CN104209731B - Elasticity axis hole automation assembling device and assembly method thereof based on fuzzy location - Google Patents
Elasticity axis hole automation assembling device and assembly method thereof based on fuzzy location Download PDFInfo
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- CN104209731B CN104209731B CN201410459606.1A CN201410459606A CN104209731B CN 104209731 B CN104209731 B CN 104209731B CN 201410459606 A CN201410459606 A CN 201410459606A CN 104209731 B CN104209731 B CN 104209731B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
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Abstract
The invention discloses a kind of elasticity axis hole automation assembling device and assembly method thereof based on fuzzy location, comprise mandrel, Connection Block, sleeve and axle sleeve; The inwall of Connection Block, axle sleeve is slidably connected with the outer wall of mandrel by the first moving sets, cone match auxiliary connection respectively, and is connected by elasticity between the outer wall of Connection Block and the outer wall of axle sleeve; On the adjacent end face of axle sleeve and Connection Block, be embedded with conducting ring a, the opposing end face of axle sleeve and Connection Block circumferentially arranges three above jaws, and the adjacent end face of Connection Block and axle sleeve is corresponding to the position setting-in conducting ring b of conducting ring a; The inwall of sleeve is slidably connected with axle sleeve by moving sets, is flexibly connected pair and is connected with jaw, and between the inwall of sleeve and the outer wall of axle sleeve, form driving cylinder by cone match; Therefore, positioning precision of the present invention can be far below the fit-up gap of axis hole, as long as approximate location correctly, positioning precision reaches the 0.1mm order of magnitude.
Description
Technical field
The present invention relates to a kind of elasticity axis hole automation assembling device based on fuzzy location, belong in mechanical engineering, axis hole automation assembling field.
Background technology
Along with the continuous lifting of equipment manufacture automaticity, axis hole automation assembling causes people's concern gradually, and in actual production, efficient, high-precision axis hole automation assembling has become technical barrier in the urgent need to address. In axis hole automation assembling process, conventionally after moving to relevant position and accurately locate by external drive mechanisms grip axles (workpiece) such as articulated robot, linear axis motions, again by driving mechanism along the moving in shaft insertion hole of axis direction, complete assembly manipulation. Along with the raising of axis hole precision, the problem that the assembly method of this " rigidity " completely exists has just displayed. The precision of a lot of its axis holes of occasion reaches 5,6 class precisions, the gap of axis hole assembling reaches um level, for this reason, and the accuracys that adopt the method for the positioning precision that improves external drive mechanism to improve location in the middle of practical application more, even if this method has significantly increased cost, but produce little effect. Reason is that external drive mechanism positioning precision is subject to the impact of all uncertain factors such as manufacture, assembling, thermal deformation, there is complicated correlation in the factors such as the assembling of while axis hole and workpiece size tolerance, form and position tolerance, therefore machinery is located slightly deviation, will cause the rigid collision between axle and hole, not only can make to install unsuccessfully, may cause mechanical equipment fault simultaneously. Facts have proved, want to be successfully completed by the localization method of this entirely mechanical " rigidity " difficulty that the automation assembling of high accuracy axis hole realizes very big.
For this problem, application number: 201010034357.3 correction of inner bore of part azimuthal error " a kind of in axis hole assembling "; 201110118174 " a kind of apparatus and method of utilizing the compliance of robot to realize axis hole assembling " are using camera as image collecting device, by robot vision method, axis hole position is identified, then feed back to digital control system, position and axis hole assembly manipulation. The problems and shortcomings that the method exists: 1, the precision of robot vision technology is limited, gap between axis hole reaches um rank at present, to axis hole, assembling is not only that dimensional discrepancy, form and position tolerance etc. all exist complicated contact in addition, and robot vision method head it off exists technical difficulty; 2, cost is high, and the precision of robot vision technology depends on the image collecting device of high speed, high resolution, and the basic dependence on import of this device is expensive, coordinates in addition corresponding robot to use, and price is expensive equally. Above-mentioned technology is along with the development of robot vision technology, its application can be expanded, but due to the problem of the aspects such as himself precision and price, be also only only applicable to the application scenario that precision is not high, fit clearance is larger for now, its practical value is also little.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of elasticity automation axis hole assembling device based on fuzzy location is provided. Compared with above-mentioned technology, there is the plurality of advantages such as simple in structure, with low cost, reliable operation. According to the present invention, adopt " rigidity " to connect at the positioning stage of axis hole assembling, guarantee the accurate of location; In assembling process subsequently, adopt " elasticity " to connect, avoid axis hole rigid collision, in addition the excitation of external drive mechanism, make piece-holder position produce small size high frequency perpendicular to " twisting " of axle (workpiece) axis direction with along " vibration " of axle axis direction, guarantee axle can insert in the hole submissively; The fault alarm that can set out in the time assembling unsuccessfully, guarantees the safe and reliable of assembling process. Adopt the present invention, its positioning precision can be far below the fit-up gap of axis hole, as long as approximate location correctly, positioning precision reaches the 0.1mm order of magnitude, it is so-called fuzzy location, the manufacturing cost that can greatly reduce equipment without expensive external movement control and visual identifying system, has practical reference value.
For realizing above technical purpose, the present invention will take following technical scheme:
An elasticity axis hole automation assembling device based on fuzzy location, comprises mandrel, Connection Block, sleeve and axle sleeve; Connection Block, axle sleeve are socketed in respectively the periphery of mandrel, and the inwall of Connection Block is slidably connected with the outer wall of mandrel by the first moving sets, between the inwall of axle sleeve and the outer wall of mandrel, be flexibly connected by the conical surface matching, and be connected by elastic connecting element between the outer wall of Connection Block and the outer wall of axle sleeve; On the adjacent end face of axle sleeve and Connection Block, be embedded with conducting ring a, the opposing end face of axle sleeve and Connection Block circumferentially arranges three above jaws, and the adjacent end face of Connection Block and axle sleeve is corresponding to the position setting-in conducting ring b of conducting ring a; The inwall of sleeve is socketed in the periphery of axle sleeve by the second moving sets, and forms and drive cylinder between the inwall of sleeve and the outer wall of axle sleeve, is connected simultaneously and forms the second moving sets between this part inwall and the outer wall of axle sleeve; Described driving cylinder offers respectively a pore on the cylinder body wall of its piston body both sides; In addition, the inwall of sleeve is flexibly connected and secondary is connected with the lateral surface of jaw by cone match.
Described mandrel, hollow structure, the outer wall of mandrel is divided into two sections, comprises external cylindrical surface and outer conical surface, and external cylindrical surface is connected with the minimum diameter end of outer conical surface; Described Connection Block, hollow structure, has the cylinder shape inner wall coordinating with the external cylindrical surface of mandrel; The cylinder shape inner wall of Connection Block and the external cylindrical surface of mandrel form the first moving sets; Described axle sleeve, has the conical inboard wall coordinating with the outer conical surface of mandrel; The conical inboard wall of axle sleeve forms movable cone match with the outer conical surface of mandrel and is connected; Described jaw, comprises the portion of being fixedly connected with and piece-holder portion, and the circumferential clamping section that described piece-holder portion comprises horizontal location face and is connected with horizontal location face outside is connected with the portion of being fixedly connected with inside horizontal location face; Circumferentially the inner side of clamping section is vertical circumference clamping area, and arranged outside conical external circle face; Described sleeve, inwall comprises two parts, wherein between a part of inwall and the outer wall of axle sleeve, forms and drives cylinder, and formation the second moving sets that is connected between this part inwall and the outer wall of axle sleeve; Another part inwall has the conical inboard wall face matching with the conical external circle face of jaw; The cone match that described jaw is connected formed by its conical external circle face with the conical inboard wall face of sleeve is flexibly connected pair and is connected with sleeve.
Described jaw is 3.
The piston body that described driving cylinder comprises cylinder body and screws with inboard wall of cylinder block; Described piston body is the annular projection a that axle sleeve outer wall arranges; Described sleeve lining is offered annular groove, and described cylinder body is the cavity that axle sleeve outer wall sealing ring connected in star notch forms; The second moving sets by between the sleeve lining of annular groove both sides and the axle sleeve outer wall of annular projection a both sides be connected and piston body and annular groove bottom land between be connected and form.
The outer wall of described axle sleeve arranges elastic component positive stop lug boss a, and the outer wall of Connection Block arranges elastic component positive stop lug boss b; The two ends of elastic connecting element are connected with elastic component positive stop lug boss a, elastic component positive stop lug boss b respectively.
Described elastic component positive stop lug boss a, elastic component positive stop lug boss b are annular boss.
Described conducting ring a is inlaid in the groove that end face of shaft bush offers by dead ring.
Described elasticity axis hole automation assembling device is vertical structure, wherein: Connection Block is positioned at the top of axle sleeve; The outer wall that Connection Block nestles up upper surface is provided with adpting flange, and conducting ring b is inlaid in the annular caulking groove of offering Connection Block lower surface; Conducting ring a is inlaid in by dead ring in the annular groove of offering axle sleeve upper surface, and jaw is arranged on the lower surface of axle sleeve; Two included parts of sleeve lining are respectively against the inner wall section of upper surface, against the inner wall section of lower surface, wherein: drive cylinder against forming between the inner wall section of upper surface and the outer wall of axle sleeve, and sleeve has the conical inboard wall face matching with the conical external circle face of jaw against the inner wall section of lower surface, be slidably connected with jaw; Two pores on driving cylinder block lay respectively at the upper and lower both sides of piston body.
A kind of axis hole assembly method that adopts the above-mentioned elasticity axis hole automation assembling device based on fuzzy location, for the workpiece spindle that is fitted with key is assembled to axis hole, comprise the following steps: 1) adopt external drive mechanism to drive described mandrel, make the workpiece spindle of jaw clamping move to axis hole top, and carry out Primary Location; Now mandrel is born directed force F upwards, compresses Connection Block and axle sleeve, and the cone match between mandrel outer conical surface and axle sleeve conical inboard wall has self-centering action; Drive the pore exhaust of cylinder block upside, the pore air inlet of downside, impels sleeve to drive its conical inboard wall face to compress the conical external circle face of jaw, with clamping work pieces axle; 2) the power F acting on diminished shaft is reduced to 0 gradually, and the descending segment distance of diminished shaft, under the elastic force effect of elastic connecting element, Connection Block separates with axle sleeve, and that the workpiece spindle that the dead ring of axle sleeve, sleeve, sleeve upper surface setting-in, conducting ring and axle sleeve lower end jaw clamp is done is as a whole, be connected with Connection Block elasticity by elastic connecting element; Now, the gap existing between mandrel outer conical surface and axle sleeve conical inboard wall, can ensure that workpiece spindle searches out the angle of assembling and the rigging position that are most suited to axis hole, meanwhile, Connection Block generation amplitude under the effect of outside driving mechanism is equivalent to the twisting perpendicular to axial direction in existing gap between mandrel outer conical surface and axle sleeve conical inboard wall and vibration in axial direction; In this process, drive the pore exhaust of cylinder block upside, the pore air inlet of downside, impels sleeve to drive its conical inboard wall face to compress the conical external circle face of jaw, with clamping work pieces axle; 3) after workpiece spindle enters axis hole, drive the pore exhaust of cylinder block downside, the pore air inlet of upside, upwards lifts sleeve, and the clamping load between jaw and workpiece spindle is reduced to 0; Now, mandrel top applies downward directed force F, and diminished shaft is descending under the effect of directed force F, until the bottom of mandrel contacts with workpiece spindle, workpiece spindle is pressed into axis hole, completes the assembling of workpiece spindle and axis hole.
According to above technical scheme, with respect to prior art, the present invention has advantages of following:
The plurality of advantages such as that elasticity axis hole automation assembling device of the present invention has is simple in structure, with low cost, reliable operation. According to the present invention, adopt " rigidity " to connect at the positioning stage of axis hole assembling, guarantee the accurate of location; In assembling process subsequently, adopt " elasticity " to connect, avoid axis hole rigid collision, in addition the excitation of external drive mechanism, make piece-holder position produce small size high frequency perpendicular to " twisting " of axle (workpiece) axis direction with along " vibration " of axle axis direction, guarantee axle can insert in the hole submissively; The fault alarm that can set out in the time assembling unsuccessfully, guarantees the safe and reliable of assembling process. Adopt the present invention, its positioning precision can be far below the fit-up gap of axis hole, as long as approximate location correctly, positioning precision reaches the 0.1mm order of magnitude, it is so-called fuzzy location, the manufacturing cost that can greatly reduce equipment without expensive external movement control and visual identifying system, has practical reference value.
Brief description of the drawings
Fig. 1 is the perspective view (subdivision) of elasticity automation axis hole assembling device of the present invention;
Fig. 1 a is the partial enlarged drawing of conducting ring installation position in Fig. 1;
Fig. 2 is the axial cutaway view of elasticity automation axis hole assembling device of the present invention;
Fig. 3 is the perspective view of tapered hub of the present invention;
Fig. 4 is the axial cutaway view of Fig. 3;
Fig. 5 is the structural representation of conical sleeve of the present invention;
Fig. 6 is the structural representation of diminished shaft of the present invention;
Fig. 7 is the structural representation of Connection Block of the present invention;
Fig. 8 is the schematic diagram of installing for axis hole of the present invention;
Fig. 9 is positioning principle schematic diagram of the present invention (being rigidly connected);
Figure 10 is positioning principle schematic diagram of the present invention (elasticity connection);
Figure 11 is the schematic diagram that workpiece spindle is in place;
Figure 12 installs failed schematic diagram;
In figure: tapered hub 1; Jaw 101; Piston body 102; Elastic component positive stop lug boss a103; Ring-shaped groove 104; Cone-shaped inner hole 105; Conical external circle face 106; Horizontal location face 107; Vertically circumference clamping area 108; Conical sleeve 2; Annular groove 201; The first pore 202; The second pore 203; Cone-shaped inner hole 204; Diminished shaft 3; Outer conical surface 301; Connection Block 4; Annular caulking groove 401; Elastic component positive stop lug boss b402; Adpting flange 403; Elastic connecting element 5; Dead ring 6; Conducting ring 7; Conducting ring a71; Conducting ring b72; Workpiece spindle 8; Key 9; Axis hole 10.
Detailed description of the invention
Accompanying drawing discloses the structural representation of preferred embodiment involved in the present invention without limitation; Explain technical scheme of the present invention below with reference to accompanying drawing.
As shown in Figure 1, 2, elasticity automation axis hole assembling device based on fuzzy location of the present invention, entirety is vertical structure, comprise mandrel, Connection Block, sleeve, axle sleeve, elastic connecting element, dead ring and conducting ring, wherein, described mandrel is diminished shaft, sleeve adopts conical sleeve, axle sleeve adopts tapered hub, elastic connecting element is the endless member that an employing elastomeric material (such as rubber etc.) is made, conducting ring comprises two, is respectively the conducting ring a, the conducting ring b that are used in conjunction with; The concrete structure of each assembly is as follows:
Described tapered hub as shown in Figure 3,4, is tubular structure, the internal diameter of its upper surface is less than the internal diameter of lower surface, and the interior hole shape of tapered hub divides two sections of settings, wherein, be cone-shaped inner hole near a section of upper surface, and a section of close lower surface is cylindrical bore; The outer wall compartment of terrain of this tapered hub arranges two annular projections, wherein, uses as the positive stop lug boss of Flexible Connector lower end near the annular projection of tapered hub upper surface, uses as piston body near the annular projection of lower surface; In addition, ring-shaped groove is offered in the upper surface of described tapered hub, for setting-in dead ring, is provided with conducting ring a on this dead ring; The lower surface of tapered hub, at circumferentially uniform multiple jaws of outer rim, in accompanying drawing is 3; Described jaw, comprise the portion of being fixedly connected with and piece-holder portion, the portion that is fixedly connected with is for being connected to the outer rim of tapered hub lower surface, and piece-holder portion is for holding workpiece (axle), comprise and be arranged on the circumferential clamping section that is fixedly connected with the horizontal location face of subordinate side and is connected with horizontal location face outside, the inner side of this circumferential clamping section is vertical circumference clamping area, and outside is conical external circle face;
Described conical sleeve, is socketed in the periphery of tapered hub, and its structure as shown in Figure 5, is offered annular groove along inwall, and only against lower surface, cone-shaped inner hole is set; The bottom land of this annular groove and the piston body of tapered hub screw, upper and lower two internal faces adjacent with this annular groove closely cooperate with the tapered hub outside wall surface of piston body both sides respectively, make the part surrounding between annular groove and tapered hub outer wall can form a cylinder, the bottom land of described annular groove offers two pores, wherein, be positioned at upside for steam vent, downside be air admission hole; In addition, the inwall of described cone-shaped inner hole matches with the conical external circle face of jaw;
Described diminished shaft, as shown in Figure 6, for quill shaft, the external diameter of this diminished shaft upper end is less than the external diameter of lower end, and its outer wall shape is divided two sections of settings, be respectively the external cylindrical surface and the outer conical surface that are linked in sequence, between described external cylindrical surface and outer conical surface, have the outside cannelure of a notch, the external cylindrical surface of diminished shaft and the inwall of Connection Block coordinate simultaneously, to form a moving sets, the outer conical surface of diminished shaft coordinates with the cone-shaped inner hole of conical sleeve, also forms a moving sets;
Described Connection Block, as shown in Figure 7, be hollow cylinder body structure, be socketed in diminished shaft periphery, the outer wall that nestles up upper surface is installed adpting flange, and offers annular caulking groove in lower surface, wherein setting-in conducting ring b, to be used in conjunction with conducting ring a, as the switching value that judges that conical sleeve, Connection Block end face compress, separate, can judge by " conducting " and the "off" of this switching value whether conical sleeve, Connection Block compress (or part compresses) by end face; And at outer wall, annular projection is set, use as the positive stop lug boss of Flexible Connector upper end.
Operation principle of the present invention:
As shown in Figure 8, conventionally on the edge of axis hole and the end face of axle, carry out chamfered, installation accuracy between general axis and axis hole requires very high, and conventionally there is a strong circumferencial direction location of carrying out, prevent from rotating, sometimes installation accuracy requires to reach H6/h5 accuracy class, and gap is very little, or excessively coordinates, crosses negative common differences such as winning cooperations and assemble also very common; Therefore, be rigidly connected completely if adopt, very likely cause and assemble unsuccessfully.
Step 1: as shown in Figure 9, under the drive of outside driving mechanism, this mechanisms grip axle (being equipped with strong on axle) moves to the top of installing hole and carries out Primary Location. There is orientation angle deviation a and position location deviation d. Now on diminished shaft 3, have upwards directed force F, will between tapered hub 1 and Connection Block 4, compress, whole mechanism is as a whole can realize accurate location, and the cone match between cone-shaped inner hole 105 and outer conical surface 301 can play self centering effect; Air admission hole 203 air inlets, steam vent 202 is given vent to anger, and conical sleeve 2 moves downward and drives cone-shaped inner hole 204 to compress conical external circle face 106, locates by horizontal location face 107, and vertically circumference clamping area 108 clamps axle. This process is for being rigidly connected;
Step 2: as shown in figure 10, this process is that " elasticity " connects. Avoid axis hole rigid collision, twisting guarantees that with vibration axle can insert in the hole submissively.
Realize behind the location of Fig. 9, the power F acting on diminished shaft 3 is reduced to 0, and diminished shaft 3 moves downward a segment distance, now under the elastic force effect of Flexible Connector 5, tapered hub 1 separates with Connection Block 4, and the tapered hub 1 of bottom, conical sleeve 2, dead ring 6, conducting ring 7, workpiece spindle 8 are made the as a whole elastic connecting element 5 that passes through and be connected with top Connection Block 4 elasticity. The less gap of existence between cone-shaped inner hole 105 and outer conical surface 301. Owing to being connected by elastomeric element 5 between top and bottom, even if now there is certain deviations " a " and " d " (conventionally very little, 0.01mm rank, 0.01deg rank), whole mechanism also can be on axle, hole chamfering, Automatic-searching is to most suitable angle of assembling and position. Connection Block 4 can produce small amplitude (gap between amplitude and outer conical surface 301, cone-shaped inner hole 105 is suitable) perpendicular to " twisting " of axis and along the small size vibration of the above-below direction in axis defence line in external drive effect in addition, guarantees to insert in the hole submissive axle.
Between outer conical surface 301 and cone-shaped inner hole 105, only have very little gap, even if therefore realized elasticity connection between top, bottom, but its motion amplitude is still very little.
From start to finish, the second pore 203 air inlets, the first pore 202 is given vent to anger, and conical sleeve 2 moves downward and drives cone-shaped inner hole 204 to compress conical external circle face 106, locates by horizontal location face 107, and vertically circumference clamping area 108 clamps axle;
Step 3, as shown in figure 11, after " hand-hole " described in step 2 moved, the first pore 202 air inlets, the second pore 203 is given vent to anger, and conical sleeve 2 is upwards lifted, and conical external circle face 106 departs from cone-shaped inner hole 204, rely on the elasticity of jaw 101 self, vertically the load of stepping up between circumference clamping area 108 and workpiece spindle 8 is reduced to zero. Now act on strong F on the top of diminished shaft 3, diminished shaft 3 moves downward under the effect of power F, until its underpart contacts with workpiece spindle 8 upper surfaces, by axial compression hand-hole;
In addition, as shown in figure 12, when the uncertain external disturbance factor such as machining accuracy, the thermal deformation that variations in temperature causes in axle, hole causes while installing unsuccessfully, be that workpiece spindle 8 could not enough be inserted in axis hole 10, axle and hole bump, along with Connection Block 4 continue move downward, the conducting ring a being arranged in tapered hub 1 upper end all contacts or local contact with the conducting ring b that is arranged on Connection Block 4, upper and lower conducting ring " conducting " forms a switching value, improve to digital control system, produce fault alarm, avoid the damage of plant equipment.
Claims (9)
1.An elasticity axis hole automation assembling device based on fuzzy location, is characterized in that, comprises mandrel, Connection Block, sleeve and axle sleeve; Connection Block, axle sleeve are socketed in respectively the periphery of mandrel, and the inwall of Connection Block is slidably connected with the outer wall of mandrel by the first moving sets, between the inwall of axle sleeve and the outer wall of mandrel, be flexibly connected by the conical surface matching, and be connected by elastic connecting element between the outer wall of Connection Block and the outer wall of axle sleeve; On the adjacent end face of axle sleeve and Connection Block, be embedded with conducting ring a, the opposing end face of axle sleeve and Connection Block circumferentially arranges three above jaws, and the adjacent end face of Connection Block and axle sleeve is corresponding to the position setting-in conducting ring b of conducting ring a; The inwall of sleeve is socketed in the periphery of axle sleeve by the second moving sets, and forms and drive cylinder between the inwall of sleeve and the outer wall of axle sleeve, is connected simultaneously and forms the second moving sets between this part inwall and the outer wall of axle sleeve; Described driving cylinder offers respectively a pore on the cylinder body wall of its piston body both sides; In addition, the inwall of sleeve is flexibly connected and secondary is connected with the lateral surface of jaw by cone match.
2.According to claim 1, the elasticity axis hole automation assembling device based on fuzzy location, is characterized in that,
Described mandrel, hollow structure, the outer wall of mandrel is divided into two sections, comprises external cylindrical surface and outer conical surface, and external cylindrical surface is connected with the minimum diameter end of outer conical surface;
Described Connection Block, hollow structure, has the cylinder shape inner wall coordinating with the external cylindrical surface of mandrel; The cylinder shape inner wall of Connection Block and the external cylindrical surface of mandrel form the first moving sets;
Described axle sleeve, has the conical inboard wall coordinating with the outer conical surface of mandrel; The conical inboard wall of axle sleeve forms movable cone match with the outer conical surface of mandrel and is connected;
Described jaw, comprises the portion of being fixedly connected with and piece-holder portion, and the circumferential clamping section that described piece-holder portion comprises horizontal location face and is connected with horizontal location face outside is connected with the portion of being fixedly connected with inside horizontal location face; Circumferentially the inner side of clamping section is vertical circumference clamping area, and arranged outside conical external circle face;
Described sleeve, inwall comprises two parts, wherein between a part of inwall and the outer wall of axle sleeve, forms and drives cylinder, and formation the second moving sets that is connected between this part inwall and the outer wall of axle sleeve; Another part inwall has the conical inboard wall face matching with the conical external circle face of jaw; The cone match that described jaw is connected formed by its conical external circle face with the conical inboard wall face of sleeve is flexibly connected pair and is connected with sleeve.
3.According to claim 2, the elasticity axis hole automation assembling device based on fuzzy location, is characterized in that, described jaw is 3.
4.According to claim 2, the elasticity axis hole automation assembling device based on fuzzy location, is characterized in that the piston body that described driving cylinder comprises cylinder body and screws with inboard wall of cylinder block; Described piston body is the annular projection a that axle sleeve outer wall arranges; Described sleeve lining is offered annular groove, and described cylinder body is the cavity that axle sleeve outer wall sealing ring connected in star notch forms; The second moving sets by between the sleeve lining of annular groove both sides and the axle sleeve outer wall of annular projection a both sides be connected and piston body and annular groove bottom land between be connected and form.
5.According to claim 2, the elasticity axis hole automation assembling device based on fuzzy location, is characterized in that, the outer wall of described axle sleeve arranges elastic component positive stop lug boss a, and the outer wall of Connection Block arranges elastic component positive stop lug boss b; The two ends of elastic connecting element are connected with elastic component positive stop lug boss a, elastic component positive stop lug boss b respectively.
6.According to claim 5, the elasticity axis hole automation assembling device based on fuzzy location, is characterized in that, described elastic component positive stop lug boss a, elastic component positive stop lug boss b are annular boss.
7.According to claim 2, the elasticity axis hole automation assembling device based on fuzzy location, is characterized in that, described conducting ring a is inlaid in the groove that end face of shaft bush offers by dead ring.
8.According to claim 2, the elasticity axis hole automation assembling device based on fuzzy location, is characterized in that, described elasticity axis hole automation assembling device is vertical structure, wherein: Connection Block is positioned at the top of axle sleeve; The outer wall that Connection Block nestles up upper surface is provided with adpting flange, and conducting ring b is inlaid in the annular caulking groove of offering Connection Block lower surface; Conducting ring a is inlaid in by dead ring in the annular groove of offering axle sleeve upper surface, and jaw is arranged on the lower surface of axle sleeve; Two included parts of sleeve lining are respectively against the inner wall section of upper surface, against the inner wall section of lower surface, wherein: drive cylinder against forming between the inner wall section of upper surface and the outer wall of axle sleeve, and sleeve has the conical inboard wall face matching with the conical external circle face of jaw against the inner wall section of lower surface, be connected with jaw; Two pores on driving cylinder block lay respectively at the upper and lower both sides of piston body.
9.A kind of axis hole assembly method that adopts the elasticity axis hole automation assembling device based on fuzzy location described in claim 8, for the workpiece spindle that is fitted with key is assembled to axis hole, it is characterized in that, comprise the following steps: 1) adopt external drive mechanism to drive described mandrel, make the workpiece spindle of jaw clamping move to axis hole top, and carry out Primary Location; Now mandrel is born directed force F upwards, compresses Connection Block and axle sleeve, and the cone match between mandrel outer conical surface and axle sleeve conical inboard wall has self-centering action; Drive the pore exhaust of cylinder block upside, the pore air inlet of downside, impels sleeve to drive its conical inboard wall face to compress the conical external circle face of jaw, with clamping work pieces axle; 2) the power F acting on mandrel is reduced to 0 gradually, and the descending segment distance of mandrel, under the elastic force effect of elastic connecting element, Connection Block separates with axle sleeve, and that the workpiece spindle that the dead ring of axle sleeve, sleeve, sleeve upper surface setting-in, conducting ring and axle sleeve lower end jaw clamp is done is as a whole, be connected with Connection Block elasticity by elastic connecting element; Now, the gap existing between mandrel outer conical surface and axle sleeve conical inboard wall, can ensure that workpiece spindle searches out the angle of assembling and the rigging position that are most suited to axis hole, meanwhile, Connection Block generation amplitude under the effect of outside driving mechanism is equivalent to the twisting perpendicular to axial direction in existing gap between mandrel outer conical surface and axle sleeve conical inboard wall and vibration in axial direction; In this process, drive the pore exhaust of cylinder block upside, the pore air inlet of downside, impels sleeve to drive its conical inboard wall face to compress the conical external circle face of jaw, with clamping work pieces axle; 3) after workpiece spindle enters axis hole, drive the pore exhaust of cylinder block downside, the pore air inlet of upside, upwards lifts sleeve, and the clamping load between jaw and workpiece spindle is reduced to 0; Now, mandrel top applies downward directed force F, and mandrel is descending under the effect of directed force F, until the bottom of mandrel contacts with workpiece spindle, workpiece spindle is pressed into axis hole, completes the assembling of workpiece spindle and axis hole.
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| CN201410459606.1A CN104209731B (en) | 2014-09-05 | 2014-09-05 | Elasticity axis hole automation assembling device and assembly method thereof based on fuzzy location |
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| CN201410459606.1A CN104209731B (en) | 2014-09-05 | 2014-09-05 | Elasticity axis hole automation assembling device and assembly method thereof based on fuzzy location |
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| CN109014856A (en) * | 2018-09-18 | 2018-12-18 | 杭州力龙液压有限公司 | Plunger ring press-fitting tool |
| CN110340639B (en) * | 2019-07-29 | 2021-09-24 | 中国船舶重工集团公司第七0七研究所 | High-precision self-centering assembly device for shaft hole |
| CN114559232B (en) * | 2022-03-16 | 2022-12-23 | 西北工业大学 | Knurling assembled camshaft multidimensional ultrasonic vibration auxiliary assembly island |
| CN117300608B (en) * | 2023-11-29 | 2024-02-27 | 江苏同合电气有限公司 | Automatic equipment of electric power distribution cabinet |
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| US3824674A (en) * | 1972-07-19 | 1974-07-23 | Hitachi Ltd | Automatic assembly control method and device therefor |
| US3893217A (en) * | 1974-12-13 | 1975-07-08 | Bendix Corp | System and method for automatic insertion of pins in holes |
| JPS58171224A (en) * | 1983-02-09 | 1983-10-07 | Hitachi Ltd | Inserting device for object |
| CN100525997C (en) * | 2006-12-20 | 2009-08-12 | 中国科学院沈阳自动化研究所 | Special press-fitting mechanism for elastic check ring for shaft |
| CN101961831B (en) * | 2010-07-31 | 2013-01-09 | 湖北省丹江口丹传汽车传动轴有限公司 | Three-jaw expansion floating pressure head |
| CN203726105U (en) * | 2014-03-05 | 2014-07-23 | 浙江大学 | Air flotation centering based automatic chamfer-free hole shaft assembly mechanism |
| CN204123052U (en) * | 2014-09-05 | 2015-01-28 | 南京邮电大学 | Based on the elasticity axis hole Automated assembly device of fuzzy location |
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Application publication date: 20141217 Assignee: Jiangsu Nanyou IOT Technology Park Ltd. Assignor: Nanjing Post & Telecommunication Univ. Contract record no.: 2016320000216 Denomination of invention: Fuzzy positioning based elastic shaft hole automated assembly device and assembly method thereof Granted publication date: 20160525 License type: Common License Record date: 20161117 |
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Effective date of registration: 20180214 Address after: Kunshan City Dianshan Ding Jia Bang Road Suzhou City, Jiangsu province 215345 No. 3 Patentee after: Kunshan is automation of industry Co., Ltd on the same day Address before: 210023 Jiangsu city of Nanjing province Ya Dong new Yuen Road No. 9 Patentee before: Nanjing Post & Telecommunication Univ. |
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