JPH065077Y2 - Position detection device for two parallel movements - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The disclosed technology belongs to the technical field of the structure of a device in which assembly work such as caulking and press fitting of mechanical device parts is performed by one device.

<Prior Art> As is well known, mechanical devices have been widely used in all fields in recent years, and mechanical devices are rarely of a simple structure consisting of one part, and various kinds of parts are mutually organic. Most of the structures are related and assembled.

Particularly, in a precision machine, many various parts are assembled so as to have an overall organic relationship with each other. Therefore, when manufacturing one mechanical device, various parts are attached to a base forming a base material. It is designed so that it can be assembled correctly due to the set positional relationship.

Therefore, as a matter of course, in order to improve the productivity and reduce the cost of the production of the precision machinery, fully automatic assembly and processing are performed in a series of series work, and manual work is performed. There is almost no such thing.

Then, in the case where there is only one type of each component for the base material set on the base during such component assembly, the assembly process is performed by a relatively simple line process.
When press-fitting, punching, caulking, etc., of multiple parts to one base material, in order to perform highly efficient work as the number and types of parts to be assembled and processing work increase,
A jig having a dedicated number of holder heads for each part must be provided, and each holder head must perform proximity, chucking, assembling, and machining work for each type of work, assembling one part. The manufacturing and assembling apparatus becomes more complicated than that.

In order to deal with such a technique, for example, Japanese Utility Model Publication No. 55-801.
No. 34 publication was devised and a base material was set on a base, the base was moved in one direction, for example, the X direction, and a guide rail in the Y direction was provided on a stand erected on a frame to provide a head. The holder is arranged to be freely displaced in the X and Y directions, the head holder is provided with an actuator such as a lifting hydraulic cylinder, and a head holder is provided for each predetermined number of workpieces provided on the head bracket. Selectively relocate and move each head holder that is positioned with respect to the base material by a servo motor or other actuator provided on the head holder to position the chucked work on the base material and Dawn, press fit,
I was working on caulking and assembling.

Then, the apparatus is improved and improved more efficiently so that the work efficiency is improved. For example, the invention of Japanese Patent Application No. 62-140054, which is the applicant's prior application, is put to practical use. It's coming.

For example, as shown in FIG. 5, the seed assembly processing apparatus 1 is provided with guide rails 5, 5 in the X direction on the upper surface of a frame 4 having controllers 2, 3 so that a base 6 can be moved in parallel in the X direction. At the same time, the stands 7 and 7 are erected on the base 6 and the Y-direction guide 8 is provided above the bases 7 to make the head bracket 9 movable in parallel in the Y-direction.
This allows the head bracket 9 to move in parallel in the X and Y directions, that is, on a plane. Further, the head bracket 9 is provided with a servomotor 10 of an actuator for performing press fitting or caulking, and A hydraulic cylinder 11 of another actuator for performing work is provided to selectively operate the head holders 12, 12, ... Of a predetermined type, and holes for the work 14, 14, ... Of a predetermined type set on the base material 6 ', It is designed to be able to perform processing and assembly work such as press fitting and caulking.

<Problems to be solved by the invention> However, as shown in FIG. 5, when processing the workpieces 14, 14, ... Following the selective engagement of the head holders 12, 12 ...
In addition, it is necessary to perform work processing such as predetermined processing and assembly, and as shown in the figure, each head holder 12 has a distance between the head holder 12 and the base material 6'and predetermined work and assembly processing.
As described above, in order to improve work efficiency, in actual operation work such as idle movement and press fitting and caulking to the processing work position of each head holder 12, as described above, actual machining,
The approaching and separating of the empty movement, which has nothing to do with assembly, is a no-load state, so rapid approaching and separating is performed, and since the actual operation involves a load, and a slow movement is performed to improve product accuracy. Is desirable.

Therefore, when processing the works 14, 14, ..., It is necessary to perform the low-load high-speed movement of the head holder 12 by the actuator 10 in the head bracket 9 and the high-load low-speed movement of the work 14, 14 ,.

However, of course such low-load high-speed movement and high-load low-speed movement, to what position the low-load high-speed movement is performed is indispensable for dealing with damage and accuracy of the work 14 and the jig. Although the stroke end position of the processing for 14, 14 is indispensable for high-load low-speed movement, these detection mechanisms are not provided in the above-mentioned conventional mode. Even if a photoelectric sensor or the like can be used to detect the position of the end, the position detection mechanism for high-load, low-speed movement in the processing of the workpieces 14, 14 ... cannot handle the case where the parts are small or internal machining is inconvenient. There was

In addition, providing photoelectric sensors and the like for position detection at the stroke end of high-load, low-speed movement makes it extremely difficult to incorporate a more sophisticated detection device in a narrow part of a machining assembly device that is originally extremely complicated in structure. Not only does it increase complexity, but maintenance and maintenance is complicated, and management is difficult, and as a result, initial costs,
Moreover, there is a disadvantage that the running cost becomes high and the economical efficiency becomes unbalanced.

<Object of device> The object of the device is a stroke end of work processing in parallel two operations such as low load high speed movement and high load low speed movement in processing of a mechanical device, processing of an assembly part, assembly, etc. based on the above-mentioned conventional technique. The problem of position detection is to be a technical problem to be solved, and even for two parallel operations of low load high speed movement and high load low speed movement, the low load high speed movement and high load low speed movement can be performed by one position detection device. The position such as the stroke end can be detected reliably, and the work such as machining and assembly of multiple parts can be done smoothly and efficiently as designed, and the cost can be suppressed, maintenance and maintenance are easy, and durability The present invention also provides an excellent position detecting device for parallel two-movements, which is advantageous in the field of application of parts processing technology in the machine manufacturing industry.

<Means for Solving the Problems> In order to solve the above-mentioned problems, the structure of the present invention, which has the above-mentioned utility model registration claim as its gist
Of the operating position of the workpiece processing apparatus provided in the apparatus for performing the second linear movement by linking the apparatus for performing the second linear movement and the apparatus for performing the second linear movement arranged in parallel therewith. In a position detecting device for two parallel movements for detection, an encoder for position detection is connected to a ball screw of an actuator of the device for performing the first linear movement, and a moving nut is screwed onto the ball screw to move the nut. In addition, the technical means in which the work processing device is connected via the device for performing the second linear movement is adopted.

<Operation> Thus, an actuator such as a servomotor that performs a first linear movement such as an elevating operation and a second linear movement such as an elevating operation that is parallel to the first linear movement such as the elevating operation. A second actuator such as a servo motor or a hydraulic cylinder for moving is provided side by side, and a work processing device for performing work such as press-fitting, drilling or caulking is provided at the tip of the device for performing the second linear movement. A low load of the work processing device relative to the base material on the base, an encoder is coupled to the ball screw of the first actuator when performing the first linear movement of the high speed movement, and the load of the work processing device is reduced by the operation of the encoder. The position of the stroke end of the high speed movement is detected, and the second actuator is actuated through a predetermined control device to perform the second linear movement such as vertical movement parallel to the first linear movement with a high load and low speed movement. go The position of the stroke end of the high-load low-speed movement is screwed into the ball screw of the apparatus that performs the first linear movement. The position of the stroke end of the low load high speed movement and the position of the stroke end of the high load low speed movement are both accurately detected by the encoder by the moving nut, and the first linear movement is switched to the second linear movement, and This is to ensure that the lift-off is increased.

<Embodiment> An embodiment of the present invention will be described below with reference to FIGS. It should be noted that parts that are the same as those in FIG. 5 will be described using the same reference numerals.

In the embodiment shown in FIGS. 1, 2 and 3, in FIG. 3 which is common to all the aspects, 1'is an assembly processing device for press fitting,
FIG. 7 shows essential parts of corresponding portions of the conventional mode shown in FIG. 5, and, like the conventional mode shown in FIG.
A head bracket 9 is movable in parallel in the Y direction, and a sub base 6'for setting the assembly member in a predetermined manner is provided on the base 6 which moves in parallel in the X direction.
A pair of stands 7, 7 are erected on the upper side of which a guide 8'for performing parallel movement in the Y direction is provided so that the head bracket 9 can be moved in parallel by a predetermined driving device to achieve low load and high speed. A servo motor 10 of one actuator for moving is provided, and a hydraulic cylinder 10 'as an actuator for moving at a high load and a low speed is provided with a head holder 12 for a work (not shown) downward via a rod 14'. ing.

In addition, in the embodiment shown in FIGS. 1 and 2, in order to simplify the case, it is shown that one workpiece is press-fitted. However, in order to perform a plurality of workpieces, the head bracket 9 is used. A predetermined number of head holders 12, 12, ... As work processing devices are provided in the number, which is the object of the design change mode.

As shown in FIG. 1, the head bracket 9 is integrally provided with a servomotor 10 through a support bracket 11, and a guide 18 is provided to extend the hydraulic cylinder 10 'of another actuator. It is connected to the rod 14 via a clamp bracket 11 '.
11 'is a support rod by an electromagnetic brake 13 via a guide 18.
For 14, the hydraulic cylinder 10 'can be stopped in the lifting process.

A rod 14 'extends below the hydraulic cylinder 10', and the holder bracket 12 is provided at the lower end thereof to chuck a press-fit work (not shown).

Further, a rotary encoder 17 as a well-known encoder is disposed above the servo motor 10 of one of the actuators so as to be locked and unlocked on the head of the ball screw 15 of the servo motor 10, and is screwed to the ball screw 15. The combined travel nut 16 is attached to the hydraulic cylinder 10 'with the support bracket 11 "
Are integrally and conjugated with each other.

Therefore, the electromagnetic brake 13 allows the clamp bracket
When 11 'is opened and the rod 14 above the hydraulic cylinder 10' is unclamped, the ball screw 15 is rotated by the operation of the servomotor 10 and the moving nut 16 is moved up and down to move the hydraulic pressure through the support bracket 11 ". The head holder 12 also rises and lowers integrally through the cylinder 10 'and the rod 14', and since the head holder 12 is linearly connected between them,
The rotary encoder 17 can detect the position of the holder bracket 12 on a one-to-one basis.

In addition, the electromagnetic brake 13 locks the rod 14 by the clamp bracket 11 ', so that the hydraulic cylinder 1
0'cannot be moved up and down with respect to the guide 18, and the hydraulic cylinder 10 'moves up and down with respect to the rod 14 via the hydraulic cylinder 10' itself and the lower rod 14 ', so that the support bracket 11''is lifted. As the moving nut 16 moves up and down through the ball screw 15, the ball screw 15 is forcibly rotated, and the rotary encoder 17 also operates. In this case as well, the head holder 12 moves up and down and the rotary encoder 17 operates one to one. It corresponds to the head holder 12
The position of is surely detected.

In this way, the position of the head holder 12 is reliably detected by the rotary encoder 17 in any case by the rotation of the servo motor 10 and the expansion / contraction operation of the hydraulic cylinder 10 '.

Therefore, the head holder 12 is rotated by the rotation of the servo motor 10.
The position of the desired position for low load and high speed movement and the position of the head holder 12 for high load and low speed movement by the hydraulic cylinder 10 'can be reliably detected by the rotary encoder 17.

In the above-described structure, a work of a base material (not shown) is set on the sub-base 6'in a predetermined manner, and as described above, the base 6 is translated in the X and Y directions to move the head holder 12 into the press-fitting hole of the base material. The ball screw 15 is rotated by centering and activating the servo motor 10, and the hydraulic cylinder 10 ′ is rapidly lowered by the low load high speed movement together with the rod 14 ′ and the head holder 12 via the rotary encoder 17, and the head holder 12 Position is always rotary encoder
It is detected by 17 and input to a control device (not shown).

Thus, when the head holder 12 is at the stroke end, that is, when the press-fitted work at the tip of the head holder 12 comes close to the press-fitted position of the base material by a set minute distance, the servo motor 10 is stopped via the control device (not shown) and the electromagnetic brake 13 is activated. It operates to clamp the rod 14 by the clamp bracket 11 'and stop the hydraulic cylinder 10'.

When the hydraulic cylinder 10 'itself is hydraulically operated,
Since the rod 14 above it is fixed by the electromagnetic brake 13, the hydraulic cylinder 10 'itself begins to descend, and the head holder 12 starts to move at high load and low speed via the rod 14' below.

Then, the press-fitting work (not shown) clamped to the head holder 12 performs a press-fitting operation process on the press-fitting hole of the base material, while the hydraulic cylinder 10 ′ is lowered while the moving nut 17 is moved through the support bracket 11 ″. Therefore, the ball screw 15 is rotated and the rotary encoder 16 is operated, and the head holder 12, that is, the holder bracket 12 is moved.
The press-fitting position of the work clamped at is always detected.

Then, when press-fitted to a predetermined depth, the rotary encoder
The press-fitting depth is detected by 17 and the hydraulic cylinder 10 'is stopped by the control device (not shown) at the stroke end,
When the hydraulic cylinder 10 'is contracted and the head holder 12 unclamps the work, and the cylinder is lifted up and reaches a predetermined stroke end, the hydraulic cylinder 10' is stopped by the control device, and the servo motor 10 moves in reverse. Nut 16, and
The electromagnetic brake 13 is actuated via the ball screw 15 so that the clamp bracket 11 'unclamps the rod 14 so that the rod 14 becomes free.
4 ', the head holder 12 rapidly rises and separates from the base material, completing a series of operations.

Therefore, the work clamped by the head holder 12 is moved at a low load and a high speed and a high load and a low speed with respect to the base material in a predetermined set stroke in the shortest time, and as long as that, the work press-fitting process is performed with high efficiency.

Next, in the embodiment shown in FIG. 4, another servomotor 10 ″ is installed as a second actuator in place of the hydraulic cylinder 10 ′ of the above-mentioned embodiment on the support bracket 11 in parallel with the servomotor 10 and its ball screw 15 is installed. ′ Is extended downward in parallel with the ball screw 15 of the servo motor 10, and the moving nuts 16 and 16 ′ screwed onto the ball screws 15 and 15 ′ have one support bracket 11 ″.
It is connected to another body by the support bracket 1
The head holder 12 is provided at the lower end through a rod 14 'at the end portion of 1 ", and the servomotor 10 is used for low-load high-speed movement of the press-fitting work clamped in the head holder 12 with respect to the base material. The servo motor 10
The rotary encoder 17 on the upper end connected to the ball screw 15 detects the position of the head holder 12 through the moving nut 16 ′ and the support bracket 11 ″ in a one-to-one manner, and servos at the stroke end of low-load high-speed movement. The drive is switched from the motor 10 to the servomotor 10 ″ to perform low-load high-speed movement, and the stroke end is the movement nut 1
The rotary encoder 6'and the moving nut 16 and the ball screw 15 of the servomotor 10 are also rotated.
It is designed to be detected by 17.

Therefore, also in the present embodiment, as in the above-described embodiment, the position of the work in the low load high speed movement and the position of the work in the high load low speed movement can be reliably detected by one rotary encoder 17.

Needless to say, the embodiment of the present invention is not limited to the above-described embodiments, and can be used for processing a work such as caulking work or for processing a work such as drilling. That is.

Regarding the target movement, the first linear movement and the second linear movement are not only linear movements such as elevation, but also lateral linear movements and arc-shaped linear movements. Of course, it is applicable.

Further, the processing work on the work of the work processing apparatus can be applied to other processing such as welding, and can be applied to any work which can be operated corresponding to the detection of the position of the work.

<Effect of the Invention> As described above, according to the present invention, the device for performing the first linear movement such as the raising / lowering operation and the device for performing the second linear movement parallel to the first linear movement are mutually operated. In a device which is linked to detect the operating position of a work processing device provided in the device for performing the second linear movement, one encoder is used for the low-load high-speed movement of the first linear movement and the second line movement. Since the positions of the high load and low speed movement of the target movement can be accurately detected one-on-one, the position of the work in the operation of the device for performing assembly processing can be detected with a simple structure. The excellent effect that the position of the work at the predetermined stroke position can be detected and the operation can be surely shifted to the next operation is achieved.

Therefore, when the assembly processing device and the like are formed in a compact and precise device, the position detecting device in the narrow mechanism portion is not complicated, and only one is required, and the well-known rotary encoder or the like is used. Since the encoder can be used, not only can the structure be simplified, but the initial cost in the initial assembly can be kept low.

Further, since the structure can be simplified, maintenance, inspection and maintenance are not troublesome, and from this point, there is an advantage that the running cost can be kept low and the service life can be improved.

Then, an encoder for position detection is provided in the actuator of the device for performing the first linear movement, and the moving nut is screwed to the ball screw tightly connected to the encoder, and the device for performing the second linear movement is provided. By connecting the workpiece processing devices with each other, the device for performing the first linear movement and the device for performing the second linear movement enable the encoder to detect the position of the workpiece one-to-one. The effect is played.

Moreover, since the first linear movement is guaranteed to carry out the low-load high-speed movement and the second linear movement carries out the high-load low-speed movement, the working and assembling work is performed in the shortest distance and the shortest time. It is assured that the work efficiency is improved, the work efficiency is remarkably improved, and the waste is eliminated.

[Brief description of drawings]

1 to 4 are explanatory views of an embodiment of the present invention. FIG. 1 is a side view of a main portion of one embodiment, FIG. 2 is a sectional view of a second actuator, and FIG. Partial perspective view, FIG. 4 is a schematic side view of another embodiment corresponding to FIG. 1, and FIG. 5 is a perspective view of an assembly processing apparatus based on the prior art. 10 ... Device for performing first linear movement (actuator), 10 ', 10 "... Device for performing second linear movement, 12 ... Work processing device, 17 ... Encoder (rotary encoder), 15 …… Ball screw, 16 …… Movement nut

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Fumihiko Komuro Inventor 1 Toyota-cho, Toyota City, Aichi Prefecture Toyota Motor Co., Ltd. (72) Inventor Eizo Nishikawa 6 Toyota-cho, Aichi Prefecture Toyota Town Co., Ltd. ( 72) Inventor Miyazaki Akino, 6th Toyota Town, Toyota City, Aichi Prefecture, Kyoho Manufacturing Co., Ltd. (72) Inventor: Jun Hayashi, 6th Toyota Town, Toyota City, Aichi Prefecture, Kyoho Manufacturing Co., Ltd. (72) Inventor, Akira Amano Aichi 6 Toyota Town, Toyota City, Japan Inside Kyoho Manufacturing Co., Ltd.

Claims (1)

[Scope of utility model registration request] 1. A device for performing a first linear movement and a device for performing a second linear movement arranged in parallel therewith are linked to each other and provided in the device for performing the second linear movement. In a position detecting device for two parallel movements for detecting an operation position of a work processing device, an encoder for position detection is connected to a ball screw of an actuator of the device for performing the first linear movement, and a moving nut is attached to the ball screw. A position detecting device for two parallel movements, wherein the workpiece processing device is connected to the moving nut via a device that performs the second linear movement.