KR101033917B1 - Remote Center Compliance Device having one elastic body measuring sensor - Google Patents

Abstract

The present invention relates to an elastic center device having a measuring sensor attached thereto and composed of one elastic body, and more particularly, to measure the pressure input or position error correction amount of the indentation device forming a press-fit process in the elastic center device with one elastic body. The measuring sensor is provided in the elastic center device composed of one elastic body, to provide an elastic center device composed of one elastic body to measure the pressure input or position error correction amount.

Elastic center, elastic body, elastic center device, pressure input, displacement sensor

Description

Remote center compliance device having one elastic body measuring sensor

The present invention relates to an elastic center device composed of one elastic body, and more particularly, a measuring sensor capable of measuring a pressing force or a position error correction amount of an indentation device forming a press-fit process to an elastic center device with one elastic body is one. It is provided with an elastic center composed of an elastic body, and relates to an elastic center apparatus composed of one elastic body to measure the amount of pressure input or position error correction.

In general, the elastic center device is a device that allows the assembly operation to be performed smoothly by correcting the center error between the boss and the axis in the mutual fitting of the boss and the axis by using the principle of the elastic center.

Herein, the elastic central principle means that an elastic center point is positioned around an object constrained by the elastic center device, and when a force passing through the point is applied, the object supported by the elastic center device rotates in the direction of the force. It is a dynamic principle that shows pure translational motion without any translation, and when pure moment acts on the point, pure rotational motion about the elastic center point without translational motion.

[Document 1] Patent Registration No. 10-0706298 (Elastic center device composed of one elastic body)

Referring to the drawings in detail the problems of the conventional elastic center device is as follows.

1 is a front view showing the center error and the reaction force between the parts generated during the assembly operation, Figure 2 is a front view showing the progress of the assembly and correction of the center error by the conventional elastic center device, referring to this, the conventional elastic center The device 1 consists of upper and lower structures 2 and 3 and a plurality of elastic bodies 4 provided between the upper and lower structures 2 and 3.

In the state of operation of the conventional elastic center device, the linear movement in the insertion direction (V) to insert the shaft (6) held in the gripper (8) attached to the lower structure (3) into the shaft hole (7) When it is lowered, one point of contact between the tip of the shaft and the chamfered surface of the shaft hole is caused by the initial center error e.

The contact force R between components generated by this can be considered to be divided into the horizontal component Rx and the vertical component Rz. At this time, if the elastic center point (P) of the elastic center device (1) is manufactured to be located at the end of the assembly, the horizontal component (Rx) passes through the elastic center point (P), so the shaft (6), the gripper (8), the lower structure (3) only translates horizontally, and rotation does not occur.

Accordingly, the shaft 6 to be inserted is translated into the shaft hole 7 while translating in the range of the center error e with the shaft hole 7.

Such a conventional elastic center device (1) is used for industrial robots or assembly-only devices, when the precision parts such as precision shafts, pins, and bearings are inserted, excessive pressure input may occur due to the center error or angular error between the assembly parts. This prevents adverse effects on robots and assembly machines and prevents damage to parts during assembly, thereby improving product quality and increasing work efficiency, and providing highly accurate parts with low accuracy and low cost. It is possible to build a precision assembly line.

However, the conventional elastic center device configured as described above has a problem in that it is difficult to match the elastic center point P, which is the core of the principle of elastic center, the number of parts, and the manufacturing and assembly processes are difficult.

This is the first design due to the cumulative error due to the machining error according to the fabrication of each part, that is, the upper, lower structures (2) and (3), and the plurality of elastic bodies (4) and the assembly error according to the assembly of each part. When the elastic center point P calculated during the assembly and the elastic center point P after assembly are moved by the cumulative error, and the elastic center point P is not aligned due to the above case, the sub-structure 3 or less axis 6 Since the portion up to does not have translational motion and rotational motion occurs, the correction of the center error e of the shaft 6 and the shaft hole 7 is not made in the end, but rather a jamming occurs at the shaft hole inlet. There is a problem.

In particular, the elastic body 4 stacks a plurality of metal discs at regular intervals, and a state in which rubber is filled between the stacked metal discs, which causes a stacking error when the plurality of metal discs are stacked. As a plurality of elastic bodies 4 having lamination errors are used, there is a problem that the elastic center point P is not easy to find on the central axis of the elastic center device.

In addition, when the insertion process for inserting precision parts such as precision shafts, pins, and bearings by the elastic center device is not easy to measure the pressure input for insertion, damage to the precision parts due to new excessive pressure input occurs.

Applicant has invented an elastic center device composed of one elastic body as described in Patent Registration No. 10-0706298 in order to overcome the above problems, it will be described an elastic center device composed of a conventional one in Figure 3 to 7 do.

3 is a partially exploded perspective view of the elastic device according to the first embodiment of the present invention, and FIG. 4 is a cross-sectional view of the combination of FIG. 3.

Referring to this, the elastic body 210 is provided with a plurality of discs 212 stacked at regular intervals, and provided at both ends of the plurality of discs 212, respectively, and the first and second support parts 214 and 216 configured to be spaced apart at regular intervals, and A filler 218 filled between the first and second supports 214 and 216 and the plurality of disks 212 to elastically connect the first and second supports 214 and 216 and the plurality of disks 212 to each other. It consists of

The disc 212 has a through-hole formed in the center thereof, and has a predetermined angle of inclination θ on the outer circumferential surface thereof, and the inclination θ is formed in a range of 2 to 15 °, and at an angle of the inclination θ. Accordingly, since the position of the elastic center point P disclosed in Korean Patent Publication No. 2001-85013 is changed, it is selected and used as necessary.

In addition, when the inclination direction of the disc 212 is assumed to be located below the elastic center point, it is preferable that the inclination direction is formed to be downward from the inner side to the outer side, that is, the direction in which the vertical lines with respect to the inclination cross each other.

The first and second support parts 214 and 216 have the same inclination θ at both ends of the plurality of discs 212, and are formed to be spaced apart at a predetermined interval, as shown in the recessed part of the first support part 214. 214a is formed, and the second support 216 is formed with a protruding portion 216a.

In addition, a plurality of fastening holes are formed in the first and second support parts 214 and 216, and are fastened to each part or device.

The filler 218 is preferably formed of rubber having excellent elasticity, but is not limited thereto. In some cases, a synthetic resin having excellent elasticity may be used.

Looking at the operating state of the first embodiment of the elastic center device composed of one elastic body configured as described above are as follows.

First, the first support part 214 is fixed to the lower end of the upper support member 15 coupled by the fastening means with the upper cover 15 fixed to the lower end of the lifting unit M, the second support part 216 ) Is fixed to the lower support (14) consisting of an indentation tool that can hold the assembly (A).

In this case, the elastic center point P of the elastic body 210 is manufactured to be located at the end of the press-fitted part A held by the press-in tool.

And while the elastic body 210 is lowered by the lowering force of the lifting unit (M) while pressing the lower assembly part (A) to the boss, if there is a center error between the boss and the assembly (A), the elastic body ( In the translational motion based on the principle of the elastic center of 210, the assembly A can be easily pressed into the boss by matching the assembly A with the line of the central axis of the boss.

In addition, the elastic center point of the elastic body 210 depends on the inclination θ of the disc 212, the number of the disc 212, and the separation distance, which can be set differently depending on the device in which the elastic body 210 is used. have.

Therefore, the elastic body 210 has an effect of easily matching the elastic center point by the elastic body 210 by minimizing the cumulative error of the plurality of elastic bodies, which has been a problem in the conventional elastic center device.

In addition, since the number of components is extremely reduced by one elastic body, the manufacturing cost and manufacturing process are greatly reduced, and the installation space is reduced, thereby enhancing the product competitiveness by improving space utilization.

5 is an exploded perspective view of an elastic center device according to a second embodiment of the present invention, FIG. 6 is a cross-sectional view of the assembled state of FIG. 5, and FIG. 7 is a cross-sectional view of the combination of FIG. 6. It is composed of an elastic body 210, the third and fourth support portions 310 and 320 which are fixed to the upper and lower ends of the elastic body 210, the limiter 30 is provided between the third and fourth support portions (310, 320). .

Since the elastic body 210 has the same configuration as the elastic body 210 of the first embodiment, a detailed description thereof will be omitted.

The third support part 310 is formed of an upper end portion 312 having a plurality of fastening holes and a flange portion 314 extending below the upper end portion 312, and an elastic body 210 inside the flange portion 314. The receiving space 316 is seated is formed, a through hole (not shown) for communicating the receiving space 316 in the upper end 312 is formed.

In addition, the upper end of the receiving body 316 is fastened and fixed by the fastening means of the elastic body 210, and is formed in a size so as not to interfere the translation range of the translational movement during the translational movement of the elastic body (210). .

In addition, an uneven portion 314a is formed at a lower end of the flange portion 314 to form an insertion space recessed at a predetermined depth at an end at a radial interval.

The fourth support part 320 has a lower end portion 322, and a protrusion 324 protruding upward from the center thereof and having a fastening hole 326 formed therein, and the lower end portion 322 of the elastic body 210. A plurality of fastening holes are formed to fasten the fastening means for fixing the bottom.

In addition, a rotation preventing piece 328 at a predetermined interval is formed radially on the outer circumference of the lower end 322 of the fourth support part 320, and the rotation preventing piece 328 is formed at the lower end of the third support part 310. It is inserted into the insertion space of the uneven part 314a.

Preferably, the limiter 30 has a shaft 334 extending below the head 332 and the head 332 of the upper end, the male screw portion 336 is formed at the lower end of the shaft 334 do.

More preferably, the male screw portion 336 of the limiter 30 is fastened and coupled to the fastening hole 326 of the fourth support portion 320, and a plurality of gauge grooves 338 are provided in the head portion 332. Is formed, it is inserted into the gauge groove 338 by a gauge gage, it is to be able to tighten and loosen the limiter (30).

Looking at the assembly relationship of the elastic center device configured as described above are as follows.

First, the elastic body 210 is inserted into the receiving space 316 of the third support part 310 so that the upper end of the inner space of the receiving space 316 and the upper end of the elastic body 210 are brought into close contact with each other and fastened by the fastening means.

The fourth support part 320 is positioned below the third support part 310, and a plurality of fastening means are fastened through a plurality of fastening holes formed at the lower end part 322 of the fourth support part 320. The lower end of the elastic body 210 fixed to the third support part 310 is fixed.

6, the anti-rotation piece 328 of the lower end portion 322 of the fourth support portion 320 is inserted into the insertion space of the uneven portion 314a formed at the lower end portion of the third support portion 310. A predetermined interval is formed between the insertion space of the uneven portion 314a and the anti-rotation piece 328.

In addition, the limiter 30 is inserted through a through hole (not shown) of the upper end portion 312 of the third support portion 310 in a state where the third and fourth support portions 310 and 320 are assembled to each other. As the male screw part 336 of the fourth support part 320 is fastened and fastened to the fastening hole 326 of the fourth support part 320, the limiter 30 is in an assembled state in a state of standing vertically to the center of the third and fourth support parts 310 and 320. Have

On the other hand, when the third and fourth support portions 310 and 320 and the limiter 30 are mutually assembled, it is preferable that a predetermined interval is formed, which is when the elastic body 210 is translated by the elastic central principle. This is to achieve smooth movement of the third and fourth support parts 310 and 320 and the limiter 30.

Referring to FIG. 7, when looking at the mutual assembly interval between the third and fourth support parts 310 and 320 and the limiter 30, the tension is allowed between the upper end of the elastic body 210 and the lower end of the head 332 of the limiter 30. A gap between the gap Ga, the upper surface of the third support portion 310 and the upper surface of the head portion 332 of the limiter 30, and the through hole of the third support portion 310; Not shown) has an assembly interval of the translation allowable interval (gb) due to the difference in the inner diameter and the outer diameter of the head 332 of the limiter 30.

In addition, the compression allowable interval (gc) between the end of the flange portion 314 of the third support portion 310 and the upper surface of the fourth support portion 320, the inner diameter of the uneven portion 314a of the flange portion 314 and the fourth It has an assembly interval of the translation interval (gd) by the difference in the outer diameter of the support 320.

In addition, the tension and compression interval (ga, gc, ge) is formed in the gap to enable a smooth translation when the translation of the elastic body 210, and also due to the tensile force or indentation by the self-weight acting on the elastic body 210 By preventing the compressive force acting infinitely, it is to prevent the buckling or breakage of the elastic body (210).

Here, the interval between the tensile and compression interval (g-a, g-c, g-e) is preferably about 0.1 ~ 0.2 mm.

In addition, the translation intervals (gb, gd) is the translation of the limiter 30 and the fourth support part 320 interferes with the third support part 310 when the elastic body 210 is translated according to the principle of the elastic center. It is formed at intervals so as not to.

In the elastic center device having the configuration and assembly as described above, the third support part 310 is fastened to the lower end of the elevating part M through the upper cover 15, and is fixed to the lower end of the fourth support part 320. The press fitting tool in which the assembly A is configured is fastened and fastened.

And when there is a center error when the assembly (A) is pressed into the boss by the lowering of the lifting unit (M), the center error is corrected by the elastic body 210 configured inside the third support portion 310, and accordingly The assembly A is easily pressed into the boss.

In addition, when the assembly A is pressed into the boss, a pressing force is generated, and the pressing force acts on the fourth supporting part 320 and the elastic body 210 on the vertical line, and the fourth supporting part is caused by the pressing force. The elastic body 210 is translated according to the principle of elastic center while the 320 is raised and ascended by the compression interval gc between the lower end of the third support part 310 and the upper end of the fourth support part 320. Then, lower and upper ends of the third and fourth support parts 310 and 320 are in close contact with each other to prevent the pressing force from adversely affecting the elastic body 210, thereby preventing the elastic body 210 from being damaged. .

In particular, in the assembling relationship between the third support part 310 and the fourth support part 320, the fourth support part 320 which maintains the state inserted into the lower uneven part 314a insertion space of the third support part 310. The anti-rotation piece 328 of) is infinitely displaced by the torsional force acting on the elastic body 210 or an action force in the X and Y-axis directions during translation according to the principle of the elastic center of the elastic body 210. Prevent it.

The present invention adds a measurement sensor function to an elastic center device composed of one elastic body as described above, thereby measuring an error value of the elastic center device for error correction during error correction to match the center of the elastic center device. It is to facilitate.

An elastic center device having a measuring sensor of the present invention attached to the present invention for solving the above problems and composed of one elastic body includes: a disc 212 having a predetermined slope at both ends; A plurality of discs 212 are stacked at regular intervals, and are positioned at both ends of the stacked plurality of discs 212, and protrusions 216a having the same inclination symmetrically to the inclination of the disc 212 at each of the both ends. And first and second supports 214 and 216 formed with recesses 214a and having a plurality of fastening holes; An elastic body (210) composed of a filler (218) filled with a plurality of discs (212) stacked between the first and second support parts (214, 216) to each other; The first and second support portions 214 and 216 of the elastic body 210 are mounted to the upper and lower supports 13 and 14 through fastening holes, respectively. Third and fourth support parts 310 and 320 provided on the second support parts 214 and 216 and fastened to each other by fastening means; And a screw part 336 is provided between the third and fourth support parts 310 and 320, and one end of the third and fourth support parts 310 and 320 is fixed to one of the third and fourth support parts 310 and 320. The head 332 is configured to flow by a predetermined interval, the limiter 30 is attached to the pressure input measuring sensor 40; consists of a translational motion according to the principle of the elastic center to correct the center error and measure the pressure input Characterized in that.

In the present invention, the third support portion 310 has a plurality of fastening holes are formed in the upper end portion 312, the flange 314 is extended downward, and accommodates the elastic body 210 inside the flange 314 The first support part 214 of the elastic body 210 is fastened and fixed, and the receiving space 316 is formed so as not to interfere when the elastic body 210 is translated.

In the present invention, the fourth support part 320 is fastened and fixed to the second support part 216 of the elastic body 210, and is located in the inner receiving space 316 of the flange 314, the elastic body 210 It is characterized in that it is configured to maintain a predetermined interval so as not to contact the inner wall of the flange 314 during translation.

In the present invention, the head portion 332 of the limiter 30, the male thread portion 336 so that the clamping force of the gauge eye to transfer the fastening force so as to easily fasten to any one of the third and fourth support (310,320) The gauge groove 338 is inserted is characterized in that a large number is formed.

In the present invention, the lower end of the third support 310 is characterized in that the concave-convex portion 314a having an insertion space recessed in a predetermined depth upward from the end at radial intervals.

In the present invention, the fourth support part 320 has a lower end 322 and a protrusion 324 protruding a predetermined height at the upper end of the lower end 322 is formed, the fastening hole 326 in the center of the protrusion 324 Is formed, and a plurality of anti-rotation pieces 328 inserted into the insertion space of the uneven portion 314a are formed at the outer circumference of the lower end portion 322.

In the present invention, the pressure input measuring sensor is characterized in that the side of the limiter 30 or the upper end or the lower end of the limiter 30 is inserted and fixed.

In the present invention, the position displacement measuring means is configured between the upper support 13 and the lower support 14, characterized in that for measuring the relative position displacement between the upper support 13 and the lower support (14).

In the present invention, the position displacement measuring means is characterized in that the error correction sensor using an elastic plate is attached.

In the present invention, the position displacement measuring means is characterized in that the displacement measuring sensor of the sliding method perpendicular to each other is attached.

In the present invention, between the upper support 13 and the first support 14 is characterized in that it further comprises a measuring block including a pressure input measuring sensor on either side.

In the present invention, the measurement block is provided below the fixed end 112 and the fixed end 112 fixed to the upper support 13, spaced by a predetermined height by a predetermined allowable deformation interval 116 formed to a predetermined depth. It is fixed to a position close to the lower support 14 in the state, the measuring stage 114 is composed of the pressure input measuring sensor 40; characterized in that consisting of.

In the present invention, according to claim 11, wherein the measurement block is a fixed end 522, the upper end of which is fixed to the lower end of the upper support (13); Characterized in that it consists of a cross-shaped measurement stage 524 provided below the fixed end 522.

In the present invention, the fixed end 522 is recessed in the cross shape is provided with a predetermined depth, the engaging projection 526 is protruded in the center, the upper support 13 provided with a coupling hole (13a) in the center It is closely coupled to the protruding bottom surface (13b) of the, characterized in that the measuring sensor 40 is attached to form a surface 528 in which the predetermined depth is recessed in the direction of the measuring end 524 from the fixed end 522 do.

In the present invention, the measuring end 524 is formed below the fixed end 522, a depression 524a having at least one or more piezoelectric input sensor 40 is formed at the bottom, the depression ( It is characterized in that the protrusion 524b is formed on the outer circumference by 524a.

In the present invention, any one of the upper support 13 or the lower support 14 is characterized in that the displacement measuring sensor for measuring the displacement of the limiter is further configured.

     In the present invention, the piezoelectric input sensor is characterized in that the electrical strain gage (electric strain gage) or piezo-electric element (piezo-electric element).

In the present invention, the sensor of the position displacement measuring means is characterized in that any one of a potentiometer, linear scale, LVDT.

As described above, an elastic center device having a measuring sensor attached thereto and composed of one elastic body adds a measuring sensor for measuring the pressing force of the pressing apparatus forming the pressing process to a limiter or a measuring block, or a measuring sensor for measuring position displacement. In addition, there is an effect of measuring the pressure input or position displacement.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings.

(First embodiment: an embodiment in which a measuring sensor is provided on one elastic body according to the present invention)

The first embodiment relates to an elastic center device having a limiting sensor having a measuring sensor capable of measuring the pressing force of the press-fitting device forming a press-fitting process on an elastic center device composed of one elastic body of the present invention.

FIG. 8 is a cross-sectional view illustrating an assembly of an elastic center device having a pressure input measuring sensor attached to a limiter 30 of an elastic center device including one elastic body of the present invention. ) Is further configured and the pressure input measuring sensor 40 is fixed to the limiter 30 on the side, between the limiter 30 and the lower support 14, or fixedly inserted into the upper part of the limiter 30. The pressure input acting on) can be measured.

The piezoelectric input measuring sensor 40 is preferably composed of an electrical strain gage or a piezo-electric element capable of detecting a minute change rate.

As shown in FIG. 8, the elastic center device 10 descends to press the assembly into the boss, and a press force is generated between the boss and the assembly, and the press input is a vertical assembly frame and a lower portion of the assembly line. It is delivered to the limiter 30 through the support 14.

In addition, the limiter 30 is raised by a certain height while the elastic body 210 is compressed to be in close contact with the lower end of the lifting part of the upper part.

Accordingly, the pressure input measuring sensor 40 calculates the change rate according to the compression deformation amount to calculate the pressure input.

When measuring the pressure input acting on the limiter 30 by fixedly inserting the measuring sensor 40 between the limiter 30 and the lower support 14 or above the head of the limiter 30, the pressure input measuring sensor 40 It is preferable to use a load cell as).

Meanwhile, although not illustrated, the pressure input measuring sensor 40 measures the rate of change of the limiter 30, thereby outputting the pressure input and outputting the calculated pressure input to an external display and outputting the calculated pressure input value. Accordingly, the control unit includes a function such as whether or not the fitting of the boss and the assembly is passed.

(Second embodiment: embodiment in which a measuring block first embodiment is added to one elastic body)

Fig. 9A is a perspective view and an assembled sectional view of a first embodiment of a measuring block added to an elastic center apparatus composed of one elastic body for measuring the pressure input;

As shown in FIGS. 9A and 9B, the elastic center device 10b for making the pressure input measurement may include a measurement block 110 provided between the upper and lower supports 13 and 14, and the measurement block 110. It includes a pressure input measuring sensor 40 provided on one side of the.

The measuring block 110 is formed of a fixed end 1142 and the measuring end 114 provided below the fixed end 112 is fixed to the bottom of the upper support 13 by the fastening means, It is preferable that the fixed end 112 and the measuring end 114 are integrally formed to maintain a predetermined distance from each other by a deformation allowance interval 116 (shown in FIG. 9C) having a predetermined depth.

In addition, the deformation allowance interval 116 is to vary the interval depending on the material of the measurement block 110, the thickness of the measurement stage 114, and the depth of the deformation allowance interval 116, the deformation allowance The interval 116 is limited so as not to exceed the elastic limit of the material when it is bent by the repulsive force due to the pressing force acting on the measuring end 114, the measuring end 114 is not plastic deformation beyond the elastic limit Prevent it.

In this case, the deformation allowance interval 116 is a minute interval of about 0.1 ~ 0.2 mm.

In addition, the measurement stage 114 has a depression 114a is formed in the center, a protrusion 114b is formed on the outer periphery of the depression 114a, the depression 114a is a pressure input measuring sensor ( 40 is configured, and the protrusion 114b is fixed by fastening means (not shown) such as the first support part 214 and a bolt.

9C is an enlarged view of the “VI” portion of FIG. 9B. Referring to this, the protruding portion 114b is formed with an inclined surface 114c for minimizing a close range of the portion in which the first support portion 214 is in close contact with each other. As shown in the drawing, the inclined surface 114c is formed to have an inclination which rises to a predetermined height from the outer circumferential end of the protrusion 114b.

For example, if the protrusion 114b is in close contact with the upper support 13 in a plane, the protrusion 114b is bent by the bending force in the protrusion 114b due to the repulsive force caused by the pressing force acting on the upper support 13. The contact position closest to the center, that is, the inner surface of the protrusion 114b serves as a point of action of the repulsive force.

Therefore, the inclined surface 114c is formed to position the action point of the repulsive force as far as possible from the center, that is, the outer periphery of the protrusion 114b, and accordingly, the center radius of the action point of the pressure input applied to the measuring end 114 Since this is always a constant position, it is possible to accurately calculate the pressure input regardless of the amount of bending deformation of the measuring stage 114.

Here, the upper support 13 is fixed to the lifting portion (M) of the press-fit device, the lower support 14 is coupled to the assembly fixing tool for holding the assembly (A) the measurement block 110 is The fixed end 112 is in contact with the upper support 13, the protrusion 114b is coupled to the first support 214 by a fastening means such as a bolt, such as 9b, but the pressure input at any position Irrespective of whether it works, the up and down of the measurement block 110 may be installed upside down.

As shown in FIG. 3, the push input measuring sensor 40 may be formed in a plurality of X and Y axis directions. However, the present invention is not limited thereto.

Looking at the measuring method of the elastic center device for making the pressure input measurement configured as described above with reference to Figure 9b and 9c as follows.

First, as described above, the elastic center device for measuring the pressure input is installed and fixed to a conventional indentation device lifting unit (not shown), and the upper support 13 is in close contact with the lower end of the lifting unit M as a fastening means. Tighten.

In addition, the hydraulic pressure generated in the hydraulic pump of the hydraulic unit (not shown) configured on one side of the indentation apparatus (not shown) is transmitted to the hydraulic cylinder, the hydraulic cylinder lowers the lifting unit (M) by the action of the lowering force. .

An assembly for fixing the assembly (A) press-fitted to the boss is fixed to the lower end of the elevating portion (M) to make a push-in measurement, the lower end of the elevating portion (M) A fixing tool is formed, and the assembly A is pushed into the boss by the lowering of the assembly fixing tool.

At this time, when the center error between the boss and the assembly (A) is generated, the smooth indentation proceeds to the center error correction between the boss and the assembly (A) by the elastic central device (10b), and the boss and The pressing force is generated by press-fitting the assembly part A.

And the repulsive force by the pressure input is transmitted to the lower support 14 for supporting it through the assembly component fixing tool, the reaction force acting on the lower support 14 is in close contact with the upper surface of the lower support 14 Since it acts on the measuring stage 114 of 110, the measuring stage 114 is bent finely.

Therefore, the pressure input measurement sensor 40 configured in the depression 114a of the measurement stage 114 detects the strain due to the minute bending of the measurement stage 114, calculates this, and outputs it to an external display. The supervisor can determine whether the boss and the assembly A are press-fitted with the pushing force in the tolerance range.

Figure 9d is an example in which one limiter is provided in one elastic body according to the present invention and the measuring block 110 is applied. In this case, the limiter 30 includes a first limiter 30a and a second limiter 30b. The lower part of the first limiter 30a is screwed to the lower support 14, and the second limiter 30b is screwed to the upper part. In addition, the second limiter, after the upper support 13 is fixed to the measurement block 110 by a fastening means such as a bolt, it can be fixed by screwing the upper portion of the first limiter (30a).

An upper portion of the first limiter 30a is formed to form a minute gap with an inner lower surface of the first support part 214. As the lower support body 14 is raised by the pressing force during the pressing process, the first supporting part 214 in contact with the inner lower surface provides the pressing block to the measuring block 110 to deform the measuring block.

(Third Embodiment: Embodiment in which a second embodiment of the measurement block is added to one elastic body)

FIG. 10A is an exploded perspective view of a part of the measuring block according to the second embodiment of the measuring block added to an elastic center apparatus composed of one elastic body for measuring the pressing force, and FIG. 10B is a cutaway view of the assembled state of FIG. One cross section.

Referring to this, the measurement block 120 according to the second embodiment of the measurement block is a fixed end 122 having an upper end fixed to a lower end of the upper support 13, and a measurement end provided below the fixed end 122. 124, and a deformation allowance interval 126 for maintaining a gap between the fixed end 122 and the measurement end 124.

In addition, the measuring end 124 has a recessed portion 124a having a predetermined depth in the center thereof, and a protrusion 124b is formed on the outer circumference by the recessed portion 124a, and the protrusion 124b has a seat space ( 129) is cut at regular intervals to form each single piece.

In addition, the lower end of the protruding portion 124b is formed with an inclined surface 124c to minimize the contact area with the lower support 14, the inclined surface 124c preferably has a slope inclined at an angle from the outside to the inside. This has the same effect as the inclined surface 114c of the first embodiment of the measurement block.

On the other hand, the pressure input measuring sensor 40 provided in the depression 124a is formed of an electrical strain gage (electric strain gage), the electrical strain gages as shown in the X and Y axis directions perpendicular to each other as shown. It is preferable to form a plurality, but the present invention is not limited thereto, and the present invention may be formed in plural in order to calculate an accurate pressing force.

The deformation allowance interval 126 is typically 0.1 to 0.2mm as an interval for preventing deformation beyond the elastic limit of the measurement stage 124, but there is a problem that it is difficult to process the deformation allowance interval 126. In order to solve this problem, the processing space is processed as much as a comfortable space in the portion where the deformation allowance interval 126 is formed, thereby forming a space.

In addition, the fixed block 140 is positioned in the formed space, and the deformation allowance interval 126 may be formed by the height deviation between the fixed block 140 and the processed space.

The measuring method according to the measuring block according to the second embodiment of the measurement block configured as described above is the same as in the first embodiment of the measuring block, and the pressure input measurement by the limiter is also the same, and thus the operation effect thereof is omitted.

(Fourth embodiment: Example in which a measuring block third embodiment is added to one elastic body)

Figure 11a is a partially exploded perspective view of the measurement block according to the third embodiment of the measurement block of the present invention, Figure 11b is a bottom perspective view of the measurement block according to the third embodiment of the measurement block, Figure 11c is a composite of the assembled state of Figure 11a It is sectional drawing cut by the cross section method.

11A and 11B, the measurement block 520 according to the third embodiment of the measurement block includes a fixed end 522 having an upper end fixed to a lower surface 13b protruding from the upper support 13. It consists of a cross-shaped measurement stage 524 provided below the fixed end 522.

The fixed end 522 is recessed in a cross shape and provided with a predetermined depth, and a coupling protrusion 526 is protruded at the center thereof, and a lower end surface of the upper support 13 having a coupling hole 13a at the center thereof ( 13b) is tightly coupled to the surface 528 in which the predetermined depth is recessed in the direction of the measuring end 524 from the fixed end 522 to attach the measuring sensor 40 to warp the measuring end 524. It is configured to measure the amount of deformation.

The cross-shaped measuring end 524 is formed below the fixed end 522, and a depression 524a having at least one push input measuring sensor 40 is formed at the bottom thereof, and the depression 524a is formed. Protruding portion 524b is formed on the outer periphery by A connecting portion 525 is provided to connect the cross-shaped measurement stage 524 to each other.

In addition, the cross-shaped measurement stage 524 is to form a through hole 524d in the middle to adjust the amount of deflection of the measurement stage 524.

In addition, as shown in FIG. 11C, a plurality of coupling holes (unsigned) and screw holes (unsigned) pass through the measuring end 524 and the fixed end 522, and the upper part is fixed by the fixing means (unsigned). The support 13, the measurement block 520, and the lower support 14 are coupled to each other to constitute an elastic center device 10b for measuring the pressure input by the measurement block 520.

In addition, the coupling protrusion 526 provided in the fixed end 522 is mutually coupled with the coupling hole 13a provided in the upper support 13, the upper support 13 and the fixed end 522 is mutually fixed means It is fixed by (unsigned).

In addition, the cross-shaped measuring stage 524 and the lower support 14 is preferably formed by mutual coupling by the limiter (30).

In addition, as the projecting bottom surface and the fixed end 522 of the upper support 13 are fixed to each other, a fine deformation allowance interval 516a occurs between the upper end of the fixed end 522 and the upper support 13. A small deformation allowance interval 516b is also provided between the lower support 14 and the protrusion 524b of the measurement stage 524 to allow the lower support 14 to perform smooth position error correction.

The deformation allowance interval 516a is typically 0.1 to 0.2 mm as an interval for preventing deformation beyond the elastic limit of the measurement stage 524.

Referring to Figure 11c the operational effects of the third embodiment of the measurement block configured as described above are as follows.

As described in the first and second embodiments of the measurement block according to the present invention, a detailed description of the elastic center device having the same indentation process will be omitted.

However, according to the third embodiment of the measurement block, the measurement block provided between the upper support 13 and the lower support 14 according to the third embodiment has a pressure input acting between the upper support 13 and the lower support 14. When the protrusion 524b and the inclined surface 524c provided at the lower portion of the measuring end 524 crosswise form a deformation, the pressure input measuring sensor 40 provided at the depression 524a of the measuring end 524 according to the bending. ) Measures the amount of deformation according to the bending of the depression 524a, which is the same as the operation and effect of the measurement sensor 40 of the first and second embodiments of the present invention, and thus detailed description thereof will be omitted.

In addition, the fixed end 522 is fixed to the lower surface (13b) of the upper support 13, the coupling end 526 of the center is mutually fixed by the coupling hole (13a) and the fixing means (not shown) of the upper support The measurement sensor 40 provided on the recessed surface 528 of the recessed surface 528 formed on the upper surface of the measurement stage 524 by the bending of the measurement stage 524 is to form a bending deformation, depression Measurement sensor 40 provided on the surface 528 is measured, which is the same as the operation and effect of the measurement sensor 40 of the first and second embodiments of the present invention will be omitted.

In addition, since the buffering action and deformation of the measuring block 520 according to the pressing force are easily performed by the through hole 524d provided in the cross-shaped middle of the measuring stage 524, precise pressing force measurement is performed.

In addition, the recess 524a of the fixed end 522 and the cross-shaped measuring end 524, which are in contact with the upper support 13 and the lower support 14 when the press input is generated by the indentation process by forming a fine deformation allowance interval 516a. Since the measurement can be performed from the first pressing force, fine and precise pressing force measurement is performed.

Preferably, the measuring sensor provided in the fixed end or the cross-shaped measuring end may be selectively used by providing one or each measuring sensor according to the user's convenience.

(Fifth Embodiment: Embodiment in which the fourth embodiment of the measurement block is added to one elastic body)

12A is a cross-sectional view of a measurement block according to a fourth embodiment of the measurement block, and FIG. 12B is a plan view of the measurement block according to the fourth embodiment of the measurement block.

12A and 12B, the measurement block 620 according to the fourth embodiment of the measurement block includes a fixed end 622 having an upper end fixed to a lower portion of the upper cover 15, and a fixed end 622 of the fixed block 622. It is composed of a measuring stage 624 provided inward.

The fixed end 622 is formed in a cylindrical shape, the upper end is configured to be fastened to each other by a fastening means (not shown), such as a bolt on the lower portion of the upper support 13, the measuring end provided inside the fixed end 622 624 is provided with a cylindrical measuring member 624a spaced apart from the upper cover 15 at a predetermined interval, and the measuring member 624a and the fixed end 622 are at least three connecting members ( The fixed end 622 and the measuring member 624a are integrally formed by 624b.

In addition, the first support portion 214 fixed to the lower portion of the measurement block 620 is provided with a stepped portion 214a protruding from the upper end of the measuring member 624a of the measurement stage 624 and fastening mutual bolts, etc. It is fastened by means (not shown), the deformation between the lower portion of the measuring member 624a and the upper portion of the first support portion 214 as the measuring member 624a and the stepped portion 214a of the measuring block 620 are fastened to each other. Tolerance interval 626 is formed.

In addition, the measurement sensor 40 is attached to either side of the upper or lower or both sides of the connecting member (624b).

The operational effects of the fourth embodiment of the measurement block configured as described above will be described with reference to FIGS. 12A and 12B.

Detailed description of the elastic center device which is composed of one elastic body and performs the same indentation process as described in the first and second embodiments of the measurement block according to the elastic center device will be omitted.

However, as shown in FIG. 12A, the stepped part 214a of the first support part 214 as the first support part 214 rises upward due to the pressing force applied to the elastic center device during the press-fit process. And the measuring member 624a fixed to each other are raised, and one side of the connecting member 624b formed integrally between the measuring member 624a and the fixed end 622 by the rising of the measuring member 624a. Ascending along 624a causes bending of the connecting member 624b, and the measuring sensor 40 attached to any one surface of the connecting member 624b is connected to the connecting member 624b according to the bending of the connecting member 624b. This is the same as the effect of the measurement sensor 40 of the first and second embodiments of the present invention to measure the deformation amount of the detailed description thereof will be omitted.

In addition, the fixed end 622 is fastened to each other by a fastening means such as an upper support 13 and a bolt, so that only the measuring member 624a of the measuring end 624 raises and lowers the first support 214. Since it is conveyed along, the connection member 624b for integrally connecting the fixed end 622 and the measuring member 624a is bent.

In addition, the gap between the lower portion of the upper support 13 and the measuring member 624a may be formed between the first support 214 and the fixed end 622 during the pressing force measurement by the measuring end 624. It is preferable to be configured in the same manner as the interval 626, but the modification allowable interval 626 may be changed according to the user's convenience.

In addition, the pressure input applied to the elastic center device is directly applied to the measurement member by the first support part when the pressure input measurement by the elastic center device is possible, so that the measurement can be performed from the first pressure input. Do.

(Sixth embodiment: an embodiment in which a displacement measuring means first embodiment is added to an elastic center device made of one elastic body)

As shown in FIG. 13, by disposing the displacement sensor 42 capable of measuring the horizontal displacement of the upper limiter in a direction orthogonal to each other, the position error correction amount at the time of indentation can be measured in real time and output to the external display. It can be configured to be. In addition, the position displacement measuring unit as shown in FIG. 13 can be applied to all the elastic center apparatuses using the limiter 30 as well as the elastic center apparatus accommodating the measuring block means described above or one elastic body. Of course it is.

(Seventh Embodiment: Embodiment in which a second embodiment of displacement measuring means is added to an elastic center device made of one elastic body)

Figure 14a is a position displacement measuring means is configured between the upper support 13 and the lower support 14, Figure 14b is a limiter 30 is further added to Figure 14a. As shown, when the lower support 14 makes error correction to match the center of the boss and the assembly, the position of the ball probe holder 14a fixed to the lower support 14 is horizontally shifted by a certain amount of correction. Therefore, the elastic plate 54 fixed in the vertical direction to the displacement sensor bracket 52 fixed to the lower part of the upper support 13 is bent in the correction direction by the ball probe 56 inserted into the ball probe holder 14a. You lose. At this time, since the displacement sensor 42 is attached to each of the elastic plates twisted in the orthogonal direction, it is possible to calculate the position displacement value of the elastic center device 10b by calculating this value.

Accordingly, the pressure input and position are calculated by the pressure input measurement sensor 40 attached to the limiter 30 according to the compression strain, and the position displacement value is calculated by the displacement sensor 42. The displacement value is output to an external display (not shown).

15A and 15B are cross-sectional views of a state of use in which the positional displacement measuring means is applied, and FIG. 15C is a plan view of the state of use of FIG. 15A and FIG. 15B. Referring to this, when the lower support 14 for aligning the center of the boss and the assembly moves to achieve error correction, the lower support 14 is fixed to the lower support 14, and a ball probe holder 14b having a cross groove at the top thereof. ) Position is horizontally shifted by a certain amount of correction, so that the X axis and Y correspond to the cross grooves 14c of the ball probe holder 14b fixed to the displacement sensor bracket 52 fixed to the lower part of the upper support. At least one elastic plate 54a provided in the axial direction is bent in the correction direction by the ball probe 56 inserted into the ball probe holder. The elastic plates are attached to each of the displacement sensors in the elastic plate that is bent in the correction direction, so that this value can be calculated to calculate the position displacement value of the elastic center device 10b.

FIG. 16 illustrates another structure in which the lower support 14 measures the correction amount of the lower support 14 when the lower support 14 makes an error correction to match the center of the boss and the assembly part of the present invention. The ball probe 66 fixed to the lower portion of the upper support 13 is inserted into the ball probe pocket installed on the upper portion of the displacement sensor 69 of the sliding type fixed to the upper portion of the lower support 14, the lower support 14 It is equipped to measure the correction amount and the direction of.

14A, 14B, 15A, and 15B, the displacement sensor 42 is preferably an electric strain gauge, and the sliding sensor shown in FIG. 16 is a potentiometer, potentiometer, or linear. Any sensor for linear displacement measurement such as kale or LVDT can be used.

In addition, the above-mentioned elastic center device can measure the displacement according to the pressure input and the error correction as well as the manufacturing cost and the shortening of the manufacturing process, the center error correction between the boss and the assembly parts with a simple configuration. The effect is also applicable to.

What has been described above is just one embodiment for implementing the elastic center device composed of one elastic body according to the present invention, the present invention is not limited to the above embodiment, but of the claims claimed in the claims below Without departing from the gist of the present invention, one of ordinary skill in the art will have the technical spirit of the present invention to the extent that various changes can be made.

1 is a front view showing the center error and the reaction force between the components generated during the assembly operation by the conventional elastic center device.

Figure 2 is a front view showing the progress of the correction and assembly of the center error by the conventional elastic center device.

3 is an exploded perspective view of a part of an elastic center device according to a first embodiment of the related art.

4 is a cross-sectional view of FIG. 3.

5 is an exploded perspective view of an elastic center device according to a second embodiment of the related art.

6 is a bottom perspective view of the assembled state of FIG.

7 is a cross-sectional view of the combination of FIG.

8 is a cross-sectional view of a pressure input measurement sensor is attached to the limiter of the elastic center device composed of one elastic body according to the present invention.

Figure 9a is a case where the first embodiment of the measuring block is applied to an elastic center device composed of one elastic body according to the present invention.

Figure 9b is a cross-sectional view of a state in which the first embodiment of the measuring block is applied to an elastic center device composed of one elastic body according to the present invention.

9C is an enlarged view of a “VI” portion of FIG. 9B;

9D illustrates a case where a pressure input measuring sensor and a measuring block are applied to the limiter in the elastic center device including one elastic body according to the present invention.

Figure 10a is a case where the second embodiment of the measuring block is applied to the elastic center device composed of one elastic body according to the present invention.

10b is a cross-sectional view of a state in which a second embodiment of the measuring block is applied to an elastic center device including one elastic body according to the present invention;

10C is an assembled bottom view of the measurement block to which the second embodiment of the measurement block is applied;

11A is an exploded perspective view of a portion of a measurement block according to a third embodiment of the measurement block;

11B is a bottom perspective view of a measurement block according to a third embodiment of the measurement block;

11C is a cross-sectional view of the assembled state of FIG. 11A taken along the cross sectional view.

12A is a cross-sectional view of a use state of a measurement block according to a fourth embodiment of the measurement block;

12B is a plan view of a measurement block according to a fourth embodiment of the measurement block;

Figure 13 is a first embodiment provided with a position displacement measuring means in the elastic center device composed of one elastic body according to the present invention.

14A and 14B are assembled cross-sectional views of a second embodiment of a position displacement measuring means in an elastic center apparatus composed of one elastic body according to the present invention;

15A and 15B are cross-sectional views of a state in which a third embodiment of the position displacement measuring means is applied to an elastic center device composed of one elastic body according to the present invention;

Fig. 15C is a plan view in use state according to Figs. 15A and 15B.

Fig. 16 is an assembled state sectional view showing a fourth embodiment of position displacement measuring means in an elastic center apparatus composed of one elastic body according to the present invention;

Explanation of symbols on the main parts of the drawings

10,10a, 10b: elastic center machine 13: upper support
310: third support 14: lower support

320: fourth support portion 210: elastic body

30: limiter 40: measuring sensor

110, 120, 520: Measurement blocks 112, 122, 522: Fixed end

114, 124, 524: measuring stage 114a, 124a: depression

114b, 124b, 524b: protrusions 114c, 124c, 524c: inclined surfaces

116, 126, 526: allowable deformation interval 130: auxiliary block

140: fixed block 212: inclined disc

214: first support 216: second support

218: filling material

Claims (19)

delete delete delete delete delete delete delete In the elastic center device, including the upper and lower support members (13,14) and the elastic body, to correct the center error between the boss and the assembly in a pure translational motion by the elastic center principle, the elastic center device, A disk 212 having a constant slope at both ends; A plurality of discs 212 are stacked at regular intervals, and are positioned at both ends of the stacked plurality of discs 212, and protrusions 216a having the same inclination symmetrically to the inclination of the disc 212 at each of the both ends. And first and second supports 214 and 216 formed with recesses 214a and having a plurality of fastening holes; An elastic body (210) composed of a filler (218) filled with a plurality of discs (212) stacked between the first and second support parts (214, 216) to each other; The first and second support portions 214 and 216 of the elastic body 210 are mounted to the upper and lower supports 13 and 14 through fastening holes, respectively, Between the upper support 13 and the lower support 14 is provided with a position displacement measuring means is attached to the error correction sensor using an elastic plate, and measures the relative position displacement between the upper support 13 and the lower support 14 Elastomeric center device is attached to the measuring sensor, characterized in that consisting of one elastic body. delete The method of claim 8, The position displacement measuring means is attached to a measuring sensor, characterized in that attached to the sliding method orthogonal to each other, the elastic center device consisting of one elastic body. In the elastic center device, including the upper and lower support members (13,14) and the elastic body, to correct the center error between the boss and the assembly in a pure translational motion by the elastic center principle, the elastic center device, A disk 212 having a constant slope at both ends; A plurality of discs 212 are stacked at regular intervals, and are positioned at both ends of the stacked plurality of discs 212, and protrusions 216a having the same inclination symmetrically to the inclination of the disc 212 at each of the both ends. And first and second supports 214 and 216 formed with recesses 214a and having a plurality of fastening holes; An elastic body (210) composed of a filler (218) filled with a plurality of discs (212) stacked between the first and second support parts (214, 216) to each other; The first and second support portions 214 and 216 of the elastic body 210 are mounted to the upper and lower supports 13 and 14 through fastening holes, respectively, An elastic center device having a measuring sensor attached to the upper support 13 and the first supporting part 14 further comprising a measuring block including a pressure input measuring sensor on either side. . The method of claim 11, wherein the measurement block is A fixed end 112 fixed to the upper support 13; And It is provided below the fixed end 112, is fixed to a position close to the lower support 14 in a state separated by a predetermined height by a deformation allowance interval 116 formed to a predetermined depth, the pressure input measuring sensor 40 is configured Measuring stage 114 is attached; measuring the sensor is characterized in that consisting of an elastic center device consisting of one elastic body. The method of claim 11, wherein the measurement block A fixed end 522 having an upper end fixed to a lower end of the upper support 13; An elastic center device having a measuring sensor attached thereto and comprising one elastic body, characterized in that it comprises a cross-shaped measuring end 524 provided below the fixed end 522. The method of claim 13, wherein the fixed end 522 is It is recessed in a cross shape and provided with a predetermined depth, and a coupling protrusion 526 is formed at the center thereof, and is closely coupled to the protruding bottom 13b of the upper support 13 provided with the coupling hole 13a at the center thereof. A measuring sensor 40 is attached and formed of one elastic body to form a surface 528 having a predetermined depth recessed in the direction of the measuring end 524 from the fixed end 522. Centerpiece. The method of claim 13, wherein the measuring stage 524 is A depression 524a is formed below the fixed end 522 and includes at least one push input measuring sensor 40 at a lower portion thereof, and a protrusion 524b is formed at an outer circumference by the depression 524a. Elastomeric center device is attached to the measuring sensor, characterized in that formed of one elastic body. In the elastic center device, including the upper and lower support members (13,14) and the elastic body, to correct the center error between the boss and the assembly in a pure translational motion by the elastic center principle, the elastic center device, A disk 212 having a constant slope at both ends; A plurality of discs 212 are stacked at regular intervals, and are positioned at both ends of the stacked plurality of discs 212, and protrusions 216a having the same inclination symmetrically to the inclination of the disc 212 at each of the both ends. And first and second supports 214 and 216 formed with recesses 214a and having a plurality of fastening holes; An elastic body (210) composed of a filler (218) filled with a plurality of discs (212) stacked between the first and second support parts (214, 216) to each other; The first and second support portions 214 and 216 of the elastic body 210 are mounted to the upper and lower supports 13 and 14, respectively, through fastening holes. The elastic body 210 is provided on each of the first and second support parts 214 and 216 of the elastic body 210, and third and fourth support parts 310 and 320 fastened to each other by a fastening means; And The thread part 336 is provided between the third and fourth support parts 310 and 320, and one end is fixed to one of the third and fourth support parts 310 and 320, and the other end is fixed to the other. The head 332 is configured to flow by the interval is composed of a limiter 30, Elastomeric center device is attached to any one of the upper support (13) or the lower support 14, characterized in that the displacement measuring sensor for measuring the displacement of the limiter is attached and composed of one elastic body. The method of claim 11, The piezoelectric input measuring sensor is an elastic strain gage (electrical strain gage) or a piezo-electric element (piezo-electric element) is attached to the measuring sensor is attached to the elastic center device composed of one elastic body. The method of claim 8, Wherein the position displacement measuring means is a potentiometer, linear kale, LVDT attached to the measuring sensor, characterized in that any one of the elastic body consisting of one elastic body. The method of claim 16, The displacement measuring sensor is an elastic center device having a measuring sensor attached to and characterized in that any one of a potentiometer, a linear kale, LVDT.

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