SU1342658A1 - Self-setting assembly head - Google Patents

Abstract

The invention relates to mechanical engineering and instrument making and allows to expand technological capabilities by providing independent linear and angular displacements of the installed part. First go18 (L o ND 05 SP 00. B e 71-I-I 2 fig 1

Description

134

The device is supplied to the installation position of the interchangeable tool, where it lowers to the corresponding tool by aligning the conical pin 6 and the hole 7 of the mechanism 2. In this case, the positioning error of the head is compensated for by the mobility of the housing 25 relative to the housing 22 and the stem 46 relative to the housing 25 Next, the head is transferred to the gripping position of the installed part. At the same time, the rod 46 is centered relative to the housing 25, and the housing 25 relative to the housing 22 is turned on

one

The invention relates to mechanical engineering and instrument making and can be used in robotic assembly complexes.

The aim of the invention is the expansion of technological capabilities due to the possibility of providing independent linear and angular displacements of the installed part, facilitating 1x the mating process.

Figure 1 shows an assembly head, in section, a general view; figure 2 - section aa in figure 1; in fig. Section BB in Fig. 1; Fig. 4 shows the phases of the mutual position of the head elements during the assembly process.

The assembly head is placed on the final link 1 of the industrial robot and is equipped with a mechanism 2 for fastening the interchangeable tool in the form of a platform 3 fixed to the end of the rod 4 and the flange 5. The platform 3 is equipped with a conical centering finger 6, and the flange 5 with a mating conical hole 7.

The joint between the platform 3 and the flange 5 is sealed with a sealing ring 8. The platform 3 carries three cams 9, evenly spaced around its periphery. Cams 9 have the possibility of radial synchronous movement, for example, from a pneumatic actuator (not shown).

The head consists of a horizontally movable body 10 connected

electromagnets 43, 31, 35, 65 and solenoids 41, 63 for the corresponding 1DIKLU. After capturing the part, the head transfers it to the team position and presses it to the base part. In this case, the positioning error is fixed by means of the respective sensors and compensated by moving 10. During the voltage process, the housing 20 moves down with the help of the actuator 19 and, in addition, the rotary actuator 49 can be turned on and linear motors. This facilitates the process of mating parts of various types. 4 il.

with a tapered link 1 of an industrial robot by means of an additional intermediate platform 11. Platform 11 has two pairs of mutually perpendicular to the guide guides 12 and 13, in which the balls 14 are located. On the housing 10, the linear motor l3 and the sensor 16 are linearly displaced (in the direction of Y on FIG. 3). On the additional intermediate surface 11, the linear motor 17 and the linear displacement sensor 18 are rigidly fixed (in the direction X of FIG. 3). On the housing 10 is rigidly fixed drive 19 vertical movements. Inside the housing 10 there is a main housing 20, which is tightly coupled to the actuator 19. A sensor 21 axial displacements of the housing 20 relative to the housing 10 is installed on the housing 20.

Inside the housing 20 is placed an additional housing 22 connected to

him through the spring 23 bilateral action. The linear displacement sensor 24 is rigidly fixed to the housing 22 and has the ability to interact with the housing 20. Inside the housing 22 there is an additional housing 25 connected to it by means of an intermediate ceiling 26. The platform 26 has two pairs of mutually perpendicular guide grooves 27 and 28, in which balls are located 29. On the body 25 is rigidly

- 1342658

tchik 30 linear displacement 25 relative to the platform direction X in FIG. 3). The sensor is set to 26 and allows the registration of the platform 26 together 25 relative to the body 22 of the design Y (Fig. 3). Housing 25 is a magnetic magnet 31. Electromagnetite from the core 32 is connected to the housing 25 of the spring 34 and serves for the housing 25 in the direction X. The solenoid 35 consists of nick 36 and winding 37, a secondary body 22 by fixing the plate 22 of the housing 22 (FIG. 3).

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20

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lo pr tr 63 the same po in a par of the group of pr co ve re on ko and 35 we eat the ko to no vm at about 6 hundred ten to one hundred per v ro ro pu pu el on the square

The head is provided with a mechanism for centering the linear position of the housing 25 relative to the housing 22, consisting of the centering cone 39 fixedly mounted on the housing 25 of the centering plunger 40, coupled in a precise moving fit with the housing 22, the solenoid 41, the springs 42 and the electromagnet 43 containing the core 44 and winding 45.

Inside the housing 25 there is a hollow shaft 46, housing 47 and housing 48. A hollow rod 46 houses a stem 4, which can be rotated by a drive 49 rigidly fixed to a hollow rod 46. The hollow rod 46 is mounted in the housing 47 by means of two bearings 50 with swing capability in a vertical plane relative to the axis X (Fig.2). The registration of these movements is carried out by an angular displacement sensor 51 fixed in the housing 47. The electromagnet 52, containing the core 53 and the winding 54, serves to fix the rotation of the hollow rod 46 about the X axis (Fig. 2).

The housing 47 is installed in the housing 48 by means of two semi-axes 55 and bearings 56 with the possibility of swinging in a vertical plane relative to the Y axis (Fig. 2). The registration of these movements by the sensor 57 angular displacements, rigidly fixed in the housing 48. The electromagnet 58, containing the core 59 and the winding 60, serves to fix the rotation of the housing 47 relative to the Y axis (Fig. 2)

0

15

0

five

0

five

0

five

0

five

The head is provided with the centering of the initial angular position of the hollow rod 46 relative to the housing 25, consisting of a centering cone 61 rigidly fixed on the hollow stem 46, the centering plunger 62, coupled with a precise moving fit to the housing 25, solenoid 63, springs 64 and electromagnet 65, containing core 66 and winding 67.

Self-aligning head works as follows.

Industrial robot brings the head to the instrumental position. The cams 9 are divorced, the electromagnets 43 and 65, the solenoids 41 and 63 are de-energized, the electromagnets 31, 35, 52 and 58 are energized with a nominal voltage. When the industrial robot lowers the heads 6, the finger 6 abuts against the lateral surface of the conical hole 7, since their axes do not coincide, which is explained by the presence of axial mismatches in the assembly system. Further lowering of the head leads to deformation of the spring 23 as a result of moving the body 22 relative to the body 20 vertically upwards. The achievement of the maximum permissible vertical movement is detected by the sensor 24, the signal of which produces commands to stop the head lowering and de-energize the electromagnets 31, 35, 52 and 58. As a result, the body: 25 moves in the horizontal plane by the action of the pre-compressed spring 23, the rod 4 together with the hollow rod 46 is rotated relative to the direction X (Fig. 2), and together with the housing 47 — relative to the direction Y (Fig. 2). Thus, the finger 6 is centered relative to the conical hole 7. When the ends of the platform 3 and the flange 5 are adjacent, the cams 9 are retracted, fastening the interchangeable tool, after which the head is pressed and fed by the robot to the gripping position of the part to be installed. At the same time, the housing 25 is centered relative to the housing 22 and the stem 4 relative to the housing 25. For this, the solenoid 41 and the electromagnet 43 are energized with a nominal voltage, the centering plunger 40 is moved relative to

but the housing 22 and, interacting with the centering cone 39, causes the housing 25 to move relative to the housing 22 in two mutually perpendicular directions. At the end of the centering, the plunger 40 is attracted to the electromagnet 43, which secures the achieved position and ensures that there are no displacements at the time of fixation by the electromagnets 31 and 35, which are energized by the nominal voltage at the end of the centering. The centering signal is generated by a pair of sensors 30, on the basis of which the solenoid 41 and the electromagnet are de-energized, the plunger 40 is returned to the outcome by the action of the springs 42.

position, and the housing 25 is held

In the centered position by electromagnets 31 and 35.

At the same time and similarly, the centering of the angular position of the brush 14 relative to the housing 25 occurs.

After the part has been gripped, the head is transferred to the assembly position, where it is installed at some distance above the end surface of the base part.

The assembly process begins by moving the housing 20 downwardly relative to the housing 10 by means of a drive 19 of vertical movements. The lowering of the core occurs until the sensor 24 detects the achievement of the threshold basic force of the assembly (position a in figure 4). This signal causes the drive of the vertical displacements 19 to stop, the electromagnets 31, 35, 52, and 58 are de-energized. As a result, the rod 14, together with the mechanism 2 and the hollow rod, receive the possibility of two plane-parallel movements in mutually perpendicular vertical planes, which occur under the action of a pre-compressed spring 23. The housing 25 moves linearly in the X direction (FIG. 3), the platform 26 together with the housing 25 moves linearly in the Y direction (FIG. 3), and the hollow rod 46 with the stem 4 and the mechanism 2 simultaneously n vorachivaets relative directions X and Y (Figure 2). Thus, the self-assembly of the part being attached on the end plane of the base part to the position

h

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52

15

25

thirty

c rotates 2658S

ACS, O (position 5 in Fig. 4), which is fixed by sensors 30, 51 and 57. After that, commands are issued

powering electromagnets 31, 35,

and 58 and to turn on the engines 15 and 17, which with the specified step and dynamic motion parameters move the body 10 and the platform 11 together with all the structural elements of the Head to the center of the hole of the base part. The achievement of the center of the hole is recorded by the sensor 24 of the axial force of the assembly (position b in Fig. 4), on the basis of the signal of which the corresponding commands are issued depending on the type of connection:

if a smooth cylindrical connection is made, electromagnets 52 and 58 are energized and actuator 19 is turned on, at the same time motors 15 and 17 form an oscillating linear movement of body 10 along axes X and Y (FIG. 3), and actuator 49 - torsional oscillations of rod 4 (position 1 4), which facilitates the mating process of parts; If a threaded connection is made, actuators 19 and 49 are turned on, which provides movement of mechanism 2 with the necessary feed.

At the end of the assembly, the head releases the installed part and returns to its original position.

20

c rotates

0

Claims (1)

Invention Formula The self-assembly head, containing the main body and two additional bodies concentrically located inside it, the rod hinged in the internal additional body, the platform 5 for the interchangeable tool, the intermediate board (connected to the additional bodies by means of mutually perpendicular guides rolling elements, displacement sensors of the head elements and linear motors, the external additional body being spring-loaded relative to the main body, and the internal additional body has the ability to lock relative to the external with the help of electromagnets, in turn, the rod has the ability to center and lock with respect to the internal additional housing 0 71 electromagnetic mechanism, characterized in that, in order to expand technological capabilities, it is equipped with a drive for vertical movement of the main body, a third additional body, an additional intermediate platform with mutually perpendicular rolling guides, an additional rotary driven shaft and an additional electromagnetic centering mechanism and fixing the internal additional body relative to the external, at5 426588 than the vertical movement actuator is fixed on the third additional body, inside which the main body is located, and the additional intermediate platform is connected through the rolling guides to the specified additional Kopnycoh and can be moved from linear motors, in addition, the platform for the interchangeable tool is fixed on the lower end of the additional stock, which is located inside the stem, filled with a hollow .. ten 60 fig.g w ff sixteen j-f--. Fig4 Compiled by V.Gudkov Editor L.Vorovich Tehred M.Didyk Order 4554/12 Circulation 974 Subscription VNIIPI USSR State Committee for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, Projecto st., 4 FIG. 3 Proofreader L. Pilipenko