CN205465109U - Magnetism shaft hole assemble's equipment - Google Patents
Magnetism shaft hole assemble's equipment Download PDFInfo
- Publication number
- CN205465109U CN205465109U CN201620110656.3U CN201620110656U CN205465109U CN 205465109 U CN205465109 U CN 205465109U CN 201620110656 U CN201620110656 U CN 201620110656U CN 205465109 U CN205465109 U CN 205465109U
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- Prior art keywords
- magnet
- equipment
- hole assembly
- peg
- magnetic
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Abstract
An embodiment of the utility model provides a magnetism shaft hole assemble's equipment, locate the power device on the support including the support with fixing, be equipped with on the support can by power device drive pivoted lead screw, the cover is equipped with and follows its screw -nut who reciprocates on the lead screw, screw -nut one side is equipped with the connecting plate, be equipped with the gentle and agreeable device of realizing shaft hole assemble based on the magnetic field force on the connecting plate, gentle and agreeable device below is equipped with rather than the fixture who links to each other, works as the lead screw is at power device's drive infraduction measured time, screw -nut can reciprocate along the lead screw, drives the gentle and agreeable device that links to each other with screw -nut simultaneously and moves down. The utility model discloses the main card of assembly pore wall when smooth or coarse of solving hinders the problem, and in being dissolved into assembly operation with the magnetic field force, has remedied traditional position control not enough in high quality high accuracy assembly operation, very big improvement assembly quality and work efficiency.
Description
Technical field:
This utility model relates to industrial robot application, particularly relates to a kind of magnetic axis hole
The equipment of assembling.
Background technology:
The commercial production of 21 century is gradually increasing and traditional manufacture liter transition in cost of labor
In the case of Ji, the increasingly automated production that enterprise realizes assembling work is significant.
In assembling work, its peg-in-hole assembly is the task on basis the most in mechanical assembly, assembles matter
The height of amount has significant impact for product in application process, adding of some fine parts
Work and assembling work rely on common control system can not meet demand demand.The highest
The peg-in-hole assembly operation of precision, owing to environment existing many uncertainties and accident,
Assembling work is broken down often, under rotine positioning control, assembly industry robot
Little deviation between assembly parts may make assembly parts can not complete assembling, causes assembling work
Failure, even causes assembling workpiece and the damage of peripheral equipment.
Research worker Whitney Instrumented remote in its article earlier
center compliance[J].Industrial Robot.1984,11(4):238-
The 242 passive RCC devices (Remote Center of Compliance) proposed, this is passive
RCC device utilizes flexible member to accommodate the position between axis hole and the error of attitude and carry out axle
Hole is joined.
The patent of publication number CN102218652B discloses a kind of compliance reality utilizing robot
The apparatus and method of existing peg-in-hole assembly, but it realizes peg-in-hole assembly by position control,
Can not be controlled contact force, or assembly precision coarse for assembling hole wall requires higher
Workpiece when carrying out assembling work, the uncontrollability of its contact force easily cause assemble unsuccessfully or
The damage of person's workpiece.
The apparatus and method of above-mentioned peg-in-hole assembly are all the axis hole dresses under hole wall smoothness condition
Join, the peg-in-hole assembly that hole wall is coarse is easier to jam occur, it is achieved success assembling work
It is more difficult to.
Utility model content:
For the deficiencies in the prior art, this utility model provides setting of a kind of magnetic peg-in-hole assembly
Standby, it utilizes the feed screw nut being set on screw mandrel can move up and down along screw mandrel, thus drives
The compliance device being connected with feed screw nut moves down, and mainly solves assembling hole wall smooth or thick
Jam problem time rough, and magnetic field force is dissolved in assembling work, compensate for traditional location
Control high-quality high accuracy assembling work in deficiency, greatly improve assembling quality and
Work efficiency.
This utility model is achieved through the following technical solutions:
The equipment of a kind of magnetic peg-in-hole assembly, including support and the power being fixed on support
Device, described support is provided with and can be driven the screw mandrel rotated, described silk by described power set
Bar is extended to pedestal lower end by described pedestal upper end, and described screw mandrel is arranged with can be along it
The feed screw nut moved up and down, described feed screw nut side is provided with connecting plate, described connecting plate
It is provided with the equipment of magnetic peg-in-hole assembly, below described compliance device, is provided with coupled folder
Hold mechanism, when described screw mandrel at power set when being rotated by, described feed screw nut's meeting
Move up and down along screw mandrel, drive the compliance device being connected with feed screw nut to move down simultaneously.
The equipment of magnetic peg-in-hole assembly as above, described compliance device includes active compliance
Part and passive compliance part,
Described passive compliance part includes that housing, described enclosure interior are arranged over the first magnet,
Lower inside is arranged with and can move up and down relative to the first magnet axial and at least can be with assembling
The submissive connection member that axle connects, described submissive connection member includes in housing through housing
The end connectors of bottom, described end connectors is provided with relative with described first magnet
And the second magnet that polarity is identical, be provided with buffering sky between described first magnet and the second magnet
Between；
Described active compliance part includes being set in the outer rotatable turnbarrel of housing, described
On turnbarrel medial wall relative to both sides be provided with magnet, be positioned at below described housing and with institute
State the relative place of magnet and be provided with magnet frame, described magnet frame is laid with multipair Magnet,
Described end connectors runs through magnet frame and stretches out from the bottom of magnet frame, and described magnet frame can footpath
To moving back and forth, when described turnbarrel rotates, described magnet can be to the magnetic in magnet frame
Ferrum produces suction or repulsion, makes magnet frame move back and forth in any radial direction and drive described
End connectors adjusts its angle of assembling or position back and forth.
The equipment of magnetic peg-in-hole assembly as above, the described housing power of being provided with fixed above passes
Sensor, described force transducer is used for the repulsive force size between detection the first magnet and the second magnet,
When the repulsive force size that described force transducer detects exceedes the setting value of force transducer, institute
State turnbarrel can rotate.
The equipment of magnetic peg-in-hole assembly as above, described housing includes upper cover plate and lower cover
Plate and the protective sleeve being located between upper cover plate and lower cover, described first magnet is by the
One bolt is fixing with described upper cover plate to be connected, logical between described second magnet and end connectors
Crossing the second bolt and be fixed with guiding embedded block, the center of described lower cover is provided with and allows end even
The conical pilot hole that fitting passes and matches with described guiding embedded block.
The equipment of magnetic peg-in-hole assembly as above, the aperture ratio institute of described conical pilot hole
The external diameter stating end connectors is big.
The equipment of magnetic peg-in-hole assembly as above, it is preferable that adjacent in described magnet frame
The opposite polarity of Magnet, the quantity of described Magnet is odd number pair.
The equipment of magnetic peg-in-hole assembly as above, the center of described magnet frame is provided with and allows institute
Stating the through hole that end connectors passes, the lower section of described lower cover is provided with limiting plate, lower cover
Connect by being connected post with limiting plate.
The equipment of magnetic peg-in-hole assembly as above, described magnet frame is located at described lower cover
With between limiting plate, described magnet frame is provided with and is connected, with described, the spacing hole that post matches,
When magnet frame radially moves back and forth, thus limited with the cooperation connecting post by described spacing hole
The range of activity of magnet frame processed.
The equipment of magnetic peg-in-hole assembly as above, the outer surface of described turnbarrel is provided with
Rotating and drive tooth, described rotation drives tooth to be meshed with by motor-driven gear.
The equipment of magnetic peg-in-hole assembly as above, described motor is fixedly arranged on described upper cover plate
Side.
Compared with prior art, the beneficial effects of the utility model are, on this utility model
Stating the equipment of the magnetic peg-in-hole assembly that embodiment provides, it utilizes the screw mandrel being set on screw mandrel
Nut can move up and down along screw mandrel, thus drives the compliance device being connected with feed screw nut downward
Mobile, utilize magnetic field force that the impetus of assembled shaft is realized peg-in-hole assembly simultaneously, mainly solve
Jam problem when certainly assembling hole wall is smooth or coarse, and magnetic field force is dissolved into assembling work
In, compensate for traditional location and control the deficiency in high-quality high accuracy assembling work, greatly
Improve assembling quality and work efficiency.
Accompanying drawing illustrates:
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of this utility model compliance device；
Fig. 3 is the A-A sectional view of Fig. 2；
Fig. 4 is the structural representation of this utility model passive compliance part；
Fig. 5 is the structural representation of this utility model active compliance part；
Fig. 6 is the explosive decomposition figure of Fig. 4；
Fig. 7 is the explosive decomposition figure of Fig. 5；
Fig. 8 is the structural representation of this utility model magnet frame；
View when Fig. 9 is this utility model jam.
Below in conjunction with the drawings and the specific embodiments, the utility model is described in further detail.
Detailed description of the invention:
Refer to accompanying drawing 1, the equipment 1 of a kind of magnetic peg-in-hole assembly, including support 2 with fixing
The power set 3 being located on support 2, described support 2 is provided with can be by described power set 3
Driving the screw mandrel 4 rotated, described screw mandrel 4 is extended to support 2 by described support 2 upper end
Lower end, described screw mandrel 4 is arranged with the feed screw nut 5 that can move up and down along it, described silk
Stem nut 5 side is provided with connecting plate 6, and described connecting plate 6 is provided with magnetic peg-in-hole assembly
Equipment 7, is provided with coupled clamping device 8, when described silk below described compliance device 7
Bar 4 is when being rotated by of power set 3, and described feed screw nut 5 can be along screw mandrel 4
Move up and down, drive the compliance device 7 being connected with feed screw nut 5 to move down simultaneously.
In this utility model embodiment, because the feed screw nut 5 being set on screw mandrel 4 can be along silk
Bar 4 moves up and down, and drives the compliance device 7 being connected with feed screw nut 5 to move down simultaneously,
Jam problem when mainly solution assembling hole wall is smooth or coarse, and magnetic field force is dissolved into dress
Join in operation, compensate for traditional location and control the deficiency in high-quality high accuracy assembling work,
Greatly improve assembling quality and work efficiency.
Refer to accompanying drawing 2 and accompanying drawing 3, described compliance device 7 includes active compliance part 8
With passive compliance part 9:
Described passive compliance part 9 includes that housing 10, described housing 10 inner upper are provided with
First magnet 11, lower inside be arranged with can relative to the first magnet 11 axially on move down
Submissive connection member 12 that is dynamic and that at least can be connected with assembled shaft, described submissive connection member 12
Including the end connectors 13 of the bottom passing housing 10 in housing 10, described end is even
Fitting 13 is provided with relative with described first magnet 11 and that polarity is identical the second magnet 14,
It is provided with cushion space 15 between described first magnet 11 and the second magnet 14；Because of the first magnet 11
With second be provided with cushion space 15 between magnet 14 and can play the submissive assembling of axis hole and buffering external force
Effect, simple in construction；Described active compliance part 8 includes being set in outside housing 10 can revolve
Turn turnbarrel 16, on described turnbarrel 16 medial wall relative to both sides be provided with magnet
17, it is positioned at below described housing 10 and the place relative with described magnet 17 is provided with magnet frame
18, described magnet frame 18 is laid with multipair Magnet 19, described end connectors 13 passes through
Wearing magnet frame 18 to stretch out from the bottom of magnet frame 18, described magnet frame 18 can radially move back
Dynamic, when described turnbarrel 16 rotates, described magnet 17 can be to the magnetic in magnet frame 18
Ferrum 19 produces suction or repulsion, makes magnet frame 18 move back and forth in any radial direction and carry
Dynamic described end connectors 13 adjusts its angle of assembling or position back and forth.The present embodiment, with soft
Along when jam occurring between assembled shaft and the pilot hole of workpiece that connection member 12 connects, because of card
The axial reaction force that resistance produces forces submissive connection member 12 to be raised above also together with assembled shaft
Move closer to the first magnet 11, make submissive connection member 12 together with assembled shaft at the first magnet
Angle of assembling or position is carried out under the 11 and second repulsive force effects being gradually increased between magnet 14
The first successive step put, meanwhile, described turnbarrel 16 rotates, right by described magnet 17
Magnet 19 in magnet frame 18 produces suction or repulsion, makes magnet frame 18 in arbitrarily radial direction side
To move back and forth and drive described end connectors 13 adjust the most back and forth its angle of assembling or
Position, it is achieved peg-in-hole assembly, compensate for traditional location and controls to make in high-quality high accuracy assembling
Deficiency in industry, greatly improves work efficiency, simple in construction.
Specifically, refer to accompanying drawing 3, in the present embodiment, described housing 10 is fixed above to be set
Force sensor 20, described force transducer 20 is for detection the first magnet 11 and the second magnet
Repulsive force size between 14, the repulsive force size detected when described force transducer 20 exceedes
During the setting value of force transducer 20, described turnbarrel 16 can rotate.Simple in construction, when
When the repulsive force size that force transducer 20 detects exceedes the setting value of force transducer 20, meaning
Taste assembled shaft and jam is occurred during assembling, now, drives rotary sleeve by motor 21
Cylinder 16 rotates, and overcomes jam, is more beneficial for peg-in-hole assembly, greatly improves work efficiency.
Further, refer to accompanying drawing 3 and accompanying drawing 5, described housing 10 includes upper cover plate 22
And lower cover 23 and the protective sleeve 24 be located between upper cover plate 22 and lower cover 23,
Described first magnet 11 is connected by the first bolt 25 is fixing with described upper cover plate 22, described
It is fixed with guiding by the second bolt 26 embedding between second magnet 14 and end connectors 13
Entering block 27, the center of described lower cover 23 is provided with and allows end connectors 13 pass and with described
Guide the conical pilot hole 28 that embedded block 27 matches.Simple in construction, convenient processing and manufacture
And cheap, the setting guiding embedded block 27 can be led for end connectors 13 rapidly
Draw direction, beneficially peg-in-hole assembly.
Yet further, refer to accompanying drawing 3, described in the aperture ratio of described conical pilot hole 28
The external diameter of end connectors 13 is big.Simple in construction, beneficially end connectors 13 pass down
Cover plate 23.
Further, refer to accompanying drawing 8, in the present embodiment, phase in described magnet frame 18
The opposite polarity of adjacent Magnet 19, the quantity of described Magnet 19 is odd number pair.Simple in construction,
Because the quantity of Magnet 19 is odd number pair, preferably ensure that magnet 17 footpath any to Magnet 19
To the effect of direction magnetic field force, be conducive to preferably realizing peg-in-hole assembly.
Specifically, refer to accompanying drawing 3 and accompanying drawing 8, the center of described magnet frame 18 is provided with and allows
The through hole 29 that described end connectors 13 passes, the lower section of described lower cover 23 is provided with spacing
Plate 30, lower cover 23 connects by being connected post 31 with limiting plate 30.Described magnet frame 18
Being located between described lower cover 23 and limiting plate 30, described magnet frame 18 is provided with described
Connect the spacing hole 32 that post 31 matches, when magnet frame 18 radially moves back and forth, pass through
Described spacing hole 32 is with the cooperation connecting post 31 thus limits the range of activity of magnet frame 18.
Simple in construction, because the diameter of spacing hole 32 is bigger than the diameter connecting post 31, makes magnet frame 18
There is certain range of activity to adjust the angle of assembling of end connectors 13, simultaneously by spacing
Hole 32 and be connected post 31 coordinate the range of activity limiting magnet frame 18, be unlikely allowing magnet
17 and magnet frame 18 mutually stick together because of magnetic field force effect, hinder peg-in-hole assembly.
Further, refer to accompanying drawing 2, the outer surface of described turnbarrel 16 is provided with rotation
Tooth 33, described rotation is driven to drive tooth 33 to be meshed with the gear 34 driven by motor 21,
Described motor 21 is fixedly arranged on described upper cover plate 22 side.In the present embodiment, turnbarrel 16
Driven by motor 21 and rotate, simple in construction.
Clearer in order to make this utility model be solved the technical problem that, the present embodiment
As a example by accompanying drawing 9, when jam shown in figure occurs, magnet frame 18 meeting arrow institute in figure
Show that direction is moved, make assembled shaft again ajust, it is achieved peg-in-hole assembly.
The foregoing is only preferred embodiment of the present utility model, be not used for limiting this practicality
The scope of novel enforcement, other its principles all are identical with this utility model or near with basic structure
As, all within this utility model protection domain.
Claims (9)
1. the equipment of a magnetic peg-in-hole assembly, it is characterised in that: include support and be fixed at
Power set on support, described support is provided with to be driven by described power set and turns
Dynamic screw mandrel, described screw mandrel is extended to pedestal lower end by described pedestal upper end, institute
State and on screw mandrel, be arranged with the feed screw nut that can move up and down along it, described feed screw nut one
Side is provided with connecting plate, and described connecting plate is provided with and realizes peg-in-hole assembly based on magnetic field force
Compliance device, is provided with coupled clamping device, works as institute below described compliance device
State screw mandrel at power set when being rotated by, described feed screw nut can be along screw mandrel
Move up and down, drive the compliance device being connected with feed screw nut to move down simultaneously.
The equipment of magnetic peg-in-hole assembly the most according to claim 1, it is characterised in that: institute
State compliance device and include active compliance part and passive compliance part,
Described passive compliance part includes that housing, described enclosure interior are arranged over the first magnetic
Body, lower inside is arranged with and can move up and down relative to the first magnet axial and at least
The submissive connection member can being connected with assembled shaft, described submissive connection member includes from shell
The end connectors of the internal bottom through housing, described end connectors be provided with
The second magnet that described first magnet is relative and polarity is identical, described first magnet with
It is provided with cushion space between the second magnet；
Described active compliance part includes being set in the outer rotatable turnbarrel of housing, described
On turnbarrel medial wall relative to both sides be provided with magnet, be positioned at below described housing and
The place relative with described magnet is provided with magnet frame, described magnet frame is laid with many
To Magnet, described end connectors runs through magnet frame and stretches out from the bottom of magnet frame, institute
State magnet frame can radially move back and forth, when described turnbarrel rotates, described magnet
Magnet in magnet frame can be produced suction or repulsion, make magnet frame in arbitrarily radial direction side
To moving back and forth and driving described end connectors to adjust its angle of assembling or position back and forth
Put.
The equipment of magnetic peg-in-hole assembly the most according to claim 2, it is characterised in that: institute
Stating the housing force transducer that is provided with fixed above, described force transducer is for detection the first magnetic
Repulsive force size between body and the second magnet, when the repulsion that described force transducer detects
When power size exceedes setting value, described turnbarrel rotates.
The equipment of magnetic peg-in-hole assembly the most according to claim 3, it is characterised in that: institute
State housing include upper cover plate and lower cover and be located between upper cover plate and lower cover anti-
Pretective sleeve pipe, described first magnet is connected by the first bolt and described upper cover plate are fixing,
It is fixed with guiding by the second bolt embedding between described second magnet and end connectors
Enter block, the center of described lower cover be provided with allow end connectors pass and with described guiding
The conical pilot hole that embedded block matches.
The equipment of magnetic peg-in-hole assembly the most according to claim 4, it is characterised in that: institute
State the external diameter of end connectors described in the aperture ratio of conical pilot hole big.
The equipment of magnetic peg-in-hole assembly the most according to claim 5, it is characterised in that: institute
Stating the opposite polarity of Magnet adjacent in magnet frame, the quantity of described Magnet is odd number
Right.
The equipment of magnetic peg-in-hole assembly the most according to claim 6, it is characterised in that: institute
The center stating magnet frame is provided with the through hole allowing described end connectors pass, described lower cover
The lower section of plate is provided with limiting plate, and lower cover connects by being connected post with limiting plate.
The equipment of magnetic peg-in-hole assembly the most according to claim 7, it is characterised in that: institute
State magnet frame to be located between described lower cover and limiting plate, described magnet frame be provided with
The spacing hole that described connection post matches, when magnet frame radially moves back and forth, passes through
Described spacing hole is with the cooperation connecting post thus limits the range of activity of magnet frame.
9. according to the equipment of the magnetic peg-in-hole assembly described in any one of claim 2-8, its feature
Being: the outer surface of described turnbarrel is provided with rotation and drives tooth, described rotation drives
Tooth is meshed with by motor-driven gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620110656.3U CN205465109U (en) | 2016-02-03 | 2016-02-03 | Magnetism shaft hole assemble's equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620110656.3U CN205465109U (en) | 2016-02-03 | 2016-02-03 | Magnetism shaft hole assemble's equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205465109U true CN205465109U (en) | 2016-08-17 |
Family
ID=56673747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620110656.3U Withdrawn - After Issue CN205465109U (en) | 2016-02-03 | 2016-02-03 | Magnetism shaft hole assemble's equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205465109U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479146A (en) * | 2016-02-03 | 2016-04-13 | 中山市工业技术研究中心 | Equipment and method for achieving shaft hole assembly |
-
2016
- 2016-02-03 CN CN201620110656.3U patent/CN205465109U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479146A (en) * | 2016-02-03 | 2016-04-13 | 中山市工业技术研究中心 | Equipment and method for achieving shaft hole assembly |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160817 Effective date of abandoning: 20171010 |