SU965702A1 - Apparatus for assembling parts - Google Patents

Description

(54) DEVICE FOR ASSEMBLY OF PARTS

one

The invention relates to mechanical assembly work, in particular to the tooling of assembly production.

A device for assembling products is known, comprising a housing in which a working member, a spring-loaded rod with a gripping device, mounted along the axis of symmetry of the housing and sensors for vertical movement and angular position of the rod are located, the operating member being connected to the sensors through the control system 1.

The disadvantage of this device is the use of electric and pneumatic sensors, which complicates the device and causes an additional dynamic error during assembly.

The purpose of the invention is to increase the reliability and accuracy of assembly.

The goal is achieved by the fact that in the device for assembling parts, comprising a housing in which a working member is placed, a spring-loaded rod with a gripping device mounted along the axis of symmetry of the housing, and sensors for vertical movement and angular position of the rod, the working member associated with sensors

through the control system, the working element is made in the form of a linear stepper motor, the stator, which is rigidly fixed in the housing, and the inductor is mounted so that it can move relative to the stator 5 in two mutually perpendicular directions.

The inductor is made with a glass-like shank that surrounds the rod, and the vertical displacement sensors and the angle of the Q. of the new position of the rod are mounted on the shank, while the rod is spring-loaded relative to the shank.

FIG. 1 shows a device, a longitudinal section; in fig. 2 a, b, c, d are the different positions of the inductor relative to the stator 15 upon successive excitation by the electric current of the windings.

Claims (2)

The device for assembling parts comprises a housing 1 in which a working member is installed, made in a visible stepper motor (LSHD), comprising a rigidly mounted stator 2 and a moving inductor 3. Inductor 3 is mounted directly on the stator 2 by means of a magnetic air suspension, while between the stator 2 and the inductor 3 is supplied with compressed air through the channels. The stator 2 is made in two mutually perpendicular planes of the groove 4. The stator 2 is made of a ferromagnetic material, and the grooves 4 are filled with a non-magnetic material to ensure the smoothness of the contacting surfaces. Inductor 3 is a group of magnets 5 united by a single housing. The magnet 5 consists of permanent magnets 6, a common magnetic circuit and control windings 7 and 8. Rolling bearings 9 and compression springs 10 are mounted between the inductor 3 and the housing 1. On the inductor 3 there is a sleeve 11 in which a vertical displacement sensor 12 is mounted and angular position sensors 13 are hollow 14; moreover, between the shoulder of the sleeve 11 and the rod 14 there is a taper spring 15. On the rod 14, made of non-magnetic material, a gripper 16 is fixed, transporting one of the assembled parts 17 (shaft). The interaction of the inductor 3 and the rod 14 takes place with the aid of a ball-shaped support 18, in which the rod 14 is mounted along a sliding fit. The windings 7 and 8 of the magnets 6, the angular position sensors 13 and the vertical movement 12 are connected by switching circuits to the control system 19. The housing 1 is attached to the executive body 20 of the assembly machine, and the part 21 is fed to the assembly site with a transport devices. The device works as follows. At the first stage, the search stage, the executive body 20 Avtomata moves the device with the assembled product 17 (shaft. M) to the orientation zone. The shaft 17 is fed into the gripper 16 through the hollow rod 14. The executive body 20 transmits a certain force to the device and, therefore, the rod 14 and the parts 17, which presses the part 17 to the part 21, while the rod takes up, pressing the spring 15, the upper position (1 ). The inductor 3 under the action. The springs 10 is in the neutral position. The orientation zone has a lap shape with a diameter of 10-100 times the maximum clearance between the assembled parts 17 and 21, and the size of the zone is determined by the positioning accuracy of the actuator 20 and the device transporting the part 21. In the orientation zone there is a landing zone the shape of a circle with a diameter equal to the size of the gap between parts 17 and 21. When part 17 enters the orientation zone, the control system 19 begins to issue commands to the windings 7 and 8 of the magnets 6 of the inductor 3. When the winding 7 is excited, the magnetic th switched magnet flux in the tooth II. The prong II (fig. 2a.) Is installed against the prong of the stator 2. When the coil 8 is subsequently excited and the winding 7 is turned off, the magnetic flux switches to the 1P prong (fig. 26) and the inductor 3 moves 1/4 of the period of the toothed structure of the stator 7, right. When the current in the winding 7 is changed and the current in the winding 8 is not present, the magnetic flux switches to wave 1 and the inductor 3 is again shifted 1/4 of the period outside (Fig. 2c). Further, the direction of the current in the winding 8 is changed, and the current in the winding 7 is turned off. The magnetic flux switches to wave IV and the inductor 3 again moves 1/4 period to the right (Fig. 2d). Then, the co-mutation of the winding is repeated. To move the inductor 3 to the left, the switching order of the windings 7 and 8 is changed. The amount of movement by one step depends on the parameters of the gear structure of the stator 2. The movement of the inductor 3 tracks the rod 14, and with it the part 17, while this spring 15 holds rod 14 from the angular displacements. The path of movement of the part 17 in the orientation zone corresponds to the signal m supplied to the windings 7 and 8 of the inductor 3. At the moment when the path of movement of the part 17 enters the landing zone, the part 17 together with the grip 16 and the rod 14 under the action of vertical The force of the spring 15, moves down and the part 17 enters the hole of the part 21, the sensor vertical displacement 12 gives the control system 19 a signal to terminate the search. Then the second stage of assembly follows - the landing stage. Assembling the wet parts 17 and 21 and. Have an angular misalignment, therefore, with a small gap between them, they are jammed during landing. The part 17 and the rod 14 deviate from the vertical position, but the gaps between the rod 14 and the sensor are changed. The angular position 13, at the command of which the control system 19 outputs the corresponding signals to the windings 7 and 8 of the inductor 3, and the inductor 3 is moved along the stator 2, and returns the rod 14 to a vertical position before aligning the axes of the parts 17 and 21. The proposed device for assembling parts allows to simplify the design, reduce its dimensions and improve the reliability and accuracy of the assembly, claims 1. The device dl c orcs of parts containing a housing in which the working member, a spring-loaded rod with a gripping device, mounted along the symmetry axis of the housing, and sensors of vertical displacement and angular position of the rod are located, and the operating member is connected to the sensors through a control system characterized by that in order to increase reliability and assembly accuracy, the working body is made in the form of a linear stepper motor, the stator of which is rigidly fixed: en in the housing, and the inductor is mounted not to bias relative to the stator in two mutually perpendicular directions. 2. The device according to claim 1, characterized in that the inductor is made with stakanoobrazny the shank covering a core, and ig 2a ig.2e The sensors of vertical mixing and angular position of the rod are mounted on the shank, while the rod is spring-loaded relative to the shank. Sources of information taken into account in the examination I. USSR author's certificate 778990, cl. In 23 R 19/02, 1978 (prototype). -0, ig. 2g