CN205520367U - Automatic shaft hole assemble's gentle and agreeable device - Google Patents
Automatic shaft hole assemble's gentle and agreeable device Download PDFInfo
- Publication number
- CN205520367U CN205520367U CN201620111803.9U CN201620111803U CN205520367U CN 205520367 U CN205520367 U CN 205520367U CN 201620111803 U CN201620111803 U CN 201620111803U CN 205520367 U CN205520367 U CN 205520367U
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- China
- Prior art keywords
- magnet
- hole assembly
- magnet frame
- end connectors
- compliance
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Abstract
An embodiment of the utility model provides an automatic shaft hole assemble's gentle and agreeable device, including the passive gentle and agreeable part of the gentle and agreeable subtotal of initiative. The utility model discloses utilize the magnetic field force to realize shaft hole assemble to the impetus of assembly axle, 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 axis hole automatically
The compliance device 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, so axle and the assembling in hole
Problem causes the extensive concern of researcher invariably, it is proposed that numerous peg-in-hole assembly methods.
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, realize peg-in-hole assembly by position control.
But the apparatus and method of above-mentioned peg-in-hole assembly are all the axles under hole wall smoothness condition
Hole is assembled, and is easier to jam occur for the peg-in-hole assembly that hole wall is coarse, it is achieved successfully assemble
Operation is more difficult to.
Utility model content:
For the deficiencies in the prior art, this utility model provides the soft of a kind of automatic peg-in-hole assembly
Suitable device, jam problem when mainly solution assembling hole wall is smooth or coarse, and by magnetic field force
It is dissolved in assembling work, compensate for traditional location and control in high-quality high accuracy assembling work
In deficiency, greatly improve assembling quality and work efficiency.
It is achieved through the following technical solutions during this utility model:
The compliance device of a kind of automatic peg-in-hole assembly, including 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 compliance device of peg-in-hole assembly automatically as above, described housing is fixed above to be provided with
Force transducer, described force transducer is for the repulsive force between detection the first magnet and the second magnet
Size, the repulsive force size detected when described force transducer exceedes the setting value of force transducer
Time, described turnbarrel can rotate.
The compliance device of peg-in-hole assembly automatically as above, described housing include upper cover plate and
Lower cover and the protective sleeve being located between upper cover plate and lower cover, described first magnet leads to
Cross that the first bolt and described upper cover plate are fixing to be connected, described second magnet and end connectors it
Between be fixed with guiding embedded block by the second bolt, the center of described lower cover is provided with and allows end
The conical pilot hole that end connection passes and matches with described guiding embedded block.
The compliance device of peg-in-hole assembly automatically as above, the aperture of described conical pilot hole
Bigger than the external diameter of described end connectors.
The compliance device of peg-in-hole assembly automatically as above, it is preferable that in described magnet frame
The opposite polarity of adjacent Magnet, the quantity of described Magnet is odd number pair.
The compliance device of peg-in-hole assembly automatically as above, the center of described magnet frame is provided with
The through hole that described end connectors passes, the lower section of described lower cover is allowed to be provided with limiting plate, under
Cover plate connects by being connected post with limiting plate.
The compliance device of peg-in-hole assembly automatically as above, described magnet frame be located at described under
Between cover plate and limiting plate, described magnet frame be provided with described be connected that post matches spacing
Hole, when magnet frame radially moves back and forth, by described spacing hole and connect the cooperation of post from
And limit the range of activity of magnet frame.
The compliance device of peg-in-hole assembly automatically as above, the outer surface of described turnbarrel
Being provided with rotation and drive tooth, described rotation drives tooth to be meshed with by motor-driven gear.
The compliance device of peg-in-hole assembly automatically as above, described motor is fixedly arranged on described
Cover plate side.
Compared with prior art, the beneficial effects of the utility model are, on this utility model
State the compliance device of the automatic peg-in-hole assembly that embodiment provides, utilize magnetic field force to assembled shaft
Impetus realizes peg-in-hole assembly, and jam when mainly solution assembling hole wall is smooth or coarse is asked
Topic, and magnetic field force is dissolved in assembling work, compensate for traditional location and control at high-quality
Deficiency in assembling work in high precision, greatly improves assembling quality and work efficiency.
Accompanying drawing illustrates:
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the A-A sectional view of Fig. 1；
Fig. 3 is the structural representation of this utility model passive compliance part；
Fig. 4 is the structural representation of this utility model active compliance part；
Fig. 5 is the explosive decomposition figure of Fig. 3；
Fig. 6 is the explosive decomposition figure of Fig. 4；
Fig. 7 is the structural representation of this utility model magnet frame；
View when Fig. 8 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 and accompanying drawing 2, the compliance device 1 of a kind of automatic peg-in-hole assembly, including
Active compliance part 2 and passive compliance part 3,
Described passive compliance part 3 includes that housing 4, described housing 4 inner upper are provided with
One magnet 5, lower inside be arranged with axially can move up and down relative to the first magnet 5 and
The submissive connection member 6 at least can being connected with assembled shaft, described submissive connection member 6 includes
The end connectors 7 of the bottom of housing 4, described end connectors 7 is passed in housing 4
It is provided with relative with described first magnet 5 and that polarity is identical the second magnet 8, described
It is provided with cushion space 9 between one magnet 5 and the second magnet 8；
Described active compliance part 2 includes being set in the outer rotatable turnbarrel 10 of housing 4,
On described turnbarrel 10 medial wall relative to both sides be provided with magnet 11, be positioned at described housing 4
Lower section and the place relative with described magnet 11 are provided with magnet frame 12, in described magnet frame 12
Being laid with multipair Magnet 13, described end connectors 7 runs through magnet frame 12 from magnet frame
The bottom of 12 is stretched out, and described magnet frame 12 can radially move back and forth, when described turnbarrel
During 10 rotation, described magnet 11 can produce suction to the Magnet 13 in magnet frame 12 or scold
Power, makes magnet frame 12 move back and forth in any radial direction and drive described end connectors 7
Adjust its angle of assembling or position back and forth.
In this utility model embodiment, the assembled shaft being connected with submissive connection member 6 and workpiece
Pilot hole between time jam occurs, the axial reaction force produced because of jam forces submissive company
Relay part 6 is raised above together with assembled shaft and moves closer to the first magnet 5, makes submissive connection
The repulsion that parts 6 are gradually increased between the first magnet 5 and the second magnet 8 together with assembled shaft
The first successive step of angle of assembling or position is carried out under power effect；Meanwhile, described turnbarrel 10
Rotate, by described magnet 11, the Magnet 13 in magnet frame 12 produced suction or repulsion,
Magnet frame 12 is made to move back and forth in any radial direction and drive described end connectors 7 to enter one
Step adjusts its angle of assembling or position back and forth, it is achieved peg-in-hole assembly, compensate for traditional location control
Make the deficiency in high-quality high accuracy assembling work, greatly improve work efficiency, knot
Structure is simple.
Specifically, refer to accompanying drawing 2, in the present embodiment, described housing 4 is fixed above to be set
Force sensor 14, described force transducer 14 is for detection the first magnet 5 and the second magnet 8
Between repulsive force size, the repulsive force size detected when described force transducer 14 exceedes power and passes
During the setting value of sensor 14, described turnbarrel 10 can rotate.Simple in construction, when power passes
When the repulsive force size that sensor 14 detects exceedes the setting value of force transducer 14, it is meant that
There is jam during assembling in assembled shaft, now, drives turnbarrel by motor 15
10 rotate, and overcome jam, are more beneficial for peg-in-hole assembly, greatly improve work efficiency.
Further, refer to accompanying drawing 2 and accompanying drawing 5, described housing 4 includes upper cover plate 16
And lower cover 17 and the protective sleeve 18 be located between upper cover plate 16 and lower cover 17,
Described first magnet 5 is connected by the first bolt 19 is fixing with described upper cover plate 16, described
It is fixed with guiding by the second bolt 20 between second magnet 8 and end connectors 7 to embed
Block 21, the center of described lower cover 17 is provided with and allows end connectors 7 pass and to lead with described
The conical pilot hole 22 matched to embedded block 21.Simple in construction, convenient processing and manufacture and
Cheap, the setting guiding embedded block 21 can be rapidly for end connectors 7 side of guiding
To, beneficially peg-in-hole assembly.
Yet further, refer to accompanying drawing 2, described in the aperture ratio of described conical pilot hole 22
The external diameter of end connectors 7 is big.Simple in construction, beneficially end connectors 7 is through lower cover
Plate 17.
Further, refer to accompanying drawing 7, in the present embodiment, phase in described magnet frame 12
The opposite polarity of adjacent Magnet 13, the quantity of described Magnet 13 is odd number pair.Simple in construction,
Because the quantity of Magnet 13 is odd number pair, preferably ensure that magnet 11 footpath any to Magnet 13
To the effect of direction magnetic field force, be conducive to preferably realizing peg-in-hole assembly.
Specifically, refer to accompanying drawing 2 and accompanying drawing 7, the center of described magnet frame 12 is provided with and allows
The through hole 23 that described end connectors 7 passes, the lower section of described lower cover 17 is provided with spacing
Plate 24, lower cover 17 connects by being connected post 25 with limiting plate 24.Described magnet frame 12
Being located between described lower cover 17 and limiting plate 24, described magnet frame 12 is provided with described
Connect the spacing hole 26 that post 25 matches, when magnet frame 12 radially moves back and forth, pass through
Described spacing hole 26 is with the cooperation connecting post 25 thus limits the range of activity of magnet frame 12.
Simple in construction, because the diameter of spacing hole 26 is bigger than the diameter connecting post 25, makes magnet frame 12
There is certain range of activity to adjust the angle of assembling of end connectors 7, simultaneously by spacing
Hole 26 and be connected post 25 coordinate the range of activity limiting magnet frame 12, be unlikely allowing magnet
11 and magnet frame 12 mutually stick together because of magnetic field force effect, hinder peg-in-hole assembly.
Further, refer to accompanying drawing 1, the outer surface of described turnbarrel 10 is provided with rotation
Tooth 27, described rotation is driven to drive tooth 27 to be meshed with the gear 28 driven by motor 15,
Described motor 15 is fixedly arranged on described upper cover plate 16 side.In the present embodiment, turnbarrel 10
Driven by motor 15 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 8, when jam shown in figure occurs, magnet frame 12 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 compliance device of an automatic peg-in-hole assembly, it is characterised in that: include active compliance portion
Divide 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 compliance device of automatic peg-in-hole assembly the most according to claim 1, its feature exists
In: the described housing force transducer that is provided with fixed above, described force transducer is used for detecting
Repulsive force size between the first magnet and the second magnet, when described force transducer detects
Repulsive force size when exceeding setting value, described turnbarrel rotates.
The compliance device of automatic peg-in-hole assembly the most according to claim 2, its feature exists
In: described housing include upper cover plate and lower cover and be located at upper cover plate and lower cover it
Between protective sleeve, described first magnet is fixed with described upper cover plate by the first bolt
Connect, be fixed with by the second bolt between described second magnet and end connectors
Guide embedded block, the center of described lower cover be provided with allow end connectors pass and with institute
State and guide the conical pilot hole that embedded block matches.
The compliance device of automatic peg-in-hole assembly the most according to claim 3, its feature exists
In: described in the aperture ratio of described conical pilot hole, the external diameter of end connectors is big.
The compliance device of automatic peg-in-hole assembly the most according to claim 4, its feature exists
In: the opposite polarity of Magnet adjacent in described magnet frame, the quantity of described Magnet is
Odd number pair.
The compliance device of automatic peg-in-hole assembly the most according to claim 5, its feature exists
In: the center of described magnet frame is provided with the through hole allowing described end connectors pass, institute
The lower section stating lower cover is provided with limiting plate, and lower cover connects by being connected post with limiting plate
Connect.
The compliance device of automatic peg-in-hole assembly the most according to claim 6, its feature exists
In: described magnet frame is located between described lower cover and limiting plate, in described magnet frame
It is provided with and is connected, with described, the spacing hole that post matches, when magnet frame radially moves back and forth
Time, with the cooperation connecting post thus limit the movable model of magnet frame by described spacing hole
Enclose.
8. according to the compliance device of the automatic peg-in-hole assembly described in any one of claim 3-7, its
It is characterised by: the outer surface of described turnbarrel is provided with rotation and drives tooth, described rotation
Tooth is driven to be meshed with by motor-driven gear.
The compliance device of automatic peg-in-hole assembly the most according to claim 8, its feature exists
In: described motor is fixedly arranged on described upper cover plate side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620111803.9U CN205520367U (en) | 2016-02-03 | 2016-02-03 | Automatic shaft hole assemble's gentle and agreeable device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620111803.9U CN205520367U (en) | 2016-02-03 | 2016-02-03 | Automatic shaft hole assemble's gentle and agreeable device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205520367U true CN205520367U (en) | 2016-08-31 |
Family
ID=56776932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620111803.9U Withdrawn - After Issue CN205520367U (en) | 2016-02-03 | 2016-02-03 | Automatic shaft hole assemble's gentle and agreeable device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205520367U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522369A (en) * | 2016-02-03 | 2016-04-27 | 中山市工业技术研究中心 | Compliant device and method for realizing peg-in-hole assembly |
-
2016
- 2016-02-03 CN CN201620111803.9U patent/CN205520367U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522369A (en) * | 2016-02-03 | 2016-04-27 | 中山市工业技术研究中心 | Compliant device and method for realizing peg-in-hole assembly |
| CN105522369B (en) * | 2016-02-03 | 2017-09-26 | 中山市工业技术研究中心 | A kind of compliance device and method for realizing peg-in-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: 20160831 Effective date of abandoning: 20170926 |