SU1468743A1 - Gripper device for assembling - Google Patents

Abstract

The invention relates to industrial robots and manipulators, is intended for assembling parts such as a shaft - sleeve, and allows to simplify its design and increase reliability by increasing adaptability and avoiding vibrations of parts when transferring the assembly grip to the assembly position. For this purpose, in an assembly gripping device comprising a housing 1 and an intermediate ring 2 coaxially arranged, a disk 3 and a gripping member 4 connected to a screw 5, a conical sleeve 6, a nut 7, a bearing 8, a disk 9, springs 10 and 11, a cover 12 , elastic rods 13, inclined elastic rods 14, a mixed part 15 and a key 16 according to the invention: the rigid column on which the conical sleeve is mounted, the entrance to the connection with the housing, is made in the form of a non-self-braking screw fixed at one end with a gripping organ. There is a rolling bearing in the disk, in the inner ring of which the nut of the helical gear with the friction adjustable brake is exchanged. 1 hp f-ly, 1 ill. t 7 S S (L 1: tshl 4 oo N (02

Description

The invention relates to mechanical engineering, in particular to industrial robots and manipulators, intended for the assembly of shaft-bushing parts.

The purpose of the invention is to simplify the design and increase the reliability of the device.

The drawing shows the proposed device.

Assembly-gripping device includes a housing .1 and coaxially located intermediate ring 2, disk 3 and gripping device 4 connected to screw 5, conical sleeve 6, nut 7, bearing 8, disk 9, springs 10 and 11, cover 12, elastic rods 13, inclined elastic rods 14, a movable part 15 and a key 16.

Assembly-gripping device operates as follows.

The intermediate ring 2 and the disk 3 connected to each other and to the body 1, respectively, by the elastic rods 13 and 14, form an elastic system supporting through the screw 5 with the nut 7 a gripping body 4 with the part 15, to the free end of which during its assembly can act forces or moments.

The elastic subsystem, including radial rods 13, under the action of these forces and moments, allows rotation of the gripping body 4 with part 15 around the center A of compliance, and the elastic subsystem of inclined rods 14, under the action of these same forces and moments, allows rotation around the lower center B of compliance.

The indicated moments, as well as the forces creating the moments, usually cause equal and oppositely directed turns about the two indicated centers A and B. As a result, a linear movement of the gripping device 4 with the part 15 perpendicular to the common axis of symmetry is obtained and the rotation around the common center B is suspended ti located on a common axis of symmetry between the upper A and lower B centers of compliance of the radial 13 and the inclined 14 elastic rods, respectively.

In order to form radial and angular centering forces contributing to the connection or assembly of the part 15 with the cooTj corresponding part (not shown), the common center of compliance B must be located at the free end surface of the part 15. In this case, its least assembly force is observed. Before starting the assembly, in the initial position, the part 15 is at the lowest position, and the center of compliance B is higher than the end of the assembled part 15. At the initial assembly time, with this arrangement of the center of compliance, the contact forces between the chamfers of the assembled parts

more optimal assembly effort. These forces transmitted through part 15 to screw 5 rotate nut 7, i.e. screw 5 with part 15 moves relative to the carrier disk 3 towards the center of compliance.

At this stage, the arm of the robot with body 1, ring 2, disk 3, elastic rods 13 and 14 vertically moves relative to the assembled part,

and the part 15 and the screw 5 are fixed relative to the assembled part. The conical sleeve 6 emerges from the connection with the housing 1 and allows linear movement of the part 15 in the direction perpendicular to the common axis of symmetry.

The rotation of the nut 7 is controlled by the adjustable braking torque generated by the friction disc 9 and the spring 10. The braking torque is adjusted to the lowest assembly force. Screw 5 with

0, part 15 is moved until the center of compliance B with the end face of part 15 coincides. At this point, the least assembly force is observed. The torque acting on the nut 7 is equal to the brake torque, and the rotation of the nut 7 stops. The vertical movement of the robot arm with the housing 1 is transferred to the screw 5 and the part 15, and the part 15 is assembled with the corresponding part. When changing the length of the part 15 assembly occurs

0 only at the optimal location with the optimum location of the center of compliance with the end face of the associated part and with the least effort of the spore. If the least effort is not observed, the nut 7 does not stop and the screw

5 5 with part 15 is moved to the upper end position and, pressing the sensor (not shown), stops the movement of the robot. As a result, jamming of the assembled parts is prevented. Using a pin 16 installed between

0 by a cover 12 and a screw 5, the rotation of the part 15 around vertical symmetry is excluded.

The initial position of the assembly-gripping device is driven by the spring I 1.

Claims (2)

1. Assembling-gripping device containing the body and having a common axis of symmetry of the gripper organ. Intermediate QQ exact ring, disc. pai.based on the same plane with the adjacent ring and associated with at least three radially arranged elastic rods, as well as at least three inclined reinforcing rods. 55 connecting the housing with the intermediate ring, the point of intersection of which is on the common axis of symmetry, the screw pair, and the nut. ; (; zHSIy l 3 the same plane with the disk and coaxially with it, and the screw is connected with a gripping device, characterized in that, in order to simplify the design, a bearing is installed between the nut and the disk, the screw has a non-braking thread, under the disk there is a cover parallel to it, having the ability to change its distance from the disk, with a friction clutch between the cover and the nut consisting of a washer in contact with the nut four and compression springs, and the screw is locked against rotation of the cover a key. 2. An apparatus according to claim I, characterized in that, in order to increase reliability, a screw has a flange with an outer conical surface that interacts with a mating conical hole made in the housing, and a compression spring is installed between the cover and the flange of the screw.