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1. 发明授权

US5482409A Part positioning and drilling end effector 失效
标题翻译：零件定位和钻头末端执行器
公开(公告)号：US5482409A
公开(公告)日：1996-01-09
申请号：US2364
申请日：1993-01-06
申请人： Zenna J. Dunning , Paul E. Nelson , Hinrich C. Patjens , James A. Shofner , David A. Yousko
发明人： Zenna J. Dunning , Paul E. Nelson , Hinrich C. Patjens , James A. Shofner , David A. Yousko
IPC分类号： B23Q3/18 , B23Q9/00 , B23B35/00 , B23B41/00
CPC分类号： B23Q9/00 , B23Q3/18 , Y10T408/03 , Y10T408/3811 , Y10T408/3844 , Y10T408/385 , Y10T408/563
摘要： An end effector adapted for attachment to and accurate positioning by a robot is provided for positioning a right angle shaped workpiece at a desired position against a panel and drilling a pair of accurately located positioning holes through the workpiece and the panel. The end effector includes a rear plate having a conventional tool connector and adapter that can be grasped and manipulated by the robot. A frame is cantilevered on the rear plate and supports a shuttle mounted on horizontal linear bearings for lateral motion of the shuttle. A pair of vertical bearings on the shuttle supports two horizontal support plates for vertical motion on the shuttle. A drill and an inserter are mounted on the support plates for lateral motion with the shuttle, and for vertical motion on the shuttle. Two servomotors under control of a system controller control the lateral motion of the shuttle and the vertical motion of the support plates, and a linear motion encoder provides feedback to the controller to attain accurate positioning of the support plates and the drills mounted thereon.
摘要翻译：提供适于附接到机器人并且由机器人精确定位的末端执行器，用于将直角成形工件定位在相对于面板的期望位置处，并且穿过工件和面板钻一对精确定位的定位孔。末端执行器包括具有可由机器人抓握和操纵的常规工具连接器和适配器的后板。框架悬挂在后板上，并支撑安装在水平线性轴承上的梭子，用于梭子的横向运动。梭子上的一对垂直轴承支撑两个用于垂直运动的水平支撑板。钻头和插入器安装在支撑板上以与梭子横向运动，并且用于梭子上的垂直运动。在系统控制器的控制下的两个伺服电动机控制梭的横向运动和支撑板的垂直运动，并且线性运动编码器向控制器提供反馈以获得安装在其上的支撑板和钻头的精确定位。

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