SU1288014A1 - Apparatus for assembling-shaft-and-sleeve articles - Google Patents

Abstract

The invention relates to automation of the assembly process in mechanical engineering and can be used in industrial robots. The goal is to increase the reliability of the assembly process. When the sleeve 20 contacts the gripped part 23, which has a left mismatch with the base part 24, the elements 19, 13, 11 stop, while the pressing rod SL

Description

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(PN) 7 and located in the housing elements 9,5,2 continue to move downward along with the robot arm 26. As a result of these movements between the PN 7 and the support 16, there is a gap sufficient to compensate for the radial mismatch of the parts. When the sleeve 12 interacts with the PN flange further movement of the robot arm causes movement (linear and angular)

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The invention relates to the automation of an assembly process in mechanical engineering and instrument making and can be used in industrial robots for performing assembly operations.

The aim of the invention is to improve the reliability of the device and to improve the quality of the connection of the mating parts.

Figure 1 shows the device, a general view; figure 2 - section aa in figure 1.

The device contains (Fig. 1) a case I with an inner cylindrical surface in which a working rod 2 is mounted with axial displacement, spring-loaded relative to the case 1 and pressed by the force of the spring 3 to the power ball A of the spherical rolling bearing, made in the form of support glass enclosed in glass 5 balls 6, which are pressed against the upper end of the pressing rod 7, made with a flange in the middle part. The flange of the pressing rod 7 npri- is pressed to the end of the blade 8 fixed on the housing 1. In the upper part of the pressing rod 7 there is a disk 9 mounted coaxially with the outer spherical side surface and mounted with the possibility of axial and angular sliding of the spherical surface of the housing 1. The cup 5 is elastically centered with respect to the axis of the pressing rod 7 with elastic rods 10.

On the pressunm, the stem 7 below the flange is mounted with the possibility of axial movement and a spring-loaded release ring 10, the lateral surface of which is spherical. This allows the PN 7 to move in the direction of eliminating axial misalignments of parts 23 and 24 (angular displacement) in the direction of assembly operations (linear displacement), thereby providing the guaranteed reliability of the assembly process, 1 hp. f-ly. 2 Il.

relative to the stem 7 by the spring 11 of the support sleeve 12, is pressed with the lower end to the balls 13 of the separator 14 centered on a cone 15 rigidly fixed in the lower part of the pressing rod 7. The support 16 with a taper socket is centered on the cone 15 by the force of the spring 11. Rod 17, limiting the rotation of the support 16 around a vertical axis, is rigidly fixed to the Kriš1ke 8.

To protect the cup 5 from tipping over during operation on the face surface of the disk 9 is rigidly closed.

Repleno ring 18 with grooves in which the projections made on the glass 5 are included.

Dp gripping and moving to the position of assembling parts and holding them in the process of mating to the lower part of the support 16 is secured with a replaceable gripper.

The grip for gripping and mounting the parts contains (d.1) the core 19, on which the sleeve 20 is installed with the possibility of axial movement, is pressed out of the flange of the body 19 by spring-loaded pushers 21. On the sleeve 20, spring-loaded fingers 22 are installed with the possibility of radial movement a gripped part 23 to be mounted into the hole of the base part 24. One of the fingers 22 is connected to a part having a sensor 25 in the grip fixed on the sleeve 20 of the gripper.

The housing 1 of the device is fixed on the arm 26 of the robot.

The device works as follows

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In the initial position, the part 23 is centered on the outer surface in the grip sleeve 20 and held by spring-loaded fingers 22 (FIG. 1). The part 22 is located above the opening of the base part 24 with an initial offset relative to the specified hole and the initial skew angle of the axes.

By the hand 26 of the robot, the device with the retained part 23 moves downwards.

When the edge of the part 23 interacts with the chamfer of the hole of the part 24, the force of interaction through the part 23, the gripper frame 19, the support 16 with the conical socket, the balls 13 move the support sleeve 12 upwardly along the pressing rod 7, compressing the spring 11 having a lower rigidity than the spring 3. Between the surfaces of the cone 15 and the conical seat of the support 16, as well as between the surface of the cone 15 and the central opening of the separator 14, gaps are formed. The radial component of the interaction forces causes the support 16 with the part 23 to move towards the axis of the hole of the part 24. Sliding of the part 23 along the bevel of the hole of the part 24 continues until the part 23 stops against the opposite edge of the hole of the part 24, and the support sleeve 12 rests downwards with its upper end into the flange of the pressing rod 7 and squeezing it from the end surface of the bolt 8. In this case, the outer spherical lateral surface of the disk 9, rigidly fixed on the pressing rod 7, slide axially along the inner cylindrical surface of the housing 1, and the compression rod 7 acts through the spherical bearing rolling on the operating rod 2, compressing the spring 3.Usilie compressible spring 3 is transmitted to the working rod 2 mounted parts 23, putting it into the hole parts 24.

If there is an initial skew of the axes of the mating parts, as the parts mate, the axis of the part 23 rotates to align with the axis of the part 24. The gripper frame 19, pressed during its mating with its lower end to the part 23, also performs an angular rotation, turning pressukmtsy rod 7, which causes an angular slip of the outer spherical

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the side surface of the disk 9 around its center along the inner cylindrical surface of the housing 1. In this case, the glass 5 makes a linear movement along the upper end of the pressing rod 7, bending the elastic rods 10.

The assembly force from the working rod 2, which does not change the position of its axis, is transmitted by pressing the valve to the rod 7, the angular position of the axis of which changes as the mounted part 23 enters the hole of the part 24, through a spherical rolling support, which significantly reduces the resistance to the required rotation of the working rod. 7

After the entry of the part 23 with its initial section into the hole of the part 24, the sleeve 20 of the grip rests on the end face of the part 24 and stops, and the frame 19 of the gripper, continuing downward through the pushers 21, compresses the springs. The part 23 is withdrawn from the sleeve 20 and is inserted into the hole of the part 24. I

If the force required to press the part 23 into the hole of the part 24 exceeds the force created by the spring 3, then the device moved by the robot’s arm 26 has reached the lowest position, and the part 23 either remains on the face of the hole of the part 24 or enters this hole is partially. The springs 3 and 11 are compressed at the same time, and the part 23 is pressed into the hole of the part 24 by pressing a press rod (not shown) on the upper end of the working rod 2 protruding beyond the limits of the body 1.

Claims (2)

1. A device for assembling parts such as a shaft bushing, comprising a hollow cylindrical body, and a pressing rod disposed therein with a tapered end, and a support mounted on a pressing rod in series with the possibility of axial movement, with a counter taper nest and spring-loaded sleeve, and a tong the fact that, in order to increase reliability and improve the quality of the interface, it is equipped with a separator and spring-loaded working a rod, a disk with a spherical lateral surface rigidly fixed on the press stem and a glass that can interact with the working rod and disk by means of rolling bearings located in the glass, the separator being placed between the spring-loaded sleeve and the support, and the tongue is mounted on the support with the possibility of axial movement relative to it. 2. A device according to Claim 1, characterized in that it is provided with a grooved ring, and on the glass there are protrusions located in the slots of this ring. Editor V.Ivanova Compiled by N. Voskoboinikova Tehred M. KhodanychKorrektor A.Obruchar Order 7753/13 Circulation 972 Subscription BNSH111I USSR State Committee for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 . Production and printing company, Uzhgorod, Proe st .; : tna, 4 Ft