JPH078461B2 - Positioning insertion device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a positioning and inserting device used for assembling tightly fitting parts.

(Prior art) Conventionally, parts with tight fittings are assembled by hand, or by using an assembly robot and mounting a remote center compliance (RCC) between the robot arm and the gripper. ing.

As shown in FIG. 13, the device using this RCC fixes the arm side plate 3 of the RCC 2 to the tip of the robot arm 1,
The gripper 5 is attached to the gripper side plate 4 of the RCC 2, the component 6 is gripped by the gripper 5 and conveyed to a predetermined position, and then the shaft portion 6a of the assembly component 6 is inserted into the work insertion hole 7
The RCC2 corrects the errors in the horizontal direction and the angle (twisting) direction even if there is a displacement δ between the assembly part 6 and the insertion hole 7, and facilitates the assembly. It is a thing.

(Problems to be Solved by the Invention) However, in an apparatus using an assembly robot equipped with the above RCC2, insertion may not be possible if the tip of the assembly component 6 has a small chamfer or the fitting is tight. However, there is a problem that it is difficult to insert and assemble a large number of assembly parts at the same time.

SUMMARY OF THE INVENTION An object of the present invention is to provide a positioning / inserting device capable of easily inserting and assembling parts with tight fitting and simultaneously inserting and assembling a large number of parts.

(Means for Solving the Problem) The present invention provides a fixing device that supports a work having an insertion hole, a bracket that is movable in the horizontal direction and the vertical direction, and a bracket that is movable in a predetermined distance. And a holder that can be fixed, and a positioning device that has a guide pin that is attached to this holder and that is divided into two parts that can be expanded and contracted in the radial direction and that is inserted into and taken out from the insertion hole of the work, and that can be moved in the horizontal and vertical directions. It has a component support tool provided and supports the assembly component by this component support tool and inserts the assembly component into the insertion hole of the work through the inside of the guide pin. It is positioned by fixing the holder by inserting it in the insertion hole of the work piece, and it is extracted from the insertion hole of the work piece to guide the assembly parts in the expanded state. It is characterized by being

(Operation) With this configuration, the guide pin can be inserted into the insertion hole of the work piece in a contracted state and the holder can be fixed to position the center of the insertion hole and the center of the guide pin so that they do not shift. Also, by pulling out the guide pin from the insertion hole, expanding the guide pin that is divided into two parts and guiding the assembly component on the inner surface of the guide pin, you can easily insert the assembly component into the insertion hole of the workpiece. Can be assembled.

Embodiment An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a front view of the positioning and inserting device of the present invention, and FIG. 2 is a plan view thereof. 1 and 2, a device 10 for positioning and fixing the work 9a on the machine base 8 and the work 9a.
Conveyor device 13 that conveys and inserts assembly part 12 into insertion hole 9b of
And a positioning device 11 for positioning the assembly part 12 in the insertion hole 9b of the work 9a. The transport device 13 is a machine base 8
It is attached to the frame 14 provided above. A guide shaft 15 extending in the horizontal direction is provided in the frame 14, and a slide block 16 is movably held by the guide shaft 15 and is moved in the horizontal direction by a cylinder 17. The slide block 16 is further provided with a guide shaft 18 extending in the vertical direction. A slide block 22 is held on the guide shaft 18 so as to be vertically movable.
It is configured to be moved in the vertical direction by the turning power transmitted to the screw shaft (not shown) via the belt 20 and the clutch brake 21. The slide block 22 is provided with a plurality of chucks 23 as component support tools, each of which is an assembly part supplied by a part feeder or the like.
12 is chucked and attached to the work 9a.

The positioning device 11 is composed of a moving mechanism and a positioning jig. The moving mechanism is attached to a frame 24 provided at a position facing the frame 14 on the machine base 8. flame
24 is further provided with a frame 24a, and this frame 24a
A guide shaft 25 extending in the vertical direction is attached to the guide shaft 25, and a slide block 26 is movably held by the guide shaft 25. A motor 27 and a clutch brake 28 are attached to the frame 24a, and the motor 27 and the clutch brake 28 are attached via a belt 29.
The rotational power of is transmitted to the clutch brake 28. A screw shaft (not shown) is joined to the output shaft side of the clutch brake 28 via a coupling 30, and the rotational force of the motor 27 is transmitted to the clutch brake 28, the coupling 30, and the screw shaft, whereby the slide block 26. Is held vertically movable. The slide block 26 is further provided with a slider 32 which is vertically movable by a cylinder 31, and a positioning jig 33 is attached to the lower end of the slider 32. Therefore, the positioning jig 33 can be vertically moved by the slider block 26 which is vertically moved by the rotating force of the motor 27 and the slider 32 which is vertically moved by the cylinder 31.

Details of the positioning jig 33 will be described with reference to FIGS. 3 to 7. As shown in FIGS. 3 and 4, the positioning jig 33 is fixed to the slider 32 by a bracket 34,
It can be moved vertically by a cylinder (not shown). As shown in detail in FIG. 7, a cylindrical holder 35 having a rectangular flange 35a at its upper end is provided at the center of the bracket 34 in the horizontal direction so as to penetrate the bracket 34. The holder 35 is supported by a plurality of ball bearings 37a, 37b provided above and below the collar portion 35a so as to be horizontally movable by a predetermined distance A, B (see FIG. 4) in the XY direction. . Further, the holder 35 can be fixed to the bracket 34 by cylinders 38a, 38b provided on the bracket 34 as fixing means.

Guide pins 39a, 39b which are divided into two and which can be expanded and contracted in the radial direction are provided on the outer periphery of the cylindrical portion of the holder 35 so as to cover the holder 35. The guide pins 39a, 39b have a downwardly tapered shape, and their tips have an outer size that can be inserted into an insertion hole 9b of the work 9a described later in a contracted state. The upper ends of the guide pins 39a and 39b are fixed to a pair of plates 40a and 40b arranged along the dividing direction of the guide pins 39a and 39b, respectively. The plates 40a, 40b are fixed to the linear slide bearings 41a, 41b, respectively. Further, since the linear slide bearings 41a, 41b are engaged with the guide rails 42a, 42b, the guide pins 39a, 3b.
9b can be slid horizontally on the guide rails 42a and 42b to be expanded and contracted in the radial direction.

The guide rails 42a and 42b are fixed to the seat 35b on the outer periphery of the axially intermediate portion of the holder 35 and extend along the dividing direction of the guide pins 39a and 39b.

As shown in FIG. 5 and FIG. 6, cylinders 43a and 44a, 43b and 44b are vertically arranged on the plates 40a and 40b, respectively.
They are arranged in steps and are fixed integrally by the mounting plates 46a and 46b, of which the cylinders 43a and 43b are rod end portions 4
5a and 45b are fixed to the holder 35, and the cylinders 43a and 43b
Actuating the cylinders 44a, 44b and the plate 4
The guide pins 39a, 39b divided into two via 0a, 40b move in the dividing direction to expand or contract in the radial direction.

The tip ends of the rods of the other cylinders 44a, 44b are free, and the amount of expansion of the guide pins 39a, 39b can be changed by moving the rod forward or backward. Reference numeral 47 is a stopper for the sliding plates 40a, 40b, and is used to set the center of the guide pins 39a, 39b when the guide pins 39a, 39b are contracted.

Next, the positioning method by the positioning insertion device having the above-described structure will be described in detail with reference to FIGS.
Since the positioning jig 33 can be moved horizontally and vertically by the positioning mechanism, as shown in FIG.
With 39a and 39b in a contracted state, they are inserted into the insertion holes 9b (plurality) of the work 9a while being lowered by the X1 dimension from the upper surface of the work 9a. This insertion work allows the holder 35 supporting the guide pins 39a and 39b to move freely with respect to the bracket 34, and the tip end portions of the guide pins 39a and 39b are tapered, so that the insertion hole 9b of the work 9a is inserted. Even if there is a variation in the pitch-to-pitch dimension, it can be performed while centering, whereby the guide pins 39a, 39b are set in the insertion holes 9b of the work 9a and centered by the guide pins 39a, 39b.
When the centering work by the guide pins 39a, 39b is completed, the cylinders 38a, 38b are operated to fix the holder 35 to the bracket 34 and position it. Fig. 9 shows work 9 with guide pins 39a and 39b.
It shows a state in which it is inserted into the insertion hole 9b of a and centered.

With the centering by the guide pins 39a, 39b, the motor 27 is then driven to raise the positioning jig 33 by a dimension X2 slightly longer than X1, and the guide pins 39a, 39b are pulled out from the insertion hole 9b. FIG. 10 shows a state in which the guide pins 39a and 39b are pulled out by the X2 dimension, and then the shaft portion 12a of the assembly component 12 is inserted into the insertion hole 9b of the work 9a. When inserting the shaft portion 12a of the assembly component 12 into the insertion hole 9b of the work 9a, first activate the cylinders 43a and 43b (cylinders 44a and 4b).
4b is the state where the rod is still moving forward) Guide pins 39a, 39b
The guide pins 39a, 39
The inscribed circle diameter formed by b is set to be substantially the same as the inner diameter of the insertion hole 9b of the work 9a. In this state, the motor 19 is driven while the assembled component 12 is chucked by the chuck 23,
Lower the chuck 23 together with the slider 22 to
The shaft portion 12a of the assembly component 12 is inserted into the insertion hole 9b by the Z dimension while using the inner surfaces of 39a and 39b as guides. FIG. 11 shows that the guide pins 39a and 39b are expanded by Y1 respectively and the inscribed circle diameter formed by the guide pins 39a and 39b is the insertion hole 9b of the work 9a.
The expanded state is shown to be almost the same as the inner diameter of the hole.

Next, from the state where the shaft portion 12a is inserted into the insertion hole 9b,
The rods of the cylinders 44a, 44b of the positioning jig 33 are operated so as to move forward, and the guide pins 39a, 39b are expanded to the Y2 dimension which is larger than the maximum diameter dimension of the assembly component 12. FIG. 12 shows the maximum extension of the guide pins 39a, 39b when the maximum diameter dimension of the assembly component 12 is larger than that of the shaft portion 12a. In this way, the inner diameter of the guide pins 39a, 39b is held in the expanded state, and the assembly component 12 is inserted through the inside of the guide pins 39a, 39b into the insertion hole 9b of the work 9a to complete the assembly. . Then, lift the guide pins 39a, 39b by an X3 dimension, which is larger than the protruding dimension of the assembly component 12, and lift the chuck 2
Separate 3 from assembly part 12 and move to the next insertion assembly work.

In the above-described embodiment, even if the inter-pitch dimension of the insertion hole 9b varies, the holder in the floating state
Position 35 with guide pins 39a and 39b and insert hole 9b
The center of the guide pins 39a, 39b is not displaced from the center of the guide pins 39a and 39b.
The whole is raised and pulled out from the insertion hole 6b, and the guide pins 39a, 39b that are divided in two are expanded to make the inscribed circle diameter of the guide pins 39a, 39b approximately the same as the inner diameter of the insertion hole 6b, and then supplied by the transport device. By acting as a guide for the assembled parts 12 to be assembled, the assembly can be easily performed even if the parts are tightly fitted to each other. Further, by providing a plurality of positioning jigs 33 and chucks 23 side by side, it is possible to assemble a large number of assembly parts at the same time.

In the above-described embodiment, the ball bearing is used as the means for floating the holder on the bracket, but the same effect can be obtained by using another bearing such as an air bearing. Similarly, it is possible to use a clamp for the fixing means and use a motor instead of the cylinder for the driving means.

(Effects of the Invention) As described above, according to the present invention, it is possible to easily insert an assembly part into the insertion hole even when the fitting is tight and the pitch dimension of the insertion hole varies, and moreover, a plurality of parts can be inserted. It is possible to provide a positioning / inserting device capable of positioning and inserting the assembling parts described above at once.

[Brief description of drawings]

FIG. 1 is a schematic front view of a positioning and inserting device showing an embodiment of the present invention, FIG. 2 is a plan view of FIG. 1, FIG. 3 is a configuration diagram of the positioning device, and FIG. 4 is III of FIG. -III arrow cross-sectional view,
FIG. 5 is a side view of the positioning device of FIG. 1, and FIG.
FIG. 7 is a sectional view of a main part of the positioning device, FIG. 8 is an explanatory view of a state in which a guide pin is inserted into an insertion hole for positioning, and FIG. 9 is a guide. Fig. 10 is an explanatory view of the tip of the pin inserted into the insertion hole of the work, Fig. 10 is an illustration of the guide pin expanded and the assembly parts are inserted into the insertion hole of the work, and Fig. 11 is the guide pin. FIG. 12 is a cross-sectional view of the tip portion, FIG. 12 is an explanatory view of a state in which the insertion is completed, and FIG. 13 is a main part configuration diagram of a conventional component insertion device. 9a ... Work, 9b ... Work insertion hole, 11 ... Positioning device, 12 ... Assembling parts, 13 ... Conveying device, 23 ... Chuck (part support tool), 33 ... Positioning jig, 34 ...... Bracket, 35 ...... Holder, 37 ...... Ball bearing, 38a, 38b ......
Cylinder, 39a, 39b …… Guide pin, 43a, 43b, 44a, 44b
……Cylinder.

Claims (1)

[Claims] 1. A fixing device for supporting a work having an insertion hole, a bracket movably provided in a horizontal direction and a vertical direction, a holder movably supported and fixed to a bracket by a predetermined distance, and a holder. A positioning device having a guide pin which is attached to a holder and which can be expanded and contracted in the radial direction and which can be expanded and contracted in the radial direction and which is inserted into and removed from the insertion hole of the work; And a conveying device for supporting the assembly component by this component support and inserting the assembly component into the insertion hole of the work through the inside of the guide pin, the guide pin being in a contracted state, the insertion hole of the work. And is positioned by fixing the holder, and is drawn out from the insertion hole of the work to guide the assembly part in an expanded state. Positioning insert apparatus characterized by being.