RU2668241C1 - Gripping correcting module - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to engineering, robotics and can be used for assembly operations to eliminate misalignment of relative positioning matched axisymmetric articles. Most effective use of the device for correcting the position of flat covers, products such as "bushing", when they are mounted on the surface of a product such as a shaft using vacuum or electromagnetic grippers. Gripping correction module comprises a housing with a linear actuator for driving the gripper fixed to the movable operating member of the drive with a possibility of skewing and spring-biased against the middle position, two levers arranged between the gripper and the movable working member, that are skewed and spring-loaded in relation to their center position. At that, the length of the lever fixed to the movable working organ is less than the length of the lever connected to the gripper. At the junction of the lever fixed to the gripper, a mechanism for fixing their mutual position is established.

EFFECT: invention provides an extension of the field of application.

3 cl, 2 dwg

Description

The proposed device relates to the field of mechanical engineering, robotics and can be used when performing assembly operations to eliminate the mismatch of the relative position of the mating axisymmetric products. The most effective is the use of a device for correcting the position of flat covers (“sleeve” type products when they are installed on the surface of a shaft type product using vacuum or electromagnetic grippers.

Known devices used to compensate for discrepancies in the mutual position of products arising from their pairing. Applied devices whose work is divided into processes with active, passive and combined adaptation (see Sysoev, S.N. Study of the boundary conditions of the method of multiple correction of the position of mating products / S.N.Sysoev, E.V. Eropova // Assembly in mechanical engineering, instrument making. - 2011. - No. 7. - S. 3-7, Sysoev, S. N. Devices for correcting the position of mating products / S. N. Sysoev // Progressive technologies in mechanical engineering [Text]: collection of scientific papers on 40th anniversary of the Department of Engineering Technology. - Kovrov: FSBEI " . GTA them Degtyarev ", 2013. - P. 71-80).

The simplest in design and control are devices with passive and combined adaptation of the assembly. However, devices with passive adaptation are characterized by low productivity and functional reliability, since they use probabilistic methods of pairing products. The most effective are devices with combined adaptation, where causal relationships between physical phenomena occurring in the process are used. These include lever corrective devices.

A device is known (see Pat. RF IPC B25J 16/06 No. 115711 "Captive Correcting Module", Sysoev S.N., Eropova E.V., Korobova T.N., claimed 08.11.2011, publ. 10.05 .2012, bull. No. 13), comprising a housing with a linear gripper drive mounted on a movable working body of the drive with the possibility of bias and spring-loaded relative to the middle position. Between the grip and the movable working body, two levers are successively mounted that are biased and spring-loaded relative to the middle position, the length of the lever fixed to the movable working body being longer than the length of the lever connected to the grip. Manipulate the product type "shaft", installing it in the hole of the sleeve. During the initial mismatch of the axes of the shaft and the sleeve during their mating, a skew of the shaft occurs, directed towards the required correction of its position. Changing the relative position of the levers of the device allows for the correction of the position of the shaft.

The device allows, using the distortion of the shaft during the force interaction with the sleeve, to perform the required pairing of products.

However, the use of this device is possible only for a situation of moving the shaft relative to the sleeve and is not applicable for correcting the position of a sleeve type product when it is paired with a shaft type product, which limits its scope.

A device is known (see Pat. RF IPC B25J 16/06 No. 128150 “Capture Correcting Module”, Sysoev S.N., Stolyarov A.V., claimed. 05.20.2012, published on 05.20.2013, bull. No. 14), comprising a housing with a linear displacement drive of the gripper mounted on the movable working body of the drive with the possibility of bias and spring-loaded relative to the middle position, and a lever correction mechanism is installed between the gripper and the movable working body. The lever correction mechanism is made in the form of a rod, one end of which is mounted on a movable working body with the possibility of bias and spring-loaded relative to the middle position, and the other is connected to the grip and spring-loaded relative to the middle position.

The device has a simpler construction. It allows, using the skew of the shaft during the force interaction with the sleeve, due to the skew of the lever, to perform the required pairing of products.

However, the use of this device is also possible only for situations of movement of the shaft relative to the sleeve and is not applicable for correcting the position of the product type "sleeve" when it is paired with a product of the type "shaft", which limits its scope.

The closest in technical essence of the known is the device (see Pat. RF IPC B25J 16/06 No. 147155 "Captive correction module", Sysoev S.N., Litvinov I.S., Yongjie Cao, application. March 25, 2014 , published on October 27, 2014, Bulletin No. 30), comprising a housing with a linear actuator for gripping, mounted on a movable working body of the drive with the possibility of bias and spring-loaded relative to the middle position, and two levers are sequentially installed between the gripper and the movable working body skewed and spring-loaded in relative mean position. Moreover, the length of the lever mounted on the movable working body is less than the length of the lever connected to the grip.

This device allows, using the distortion of the product type "sleeve" when the force interaction with the shaft, by changing the relative position of the levers, to perform the required pairing of products.

However, the use of this device is possible only for situations of movement of the sleeve relative to the shaft and is not applicable for correcting the position of the product type "shaft" when it is paired with a product type "sleeve", which limits the scope of its application. In addition, since the lever is not rigidly fixed to the grip, the angle of rotation of the lever is less than the angle of rotation of the grip, which limits the use of this device with a slight misalignment of the sleeve during its power interaction with the shaft.

The objective of the invention is to expand the scope of the gripping correction module by using it to manipulate both the shaft and the sleeve.

The task is achieved by the fact that in the gripping corrective module containing the housing with a linear actuator gripping, mounted on a movable working body of the drive with the possibility of bias and spring-loaded relative to the middle position, two levers mounted between the gripper and the movable working body, fixed with a bias and spring-loaded relative to their middle position, with the length of the lever mounted on a movable working body, less than the length of the lever connected to the grip, in place with the unity of the lever mounted on the gripper, a mechanism for fixing their mutual position is installed.

In the gripping corrective module, the fixing mechanism can be made of a sealed elastic shell covering the mounting point of the lever, forming a sealed chamber configured to connect to the vacuum line.

In addition, the sealed chamber of the locking mechanism may be filled with bulk material.

An example of implementation is shown in drawings 1, 2. The device (Fig. 1, 2) consists of a linear actuator of the working body 1, on which a grip 4 with a gripped product 5 is pivotally mounted through levers 2 and 3 for interfacing with the product 6. The grip is connected to the working body through the levers sequentially installed and pivotally connected with the possibility of bias and spring-loaded relative to the middle position. Moreover, the length of the lever 3 is greater than the length of the lever 2. In the place of attachment of the lever 3 with a gripper, a mechanism for fixing their relative position is installed, made of a sealed elastic shell 7, covering the mounting location. The shell forms a sealed chamber filled with bulk material and made with the possibility of a vacuum line through the distributor 9. This implementation of the locking mechanism is known (see Sysoev, S.N. Elements of hydraulic and pneumatic equipment: textbook / S.N.Sysoev; Vladim State University - Vladimir: Publishing House of the State University, 2001. - P. 73-75, Sysoev, S. N. Principles and methods for finding technical solutions. Method for the study of functional-physical relationships: monograph / S.N.Sysoev; Vladimirov. state university - Vladimir: Publishing house of the Vladimi. state university, 2007. - S. 92-93.).

At atmospheric air pressure in the chamber, the position of the lever 3 is not fixed relative to the capture 4. When pumping air from the chamber, particles of bulk material are pressed by the shell against each other, thus fixing the relative position of the lever and the capture.

The drawing (Fig. 1, a, b, c, d, e) shows the steps of the device for the option of pairing the product type "sleeve" with the product type "shaft".

The device operates as follows. In the initial position (Fig. 1, a), the actuator 1 of the drive for moving the gripper occupies its highest position. The grip holds the sleeve-type product. The camera 8 is connected through the distributor 9 to the atmosphere and the position of the lever 3 is not fixed by the locking mechanism relative to the capture.

At the command "install the product", which is offset from the desired position by A, turn on the distributor 9, connecting the chamber 8 to the vacuum line, thereby fixing the position of the lever 3 relative to the capture 4. Next, move the capture with the product in the direction of the shaft 6.

Moving the product 5 causes it to touch the end surface of the shaft. The force interaction of the product with the shaft leads to a skew of the gripper and levers. Moreover, the direction of skew capture is opposite to the desired direction of correction of the position of the product 5 (Fig. 1, b). The position of the levers sets the desired direction of correction. Next, turn off the distributor 9, connecting the chamber 8 with the atmosphere, which leads to the fixation of the relative position of the lever 3 and the capture.

With further movement of the working body 1 increases the value of the angle of inclination of the levers and the difference in their length leads to force on the product 4 in the direction of the required position correction. Capture shifts the product to the right (Fig. 1, c, d). Moving the product leads to the required correction of its position (Fig. 1, d).

The drawing (Fig. 2, a, b, c, d) shows the steps of the device for the option of pairing the product type "shaft" with the product type "sleeve".

The device operates as follows. In the initial position (Fig. 2, a), the actuator 1 of the drive moving the capture takes the highest position. The capture holds the shaft 5. The camera 8 is connected to the atmosphere and the position of the lever 3 is not fixed by the locking mechanism relative to the capture.

The command "install the product", which is offset from the desired position by a value of A, move the grip with the product 5 in the direction of the sleeve 6.

Moving the product 5 causes it to touch the end surface of the sleeve. The force interaction of the product with the sleeve leads to a skew of the gripper and levers. Moreover, the direction of skew capture corresponds to the desired direction of correction of the position of the product 5 (Fig. 2, b). The position of the levers sets the desired direction of correction.

With further movement of the working body 1 increases the value of the angle of inclination of the levers and the difference in their length leads to force on the product 5 in the direction of the required position correction. Capture shifts the product to the right (Fig. 2, c). Moving the product 5 leads to the required correction of its position (Fig. 2, g).

This technical solution expands the scope of the device due to the possibility of using it to correct the position of both the shaft and the sleeve.

If the value of the required corrective displacement of the product is not provided by the characteristics of a particular gripping module, then the correction process is repeated using the multiple correction method.

In the laboratory of the Department of Automation of Production Processes of the Vladimir State University named after Alexander Grigoryevich and Nikolay Grigoryevich Stoletov, prototyping and full-scale tests of the proposed device were carried out.

Tests have confirmed the expansion of the scope of the device and its industrial applicability.

Claims (3)

1. A gripping correction module comprising a housing with a linear drive for gripping, mounted on a movable working body of the drive with a bias and spring-loaded relative to the middle position, two levers mounted between the gripper and a movable working body, biased and spring-loaded relative to their middle position , with the length of the lever mounted on a movable working body, less than the length of the lever connected to the grip, characterized in that it is equipped with a locking mechanism and the relative position of grip and lever set in place of their connection. 2. The gripping correction module according to claim 1, characterized in that the fixing mechanism consists of a sealed elastic shell covering the junction of the lever, with the formation of a sealed chamber configured to connect to the vacuum line. 3. The gripping correction module according to claim 2, characterized in that the sealed chamber is filled with bulk material.

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