JPH0144285Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to an improvement of a support device for an automatic insertion machine.

Prior Art As known technology, there are examples of Utility Model Application No. 113774/1983, and Utility Application No. 136457/1983 filed by the present applicant, and Application No. 021039/1983 filed by the present applicant.

Problems to be Solved by the Invention In the above technology, when inserting thin and flexible members with holes formed into them into each other, especially when the shaft member is thin or small, damage or bending may occur. I couldn't insert it properly.
Therefore, the resilient member that resiliently biases the fixed support part and the swinging support part is weakened so that it will swing when even the slightest upward force is applied due to misalignment, thereby preventing damage during insertion. It was being prevented. At this time, if the insertion device is moved too quickly, the elastic force will be weak and it will cause lateral shaking or vibration due to inertia, making it impossible to insert the device.
Insertion took a long time because the insertion was started after the insertion was paused and there was no lateral shaking.

Furthermore, in the above example, the insertion is performed vertically, but when inserting sideways, that is, horizontally, if the elastic force is weak, the swinging support part will always droop forward due to its own weight, causing a large amount of damage. I couldn't insert it because it was eccentric.

The present invention eliminates these drawbacks, and allows for rapid insertion because no inertia occurs even when the insertion device is moved quickly, and therefore no lateral wobbling or vibration occurs, and therefore no temporary stop is required. Another object of the present invention is to provide a support device for an automatic insertion machine that can be inserted in the horizontal direction without causing the swinging support portion to fall forward even in the horizontal direction.

Means for Solving the Problems The support device of the present invention connects a gripping device for gripping an object to a charging device via a support device, and vertically moves the support device by the operation of the charging device. , or an automatic insertion machine that moves in the horizontal direction, wherein the support device has a fixed support part and a swing support part, and the fixed support part has an axis that coincides with the operating axis of the insertion device. A coil spring having the same axis as the axis of the fixed support and elastically biasing both supports in a direction away from each other is installed between the fixed support and the swing support. On a virtual circle centered on the axis, the base end of the guide rod with a vertical axis is placed at either a fixed support part or a swing support part at three positions equally spaced in the circumferential direction. The guide rod is fixed to one side, and the free end of the guide rod has a truncated cone shape whose diameter increases as it approaches the free end, and the other of the fixed support part or the swing support part has a position corresponding to the guide rod. A guide hole having a diameter larger than that of the guide rod is provided in the guide hole, and the inner diameter of the guide hole increases as the distance from either the fixed support part or the swing support part increases along the length direction of the guide hole. The truncated conical part of the guide rod and the truncated conical part of the guide hole can be brought into contact with each other, and a cylinder is provided on either the fixed support part or the swing support part. , a buffer part is provided on one of the other parts of the cylinder to which the rod of the cylinder comes into contact; The distal end surface is a flat surface perpendicular to the axis of either the above-mentioned one, and the contact surface of the buffer part with the rod is a flat surface perpendicular to the axis of the other of the fixed support part or the swing support part. It is characterized by

Function Since it is configured as described above, when inserting a fine or small shaft member and a thin flexible member having a hole, it is necessary to insert the The fixed support part or the swinging support part is pressed and held by the cylinder to fix the swinging support part so that it does not swing.

Then, when the insertion position is reached, the pressure on the cylinder is released and the insertion is performed while holding the swing support part only by the elastic force of the elastic member. When force is generated in the opposite direction due to misalignment of the axis during insertion, the truncated conical portions formed in the guide rod and the guide hole separate from each other, allowing the swinging support section to swing. As the insertion progresses further, the swinging support part swings freely in the axial direction of the shaft member to be inserted, and the swinging allows the shaft member to be inserted without any trouble.

Furthermore, when inserting in the horizontal direction, the pressure on the cylinder is released immediately before the insertion, and the insertion is performed using the same rocking motion as described above.

Example Hereinafter, the present invention will be explained based on the drawings.

1 to 3 show an automatic insertion machine which is the basis of the present invention and is designed to insert in the vertical direction, and FIG. 5 is a sectional view of the main part showing the insertion state. In FIG. 1, a charging device 1 is a conventional robot arm, and a gripping device 3 for gripping an object such as a pulley is connected via a support device 2. As shown in FIG. By the operation of this charging device 1, the support device 2 is raised and lowered in the vertical direction, and the member 4 having the spindle hole 22, such as the pulley, is grasped and inserted into the thin spindle 6 provided upright on the thin plate 5. configured.

In FIGS. 2 and 3, the support device 2 has an upper fixed support 7 and a lower swinging support 8, the fixed support 7 having an axis that coincides with the operating axis of the charging device 1. .

The fixed support part 7 and the swing support part 8 are guides with vertical axes provided at three equally spaced positions in the circumferential direction on a virtual circle centered on the axis of the fixed support part 7. They are connected by a rod 9, and elastically biased in directions away from each other by a coil spring 10 fitted onto the guide rod 9. That is,
The guide rod 9 has its base end fixed by screwing the threaded part 20 into the swinging support part 8 corresponding to the three equally spaced positions on the virtual circle, and the head 21 serving as the free end. The guide rod has a truncated conical shape that becomes larger in diameter as it approaches , and the tapered surface of this portion serves as the guide rod abutment surface 15 .

The fixed support part 7 has a cylindrical shape, has a connecting support part 7a protruding from the center of the upper surface, and has a hole 11 recessed in the lower surface. An air cylinder A 12 having the same axis is provided. The fixed support portion 7 also includes the cylinder 1.
An air supply hole 13 for supplying compressed air to 2 is provided through the side.

The lower end surface 16a of the piston rod 16 of the cylinder 12 is a flat surface perpendicular to the axis E of the fixed support portion 7.

In the fixed support part 7, a guide hole 1 having a larger diameter than the guide rod 9 is provided at a position corresponding to the guide rod 9.
4 is provided through the guide hole 14 along the vertical direction, and the guide hole 14
has a hollow truncated cone shape whose inner diameter increases as it moves away from the swing support portion 8, and the tapered surface of this portion serves as the guide hole abutment surface 15a. This guide hole abutting surface 15a can come into contact with the guide rod abutting surface 15.

The swinging support part 8 has a cylindrical shape, and has a hole 17 in the center of its upper surface that is large enough to loosely fit the lower protrusion 12a of the cylinder 12, and in the center of the bottom of the hole 17, the rod is inserted. A buffer portion 18 that comes into contact with 16 is made of rubber or the like and is fixed thereto. The upper abutment surface 18a of this buffer portion 18 is a flat surface perpendicular to the axis F of the swing support portion 8.

The coil spring 10 has its lower end fitted into a holding hole 19 recessed so as to surround the guide rod 9 on the upper surface side of the swing support section 8 , and its upper end abutted against the bottom surface of the fixed support section 7 . let

In the above structure, when trying to insert the member 4 having the spindle hole 22 such as a pulley into the thin spindle 6 erected on the thin plate 5 as shown in FIGS. 1 and 5, first, the gripping device 3 grips the member 4 and moves it to the support shaft 6. However, since the support shaft 6 is thin and erected on the thin plate 5, a coil spring is used to prevent it from bending or breaking when inserted. 10
weakens the elastic force of

For this reason, the swing support portion 8 is pressed and fixed by the rod 16 of the cylinder 12 to prevent swinging or vibration due to inertia during movement. During this pressing, the tip surface 1 of the rod 16
6a and the contact surface 18a of the buffer portion 18 are flat surfaces perpendicular to the axis of the fixed support portion 7 and the axis of the swing support portion 8, respectively, so that both the support portions 7, 8
are kept in a mutually stable and fixed state.

Immediately before the insertion begins, the pressure by the rod 16 is released, and the insertion begins while the swing support portion 8 is held by the weak elastic force of the coil spring 10. During this insertion, if there is an eccentricity B between the support shaft hole 22 of the member 4 and the support shaft 6 as shown in FIG. 4, as shown in FIG. An upward force acts on the portion 8, and until now the contact surfaces 15, 15 of the coil spring 10 and the guide hole 14
The guide rod abutting surface 15 separated from the guide hole abutting surface 15a, which was held and fixed by the guide hole a,
The guide rod 9 becomes free, and the swing support section 8, gripping device 3, and member 4 also become swingable in the entire circumferential direction. Further, due to the position correcting action by chamfering the upper end of the shaft member 5 and the pressure applied from above, the swing support portion 8 swings together with the member 4 in the direction of the arrow, and aligns with the center line C of the shaft member 5. The member 4 can be inserted into the support shaft 6 by tilting along the support shaft 6.

The fixed support part 7 and the swing support part 8 have a guide rod abutment surface 15 made of a tapered surface of a truncated conical part,
When the guide hole abutting surfaces 15a abut each other, they are in a fixed state, and when they are separated, they become swingable.

FIG. 6 is a sectional view of essential parts of an embodiment of the present invention.
The embodiment has almost the same structure as the support device 2 described above, but a coil spring 10 having the same axis as the fixed support part 7 is loosely fitted into the rod 16 of the cylinder 12, and swings with the fixed support part 7. The supporting portion 8 is resiliently biased in a direction to move away from each other.

In this way, the fixed support part 7 and the swing support part 8
By elastically biasing the center of the swing support part 8, the swing of the swing support part 8 due to eccentricity during insertion becomes average and smooth in the entire circumferential direction. The insertion action is performed more smoothly.

In addition to the embodiments described above, the support device 2 may also include a cylinder 12 and a guide hole 14 provided in the swing support portion 8, and a buffer portion 18 and a guide rod 9 provided in the fixed support portion 7.

In addition, in a support device that performs insertion in the horizontal direction, the member 4, the gripping device 3, and the swinging support section 8 have their own weight, so
It tends to fall forward when inserted, but this is because
It is related to the strength of the elastic force of the coil spring 10. For example, if the inserted support shaft 6 or the like is easily damaged, the coil spring 10 cannot be strengthened, and the above-mentioned forward-downward state occurs. To prevent this, hold the rod 16 of the cylinder 12 until just before insertion.
The swinging support part 8 is pressed and held, the pressure is released immediately before insertion, and the insertion is quickly performed before the swinging support part 8 is in the forward-down position.

Effects The present invention can effectively achieve the intended purpose with the above configuration. That is, the support device is provided with a cylinder having the same axis as the axis of the fixed support part or the swing support part, and the swing support part is pressed and held by the rod of the cylinder and moved to the insertion position, so that the support device moves to the insertion position. Moreover, there is no rocking or vibration due to inertia, and the movement speed can be increased.

Further, since the rocking and vibration described above do not occur, there is no waiting time until the insertion position comes to a standstill, and the working time can be shortened.

The swinging support part is loosely fitted onto the rod, and is elastically biased in a direction away from the fixed support part by a coil spring having the same axis as the fixed support part. It produces even and smooth rocking in the plane direction, and can handle relatively large eccentricities.

When pressing and fixing the above swing support part, use the rod,
Since the contact surfaces of the buffer portion are flat surfaces perpendicular to the axes of the fixed support portion and the swing support portion, both support portions are maintained in a mutually stable state.

Since a cylinder is provided to press and fix the swing support part while the support device is moving, a coil spring with low spring strength can be used, and even if the support shaft is easily damaged, it can be inserted safely without any problems. becomes.

Since the swinging device is pressed and held by the cylinder, the swinging support part does not fall forward even when inserted in the horizontal direction, so there is no problem with insertion.

As described above, the support device of the present invention allows precise insertion even with a simple positioning device, and has practical effects such as simplifying the configuration of the entire automatic assembly device including the automatic insertion machine and reducing costs. is large.

[Brief explanation of the drawing]

Fig. 1 is a front view showing the basic structure of the present invention in use, Fig. 2 is a front sectional view of the basic support device, Fig. 3 is a sectional view taken along the line A-A in Fig. 2, and Fig. 4
The figure is a cross-sectional view of the main part showing the state where the member is being inserted eccentrically to the support shaft, Figure 5 is a cross-sectional view of the main part showing the state of each part of the basic structure of the insertion device, and Figure 6 is the present invention. FIG. 3 is a cross-sectional view of the main parts of the second embodiment. DESCRIPTION OF SYMBOLS 1... Insertion device, 2... Support device, 7... Fixed support part, 8... Swinging support part, 9... Guide rod, 1
0...Coil spring, 12...Cylinder, 14...
...Guide hole, 15, 15a...Abutment surface, 16...
Rod.

Claims (1)

[Claims for Utility Model Registration] A gripping device that grips an object to be gripped is connected to a charging device via a support device, and the support device is moved vertically or horizontally by the operation of the charging device. In the automatic insertion machine, the support device has a fixed support part and a swing support part, the fixed support part has an axis that coincides with the operating axis of the insertion device, and the fixed support part and the swing support part have an axis that coincides with the operating axis of the insertion device. A coil spring is installed between the dynamic support part and the fixed support part, which has the same axis as the fixed support part, and elastically urges both supports in a direction away from each other. The base end of each guide rod having a vertical axis is fixed to either the fixed support part or the swing support part at three equally spaced positions in the circumferential direction, and the guide rod The free end is shaped like a truncated cone and becomes larger in diameter as it approaches the free end, and either the fixed support part or the swing support part has a diameter larger than the guide rod at a position corresponding to the guide rod. A guide hole is provided, and the guide hole has a hollow truncated conical shape in which the inner diameter increases as the distance from either the fixed support part or the swing support part increases along the length direction on the side moving away from either the fixed support part or the swing support part. The truncated conical portion of the guide rod and the truncated conical portion of the guide hole are able to come into contact with each other, and a cylinder is provided on either the fixed support portion or the swing support portion, and a cylinder is provided on either the other. The cylinder has the same axis as either the fixed support part or the swinging support part, and the front end surface of the rod that operates toward the other is provided with a buffer part that the rod comes into contact with. Automatic insertion characterized by having a flat surface perpendicular to one axis, and a contact surface of the buffer portion with the rod being a flat surface perpendicular to the axis of the other of either the fixed support portion or the swing support portion. Machine support device.