公开(公告)号：US3893217A

公开(公告)日：1975-07-08

申请号：US53253174

申请日：1974-12-13

Applicant: BENDIX CORP

Inventor： EDMOND JAMES J

IPC: B23P19/02 ,  B23P19/00 ,  B25J9/18 ,  B25J17/02 ,  G05D3/14 ,  B23Q17/00

CPC classification number: B23P19/105 ,  B23P19/12 ,  B25J17/0208 ,  G05D3/14 ,  Y10T29/49776 ,  Y10T29/53261

Abstract: A system and method are disclosed which provide a means for automatically inserting a pin into a tightly fitting hole, the system including a pin holder which supports the pin at one end in either a latched condition in which the pin is fixed relative the holder or in an unlatched condition, in which the pin is allowed to freely pivot about its supported end. The pin holder is positioned with respect to the member having the hole formed therein by means of a positioner device which guides the same to the approximate hole location and to advance the pin at least partially into the hole. IF the pin and hole are not aligned the pin is ''''steered'''' into the correct lateral position by detection and nulling of the reaction forces created by interaction of a pin and/or hole chamfer. If, after having its lateral position so corrected the pin does not completely enter the hole, its axes are not angularly aligned, and a binding condition between the pin and the hole has occurred created by the relative tilt of the pin axis with respect to the hole axis. This condition is detected and a control signal generated unlatching the pin to allow it to freely pivot about its supported end. Upon unlatching of the pin lateral reaction forces are created acting on the pin holder which forces are sensed and an error signal generated therefrom, which signal is used to control the positioner device to move the pin and hole relative to each other in a direction so as to align the pin and hole axes and relieve the bound condition so that further advance of the pin into the hole will be accommodated. This latter process is repeated if a further binding is created and so on until the pin is inserted.

Abstract translation: 公开了一种系统和方法，其提供了用于将销自动插入紧密配合的孔中的装置，该系统包括销保持器，该销保持件在一端处于销的相对于保持器固定的锁定状态或者在 一种解锁状态，其中销被允许在其支撑端部处自由枢转。 销夹持器通过定位器装置相对于其中形成有孔的构件定位，该定位装置将其引导到近似孔位置并且将销至少部分地推进到孔中。 如果销和孔不对齐，则通过检测和归零由销和/或孔倒角的相互作用产生的反作用力，将销“转向”到正确的横向位置。 如果在其横向位置如此校正之后，销不完全进入孔，其轴线不成角度地对准，并且销和孔之间的装订状态已经通过销轴相对于 孔轴。 检测到这种情况，产生解锁销的控制信号，使其能绕其支撑端自由转动。 在销的解锁时，横向反作用力被产生作用在销保持器上，这些力被感测并产生误差信号，该信号被用于控制定位装置相对于彼此在一定方向上移动销和孔 以对齐销轴和轴线，并且解除限制条件，使得销进入孔的进一步前进将被容纳。 如果产生另外的装订，则重复后一过程，直到插入插针。