., the flanges are separated by a vertical distance (d) it is
possible to separate the pincers and lower the left hand finger
(22) by releasing the hydraulic brake and operating motor 37, to
induce the situation illustrated in FIG. 8. In this instance as the
pincers are simultaneously moved in opposite directions, each
finger need be moved through a distance of 1b-1a/2 thus reducing
the time for which motor 29 must be energized. It will of course be
obvious that operation of the manipulator on which the pincers are
supported may also be required in order to locate the pincers in
the appropriate positions. However, as this operation can be
carried essentially simultaneously with the movement of the pincers
quite rapid resetting of the support arrangement can be achieved.
Once the pincers are located in positions wherein the work piece
support members 23, 24 engage the work piece in a suitable manner
the hydraulic brakes can be reapplied in a manner to ensure that
the pincers will not be forced accidentally out of the desired
positions.
FIGS. 9 and 10 show in schematic form an example wherein the
present invention is used to support a vehicle chassis. In this
case a number of manipulators M, on which support arrangements
according to the present invention, are used. The manipulator
circled in FIG. 9 is shown in more detail in FIG. 10. As will be
appreciated from FIG. 10 the manipulators are arranged to enable
three dimensional positional adjustment with respect to a base
member B on which they are mounted. The base member B is not
necessarily limited to a stationary structure and be supported on a
suitable vehicle if so desired.
FIG. 11 shows the manipulator construction in detail. As will be
appreciated from this drawing, the device consists of a base frame
45 which is fixedly connected to the base member B, a first motor
46 which is operatively connected with a movable plate 48 in manner
to induce relatively displacement between it and the fixed plate 45
in the X axis direction (viz., in the direction of the arrow
extending in said X direction) a second motor 49 which is mounted
on the movable plate 48 and operatively connected with a second
movable plate 52. In this case the second motor 49 is arranged to
induce relatively displacement between the first and second movable
plates in the Y axis direction.
A third motor 53 which is located below the level of the fixed
plate 45 is operatively connected with a post-like construction 52
of the device in a manner which permits the post to be displaced
vertically in the Z axis direction.
As will be appreciated, with above arrangement position adjustment
in three dimensions is possible. This, in combination with the
readily adjustable support arrangement mounted on top of each
manipulator, the plurality of devices which are mounted on the base
B can be quickly adjusted in a manner which facilitates highly
precise and secure support of a work piece for production and the
like. That is to say, work pieces such as vehicle chassis and the
like, such as shown in FIG. 9 which exhibit a complex configuration
and wherein a large variety of different cross-sections and shapes
are encountered, can be easily accommodated with the support
arrangement according to the present invention. Further, due to the
high flexible nature of the adjustability of the system different
chassis which are different in construction and arrangement can
also be securely supported.
FIG. 12 shows a second embodiment of the present invention. This
arrangement is essentially identical to the first one and features
the addition of a probe like member which can be extended through a
preselected or specially provided aperture in a manner which
enables the location of the work piece in longitudinal direction.
While the first embodiment could assuredly locate the work piece in
the vertical and transverse directions there actually may be some
slight error in the longitudinal location of the same. With the
second embodiment this possibility is eliminated.
In more detail, the second embodiment features the provision of a
position locating device generally dentoted by the numeral 54. This
device comprises a cylinder 55 which is secured to the frame 25 and
which includes a piston rod 56. A location 57 is secured to the
upper end of the piston rod and arranged to extend vertically
upward in a manner wherein it be inserted through a predetermined
aperture or hole h. With this arrangement, when the work piece is
located so that the location pin passes through the hole h, it can
be assumed that the correct longitudinal location of the work piece
with respect to the supporting arrangement has been achieved.
FIG. 13 shows a third embodiment of the present invention. In this
arrangement the chassis or work piece to be supported is formed
with an elongate slot or aperture 1 and a locking arrangement
provided on the frame 25. In this arrangement the locking
arrangement comprises a shaft 59 which is arranged to be vertically
displaceable and a hammer head-like pawl member 60 formed on the
top of the shaft 59. By way of example only, in the illustrated
arrangement the elongate slot is arranged to extend in the
longitudinal of the work piece.
As illustrated in FIGS. 13 and 14, the shaft 59 is operatively
connected to a servo device 54'. This servo device includes a swing
cylinder which is arranged to selectively rotate the shaft 59 in
addition to being able to displace the same in the vertical
direction. Accordingly, the shaft 59 can be rotated to a position
wherein the locking pawl 60 is oriented in the direction shown in
phantom in FIG. 13 and the shaft extend upwardly. After passing
through the aperture the shaft can then rotated through 90 degrees
and lowered until it assumes the position indicated in solid line
in FIGS. 13 and 14. By applying a force which tends to draw the
shaft 59 downwardly, the work piece can subject to a force which
tends to pull the same down snugly onto the work supporting members
23 and 24 and secure the same against undesirable displacement when
work is being done on the work piece.
It will be understood that the third embodiment, like the second
one, is essentially the same in construction and arrangement as the
first embodiment and differs in that the locking device is
additionally provided.
It is of course with the scope of the present invention to combine
the locating and locking devices which characterize the second and
third embodiments onto the same support arrangement if so
desired.
* * * * *