Workhead Mechanisms Production Engineering Series Data Memoranda 5, 680521-40 Automated assembling Workhead Mechanisms Part 2 Produced by be The Institution of Production Engineers 10 Chesterfield Street, Mayfair, London, WI2 The Institution of Production Engincers #1) Chesterfield Street, London, W.1, A SERIES OF PRODUCTION DATA MEMORANDA ON AUTOMATED ASSENBLING This, and the following volumes deals with workhead mechanisms, All designs are currently used and proven in practice. ‘The anount of information available fron the field study has made it necessary to arrange the illustrations covering the work into several volumes. The mechanisms illustrated have teen chosen to give a fair crose- Section of those in use and cover non-standard and commercially available standard units, HARRIS COLLEGE | jean nBRESTON SIR NS Copies of this publication can be obtained from ‘The Institution of Production Engineers 10 Chesterfield Street, London, W.1 © the institution of Protuction Eneineers (3970) Reproduction of this material ether in mole or part is expressly forbidden without the written consent of the Institution of Production Engineers, London, Rgland. Price £3.5INTRODUCTION INSTITUTION OF PRODUCTION ENGINEERS WORKHEAD NECHANISNS FOR AUTOMATED ASSEMBLING ‘The function of a workhead mechanisn 1s to perform repeatedly a given manufacturing task during which parts or fasteners may be fed to the powered head to enable the operation to be carried out. For this purpose, the parts are supplied in a fully orientated manner from ducting, a magazine, or positioned in a vork carrier. Simplicity of design, compatible with the required performance, should be aimed at and provision made for easy access to the workhead to allow jammed components end foreign bodies to be readily ejected and the corrective adjustments applied. Collectively these precautions will result in a ninimun of machine “down-time”. Consideration should also be peid to naintenance requirements. ‘he workhead should be sufficiently robust in construction to withstand Impacts resulting fron its operational sequence and fron accidental strains by jamming and blows whilst perform ing within © production unit under shop floor conditions. If possible, “fail safe” features should be incorporated in the worthead design and the principle of “spring in end “can out” is to be recommended. Tt will be appreciated that the “spring in” feature can be achieved by various methods, such as 2 pneumatic actuator. Except in the case of a continuous assembling process, a workhead is usuelly mounted on the assenbling machine chassis, situated cloar of tho indoxing nodium. The operational sequence of the vorkhead mechanism commences after the work carrier, containing @ single component or a sub-asseably, has indezed into a stationary position relative to the workhead. After completion of an operation, the functional features of the workead mechanism return to the “conmencenent of stroke” position, clear of the component and work carrier. Completion of this movesent is signalled before further indexing of the work carrier can take place. A number of standard workhead units are marketed ty firms reviewed in this Section. The designs and salient features of performance are illustrated, Some of the workheads reviewed are actuated pneumatically, others shown are mechanically driven, beiag cas opereted and coupled directly to the machine transmission. The advantages of employing standard units are ‘that in many cases they may be re-tooled to suit different applications and that the relia- bility pattern of performance for a given operation is known, The feed rates quoted on the Data Memoranda Sheets apply only to when handling the typical component illustrated or to the particular machine demand, They are not intended to be considered es the maximun feed rate obtainable with the mechanism depicted, Jn all cases, the illustrations are solely diagrammatic. They are intended to depict the principles of performing each given function; they should not be scaled. Fires narked thus * design and manufacture the equipnent illustrated ty their contribu- tions or arrange for this to be done. The equipment is applied exclusively for use within their own organisation. The fims concerned desire thet any enquiries apperteining to their contributions to the Data Memoranda should be addressed to the Institution of Production Engineers Headquarters and not direct to then. Firms marked thus © are designers, nanufacturers, or both, of the equipment illustrated by their contributions. This and similar equipment can be manufactured to custoners’ require- nents. All enquiries appertaining to the purchase of the equipnent snould be mace direct to the firm concerned. PAGE 1INSTITUTION OF PRODUCTION ENGINEERS Sapp Lier Address Data Sheet Rej.No, ° Arenco-Alite Ltd. Pixmore Avenue, psaos40 Letchworth, Bedford quaker) * Avon Cosmetics Ltd, Nonn Mills Road, | Ppsaosso Northampton, NVI SPA (user) a Avlesbury Autosation Ltd. Mandeville Roa, 380538, PDE80S39 Aylesbury, Buckinghasshire ° Radalex Ltd. Weyhridee Trading Batate, | PDS80521, PD680591 Weybridge, Surrey Baxters (Bolts, Sorevs end | Parade Yorks, posaass4 Rivets) Ltd. Sheepcote Street, P.0, Box 958, Birminghan, 15 e charles Churchill Ltd, Feraday Road, 'Ppe80522, Pp6scsss, (automatic Assembly) Nottingham, Nev 207 680536, PDSBC537 ° Relta Machine Services Ltd, | Talohouse Lane, 0680523, Kenilworth, Warwickshire ° Keene and Tompkins Ltd. 190-594, Stoney Stanton Roed, | PDSB0524, PDEROSIS Coventry + Joseph uucas (Electrical) Ltd. | creat King Street, 0680527 Hockley, Birmingham, 19 * ‘me Parker Pen Co, Ltd. Newhaven, Sussex pe80552 ° Redean Engineering Ltd. | P.O. Bor 51, Sregory’s Bank, | PD6B0529 | Worcester ° Roevae Automation Ltd, Grey Street, p6s0530, Denton, Manchester ° Rowe Forgrove Ltd Rose Division, Ropery Road, | PD680526 Gainsborough * gaiths Industries Ltd. carlisle Road, oeaes28, PDs80533 London, N.W.9 PAGE 2PRODUCTION DATA MEMO. INSTITUTION OF PRODUCTION ENGINEERS WORKHEAD MECHANISNS In this example is shown 2 versatile and compact unit fer reflow soldering; a process which permits one component to be joined to another under predetermined conditions by fusing solder previously deposited on one or both components. Circuit tags for example are easily joined to e printed circuit board, this eliminating individual or nanually made joints at the time of connection into the circuit. Operator randon variation is renoved. the view show on the upper section of the drawing illustrates the main features of the unit whilst the two lover views are concerned with shoving the path transcribed by the solder: ing bit and bonding head during the operational sequence of the unit. ‘The manual setting adjustments in the control vox provide for voltage, temperature setting, force, thermocouple, pulse width and fine setting voltage. The bonding head will aceept single and multiple lead soldering fixtures. Thermccouple feedback prevents tho PC board from burning due to residual heat build-up in the soldering tip and results in joints of repéatable quality. General dimensions of the coatrol box are: 481.8 mm (17 in.) wide x 244.5 mm (9.625 in.) deop x 196.8 mm (7.75 in.) high. Force obtainable from ponding head at extremity variable from 0-2.26 kg (0-5 1b). The output rating for diserote pulsos is qioted at 1 kW. For continuous duty this is rated at 0.5 kW. ‘Throat depth is 138.7 nm (6.25 in,) standard but extensions available on request. ‘Tenperature Limit control allows tip temperature to be varied from 150° to 600° C. June 1970 Issue 1 PAGE 1Pp WORKHEAD _ MECHANISMS. B 680521 Typical application :— Re-flow soldering : Electronic component to Printed circuit board BONDING HEAD CONTROL BOX SOLDERING BIT WORK SURFACE w_showing components View showin: Idering_ err tox gether in bit muered® to_re-flow oeect een position solder between component faces issue_|PRODUCTION DATA MEMO: INSTITUTION OF PRODUCTION ENGINEERS WORKHEAD MECHANISMS ‘The two drawings concerned in this example illustrate a method in current usage for pressing a brass slotted insert, knurled on the cutside and threaded internally, into a Plastic noulding. Description of the Workhead Nechanism Components are fed singly from a bowl feeder upon denand from the assembly nachine. on the right hand side of the drawing on page 1, in the loner section, is som a feed rail. The thiekness of the rail is such that it will enter the slot formed in the conoonent and the receiver arm, which is an extension of the feed rail and of identical thickness. After passing through an cscepomont mechanicm, the componont slides down the feed rail and on to the receiver arm until it comes to rest against a stop block mounted on one extremity of the receiver arm. On page"1 of the drawing is shom a scrap section “X—X". From this view it will be seen that the two spring-loaded jays are canmed open by an enlarged section formed on the inner shaft, tus allowing free travel of the component until it reaches the stop block ‘The operational sequence of this mechanism commences with extension of the No.1 vertically mounted pneumatic actuator whose piston rod is coupled to the inner shaft. Extension of the piston rod causes lowering of the inner shaft so allowing the jaws to close on the exterior diameter of the component as the jaws move clear of the cam profile. Continued lowering of the inner shaft brings the lower face of the spring cup into contact with the upper extrenity of the outer shaft. This position of the mechanism is illustrated on page 2 of the drawing et view (a) Immediately after the jaws have gripped the component, retraction of the pneumatic actuator No.2 occurs and causes the receiver arm to pivot clear of the component into the position illustrated on page 2 of the drawing at view (b). Mounted on the lower face of the outer shaft is the jaw mounting block so further lower~ ing of the inner and outer shafts brings the component, firmly gripped between the jaws, dom to the level of the plastic noulding which is retained in an assembly fixture on a rotary table. Further progress in a downard direction of the jaws and outer shaft is now arrested by contact between the lover face of the jaws and the upper face of the plastic noulding so thet as the pneumatic actuator No.1 continues to extend, the inner shaft only lowers and its lower extrenity presses the slotted insert component forward, overcoming the restraining pressure exerted by the jews and into the plastic moulding hole, as illustrated at views (c) and (d) on page 2 of the drawing. A reversal of the operational sequence brings the mechanism tack to its commencenent of stroke position. Dinensions of the brass insert are: 6 mm knurled outside diameter x 9 mn overall length. Slot dinensions are 1 nm wide x 7.5 nm deep. Operation speed of this mechanism is 5000 cycles per hour. ‘June 1970 ISSUE 1 PAGE 1p WORKHEAD _ MECHANISMS 680522. Wage Tof2) Typical application :— wo Press inserting: Knurled slotted insert into Plastic moulding PNEUMATIC CYLINDER No |: ER UMIT SWITCH TRIP KX TASS COMPRESSION SPRING SPRING CUP. INNER SHAFT. OUTER SHAFT COMPRESSION SPRING. PLL ~ Components fed singly CIRCLIP LEY TENSION SPRING C \ STOP BLOCK \ x4 \\ PNEUMATIC Serap_section X-X . \ evupers Nae SAS RECEIVER _ 7 ARM is 1 Subject to patentWORKHEAD MECHANISMS. Typical application :— Press inserting: Knurled slotted insert into Plastic moulding Inner_shaft_lowers, spring_cup ‘contacts r_shaft and jaws _9fip_component {c)Inner_shaft and jaws. lower to present insert to _plastic_moul pfs Subject to patent = (b) Receiver_arm_swings clearPRODUCTION DATA MEMO. INSTITUTION OF PRODUCTION ENGINEERS WORKHEAD MECHANISMS This exanple illustrates a screvdriving workhead fitted with an automatic screw feeding arrangenent, Page 1 of the drawing shows a vertically momted single head but tho unit may contain tvo or more heads mounted in a horizontal position or in a swept arc. Description of the lorkhead Mechanism Roforring to page 1 of the drawing, it will be seen that the essential features of this unit consist of a vertically mounted pneumatic actuator, the stroke of which controls the travel of the pneumatic screndriver. A slide bracket and two slide pillars mounted on a base casting provide the guidance. A vibratory bovl feeder (not show on the drawing) feeds and then oriestates the screws by means of @ specially designed flight within the feeder, Each screw is then positioned correctly for subsequent assembly, ‘The cycling mechanisn of the assembly machine provides for a jet of compressed air to cerry a single screv through a olastic feed chute from the bowl feeder to screw retaining pocket in the nose of the pneumatic screwdriver. This position is illustrated in tho upper view on page 2 of the drawing, Extension of the vertically mounted pneumatic actuator, shown on page 1 of the drawing causes lowering of the slide bracket which is maintained in vertical alignment by tno slide pillars. ‘The pneumatic screwdriver is mounted on the outer extrenity of the slide bracket and lowering of the slide bracket, as previously described, causes lowering of the pneuratic screw- driver to @ position where the screw is immediately above the threaded hole in the base component. Actuation of the pneumatic screwdriver ensures thet the driver bit engages with the screw slot and drives the screw into the base component, cverconing the retaining spring pressure on the screw pocket. This position is illustrated in the lover view on page 2 of the drawing. hen the screw is driven hone"into tts finalised position a reversal of the above sequence brings the workhead back to its “commencement of stroke" position Linitative conditions of screws fed from this workhead are:- Thread dianeter 1.98 mn (0,078 in.) minimum, Head diomoter 10.2 am (0,472 in.) maximum. Ratio of overall length of screws to head dianeter must be 1.6 to 1 or greater. Assenbly rates vary fron 30 to 50 screws per minute, dependent upon the distance betroen ‘the bowl feeder end assembly point, weight of screw and the threaded length to be inserted. Note: With appropriate ducting tho unit can be used up to a distance of 4.572 m (15 feet) trom ‘the bowl feeder, if necessary. Arrangenent of the head can be nade to provide a manually operated device’ for nut running, etc, yuno 1970 PAGE 1WORKHEAD MECHANISMS Typical application :-— Screwdriving : Cheese - headed screw into Base PNEUMATIC CYLINDER SLIDE BRACKET PNEUMATIC SCREWDRIVER SLIDE PILLARS FEED CHUTE (Screws fed singly) BASE. ROTARY | INDEXING TABLE issue 1 Subject to patent.p WORKHEAD MECHANISMS. PeBss) Typical application :— Screwdriving: | Cheese - headed screw aa) into CS Base — Subject to patent View showing screw retained in jaws of screwdriver View_showing_head_ lowered and _screw iven_through jaws issue |PRODUCTION DATA MEMO INSTITUTION OF PRODUCTION ENGINEERS WORKHEAD MECHANISMS Illustrated on three pages of the drawing, this exarple shows @ pressure release setting workhead. The component being worked upon is a pressure control valve vhich is required to be set to give a precise outlet pressure. This 1s achieved by adjusting and locking in posi- tion an adjusting serew the thread of which has been entered a fer turns by an operator before this setting ‘operation conmences. Description of the Workhead Mechanism Indexing of a rotary table brings the control valve, mounted in an upright position on a work holding fixture, into the setting station as shown at view (s) on page 2 of the drawing. Retraction of the horizontally mounted pneunatic actuator No.1 (see page 1) causes the ‘to clanp brackets also shom on this drawing, to move towards each other along the two hori- zontel guide pillars until the conically formed extremity of the two port connectors, mounted horizontally on the clamp brackets, have entered the inlet port holes of the component, as shown at view (b) on page 3 of the drawing. In this position, the tvo spring-loaded clamping wedge pins, also mounted on the clamp brackets, exert a retaining domward pressure on the component, thus secaring it in position in its work holding fixture. Retraction of the pneumatic actuator No.2 now takes place and csuses the sliding bracket, shown on page 2 of the drawing, to travel in a downvards direction along the two vertical guide pillars, This novement lovers the spring-loeded pneumatic nut runner No.2 (shown on page 1 of the drawing) until it contacts the conponent lock nut. ‘The spring-losding feature ensures that LE the hexagon shaped socket recess of the nut runner 1s not aligned with the lock aut true alignment occurs when the nut runner motor is energised. Retraction of the pneuratic actuator No.2 also causes lowering of the vertically mounted aut runnor No. 1, shown on page 2, until its driving head rests on or engages with the component adjusting screw. This position is illustrated diagramaticelly on page 3 of the drawing at view (¢), A nonitored air pressure is now applied through the two port connectors but at this stage no air flows through the outlet port of the pressure control valve, ‘Tho nut runner No.1 motor is nov energised, the driving socket of the nut runner locates over the square head of the component adjusting screw (if not elready located) and the adjust- ing screw comences to rotate, ‘The air back-pressure through the component outlet port commences to build up and when the required pressure is reached (registered on a preset pressure switch) the nut runner No.1 motor 1s switched off. Rotation of the nut runner No.2 now commences and, after locating over the hexagonal form of the lock nut, runs the nut home to a locked position. The nut runner motor is set to slip its friction clutch when the required locking torque is attained. The position of the workhead at the completion of the operation described above is shown on page 3 of the drawing at view (d) A reversal of the operstional sequence of the workhead brings the nechanism back to its “commencement of operational cycl: ISSUE 4 PAGE 1€ E WORKHEAD MECHANISMS baeieta Typical application — Pressure release t 4 @ setting : Pressure control valve VV PNEUMATIC =NUT RUNNER No. 2 PNEUMATIC = NUT RUNNER No. | HORIZONTAL GUIDE PILLARS VERTICAL GUIDE PILLARS CLAMP BRACKETS PNEUMATIC CYLINDER No. | COMPRESSION r) SPRINGS \ FRAME, PNEUMATIC CYLINDER No. 2 eve |p WORKHEAD _ MECHANISMS. D 680524 (Page 2 of 3 Typical application :— & Pressure release | | setting : Pressure control valve ey) ay) 7 COMPRESSION SPRINGS SLIDING BRACKET NUT RUNNER No. | (Adjusting screw) VERTICAL GUIDE PILLAR MOUNTING BRACKET PNEUMATIC CYLINDER No. | \ NUT RUNNER] ~ —~ No.2 i (Lock - nut) COMPRESSION T y a Air pressure . 4 N | N 2 oe : they | SS PORT CONNECTOR CLAMPING WEDGE PIN | MAIN FRAME Connection to pressure sensor issue |WORKHEAD _ MECHANISMS Pp Base Sot | e@ Pressure release setting : Pressure control valve 8 Typical application :— Diagrams _showing_operational_sequence (a) Component_fed_into ponent _fed into. {b) Pneumatic _cylinder_No. | -Position. retracts causing _clamp_ brackets to engage component, {c) Pneumatic _cylinder_No. 2 retracts, lowering_sliding_ id) Nut_runner No.1 drives adjusting_screw_until fequired pressure flow through_valve_is_reached_PRODUCTION DATA MEMO INSTITUTION OF PRODUCTION ENGINEERS WORKHEAD MECHANISMS ‘This example is concorned with illustrating a pneumatically actuated vorthead, which ie manufactured ss a standard unit, by the Conpany concerned. It can be used for porforning a variety of operations such as squecze riveting, staking, blanking and piercing components, It can elso be used for discrete placing operations, press fit applications, ete. Description of the Vorkhead Nechanism Page 1 of the draving shows the workhead situated in relationship to « retary indexing table upon which is mounted the required number of assembly fixtures. Page 2 illustrates the essential features of the toggle Linkage systen and shows the extremities of stroke of the vertical ran, Fron this page of the drawing it will be seen how the maximum thrust of 26,689 (6000 Ibf.) is obtained whon using a shop air line giving 551.6 KNw"? (SO Ib in7*). The ram achieves this thrust at its lovest position, The unit is capable of working at a mexinum speed of 180 strokes per minute and as desimed hes maxinum stroke of 25.4 mm (1 in.). ‘This stroke is easily aljusted ty 2 conveniently positioned setting stud, one extremity of which operates on a pilot valve, the actuation of which finalises the ram stroke. ‘Throat depth from ceatre-line of ren is 127 mm (5 in.) and maximum clearance between lower face of ran and top face of base plate is 203.2 nm (8 in.) June 1970 ISSUE t PAGE 1p WORKHEAD _ MECHANISMS Pee reF) age_| of 2) Typical application :-— Sa Staking + Finger grip @ on to Screw Subject to patent MAIN FRAME ROTARY INDEXING TABLE ASSEMBLY FIXTURE issue |of je WORKHEAD _MECHANISMS Typical application :— Finger grip Staking : on to Screw TOGGLE ARM retracted position PIVOT PIN increase_as_togg! link arm “straight” PNEUMATIC CYLINDER orm pproach. condition. L_.__-_tPRODUCTION 680526 DATA MEMO INSTITUTION OF PRODUCTION ENGINEERS WORKHEAD MECHANISMS ‘This exanple introduces a can-sequenced nechanism used for performing a contact adhesion assenbly operation. It can hovever, be utilised for other applications, such as assembling a component into an open box, prior to tab folding and sealing. Attached to an intermittently indexing conveyor belt are a number of vork carriers, each one suitably profiled so as to contain e single block component, Synchronised to the linear movenent of the conveyor belt is a rotary indexing table which has a number of vork carriers mounted on its upper surface, profiled to suit an angle plate ‘component. When @ block component is indexed into horizontal alignment with an angle plate component it is then required as the next sequence to transfer the block fran the conveyor belt and to present it correctly to the angle plate on the rotary table so thet adhesion between the two components can be effected. The adhesive nedium employed is an impact glue, suitable for the product. ‘The return path followed by the pusher arm which performs the transfer movenent must be such thet the arm clears the following block component which is indexing into the transfer position. Description of the Torkhead Mechanist Referring to page 1 of the drawing it will be seen that two plate cans, nouted side by side on a constantly rotating camshaft, govern the extent of moverent of this mechanism. The position adopted by the mechanism, as the two cmponents intended to be joined together are indexed into aligment, is illustrated diagrannatically on page 2 of the drawing, at view (a). When the two components are stationary, rotation of the can which governs the traversing movenent of the mechanism ensures thet the Slide arn extends through the slide nousing. On one extremity of the slide am is ¢ spring-loaied pusher arm, so mounted that extension of the slide arm causes the pusher arm to remove the block component from its work carrier and transfer it to the assembly position abutting the vertical face of the angle plate component. ‘This position is illustrated at view (b) on page 2 of the drawing. Adhesion between the treated faces of the two components cccurs as they are brought together under the pressure exerted by the pusher arm spring. Rotation of the other plate cam mounted on the camshaft causes « pivoting movenent to be imparted to the slide housing, by the lowering of a connecting rod, thus ensuring that the Pusher arm swoops clear of the subsequent component block which is now noving to tho assenbly position. Retraction of the pusher arm coupled with the pivoting movement previously described will allow this “clearing” novement and is illustrated at view (c) on page 2 of the drawing. Also shown on page 2 is the locus of the pusher arm during the complete operational cycle of the mechanism. Continued rotation of the cansheft brings the mechanism back to its “commencement of stroke’” position. ‘The completed assently is indexed by the rotary table to e subsequent work station where it is ejected. This nechanism oparates at 120 cycles per minute. June 1970 ISSUE 1 PAGE 1e Pp WORKHEAD _ MECHANISMS penne. (Page_I ot Typical application :— e Contact adhesion : Block on to Angle plate TENSION SPRING SLIDE ARM / PIVOT. SHAFT CAM Bivoting | SLIDE HOUSING movement) PUSHER ARM ) PIVOT SHAFT e@ PIVOT SHAFT issue |WORKHEAD MECHANISMS. D 680526 (Page 2 of 2) Typical application -— 2 Contact adhesion : Block YS ‘onto BY Angle plate (a) Components indexed into b)_Slide_arm alignment onents _toge! pring_pressure Locus of pusher ‘arm Sli . in , is “1 ide mit clears following_ component as it retracts issue |PRODUCTION DATA MEMO INSTITUTION OF PRODUCTION ENGINEERS WORKHEAD MECHANT SUS This drawing illustrates a workhead for pérforning a wolding operation which Joins a solenoid wire to its terminal tag. Page 1 of the draving illustrates the essential features of the pneumstically actuated mechanisn, Page 2 shows at scrap section ‘X - X" component clamping details and the scran section “Y - ¥" elso on page 2 depicts the spring-loaded pressure pad which ejects the con- pleted assembly after completion of the welding operation. Page 3 illustrates diagrammatically the six operational soquonces which comprise the workhead cyole. Description of the Vorkhead Nechanism Base block components are fed in a fully orientated condition, randomly spaced along a continuously moving conveyor belt. Mounted on each baseplate is a’ solenoid, one winding tail of which 1s to be welded to 2 terminal tag also secured on the base block. Referring to page 1 of the drawing, it will be seen in the lower right hand corner that there are vertically positioned pneumatic cylinders, cach ono controlling the lincar movenont of an independent slide. Actuation of the pneumatic cylinder governing the detecting slide travel, causes retrac~ tion of the piston rod which, being linked at its upper extremity to a cranked arm, moves the detecting slide forvard so that the sensing lever overhangs the conveyor belt, as illustrated in view (a) on page 3 of the drawing. The leading component in the stream of components is arrested by contect with the sensing lever, the tripping of which triggers the two renaining pneumatic actuators mentioned previously. Retraction of these actuators cause both the stop slide and the clamping slide to move across the conveyor belt into the position indicated at view (b) on page 3 of the drawing. The function of the clamping slide is to move the entrapped base block across the con veyor belt against the spring loaded pressure pad. The force exerted by the clamping slide depresses the two compression springs backing up the pressure pad, Details of pressure pad assembly are shown on page 2 of tho draning at scrap section “Y ~ Y", The extremity of the solenoid wire and the terminal tag. to which it is to be welded are nom, ty action of the clanping slide, positioned between the two welding electrodes, as illustrated on page 3 of the drawing at view (b) As already mentioned, the stop slide has extented across the conveyor belt in the same manner as the clamping slide. The function of the stop slide is to restrain the strom of components folloving along the conveyor belt, from entering the welding station. The components must now be clamped together between the electrodes before welding commences and this achieved in the following manner Extension of the horizoutally mounted peumatic actuator shown in the upper section of the drawing on page 1 causes pivoting of the actuating arm which in turn imparts a linear movement to the slide, which carries on one end an electrode. This electrode will thus clamp ‘the two components to be welded against the fixed electrode. A view showing the details of the slide and the two electrodes is given on page 2 of the drawing at the scrap section “X - x”. Before welding connences, extension of the pneumatic actuator linked to the detecting slide causes vithdrawal of the detecting slide and sensing lever back to its “conmencenent of cycle" position, as shown on page 3 of the drawing at view (c). ISSUE 4 PAGE 1P WORKHEAD _ MECHANISMS D 680527 Pew of 3) Typical application :— Ke Welding : Wire Ly to Terminal tag ACTUATING ARM PIVOT PIN PNEUMATIC. CYLINDER % supe SPRING LOADED PRESSURE PAD . ELECTRODE ING ELECTRODE CONVEYOR ~~ i Saf Components wz fed correctly xt orientated but “s Ya randomly spaced = PIVOT SHAFT: PNEUMATIC CYLINDER SLIDE | DETECTING SLIDE Z| issue |p WORKHEAD JANISMS area ige¢_2 of 3) Typical application :— Welding Wire to Terminal tag Scrap section X-X:CHANISMS. 6 680: 7: age_3 of 3) KHEAD. Typical application :— Welding : Wire 4 e to Terminal tag t+ (a) Component_body trips (b) Component_clamped_against_ sensing_lever mounted on. welding _heod pressure pad. detecting slide. + ic) Moving electrodes clamps. {@) Weld_tokes place, detecting slide retracts e a a ' {e) Electrode withdraws ond (f) Stop slide retracts to ‘component clamping _slide_retracts. release next component Diagrams showing operational sequence issue _|PRODUCTION DATA MEMO. INSTITUTION OF PRODUCTION ENGINEERS WORKHEAD MECHANISMS Tho mochanion illustrated in thie exanplo can bo usod for a varioty of oricatating functions and this particular application is concerned with the orientation of a keyway slot ina shaft, to align for assembling operations. Description of the Yorkhead Mechanism Referring to page 1 of the drawing it will be seen that two plate cams are mounted in tanden on a horizontal can shaft. One cam governs the vertical travel of the imer shaft whilst the other can profile dictates the rotetional movenent of the outer sleeve. The component is presented vertically in true alignment with the vertical section of the workhead, but with its keyway slot rendonly disposed. Operational sequence of the mechanism conmences when rotation of the cam shaft causes & pivoting action to be imparted to 2 forked arn whose ends locate between tvo flanges of & sliding collar. At the other extremity of the forked arm, a cam roller is maintained in con- stant contest with the can profile by a tonsion spring positioned as shown on page 1 of the drawing. Continued rotation of the cam shaft causes lowering of the imer shaft which slides through the imer sleeve bore. This inner sleeve is supported by the machine frame detail. A pinion drive gear as illustrated diagrametically forms part of the inner sleeve. Supported on the lower extremity of the inner shaft, by means of a split washer, is the outer sleeve essembly which has an orientating peg formed integral with its lower face. Domward travel of the inner shaft and outer sloove assombly is arrested by contact between the orientating peg and the component end face, Over-travel of the previously mentioned forked arm will be registered by an open gap between the upper face of the sliding collar and the lower face of the stop collar, as illus- trated on page 2 of the drawing at view (a). Over travel is necessary for the subsequent function; to drop the orientating peg into location. It is, as stated, now necessary to rotate the orientating peg so that it will fall freely into the randomly disposed keyway slot in the component shaft. This is achieved in the following manner: Rotation of the cam sheft has caused a rotation of the plate can controlling the vertical movenent which occupies @ dvell position during the depression of the inner shaft. In turn the rotational oan now imparts movement to a link arm, one extremity of which terminates on the rack sector as illustrated on page 1 of the drawing. Arcuate movement of the reck sector causes rotation of the pinion which in turn rotates through the drive pins, the outer sleeve containing the orientating peg. As the orientating peg eliens itself with the keyway slot in the component shaft, the inner shaft and outer sleeve Will fall until halted by contact between the sliding collar and stop collar at the upper extremity of the inner shaft - as shown on page 2 of the drawing at view (b). Rotation of the outer sleeve and inner shaft continues for a little more than 360° to ensure that all componente fed to the dovice are indexed into the required identical radial position. Folloving finelisation of this rotating action, « reversal of the sequence brings tho mechanism back to its “conmencenent of cycle” position. ISSUE 4 PAGE 1p WORKHEAD _ MECHANISMS Pere (Page _| of 2: Typical application :— Orientating : Keyway slot fi in shaft TENSION SPRING \ STOP COLLAR SLIDING CAM (Rotational, COLLAR movement) CAM (Vertical: (movement) PINION CAM. SHAFT DRIVE PINS RACK SECTOR INNER SLEEVE OUTER SLEEVE ORIENTATING PEG INNER SHAFTPp WORKHEAD _ MECHANISMS er age _2 of Typical application :-— Orientating : Keyway slot i in shaft (a) Outer sieeve lowers ireely_on_to component and rests _on end face of shaft b) Outer sleeve _is fotated so thot orientating__peg_engages. in_keyway_siot_and_ indexes _it_into _known. orientation. Views showing_method of achieving orientation issue _|owner 680529 INSTITUTION OF PRODUCTION ENGINEERS WORKHEAD MECHANISHS This example illustrates a pnoumatically actuated workhead used for inserting parallel ping in a wide range of suall engineering assemblies, such as hinges, door handles, locks, etc. The range of workheads evallable cater for « variety of ping, varying fron 0.8 mm diameter x § mm long to 6 mm diameter x 60 mm long. ‘The pins are fed fron a hopper, orientated and placed in position below the punch ready for inspection, Inserting pressures vary from 178 N (40 Ibf) to 15568 N (3500 1bf) dependent upon pin size, fit required and hole surface condition. Pernanent magnets are used to orientate the pins, which must therefore be either stool or contain sufficient ferritic material to enable then to be magnetically attracted. Description of the Vorkhead Mechanism From page 1 of the drawing it will be seen that the essential features of the workhead comprise the main frame upon which is mounted a hopper feeder, for delivering conponents descretely to the orientation head. A vertically mounted pneumatic cylinder vhich controls the punch travel completes the arrangement. A bulk supply of component pins is loaded into the permanent mamet hopper feeder; a nunber of permanent bar magnets are secured to one of its vertical revolving faces. As these magets pass through the bulk supply of components thoy attract mumbers of the pins which, after passing through tooling stations become orientated and reduced to a single layer. They are finally deposited end-to-end in a brass tube leading fron the hopper and terminating in an escapenent block. Upon machine demand, actuation of # small air cylinder attacked to the escapenent allons ‘a single pin to fall from the escapement down a plastic feed tube and into the orientation head. View (a) on page 2 of the drawing shows a scrap section through the orientation head and from this view it can be seea how the lower extremity of the punch is piloted in the bore of a flanged hush and 2 permanent maget is inserted in one side of the orientation head. View (b) on page 2 of the drawing shovs the component pin contacting the magnet and view (0) shows the pin held by the magnet in position above a pilot hole contained in the lower face of the orientation head. View (d) shows the punch lowered by extension of the vertically mounted pneumatic cylinder thus pressing the pin into the component base which has indexed into position immediately below the lower face of the orientation head. Completion of the inserting operation is signalled and causes retraction of the pneumatic actuator and punch. This is followed hy actuation of the small escapenent air cylinder vhich releases another component to the orientation head for inserting. The workhead can be manufactured to operate at any angle to the horizontal and more than one inserting head can be mounted on the main frame, all fed from the same hopper feeder. The hopper feeders are made in three standard sizes to satisfy the requirements of different applications: 152 mm diameter, 228 mm dianeter and 381 om dianeter, They revolve at a comon speed of 10 revs per min. ISSUE 1 PAGE 1Pp WORKHEAD _ MECHANISMS. (Pave Pot?) Typical application :— Pin Inserting : Dowel pin © Base HOPPER FEEDER ESCAPEMENT MAIN FRAME PUNCH featet Subject to patent.WORKHEAD _ MECHANISMS. (Page _2 of 2) Typical application :— fj Pin Inserting : Dowel pin into © Base Scrap_views on orientating_head__showing_method of operation Components fed singly \ PERMANENT . MAGNET . \ 9 (a) Dowel_pin_released (b) Dowel_pin_contacts from_escapement_ Magnet _and_is_drawn mechanism into_line__with_it KS {c) Dowel_pin_is_held (d) Punch _lowers_pressing_ “in position” above pilot dowel pin into base hole by _magnet_ issue _| Subject to patent.PRODUCTION DATA MEMO INSTITUTION OF PRODUCTION ENGINEERS WORKHEAD MECHANISMS A pneumatically actuated workhead used for driving a slotted grub screw into @ base block is illustrated in this example. It is of simple desim and contains easy accessibility features to areas where jamming of components is likely to occur. Description of the Yorkhead Wechanism Components are fed continuously from a vibratory hopper feeder, correctly orientated for assembly with their screwiriver slot uppernost, along an inclined feed chute. Their trevel is arrested when the leading grub screw in the strean of components enters 4 suv shaped cut-out contained in the efcayenent slide, as shom in tiev (a) on pase 2 of the irawing, It will be noted that a detachable cover plate is positioned in the top plate of the escapement block. Should janming of components take place, this cover nay be easily removed and the components freed. Operational sequence of this workhead conmences with actuation of the horizontally mounted pneumetic cylinder shown on page 1 of the drawing, The piston rod extrenity is coupled to the trailing end of the escapement slide to provide a Linear reciprocating movenent. The leading couponent, trapped in the slide cut-out, is traversed away from the stream of components. At the sane tims, the stream of awaiting components is restrained ty the side face of the escaponent elide. As this stroking movement continues, the entrapped screw contained in the slide cut-out falls approxinately 1.5 mm off the extremity of the support plete in the escapement block and on to the two arms of the spring attached to the front of the escepenent block. Stroke finalisation is illustrated in view (b) on page 2 of the drawing. Actuation of the vertically mounted pneunatic screwdriver now occurs. After engagenent of the driver blede in the component screw slot, it drives the grub screw through the spring ams into the threaded hole in the component base. This position is shown in view (c) on page 2 of the draving. When the screw has been finally driven hone in the base the driver blade elevates and, when clear of the escapement block, signals retraction of the horizontally mounted pneumatic actuator which returns the escapenent slide back to its “commencenent of stroke” position and another component enters the cut-out in the manner previously described. Dimensions of typical component used with this workhead are: 6 mm threaded diameter « 12 mm long. Operational speed of this mechanism is 3000 cycles per hour. June 1970 ISSUE 1 PAGE 1Typical application :— Subject_to patent. PNEUMATIC SCREWDRIVER, (Self feeding) MAIN FRAME. PNEUMATIC. CYLINDER, SCREWDRIVER BLADE COVER PLATE ESCAPEMENT. BL SPRING issue _| WORKHEAD _MECHANISMS. Screwdriving : Grub Screw into Base 5 3 pSetere a Y components FEED CHUTEPp WORKHEAD MECHANISMS. ‘peno5s0 Page 2 of 2) Typical application :— e@ Screwdriving : Grub screw a into Base Subject_to patent (a) Leading _grub_ screw locates in _escapement slide b) Escapement slide _moves forward hole. Grub screw is_supported by. spring _arms. (c) Screwdriver_blade lowers, engages _slot_in grub screw and drives grub_screw through “spring_arms into baseornmere 68053 1 INSTITUTION OF PRODUCTION ENGINEERS WORKHEAD MECHANISMS The Company concerned with the manufacture of this particular screwdriving unit produces At gs a Standard workhead. It is pneumatically operated and is electro pneumatically controlled. A sensing mechanism is incorporated in the design of the mit so that if a screw fails to arrive in the driving position, or it is only partially driven hone, the mechanism cycle ceases to operate. Most types of screws cen be fed aatisfactorily; the mechanisa can als) te adapted as a nut-runner. ‘The unit ean be cycled independently ty hand for set-up and test run purposes. Description of the Torkhead Mechanism The workhead unit is mounted on a main cesting shown on page 1 of the drewing vhich carries the attachment flange for securing to the support column of the assembling machine into which it is integrated. Headed screvs ere fed in @ fully orientated manner from a hopper feeder end shuttled singly into the spring-loaded jaws of the unit by positive action of an escapement mechanism, already illustrated on drawing PD680832, included in Part 4 of Oriontating Mechaniona and Escapenents, Referring to page 1 of the drawing, which shows the essential features of the nechanism, it will be seen that a pneumatic cylinder is mounted vertically on the main casting. Actuation of this cylinder causes the downward movement of the piston, which is seen to carry extension rods at each end, This movenent in turn causes the lovering of the head bracket, cerried on the top extension of the piston rod, Mounted on the loner piston rod is the Jaw mounting bracket, which moves correspondingly. From page 1 it will be seen that a pair of component jaws are plvoted on the Jaw mounting bracket and are retained in « normally closed position by pressure exerted by the spring plate fabricated in the form of an inverted “U’. The view shown on page 2 of the draving, in the upper left hand section of the page shows the position of the jaw assembly mechanism after a screw has been fed into the jaws and after ‘the screw has been lowered to the assembly position. A fixed stop is provided at some convenient position which arrests the domward travel Of the jaw mounting bracket when the component has been lowered into the assembly position, Continued lowering of the piston rod causes lowering of can block No.2 followed by lower- ing of cam block No.1 when contact takes place between the lower face of the cam bracket and tho upper face of the spacer. Lowering of cam block No.1 between the Jaw arms, es shown on the right hand side of page 2 of the drawing, will cause the Jaws to open and release the component, Meanwhile engagenent of the serewdriver bit in the scrow head slot is nade and the screw rotated and driven hone. This screndriver bit is driven by a pneumatic motor, mounted vertically in the position shown on page 1 of the drewing, and slides inside the previously mentioned piston rod A reversal of the above sequence of operations will complete the machine cycle and allow aether screw to be ojected into the jaws of the screwdriving unit. ‘The mechanisn will cycle at speeds of up to 5000 strokes per hour. Sune 1970 TSsuE PAGE 1WORKHEAD _ MECHANISMS. 6 660531 [Page | of 2) Typical application :— f Screwdriving : Cheese headed screw into — Block SCREWDRIVER 680521-40 Printed in England by Technical Editing and Reproduction Limited 7-9 Charlotte Street, London, WI