CN111070141A

CN111070141A - Automatic assembling clamp for micro parts and automatic locking method

Info

Publication number: CN111070141A
Application number: CN202010004607.2A
Authority: CN
Inventors: 王晓东; 王乾州; 罗怡; 任同群
Original assignee: Dalian University of Technology
Current assignee: Dalian University of Technology
Priority date: 2020-01-03
Filing date: 2020-01-03
Publication date: 2020-04-28
Anticipated expiration: 2040-01-03
Also published as: CN111070141B

Abstract

The invention belongs to the technical field of automatic assembly of precise micro parts, and relates to an automatic assembly fixture and an automatic locking method for micro parts. The bottom of the automatic assembly fixture is provided with a fixed bottom plate device, two ends of the fixed bottom plate device are provided with telescopic pressing plate devices, and a total of 4 linear driving elements are fixedly arranged on two sides of the fixed bottom plate and right above two ends of the two-end telescopic locking devices, so that automatic control is realized. The device can realize the functions of applying unidirectional pressing force between parts to be assembled and self-locking so as to ensure the relative position between the parts to be assembled to be fixed.

Description

Automatic assembling clamp for micro parts and automatic locking method

Technical Field

The invention belongs to the technical field of automatic assembly of precise micro parts, and relates to an automatic assembly fixture device and an automatic locking method for micro parts.

Background

With the continuous development of micro-electromechanical systems and technologies, micro-electromechanical products are continuously developing toward miniaturization and diversification. As a ring of great importance in the manufacture of micro-electromechanical products, the technology of precision assembly of tiny devices is facing increasing challenges. In a micro-electro-mechanical product, a micro part usually has a complex structural surface, different shapes and is difficult to clamp, and is easily interfered by micro-scale effect, electrostatic force, magnetic force and other adsorption forces, so that the assembly efficiency and the assembly precision are difficult to ensure.

The micro parts need specific fixtures to position and clamp the micro parts in and after the assembling process, and particularly, after the alignment and installation are completed, the aligned and assembled components need to be fixed and locked, so that other subsequent processes such as part gluing or welding can be performed. The clamp can realize the positioning and locking of parts before the assembly to be assembled realizes the stable connection by utilizing the micro part connection technology from the beginning of the assembly process, and can ensure the assembly precision among all the assembled parts during the locking without generating the relative position movement. The invention discloses a complicated multi-configuration automatic micro-part micro-operation manipulator system which is invented by Liu Siroco and the like with the patent number of CN201910739305.7, a specially-made three-finger claw is used for realizing unidirectional locking press mounting, the automation level and the working efficiency are higher, but the self-locking process cannot be realized. The inventor of the invention, patent number CN201810603495.5, wangdong, raney, etc., invented a feeding device for adjusting the angle of parts in micro-assembly, which utilizes the magnetic attraction of its coupling unit to connect the driver and the feeding unit, so as to adjust the relative position relationship of the parts and avoid the influence on the assembled parts.

In summary, the existing assembly fixture and locking method are often subject to factors such as operable space and part characteristics, and the like, and adopt manual assembly locking or are difficult to realize a self-locking process, so that the assembly precision is low, and the fixing effect is poor. Therefore, it is very necessary to design an automatic locking assembly fixture and method which can fix parts well and realize an automatic locking process.

Disclosure of Invention

The invention provides a device for automatically locking an assembly fixture and an automatic locking method, which aim to solve the problem that the assembly precision among components is interfered and influenced by the acting force among the components or the external acting force in the precision assembly of tiny components, lock and fix the assembled components, prevent the relative position change among the components, and improve the assembly and locking efficiency and the automation level. The automatic locking assembly fixture comprises three parts: the device comprises a set of two-end telescopic pressing plate devices, a set of fixed bottom plate devices and a series of driving devices which are arranged in a matched mode.

The technical scheme of the invention is as follows:

an automatic assembly fixture for tiny parts is characterized in that a fixed bottom plate device is arranged at the bottom of the fixture, two-end telescopic pressing plate devices are arranged above the fixed bottom plate device, and 4 linear driving devices are fixedly arranged on two sides of the fixed bottom plate device and right above two ends of two-end telescopic locking devices;

the two-end telescopic pressing plate device mainly comprises 2E-shaped spring retainer rings 1, 2 gaskets 2, a pressing plate 3 with spring bins at two ends, two telescopic inner columns 4, two combined pin rubber pads 10 and two part rubber pads 11; one end of the telescopic inner column 4 is provided with a square hole, and the bottom surface of the square hole is stuck with a combined pin rubber pad 10; a step shaft is processed at the other end of the telescopic inner column 4, and a gasket 2 and an E-shaped spring retainer ring 1 are sleeved on the step shaft; the middle part of the telescopic inner column 4 is arranged in the spring bin inner hole of the pressing plate 3 with spring bins at two ends, a spring is arranged between the inside of the spring bin and the outside of the telescopic inner column 4 according to requirements, and the natural length of the spring is greater than the distance from the gasket 2 to the bottom of the spring bin;

the fixed bottom plate device mainly comprises 2 combined pins 7, two external thread buckles 6 for fixing the combined pins 7 and a fixed base 5; the upper part of the combined pin 7 is a cylinder, the lower part of the combined pin is a chamfered edge cylinder, the chamfered edge part faces downwards, a gasket is sleeved between the two parts, and a step shaft is processed and fixed through thread connection; a round hole is formed in the middle of the external thread buckle 6, the round hole and a gasket on the combined pin 7 are combined to fix the position and the movement range of the combined pin 7, and a notch is formed in the end part of the external thread buckle 6 and used for screwing the external thread buckle 6 into the fixed base 5; the external thread buckle 6 and the hole of the fixed base 5 matched with the external thread buckle are provided with springs, so that the combined pin 7 is ensured to be in a pop-up state in a natural state; the fixed base 5 is provided with two horizontal and symmetrical through holes for leading the chamfered edge of the combined pin 7 to slide in the through holes;

the driving device mainly comprises 4 linear driving elements; the two linear driving elements are arranged right in front of the combined pin 7, the driving force direction of the two linear driving elements is coaxial with the combined pin 7, the two linear driving elements and the fixed bottom plate 5 are relatively fixed, and the two linear driving elements are used for pushing the combined pin 7 to move in the square hole of the fixed base 5; the other two linear driving elements are arranged above the telescopic inner column 4 of the two-end telescopic pressing plate device, the driving force direction of the linear driving elements is coaxial with the telescopic inner column 4, and the linear driving elements are used for pushing the telescopic inner column 4 to move in the two side holes of the pressing plate 3 with spring bins at the two ends.

An automatic locking method of a tiny part comprises the following steps:

connecting and fixing a second part to be assembled 9 on the upper surface of the fixed base 5 through a hole in the center of the fixed base 5 by using a bolt, grabbing the middle part of the telescopic pressure plate devices at two ends and the first part to be assembled 8 by using a manipulator, moving the middle part and the first part to be assembled 8 to be right above the second part to be assembled 9, aligning and executing an installation process by using a mechanical arm, pressing the first part to be assembled 8 and the second part to be assembled 9 by using the mechanical arm at the moment, and ensuring relative fixation under certain interaction force or external force action between the parts; the cylindrical parts at the two ends of the pressure plate 3 with the spring bin are embedded in corresponding holes on the upper surface of the fixed bottom plate 5; further, two linear driving elements right above the telescopic inner column 4 are driven to push the telescopic inner column 4 to move in the corresponding hole of the fixed bottom plate 5; then, a linear driving element opposite to the combined pin 7 is driven to push the combined pin 7 to move in the square hole of the fixed base 5 and penetrate through the square hole of the telescopic inner column 4; at the moment, two linear driving elements above the telescopic inner column 4 are unloaded, the telescopic inner column 4 is acted by an upward spring force, so that the combined pin rubber pad 10 on the lower surface of the square hole of the telescopic inner column contacts the lower surface of the chamfered edge of the combined pin 7 and generates corresponding elastic deformation; then, the linear driving element opposite to the combined pin 7 is unloaded, and the combined pin rubber pad 10 fixes the combined pin 7 under the action of friction force, so that the combined pin cannot rebound; then the whole assembly fixture is taken down, so that the connection process is carried out; when the connection is finished and the part needs to be taken down, the telescopic inner column 4 only needs to be pressed down, and the combined pin 7 is automatically popped up under the driving of the spring force acting on the combined pin, so that the part is smoothly taken down for next clamping.

The invention has the beneficial effects that:

a. the assembly fixture can realize automatic locking process and automatic control under the action of the cylinder, realize automatic control and improve assembly efficiency.

b. Through the type selection spring, the locking force can be accurately controlled, and misjudgment of the locking force during manual locking and operation of frequently measuring the locking force are avoided.

c. The assembly fixture can realize reliable self-locking after being locked, keeps the relative position between parts fixed, and the unloading of the parts is simple, convenient and quick.

Drawings

FIG. 1 is a schematic view of an automated assembly fixture;

FIG. 2 is a schematic view of a two-end retractable platen assembly of the apparatus of the present invention;

FIG. 3a is a schematic view of a fixed base plate assembly of the apparatus of the present invention; FIG. 3b is a schematic view of the fixing base 5 of the fixed base plate device; FIG. 3c is a schematic view of the male threaded buckle 6 of the fixed base plate means; fig. 3d shows schematically the assembly pin 7 of the fixed base plate arrangement.

In the figure: 1E type spring retainer ring; 2, a gasket; 3, pressing plates with spring bins at two ends; 4, a telescopic inner column; 5 fixing the base; 6, externally threaded fastening; 7 assembling pins; 8, a first part to be assembled; 9 a second part to be assembled; 10 assembling pin rubber pads; 11 parts rubber pad.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

In this example, the linear driving element is selected to be a certain type of air cylinder, but the method is not limited to the air cylinder, and other linear driving elements can be selected.

In the initial state, as shown in fig. 1, the two-end retractable platen device is installed and positioned in the corresponding hole locations of the fixed base plate device, the component 9 to be assembled is fixed through the hole in the center of the upper surface of the fixed base 5, and the component 8 to be assembled is placed and positioned on the loading platform thereof (the loading platform thereof is not involved in the device).

The assembling process starts, the middle of the pressing plate 3 with the spring bins at two ends is grabbed by the manipulator, the pressing plate moves to the position above the part 8 to be assembled, the part 8 to be assembled is grabbed, and at the moment, the bottoms of the pressing plates 3 with the spring bins at two ends are contacted with the upper surface of the part 8 to be assembled. And moving the manipulator to the position above the fixed base 5, and aligning and mounting the part to be assembled 8 and the part to be assembled 9. After the installation is finished, in order to overcome the influence of part intervals or external force on the assembly precision, the manipulator is tightly pressed on the part 8 to be assembled. The two rubber pads 11 are extruded to deform at the moment, so that the parts 8 to be assembled are coated to a certain extent to prevent the parts from shifting. At this time, two cylinders located right above the telescopic inner column 4 are opened, and the cylinders push the telescopic inner column 4 to move in the matching holes of the telescopic inner column. Then, two cylinders corresponding to the two combination pins 7 are opened, and the cylinders push the combination pins 7 to move in the horizontal through holes of the fixed base 5 and penetrate through the square holes of the telescopic inner columns 4. The force of the two cylinders right above the telescopic inner column 4 is unloaded, the telescopic inner column 4 is acted by the upward spring force of the telescopic pressing plate devices at the two ends, and the two combined pin rubber pads 10 are contacted and extruded with the lower surfaces of the chamfered edges of the combined pins 7 to generate deformation. And then, two opposite air cylinders of the combined pin 7 are unloaded, and the combined pin 7 cannot automatically rebound due to the friction force provided by the deformed combined pin rubber pad 10, so that self-locking is realized. So far, the automatic locking process is completed, and the mechanical arm is removed. The automatic assembly jig can be removed together with the parts to be assembled which it holds, thereby performing the next process.

When a workpiece needs to be taken down, the telescopic inner column 4 needs to be pressed downwards, the two combined pin rubber pads 10 are separated from the lower surface of the chamfered edge of the combined pin 7, the friction force is eliminated, the combined pin 7 pops out of the square hole of the telescopic inner column 4 under the action of the spring arranged on the outer ring of the combined pin, and then the telescopic pressing plate devices at the two ends are loosened, so that the connected workpiece can be taken down.

The invention relates to an automatic assembling clamp for tiny parts, which is mainly suitable for assembling and locking parts which need unidirectional pressing force and are fixed.

Claims

1. An automatic assembly fixture for tiny parts is characterized in that a fixed bottom plate device is arranged at the bottom of the fixture, two end telescopic pressing plate devices are arranged above the fixed bottom plate device, and 4 linear driving devices are fixedly arranged on two sides of the fixed bottom plate device and right above two ends of two end telescopic locking devices;

the two-end telescopic pressing plate device mainly comprises 2E-shaped spring retainer rings (1), 2 gaskets (2), a pressing plate (3) with spring bins at two ends, two telescopic inner columns (4), two combined pin rubber pads (10) and two part rubber pads (11); one end of the telescopic inner column (4) is provided with a square hole, and the bottom surface of the square hole is adhered with a combined pin rubber pad (10); a step shaft is processed at the other end of the telescopic inner column (4), and a gasket (2) and an E-shaped spring retainer ring (1) are sleeved on the step shaft; the middle part of the telescopic inner column (4) is arranged in a spring bin inner hole of the pressing plate (3) with spring bins at two ends, a spring is arranged between the inside of the spring bin and the outside of the telescopic inner column (4) according to requirements, and the natural length of the spring is greater than the distance from the gasket (2) to the bottom of the spring bin;

the fixed bottom plate device mainly comprises 2 combined pins (7), two external thread buckles (6) for fixing the combined pins (7) and a fixed base (5); the upper part of the combined pin (7) is a cylinder, the lower part of the combined pin is a chamfered edge cylinder, the chamfered edge part faces downwards, a gasket is sleeved between the two parts, and a step shaft is processed and fixed through threaded connection; the middle of the external thread buckle (6) is provided with a round hole which is combined with a gasket on the combined pin (7) to fix the position and the motion range of the combined pin (7), and the end part of the external thread buckle (6) is provided with a notch for screwing the external thread buckle (6) into the fixed base (5); the external thread buckle (6) and the hole of the fixed base (5) matched with the external thread buckle are provided with springs, so that the combined pin (7) is ensured to be in a pop-up state in a natural state; two horizontal and symmetrical through holes are processed on the fixed base (5) and are used for enabling the chamfered edges of the combined pin (7) to slide in the through holes;

the driving device mainly comprises 4 linear driving elements; the two linear driving elements are arranged right in front of the combined pin (7), the driving force direction of the two linear driving elements is coaxial with the combined pin (7), the two linear driving elements and the fixed base (5) are kept relatively fixed, and the two linear driving elements are used for pushing the combined pin (7) to move in a square hole of the fixed base (5); the other two linear driving elements are arranged above the telescopic inner column (4) of the two-end telescopic pressing plate device, the driving force direction of the linear driving elements is coaxial with the telescopic inner column (4), and the linear driving elements are used for pushing the telescopic inner column (4) to move in the two side holes of the pressing plate (3) with the spring bins at the two ends.

2. An automatic locking method of a tiny part is characterized by comprising the following steps:

a second part (9) to be assembled is connected and fixed on the upper surface of the fixed base (5) through a hole in the center of the fixed base (5) by using a bolt, the middle part of the two-end telescopic pressing plate device and the first part (8) to be assembled are firstly grabbed by using a mechanical arm and moved to be right above the second part (9) to be assembled, the alignment and the installation process are carried out by using a mechanical arm, and the mechanical arm compresses the first part (8) to be assembled and the second part (9) to be assembled at the moment and ensures the relative fixation under the action of certain interaction force or external force between the parts; the cylindrical parts at the two ends of the pressure plate 3 with the spring bin are embedded in corresponding holes on the upper surface of the fixed base (5); then, two linear driving elements right above the telescopic inner column (4) are driven to push the telescopic inner column (4) to move in the corresponding hole of the fixed base (5); then, a linear driving element opposite to the combined pin (7) is driven to push the combined pin (7) to move in the square hole of the fixed base (5) and penetrate through the square hole of the telescopic inner column (4); at the moment, two linear driving elements above the telescopic inner column (4) are unloaded, the telescopic inner column (4) is subjected to upward spring acting force, so that the combined pin rubber pad (10) on the lower surface of the square hole of the telescopic inner column contacts the lower surface of the chamfered edge of the combined pin (7) and generates corresponding elastic deformation; then, unloading the linear driving element opposite to the combined pin (7), and fixing the combined pin (7) by a combined pin rubber pad (10) under the action of friction force so that the combined pin cannot rebound; then the whole assembly fixture is taken down, so that the connection process is carried out; when the connection is finished and the part needs to be taken down, the telescopic inner column (4) is only needed to be pressed down, and the combined pin (7) is automatically popped up under the driving of the spring force acting on the combined pin, so that the part is smoothly taken down for next clamping.