JPH03213291A - Handling device - Google Patents

Abstract

PURPOSE:To allow a relative dislocation between an insert and an inserted work as well as to correspond to a large inserting force even if required, by constituting it so as to have some clearance in space between a pressing surface of a first member and a pressed surface of the inserted work corresponding to the former at normal time. CONSTITUTION:When an insert part 50 comes into contact with an insert port 48, first of all, each of the third members (41, 44) is deflected in the horizontal direction with a first member 30 by dint of horizontal force the insert part 50 receives from the insert port, whereby a relative dislocation between the insert part 50 and the inset port 48 is corrected. When an inserting action is further continued, vertical force, the insert part receives from the insert port, grows larger, and thereby the third members (41, 44) are deflected to the first member 30 in the ventical direction, thus a pressed surface 47 of an insert part 45 comes into contact with a pressing surface 31 of the first member 30. In this state, if the inserting action is continued, the pressing surface 31 of the first member 30 presses the pressed surface of the inserted member, therefore the insert part is inserted into the insert port of the inserted member.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a handling device used for assembling parts in various automatic assembly machines.

[Prior Art] Generally, when assembling two parts that are in a fitting relationship, if the clearance of the fitting part is small, the relative positioning error between the two parts cannot be ignored. As a means to solve such problems, the conventional gripping mechanism was replaced with RCCC.
Remote Center Compl 1ance
) and other compliance mechanisms are known.

Figures 5 to 7 show a conventional handling device, for example, shown in Japanese Patent Publication No. 81-49079. This handling device is attached to a body 1 that is fixed to the arm of a robot, and has a horizontal movement. It is composed of a freely supported support body 2 and a swing shaft 3 swingably supported by the support body 2, and a grip 4 is attached to the lower part of the swing wheel body 3. Attachment body 1 is attached to an arm (not shown) Attachment section 5
A circumferential wall 7 is provided on the disc portion 6 which projects from the circumferential wall 7, and three horizontal support portions 8 extend inward from the circumferential wall 7 at equal intervals facing the lower opening thereof. The upper and lower surfaces of the peripheral wall 7 are formed in parallel and serve as a rolling surface IO for the horizontal motion sphere 9. In addition, the protruding mounting portion 5 is provided with a through hole 12 with a female thread 11, and an adjusting screw 13 and a compression spring 14 are provided in the through hole 12.
, a pressing sphere 15 is accommodated.

The support body 2 is formed in the shape of a hollow disk with openings passing through it vertically, and is provided with an opening 1B into which the above-mentioned horizontal support section 8 penetrates. and horizontal support part 1B
Horizontally movable spheres 9 are arranged above and below. Further, the swinging spheres 17 for the swinging shaft 3 are arranged at three equal locations, and rolling grooves are formed in these parts. The swing shaft 3 is composed of a shaft member 18 and a support member 19 formed in a mushroom shape at the upper end of the shaft member 18. The outer surface and inner surface of the support member 19 are respectively formed into an outer spherical surface 19a and an inner spherical surface 19b having a common center point on the axis on the lower end side of the shaft member 18.
It is swingably supported at at least 3gI by. Further, the shaft member 1 is provided at the top of the outer spherical surface 19a.
A support recess 20 is formed whose deepest part corresponds to the axis of the 8, and the above-mentioned suppressing sphere 15 presses this to restrict the swinging of the swing shaft 3, and the pressing sphere 15 supports the supporting recess 20. A centripetal action acts to try to match the deepest part of the recess 20. The lower end of the shaft member 18 is a portion for attaching a grip. The grip 4 consists of an air cylinder device 21 and a link mechanism 22 that opens and closes with the air cylinder device 21, and the insertion part 23 is gripped at the lower end of the link mechanism 22.

Next, we will discuss the operation. Figure 6 shows the case where the insertion part 23 is inserted into the inclined insertion slot 24, and the insertion part 23 is inserted into the insertion slot 24.
4, the shaft member 18 is easily tilted, and the insertion part 23 is inserted as the body 1 is lowered.

FIG. 7 shows a case where the insertion part 23 is biased with respect to the insertion port 24, and in this case as well, the support body 2 moves left and right due to the displacement of the horizontally movable sphere 9, as in the case where it is tilted. The insertion part 23 is inserted coaxially with the insertion opening 24.

[Problems to be Solved by the Invention] Since the conventional handling device is configured as described above, it works extremely effectively if the clearance between the fitting part of the insertion part and the insertion port is above a certain level.

However, if the above clearance is very small or if the clearance is negative (press-fitting), the force required to insert the insertion part into the insertion slot becomes very large, and the insertion operation becomes uncertain due to elastic deformation of the sphere. This has been a problem for some time as it can damage the sphere or the transfer surface of the sphere in some cases.

The present invention was made in order to solve the above-mentioned problems of the conventional device, and it can tolerate relative positional deviation between the insertion part and the insertion port, and the clearance of the fitting part between the insertion part and the insertion port is very large. The objective is to provide a handling device that can handle even small or negative conditions (press-fit relationships).

[Means for Solving the Problems] A handling device according to the present invention includes a first member that constitutes a frame of the handling device, and a first member that includes:
A second member coupled to the second member via the coupling means so as to be able to be displaced only in the horizontal direction while maintaining its posture; and a third member being pressed downward, and the gripping means attached to the third member is
The inserted member is gripped with a slight gap between the pressed surface of the inserted member and the pressed surface of the first member.

[Function] Since the handling device of the present invention is configured as described above, when the insertion part comes into contact with the insertion opening, the horizontal force that the insertion part receives from the insertion opening causes the third member to first move to the first position. It is displaced horizontally relative to the member, and the relative misalignment between the insertion part and the insertion opening is corrected. Then, when the insertion operation is continued, the vertical force that the inserted component receives from the insertion port increases, the third member is positioned vertically relative to the first member, and the pressed surface of the inserted component is aligned with the first member. Abuts against the pressing surface of the member. If the insertion operation is further continued in this state, the pressing surface of the first member presses the pressed surface of the inserted member, the insertion component is inserted into the insertion opening of the inserted member, and the insertion operation is completed.

[Embodiment of the Invention] FIGS. 1 to 3 are front partial cross-sectional views of a handling device showing an embodiment of the present invention, in which 30 is a pressing plate, 31 is a pressing surface thereof, 32 is a column, and 33 is a mounting plate, 34 is a housing, 35 is a support plate, 36 is a recess thereof, 37 is a centering pin, 38 is a spherical surface, 39 is a spring, 40 is a connecting rod, 41
42 is a sliding shaft, 42 is a linear guide, 43 is a spring, 44 is a gripping device, 45 is an inserted member, 46 is a boss portion thereof, 47 is a pressed surface, 48 is an insertion port, 49 is a chamfered portion, and 50 is a It is an insert part.

As shown in the figure, the handling device includes a suppression plate 30, a mounting plate 33 attached to a vertical movement mechanism (not shown), and a support 32 connecting the suppression plate 30 and the mounting plate 33. A first member constituting a frame; a second member consisting of a housing 34 and a support plate 35 fixed to the upper part of the housing 34 and having a recess 36 on the upper surface; slidable in the vertical direction on the housing 34 via a linear guide 42; a third member consisting of a sliding shaft 41 attached to and constantly pressed downward by a compression coil spring 43; and a gripping device 44 mounted at the bottom of the sliding shaft 41; spherical bearings at both ends; One end is attached to the mounting plate 33 and the other end is attached to the housing 3.
4, and suspend the second member so that it can be displaced only in the horizontal direction while maintaining a constant posture with respect to the first member; with respect to the mounting plate 33; a centering pin 37 that is vertically slidably supported and has a spherical surface 38 at its tip that constantly presses against a recess 36 of the housing by a compression coil spring 39; a gripping device 44;
and an inserted member 45 whose boss portion is held by the insert member 45.

Note that as mentioned above, the centering pin 37
9, the spherical surface 38 at the tip is always pressing against the four parts 36 on the upper surface of the housing, so a centripetal force that coincides with the axis of the centering pin 37 acts on the housing 34, and the housing 34 is always pressed against this axis. in a position consistent with .

Further, in this embodiment, the clearance of the fitting portion between the inserted member 45 and the inserted component 50 is zero, and the inserted member 45
A chamfered portion 49 is formed in the insertion opening 48 .

Next, the operation will be explained. FIG. 1 shows the initial state of the insertion operation, in which the insertion component 50 is slightly misaligned with respect to the inserted member 45. Note that in this state, the pressing surface 31
There is a slight gap between this and the pressed surface 47.

From this state, when the vertical movement mechanism (not shown) is activated and the entire handling device is lowered, the chamfered portion 49 of the inserted member 45 comes into contact with the inserted part 50, and the inserted member 45 is moved away from the inserted part 50. receive a reaction force. A horizontal component of this reaction force is transmitted from the inserted member 45 to the housing 34 via the gripping device 44, the sliding shaft 41, and the linear guide 42, and the nozzing is displaced in the horizontal direction. At this time, the centering bin 37 shifts from the center of the four parts 38 of the support plate 35, overcomes the force of the compression coil spring 39, and rises slightly. As a result, as shown in FIG.
and the insert 50 are corrected.

Note that the vertical component of the reaction force is canceled by the force of the compression coil spring 43.

If the handling device is further lowered from this state, since the clearance between the fitting part of the inserted member 45 and the inserted part 50 is zero, "kinking" or "sticking" phenomenon will immediately occur, and the The insertion member 45 stops descending, and the inserted member 45 receives a large vertical reaction force from the insertion component 50.

As a result, the inserted member 45, the gripping device 44, and the sliding shaft 41 overcome the force of the compression coil spring 43, and the housing 3
4, and the pressed surface 47 of the inserted member 45 comes into contact with the pressing surface 31 of the pressing plate 30, as shown in FIG.

If the handling device is further lowered from this state,
The press plate 31 presses the inserted member 45 against the inserted member 45.
While maintaining this posture, a large insertion force is applied, and the insertion part 50 is inserted into the insertion opening 48 of the inserted member 45.
A series of insertion operations is completed.

In this embodiment, a mechanism for applying centripetal force to the housing 34 includes a centering pin 37, a compression coil spring 39, and a support plate 35. However, the present invention is not limited to this, and the housing may be supported by a plate spring. It may also be a mechanism that does this.

Further, although the connecting rod 40 having spherical bearings at both ends is used as a mechanism for making the housing 34 movable only in the horizontal direction with respect to the mounting plate 33, it is not limited to this.
It may also be a mechanism in which a sphere is sandwiched between two plates.

Further, although a compression coil spring 43 is used as a means for constantly pressing the sliding shaft 41 downward, the compression coil spring 43 is not necessary if only the weight of the gripping device 44 and the sliding shaft 41 is sufficient.

FIG. 4 is a sectional view showing another embodiment of the present invention, in which the same reference numerals as in FIG. 1 indicate the same or equivalent parts as in FIG. 1. The main differences in structure between this embodiment and the embodiment shown in FIG. Support plate 35 and housing 34 attached to 43
The centering bin 37 is supported slidably in the vertical direction with respect to the housing 34. The first member in this embodiment is composed of the pressing plate 30, the mounting plate 33, and the support column 32, as in the previous embodiment, but the second member is composed of the sliding shaft 41 and the housing 34, and the third member is composed of the sliding shaft 41 and the housing 34. The member consists of a support plate 35 and a gripping device 44 attached to the support plate 35 and gripping the inserted member 45 at the lower part.

By adopting such a configuration, the third member consisting of the support plate 35 and the gripping device 44 attached to the support plate 35 can
It is passively movable only in the horizontal direction while maintaining its posture relative to the second member. As a result, if there is a positional deviation between the inserted member 45 and the inserted component 50, the inserted member 45
As in the previous embodiment, the positional deviation is corrected by the horizontal component force received from the insertion part 50.

[Effects of the Invention] As described above, according to the present invention, the third member equipped with the gripping device that holds the inserted object is passively movable in the horizontal and vertical directions with respect to the first member. , the lower surface of the first member has a pressing surface for pressing the object to be inserted, and normally,
Since the configuration is such that there is a slight gap between the pressing surface of the first member and the corresponding pressed surface of the inserted object, only the relative positional deviation between the inserted object and the inserted object can be tolerated. However, even if the clearance between the fitting part of the inserted object and the inserted object is very small or negative (press-fit condition), and a large insertion force is required, a handling device that can handle it can be obtained. It was decided that

[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is a sectional front view of essential parts showing a handling device according to a first embodiment of the present invention, FIGS. 2 and 3 are front sectional views of essential parts illustrating the operation, FIG. 4 is a sectional front view of a main part showing another embodiment, and FIGS. 5 to 7 are front sectional views of main parts showing a conventional handling device. In the figure, 30 is a pressing plate, 31 is its pressing surface, 32 is a column, and 3
3 is a mounting plate, 34 is a housing, 35 is a support plate, 36 is a recess thereof, 37 is a centering bin, 38 is a spherical surface, 39
40 is a connecting rod, 41 is a sliding shaft, 42 is a linear guide, 43 is a spring, 44 is a gripping device, 45 is an inserted member, 46 is a boss thereof, 47 is a pressed surface, 48 is an insertion port ,
49 is a chamfered portion, and 50 is an insertion part. Note that the same reference numerals in the figures indicate the same or equivalent parts.

Claims (2)

[Claims] (1) A handling device for inserting a fixedly supported insertion component into an insertion opening of an inserted member to be gripped has a pressing surface on its lower surface corresponding to the pressed surface formed on the upper surface of the inserted member. and a first member that moves up and down by the up and down movement means based on instructions from the controller, and a structure that allows the first member to be displaced only in the horizontal direction while maintaining its posture via the coupling means. a second member that is coupled to the second member; and a third member that is movable only in the vertical direction with respect to the second member and that is always pressed downward.
The gripping means provided on the third member normally holds the inserted member with a slight gap between the pressed surface of the inserted member and the pressed surface of the first member. A handling device configured to grip. (2) A handling device for inserting the fixedly supported insertion part into the insertion opening of the inserted member to be gripped has a pressing surface on the lower surface corresponding to the pressed surface formed on the upper surface of the inserted member. and a first member that is moved up and down by the up-and-down movement means based on instructions from the controller; The second
a member, and a third member coupled to the second member via a coupling means such that it can be displaced only in the horizontal direction while maintaining its posture, and a gripping means provided on the third member. However, the handling device is characterized in that it is configured to grip the inserted member with a slight gap between the pressed surface of the inserted member and the pressed surface of the first member.