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公开(公告)号：US5653005A
公开(公告)日：1997-08-05
申请号：US80954
申请日：1993-06-21
IPC分类号： B23P21/00 , B25J15/10 , G05B19/418 , B25B27/14
CPC分类号： B25J15/103 , B23P21/004 , G05B19/41825 , B23P2700/01 , G05B2219/31031 , G05B2219/31078 , G05B2219/31079 , G05B2219/35218 , G05B2219/50125 , Y02P90/04 , Y02P90/083 , Y02P90/087 , Y02P90/265 , Y10T29/49829 , Y10T29/49831 , Y10T29/49998 , Y10T29/53004 , Y10T29/53013 , Y10T29/53313 , Y10T29/53539
摘要： A programmable or flexible fixture for holding a plurality of details comprising an assembly during assembly processes thereon comprising an elongated base supported in a predetermined position, a plurality of positioning units located at spaced locations along the base, each of the positioning units having a clamp adapted to engage the details, the positioning units being located to allow access to the details from two directions of movement of tools of assembly apparatus moving with respect to the workpiece during assembly processes thereon, a robot operatively associated with the positioning units for moving the positioning units relative to the base for accepting the various members of a family of details which all have the same configuration and differ by increments in size and for holding the details together as an assembly and holding the assembly in the proper detail location and assembly position for assembling, and an actuator for moving the clamp into and out of engagement with the details. A programmable or flexible assembly cell comprises at least one automatic assembly machine, each machine having operational parameters determined by the nature of the details to be assembled, at least one of the programmable or flexible fixtures for holding a plurality of details comprising an assembly, the fixture being capable of accepting a family of details, which all have the same configuration and differ by increments in size, the fixture having the plurality of movable positioning units at spaced locations along the fixture and each of the positioning units having the clamp adapted to engage the details, at least one robot for adjusting the fixture positioning units and for placing details and assemblies in the fixture and removing details and assemblies from the fixture, and a conveyor for transporting details to the cell and for transporting assemblies from the cell. A cell controller monitors information pertaining to the details and assemblies, monitors operation of the assembly machine and controls operation of the robot.
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公开(公告)号：US5042137A
公开(公告)日：1991-08-27
申请号：US386302
申请日：1989-07-26
CPC分类号： B21J15/142 , B21J15/10 , B21J15/42 , Y10T29/49943 , Y10T29/49956
摘要： A method for dimpling and riveting a workpiece wherein the workpiece is clamped, the dimpling, drilling and riveting are performed sequentially while the workpiece is clamped, and the workpiece is heated prior to dimpling. During clamping a pressure foot force is applied to one side of the workpiece, and during dimpling a force is applied to the opposite side causing movement of the workpiece a small distance and against the pressure foot force. The dimpled recess in the workpiece is in the general shape of a truncated cone, and the drilling provides a rivet-receiving hole through the workpiece in the recess. When it is desired to provide a fluid-tight seal, the minor diameter of the truncated cone is made slightly greater than the diameter of the rivet-receiving hole thereby providing an annular step or ledge extending between the hole and the outwardly diverging wall of the dimpled recess. During upsetting of the rivet there is a radial compression of the workpiece material in the region of the annular step to provide a fluid-tight seal between the rivet and the workpiece.
摘要翻译： 一种用于对工件进行凹坑和铆接的方法，其中工件被夹紧，凹陷，钻孔和铆接在工件被夹紧的同时执行，并且工件在凹坑之前被加热。 在夹持期间，将压力脚施加到工件的一侧，并且在凹陷期间，将力施加到相对侧，造成工件移动小距离并抵抗压脚力。 工件中的凹坑凹陷为截头锥体的大致形状，钻孔在凹槽中提供穿过工件的铆钉接收孔。 当希望提供不透液密封时，使截锥体的较小直径略大于铆钉接收孔的直径，从而提供在孔和向外发散的壁之间延伸的环形台阶或凸缘 凹陷的凹槽 在镦锻铆钉期间，在环形台阶区域内存在工件材料的径向压缩，以在铆钉和工件之间提供流体密封的密封。
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公开(公告)号：US4858289A
公开(公告)日：1989-08-22
申请号：US492041
申请日：1983-05-06
CPC分类号： B21J15/142 , B21J15/10 , B21J15/42 , Y10T29/5118 , Y10T29/53422 , Y10T29/5377
摘要： Dimpling and riveting a workpiece wherein the workpiece is clamped, the dimpling, drilling and riveting occur sequentially while the workpiece is clamped, and the workpiece is heated prior to dimpling. During clamping a pressure foot force is applied to one side of the workpiece, and during dimpling a force is applied to the opposite side causing slight movement of the workpiece against the pressure foot force. The dimpled recess in the workpiece is about the shape of a truncated cone and a rivet-receiving hole is drilled through the workpiece in the recess. To provide a fluid-tight seal, the minor diameter of the truncated cone is made slightly greater than the diameter of the rivet-receiving hole thereby providing an annular step between the hole and the outwardly diverging wall of the dimpled recess. During upsetting of the rivet the workpiece material is compressed radially around the annular step to provide a fluid-tight seal between rivet and workpiece. A pressure foot contacts one side of the workpiece, a biasing arrangement connected to the pressure foot and to the apparatus frame applies force to the pressure foot, a clamp member contacts the opposite side of the workpiece and a mechanism connected to the clamp member and to the frame moves the clamp member into contact with the workpiece and moves the workpiece into contact with the pressure foot and then moves the clamp and pressure foot with the workpiece therebetween against the pressure foot force during dimpling.
摘要翻译： 在工件夹紧的同时对工件进行切割和铆接，在工件被夹紧之前，凹坑，钻孔和铆接顺序地发生，并且工件在凹坑之前被加热。 在夹紧期间，将压力脚施加到工件的一侧，并且在凹坑期间，力施加到相对侧，导致工件抵抗压力力的轻微移动。 工件中的凹凸凹陷大致为圆锥形的形状，在凹部中穿过工件钻出铆钉接收孔。 为了提供流体密封的密封件，使截锥体的较小直径略大于铆钉接收孔的直径，从而在孔和凹槽的向外发散的壁之间提供环形台阶。 在镦锻铆钉期间，工件材料围绕环形台阶径向地被压缩，以在铆钉和工件之间提供流体密封的密封。 压脚接触工件的一侧，连接到压力脚和装置框架上的偏置装置向压脚施加力，夹紧构件接触工件的相对侧，以及连接到夹紧构件的机构， 框架移动夹紧构件与工件接触并使工件与压力脚接触，然后在凹坑期间使夹具和压脚与工件之间抵抗压力脚移动。
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公开(公告)号：US4966323A
公开(公告)日：1990-10-30
申请号：US391794
申请日：1989-08-09
CPC分类号： B23Q5/408 , B21J15/14 , B21J15/142 , B21J15/30 , B23Q1/48 , Y10T29/5118
摘要： Riveting apparatus for operation on a workpiece having opposite sides and supported vertically on a horizontal surface comprising a frame having a pair of spaced apart sides movable along the supporting surface and straddling the workpiece, first and second carriages movably mounted on respective sides of the frame and riveting tools on first and second heads on the first and second carriages, respectively, the tools being movable toward and away from the workpiece. The frame travels in a first direction along the supporting surface and along the workpiece, the first and second carriages are movable in a direction substantially perpendicular to the first direction and toward and away from the supporting surface, and the frame is movable in a third direction transverse to the first direction and toward and away from the workpiece. The first and second heads are movable independently about axes substantially parallel to the first direction and to the supporting surface, and both heads are movable independently about axes substantially perpendicular to the first direction and to the supporting surface.
摘要翻译： 用于在具有相对侧并且在水平表面上垂直支撑的工件上操作的铆接装置，包括具有可沿着支撑表面移动并跨过工件的一对间隔开的边框的框架，可移动地安装在框架的相应侧上的第一和第二托架， 分别在第一和第二托架上的第一和第二头部上的铆接工具，工具可以朝向和远离工件移动。 框架沿着支撑表面沿工件沿第一方向行进，第一和第二托架可在基本上垂直于第一方向的方向上移动并且朝向和远离支撑表面移动，并且框架可沿第三方向移动 横向于第一方向并且朝向和远离工件。 第一和第二头部可围绕基本上平行于第一方向的轴线和支撑表面独立地移动，并且两个头部可围绕基本上垂直于第一方向的轴线和支撑表面独立地移动。
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公开(公告)号：US4821408A
公开(公告)日：1989-04-18
申请号：US938732
申请日：1986-12-05
IPC分类号： B23P21/00 , B25J15/10 , G05B19/418 , B25B27/14
CPC分类号： G05B19/41825 , B23P21/004 , B25J15/103 , B23P2700/01 , G05B2219/31031 , G05B2219/35218 , G05B2219/50125 , Y02P90/04 , Y02P90/083 , Y02P90/087 , Y02P90/22 , Y10T29/53004 , Y10T29/53013 , Y10T29/53313 , Y10T29/53539 , Y10T29/53978
摘要： A programmable or flexible fixture for holding a plurality of details comprising an assembly during assembly processes thereon comprising an elongated base supported in a predetermined position, a plurality of positioning units located at spaced locations along the base, each of the positioning units having a clamp adapted to engage the details, the positioning units being located to allow access to the details from two directions of movement of tools of assembly apparatus moving with respect to the workpiece during assembly processes thereon, a robot operatively associated with the positioning units for moving the positioning units relative to the base for accepting the various members of a family of details which all have the same configuration and differ by increments in size and for holding the details together as an assembly and holding the assembly in the proper detail location and assembly position for assembling, and an actuator for moving the clamp into and out of engagement with the details. A programmable or flexible assembly cell comprises at least one automatic assembly machine, each machine having operational parameters determined by the nature of the details to be assembled, at least one of the programmable or flexible fixtures for holding a plurality of details comprising an assembly, the fixture being capable of accepting a family of details, which all have the same configuration and differ by increments in size, the fixture having the plurality of movable positioning units at spaced locations along the fixture and each of the positioning units having the clamp adapted to engage the details, at least one robot for adjusting the fixture positioning units and for placing details and assemblies in the fixture and removing details and assemblies from the fixture, and a conveyor for transporting details to the cell and for transporting assemblies from the cell. A cell controller monitors information pertaining to the details and assemblies, monitors operation of the assembly machine and controls operation of the robot.
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公开(公告)号：US4864702A
公开(公告)日：1989-09-12
申请号：US129929
申请日：1987-12-02
CPC分类号： B23Q5/408 , B21J15/14 , B21J15/142 , B21J15/30 , B23Q1/48 , Y10T29/5118 , Y10T29/5377 , Y10T29/53774
摘要： Riveting apparatus for operation on a workpiece having opposite sides and supported vertically on a horizontal surface comprising a frame having a pair of spaced apart sides movable along the supporting surface and straddling the workpiece, first and second carriages movably mounted on respective sides of the frame and riveting tools on first and second heads on the first and second carriages, respectively, the tools being movable toward and away from the workpiece. The frame travels in a first direction along the supporting surface and along the workpiece, the first and second carriages are movable in a direction substantially perpendicular to the first direction and toward and away from the supporting surface, and the frame is movable in a third direction transverse to the first direction and toward and away from the workpiece. The first and second heads are movable independently about axes substantially parallel to the first direction and to the supporting surface, and both heads are movable independently about axes substantially perpendicular to the first direction and to the supporting surface.The workpiece is supported by a fixture extending along the path of travel of the apparatus and the fixture is supported at spaced locations therealong above the supporting surface by retractable supports separately movable away from the fixture to provide clearance space between the fixture and the supporting surface for travel of a base of the machine.In a riveting system wherein a plurality of such workpieces are supported vertically on a horizontal surface and arranged in spaced apart parallel rows, there is provided a shuttle carriage extending transverse to the workpiece paths and intersecting the paths for receiving the riveting apparatus and transferring it to any of the other workpiece paths in a manner maintaining the same orientation of the apparatus about a vertical axis during the transfer.
摘要翻译： 用于在具有相对侧并且在水平表面上垂直支撑的工件上操作的铆接装置，包括具有可沿着支撑表面移动并跨过工件的一对间隔开的边框的框架，可移动地安装在框架的相应侧上的第一和第二托架， 分别在第一和第二托架上的第一和第二头部上的铆接工具，工具可以朝向和远离工件移动。 框架沿着支撑表面沿工件沿第一方向行进，第一和第二托架可在基本上垂直于第一方向的方向上移动并且朝向和远离支撑表面移动，并且框架可沿第三方向移动 横向于第一方向并且朝向和远离工件。 第一和第二头部可围绕基本上平行于第一方向的轴线和支撑表面独立地移动，并且两个头部可围绕基本上垂直于第一方向的轴线和支撑表面独立地移动。 工件由沿着设备的行进路径延伸的夹具支撑，并且固定装置通过可分离地从夹具移动的可伸缩支撑件支撑在支撑表面上方的间隔位置处，以在夹具和支撑表面之间提供间隙空间 机器底座的行程。 在铆接系统中，其中多个这样的工件垂直地支撑在水平表面上并且以间隔开的平行排布置，设置有横向于工件路径延伸并与路径相交并用于接收铆接装置并将其传送到 任何其他工件路径以在传送期间保持装置围绕垂直轴线的相同取向的方式。
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公开(公告)号：US5248074A
公开(公告)日：1993-09-28
申请号：US581287
申请日：1990-09-12
CPC分类号： B21J15/142 , B21J15/14 , B21J15/30 , B23Q1/48 , B23Q39/02 , B23Q5/408 , Y10T29/49943 , Y10T29/53774
摘要： Riveting apparatus for operation on a workpiece having opposite sides and supported vertically on a horizontal surface comprising a frame having a pair of spaced apart sides movable along the supporting surface and straddling the workpiece, first and second carriages movably mounted on respective sides of the frame and riveting tools on first and second heads on the first and second carriages, respectively, the tools being movable toward and away from the workpiece. The frame travels in a first direction along the supporting surface and along the workpiece, the first and second carriages are movable in a direction substantially perpendicular to the first direction and toward and away from the supporting surface, and the frame is movable in a third direction transverse to the first direction and toward and away from the workpiece. The first and second heads are movable independently about axes substantially parallel to the first direction and to the supporting surface, and both heads are movable independently about axes substantially perpendicular to the first direction and to the supporting surface.
摘要翻译： 用于在具有相对侧并且在水平表面上垂直支撑的工件上操作的铆接装置，包括具有可沿着支撑表面移动并跨过工件的一对间隔开的边框的框架，可移动地安装在框架的相应侧上的第一和第二托架， 分别在第一和第二托架上的第一和第二头部上的铆接工具，工具可以朝向和远离工件移动。 框架沿着支撑表面沿工件沿第一方向行进，第一和第二托架可在基本上垂直于第一方向的方向上移动并且朝向和远离支撑表面移动，并且框架可沿第三方向移动 横向于第一方向并且朝向和远离工件。 第一和第二头部可围绕基本上平行于第一方向的轴线和支撑表面独立地移动，并且两个头部可围绕基本上垂直于第一方向的轴线和支撑表面独立地移动。
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公开(公告)号：US5220718A
公开(公告)日：1993-06-22
申请号：US959177
申请日：1992-10-09
IPC分类号： B23P21/00 , B25J15/10 , G05B19/418
CPC分类号： B25J15/103 , B23P21/004 , G05B19/41825 , B23P2700/01 , G05B2219/31031 , G05B2219/31078 , G05B2219/31079 , G05B2219/35218 , G05B2219/50125 , Y02P90/04 , Y02P90/083 , Y02P90/087 , Y02P90/265 , Y10T29/49829 , Y10T29/49831 , Y10T29/49998 , Y10T29/53004 , Y10T29/53013 , Y10T29/53313 , Y10T29/53539
摘要： A programmable or flexible fixture for holding a plurality of details comprising an assembly during assembly processes thereon comprising an elongated base supported in a predetermined position, a plurality of positioning units located at spaced locations along the base, each of the positioning units having a clamp adapted to engage the details, the positioning units being located to allow access to the details from two directions of movement of tools of assembly apparatus moving with respect to the workpiece during assembly processes thereon, a robot operatively associated with the positioning units for moving the positioning units relative to the base for accepting the various members of a family of details which all have the same configuration and differ by increments in size and for holding the details together as an assembly and holding the assembly in the proper detail location and assembly position for assembling, and an actuator for moving the clamp into and out of engagement with the details. The fixture is used in an automatic assembly method wherein at least one automatic assembly machine has operational parameters determined by the nature of the details to be assembled, wherein the robot adjusts the fixture positioning units and places details and assemblies in the fixture and removes details and assemblies from the fixture, and wherein a conveyor transports details to the cell and transports assemblies from the cell. A cell controller monitors information pertaining to the details and assemblies, monitors operation of the assembly machine and controls operation of the robot.
摘要翻译： 一种用于保持多个细节的可编程或柔性夹具，包括在其组装过程中包括组件的组件，其包括支撑在预定位置的细长基座，位于沿着基座的间隔位置处的多个定位单元，每个定位单元具有适于 为了接合细节，定位单元被定位成允许在其组装过程期间相对于工件移动的组装设备的工具的两个运动方向访问细节;与定位单元操作相关联的机器人，用于移动定位单元 相对于基座，用于接受全部具有相同构造并且尺寸增加不同的细节系列的各种构件，并且用于将细节保持在一起作为组件并将组件保持在适当的细节位置和组装位置中， 以及用于使夹具进入和离开接合w的致动器 详细信息。 所述夹具用于自动组装方法，其中至少一个自动组装机具有由要组装的细节的性质确定的操作参数，其中所述机器人调节所述夹具定位单元并将细节和组件放置在所述固定装置中并且移除细节和 来自固定装置的组件，并且其中输送机将细节输送到电池并从电池传输组件。 单元控制器监视关于细节和组件的信息，监视组装机的操作并控制机器人的操作。
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