公开(公告)号：CA1255480A

公开(公告)日：1989-06-13

申请号：CA560861

申请日：1988-03-08

Applicant: IBM

Inventor： HOLLIS RALPH L JR ,  O'CONNOR MICHAEL A

IPC: G05D3/12 ,  B23P19/00 ,  B23P19/02 ,  B25J9/10 ,  B25J13/08 ,  B25J17/02 ,  B25J19/02 ,  H05K13/04 ,  B25J19/00

Abstract: Y0985-062 CONTROLLED PIN INSERTION USING AIRFLOW SENSING AND ACTIVE FEEDBACK An automatic assembly apparatus or robot holds a pin in an instrumented gripper, moves open loop to the "detection region" in which airflow forces, primarily lateral forces, in the vicinity of the hole may be dependably sensed. Relatively large lateral airflow forces in the detection region are sensed and the pin is moved toward the hole. The airflow forces exhibit an abrupt force change as the pin reaches the insertion point within the "capture region" of the hole defined by the mechanical chamfer or significantly extended as a result of the virtual chamfer of airflow through the hole. The insertion point is the point where lateral X,Y force vectors balance to a null, where Z force readings change from complex X,Y,Z force vectors to simple Z force vectors. The controller commands an open loop move to place the pin within the detection region; then commands a closed loop move, using a skirt around the pin or the pin itself as a probe, and sampling the force vectors until the insertion point is detected; then commands a move in the Z direction to put the pin into the hole. Insertion success or failure is detected by sampling the Z force vectors for blockage by the plate, or by sampling pressure as the pin plugs the hole. Retry routines follow detection of any insertion failure.

公开(公告)号：DE3872033T2

公开(公告)日：1993-02-04

申请号：DE3872033

申请日：1988-03-01

Applicant: IBM

Inventor： HOLLIS JR ,  O'CONNOR MICHAEL A

IPC: G05D3/12 ,  B23P19/00 ,  B23P19/02 ,  B25J9/10 ,  B25J13/08 ,  B25J17/02 ,  B25J19/02 ,  H05K13/04

Abstract: An automatic assembly apparatus or robot (4) holds a pin (1) in an instrumented gripper (5, 6), moves open-loop to the "detection region" (9) in which airflow forces (7), primarily lateral forces, in the vicinity of the hole (2) may be dependably sensed (6). Relatively large lateral airflow forces in the detection region are sensed and the pin (1) is moved toward the hole (2). The airflow forces exhibit an abrupt force change as the pin reaches the insertion point (10) within the "capture region" of the hole defined by the mechanical chamfer or significantly extended as a result of the virtual chamfer of airflow through the hole. The insertion point is the point where lateral X, Y force vectors balance to a null, and where Z force readings change from complex X, Y, Z force vectors to simple Z force vectors. The controller (4) commands an open loop move to place the pin (1) within the detection region; then commands a closed loop move, using a skirt (17) around the pin or the pin itself as a probe, and sampling the force vectors until the insertion point (10) is detected; then commands a move in the Z direction to put the pin into the hole. Insertion success or failure is detected by sampling the Z force vectors for blockage by the plate, or by sampling pressure as the pin plugs the hole. Retry routines follow detection of any insertion failure.

公开(公告)号：DE3872033D1

公开(公告)日：1992-07-23

申请号：DE3872033

申请日：1988-03-01

Applicant: IBM

Inventor： HOLLIS JR ,  O'CONNOR MICHAEL A

IPC: G05D3/12 ,  B23P19/00 ,  B23P19/02 ,  B25J9/10 ,  B25J13/08 ,  B25J17/02 ,  B25J19/02 ,  H05K13/04

Abstract: An automatic assembly apparatus or robot (4) holds a pin (1) in an instrumented gripper (5, 6), moves open-loop to the "detection region" (9) in which airflow forces (7), primarily lateral forces, in the vicinity of the hole (2) may be dependably sensed (6). Relatively large lateral airflow forces in the detection region are sensed and the pin (1) is moved toward the hole (2). The airflow forces exhibit an abrupt force change as the pin reaches the insertion point (10) within the "capture region" of the hole defined by the mechanical chamfer or significantly extended as a result of the virtual chamfer of airflow through the hole. The insertion point is the point where lateral X, Y force vectors balance to a null, and where Z force readings change from complex X, Y, Z force vectors to simple Z force vectors. The controller (4) commands an open loop move to place the pin (1) within the detection region; then commands a closed loop move, using a skirt (17) around the pin or the pin itself as a probe, and sampling the force vectors until the insertion point (10) is detected; then commands a move in the Z direction to put the pin into the hole. Insertion success or failure is detected by sampling the Z force vectors for blockage by the plate, or by sampling pressure as the pin plugs the hole. Retry routines follow detection of any insertion failure.