JPH0857717A - Chuck device - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a chuck device that can be assembled to a member to be assembled without damaging the assembly member. A vibration shaft 50 is formed on a lower surface of a lower holding plate 23 which constitutes a hand main body 11 for holding a pin 6. A rotary body 52 is provided on the vibration shaft 50 so as to be rotatable about the axis thereof, and a weight 57 is embedded in the rotary body 50 at a position displaced from the axis of the vibration shaft 50. And
When high-pressure air is supplied to the flow chamber 55 from the supply port 58 of the cover member 53 that covers the rotating body 52, the rotating body 52 rotates and the pin 6 vibrates together with the hand body 11. Therefore, the pin 6 comes into contact with the tapered surface 9 of the fitting hole 8, and the tapered surface 9
When moving toward the axis of the fitting hole 8 while moving along, the contact between the pin 6 and the tapered surface 9 is intermittently performed. As a result, the pin 6 is not scraped by the tapered surface 9, and it is possible to prevent the pin 6 from being scratched.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chuck device.

[0002]

2. Description of the Related Art Generally, a chuck device is provided on an arm of an industrial robot, and the chuck device grips an assembly part such as a pin to move the arm to assemble an assembly member to an assembly target member. ing.

As a conventional chuck device, an actual flat blade 1-
Those disclosed in Japanese Patent No. 74026 and Japanese Utility Model Laid-Open No. 53390/1990 are known. These chuck devices are composed of an attachment body attached to an arm of an industrial robot and a hand body movably connected to the attachment body. The hand body is adapted to hold a pin. Then, for example, in the work of fitting the pin and the fitting hole, the arm of the industrial robot is moved to stop the pin held in the hand body above the fitting hole, and then the hand body is lowered to fit the pin. Fit into the hole.

Conventionally, when the arm is moved to stop the pin above the fitting hole, the pin cannot be stopped at a predetermined position above the fitting hole due to an error in the movement of the arm or the like. It may not be possible to match the axis with the axis of the fitting hole. Then, the pin cannot be smoothly fitted into the fitting hole, so that the tapered surface is formed at the upper end of the fitting hole. Further, the hand body can be moved in parallel with the mounting body.

Therefore, it is assumed that when the pin is stopped above the fitting hole by the arm, the axis of the pin does not coincide with the axis of the fitting hole due to a movement error of the arm. In this state, when the hand body descends, the pin comes into contact with the tapered surface of the fitting hole. Further, when the hand body descends, the hand body moves with respect to the mounting body so as to absorb the deviation between the pin and the insertion hole, and the pin gripped by the hand body is aligned with the axis of the insertion hole along the tapered surface. Move to do.
Therefore, the pin can be fitted into the fitting hole even if the axis of the pin, the fitting hole, and the axis deviate from each other.

[0006]

However, the movement of the pin toward the axis of the fitting hole is performed by lowering the hand body and pressing the pin against the tapered surface.
The pin and the tapered surface continue to contact each other while the pin is moving. As a result, there is a problem that a large frictional force acts on the contact surface between the pin and the tapered surface, and the frictional force scrapes the pin and damages the pin.

In addition, if the chips scraped off from the pin adhere to the inner circumference of the fitting hole, there is a problem that it becomes difficult to fit the pin into the fitting hole. Furthermore, if the pin does not move parallel to the tapered surface of the insertion hole, the pin will be inserted obliquely into the insertion hole, and the lower end of the pin will contact the inner peripheral surface of the insertion hole and There is a problem that the inner peripheral surface of is damaged.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a chuck device that can be assembled to a member to be assembled without damaging the assembly member. .

[0009]

In order to solve the above problems, in the invention according to claim 1, the industrial robot is attached to an arm, and the operation of the arm holds and conveys the assembly member, A chuck device for performing an assembly operation of an assembly member and an assembly member, comprising: an attachment body connected to the arm; and a hand body provided to the attachment body and holding the assembly member. The hand body is provided so as to be capable of vibrating with respect to the mounting body, and the hand body is vibrated by the vibration generating means.

According to the second aspect of the present invention, the robot is attached to the arm of the industrial robot, and the operation of the arm conveys the pin in an upright state, and the pin is inserted into the insertion hole formed in the work. In a chuck device for assembling work, the fitting hole supported by the arm, and a hand body hangingly supported by the mounting body and holding the pin are provided, and the fitting hole formed in the work. The hand body is provided on the mounting body so that it can vibrate in a direction orthogonal to the axis of, and the hand body is vibrated by the vibration generating means.

According to a third aspect of the present invention, in the chuck device according to the first or second aspect, the vibration generating means is provided on a rotating member rotatably provided on the hand body, and the rotating member is provided on the rotating member. It comprises a displacement member for displacing the center of gravity of rotation of the member, and a rotation means for rotating the rotation member.

According to a fourth aspect of the present invention, in the chuck device according to the third aspect, the rotating means is a working fluid, and a plurality of protrusions are formed on the outer peripheral surface of the rotating member, and the protrusions face the protrusions. The working fluid is ejected.

According to a fifth aspect of the invention, in the chuck device according to the fourth aspect, the protrusion is formed by a plurality of grooves formed on the outer peripheral surface of the rotating member.

[0014]

According to the invention as set forth in claim 1, the chuck device comprises a mounting body mounted on the arm and a hand body oscillating with respect to the mounting body, and the hand body holds an assembly member. To be done. Further, vibration is generated in the hand body by the vibration generating means, and the assembly member held by the hand body also vibrates along with the hand body. Then, the assembly member is assembled to the assembly target member by moving the arm while holding the assembly member on the hand body. At this time, if a movement error occurs in the arm, a deviation occurs between the assembling member and the assembling member, and the assembling member is displaced from the proper position. Then, when the arm moves and the assembling member is assembled to the assembling member, the displacement of the assembling member and the assembling member is absorbed by the movement of the hand body with respect to the attachment body, and the assembling member is assembled. It is assembled to the member. Further, since the assembling member is vibrated by the vibration generating means, the contact between the assembling member and the assembling member before the assembling member is intermittent. As a result, a large frictional force does not act on the contact surface between the assembly member and the assembly target member, and it is possible to prevent the assembly member from being scraped by the frictional force.

According to a second aspect of the invention, the chuck device has a mounting body mounted on the arm, and a hand body provided so as to be movable relative to the mounting body in a direction orthogonal to the axis of a fitting hole formed in the work. Composed of and. Then, the pins are held upright on the hand body.
Further, vibration is applied to the hand body by the vibration generating means, and the pin held by the hand body also vibrates along with the hand body. Then, the pin is fitted into the fitting hole formed in the work by moving the arm while holding the pin in the hand body. At this time, if a movement error occurs in the arm, a deviation occurs between the pin and the fitting hole, and the axis of the pin deviates from the axis of the fitting hole. Then, when the arm moves and the pin is fitted in the fitting hole, the displacement of the pin and the fitting hole is absorbed by the movement of the hand body with respect to the mounting body, and the pin is fitted in the fitting hole. Further, since the vibration is applied to the pin by the vibration generating means, the contact between the pin and the work before the pin is fitted into the fitting hole becomes intermittent. As a result, a large frictional force does not act on the contact surface between the pin and the work, and it is possible to prevent the pin from being scraped by the frictional force.

According to the invention of claim 3, in addition to the operation of the invention of claim 1 or claim 2, a rotating member is rotatably provided on the hand body, and the rotating member has a center of gravity of rotation of the rotating member. A displacement member for displacing is provided. Therefore, when the rotating member is rotated by the rotating means, the hand body vibrates in parallel with the mounting body and freely in all directions, and the assembling member held by the hand body also vibrates. In this case, when the displacement of the assembling member and the assembled member is absorbed by the movement of the hand body, the movement of the hand body causes the movement of the assembling member as compared with the case where the assembling member reciprocally vibrates in the moving direction of the hand body. Not easily disturbed by the vibration of. Therefore,
Even if the assembling member is vibrated, the vibration does not hinder the movement of the hand body, and the assembling member can be reliably assembled to the assembling member.

According to the invention described in claim 4, in addition to the function of the invention described in claim 3, a plurality of protrusions are formed on the outer peripheral surface of the rotating member, and the working fluid is jetted toward the protrusions. Causes the rotating member to rotate.

According to the invention of claim 5, in addition to the operation of the invention of claim 4, since the projection is formed by a plurality of grooves formed on the outer peripheral surface of the rotating member, the projection is easily formed. It

[0019]

【Example】

(First Embodiment) A first embodiment of the present invention will be described below with reference to FIGS.

As shown in FIG. 1, the industrial robot 1 is provided with a base 2, a horizontal arm 3 provided on the base 2 so as to extend in the horizontal direction, and a vertical arm provided at the tip of the horizontal arm 3. And a vertical arm 4 that is formed. The horizontal arm 3 is provided so as to be movable in the horizontal direction with respect to the base 2, and the vertical arm 4 is provided so as to be movable in the vertical direction with respect to the horizontal arm 3. Also, vertical arm 4
A chuck device 5 is provided at the lower end of the. And
Below the chuck device 5 at a predetermined position (position indicated by a solid line), a pin 6 as an assembling member that is erected on the support base 6a is arranged. In addition, below the chucking device 5 at the assembly position (the position indicated by the chain double-dashed line), the assembly table 7a is installed.
A work 7 as a member to be mounted placed on is mounted. The work 7 is formed with a fitting hole 8 into which the pin 6 is fitted. As shown in FIG. 2, a tapered surface 9 is formed on the opening side of the fitting hole 8 so as to expand upward.

In the work of assembling the pin 6 and the work 7, the chuck device 5 stopped at a predetermined position by the vertical arm 4 is lowered, the pin 6 is gripped by the chuck device 5, and the work is returned to the predetermined position again. Stop. After that, the chuck device 5 is horizontally moved by the horizontal arm 3 and stopped at the assembling position. Then, when the chuck device 5 stopped at the assembling position is lowered by the vertical arm 4 and the chuck device 5 fits the pin 6 into the fitting hole 8, the chuck device 5 returns to the assembling position again and stops. . By repeating this, the pins 6 are sequentially fitted into the fitting holes 8 of the work 7.

Next, the structure of the chuck device 5 will be described in detail. As shown in FIG. 2, the lower surface 4 a of the vertical arm 4
An upper plate 12a is attached and fixed to. Also, the upper plate 12a
A connecting shaft 13 extending downward is provided in the. At the lower end of the connecting shaft 13, a triangular lower plate 12b facing in parallel with the upper plate 12a and having a predetermined interval is attached and fixed. An upper ball holding plate 14 and a lower ball holding plate 15 having the same shape as the lower plate 12b are attached and fixed to the upper and lower surfaces of the lower plate 12b by bolts 16.

Upper and lower ball holding plates 14 and 15 are provided with upper and lower ball holding holes 17a and 18a, respectively, and the balls 1 are respectively placed in the holding holes 17a and 18a.
7, 18 are rotatably supported. Each holding hole 1
7a and 17b are formed at locations corresponding to the vertices of the upper and lower ball holding plates 14 and 15, and the holding holes 17a and
Although the balls 17 and 18 are provided on 18a, only one ball is shown in FIG. Upper ball holding plate 1
4, the lower plate 12b and the upper ball holding plate 15 are respectively formed with biasing shaft through holes 28 to 30 so as to extend on the same axis. Further, a first through hole 20 is formed in the triangular lower plate 12b at a position corresponding to the center of gravity thereof. Upper and lower ball holding plates 14, 15
The second through holes at positions corresponding to the first through holes 20, respectively.
And third through holes 21 and 22 are formed.

The upper plate 12a, the connecting shaft 13, the lower plate 12b, the upper ball holding plate 14 and the lower ball holding plate 15 constitute a mounting body 10. Below the lower ball holding plate 15, a lower holding plate 23 that constitutes the hand main body 11 is arranged so as to contact the ball 18. A cylindrical body 24 is formed on the upper surface of the lower holding plate 23 so as to project through the first to third through holes 20 to 22. The tubular body 24 above the upper ball holding plate 14 is inserted into a support hole 25 a formed in the upper holding plate 25, and the upper holding plate 25 is in contact with the ball 17. Further, the upper holding plate 25 is prevented from coming off from the tubular body 24 by the C ring 25b fitted in the tubular body 24. A through hole 26 for the connecting shaft having a diameter larger than that of the connecting shaft 13 is formed at a position of the upper holding plate 25 corresponding to the connecting shaft 13, and the connecting shaft 13 penetrates the through hole 26 for the connecting shaft.

On the upper holding plate 25, the biasing shaft through hole 2 is provided at a position corresponding to the biasing shaft through holes 28-30.
7 are formed. The urging shaft 31 having a smaller diameter than the through holes 27 to 30 penetrates the through holes 27 to 30. The urging shaft 31 is attached and fixed to the lower holding plate 23 by screwing a bolt 32 from the lower side of the lower holding plate 23 toward the lower end of the urging shaft 31. A coil spring 33 is inserted from the upper end of the biasing shaft 31, and the coil spring 33 is compressed by a nut 34 screwed to the upper end of the biasing shaft 31. Therefore,
The coil spring 33 constantly urges the upper holding plate 25 toward the lower holding plate 23, so that the upper and lower holding plates 2
The balls 3 and 25 are in contact with the balls 17 and 18, respectively.

A piston 40 is inserted inside the cylindrical body 24 so as to be movable in the axial direction of the cylindrical body 24. A taper portion 41 is provided at the center of the piston 40 in the vertical direction, the diameter of which decreases toward the bottom, and a pressure receiving portion 42 is provided below the taper portion 41. Inside the tubular body 24, a pressure chamber 43 is formed below the pressure receiving portion 42, and the pressure chamber 43 is connected to a supply / discharge passage 44 formed in the lower holding plate 23. In addition, the lower plate 12b of the cylindrical body 24
A ball holding hole 45 is formed at a position corresponding to, and a ball 45a is inserted into the ball holding hole 45. The ball 45a is in contact with the tapered portion 41 inside the tubular body 24. The ball holding hole 45 and the ball 45a are provided in the cylindrical body 2
Three ball bearing holes 45 and one ball 45a are shown in FIG. 2 at equal intervals on a concentric circle centered on the axis of No. 4, respectively.

In addition, the piston 40 inside the cylindrical body 24
A coil spring 46 is disposed on the upper side of the coil spring 46, and the coil spring 46 is compressed by a cap 47 fitted on the inner peripheral portion of the upper end of the tubular body 24. Therefore, the taper portion 4 of the piston 40 is always operated by the coil spring 46.
1 is pressed against the ball 45a, and the upper and lower clamping plates 2
3, 25 are held in place. When a working fluid such as air is supplied to the pressure chamber 43 through the supply / discharge passage 44, the piston 40 moves due to the air pressure in the pressure chamber 43 against the biasing force of the coil spring 46, and the tapered portion 41.
A gap is formed between the ball and the ball 45a. As a result, the upper and lower sandwiching plates 23 and 25 are separated by the amount of the gap between the tapered portion 41 and the ball 45a.
On the other hand, it is parallel and can move freely in all directions.

An oscillating shaft 50 extending on the same axis as the cylinder 24 is formed on the lower surface of the lower holding plate 23. Vibration axis 5
At 0, a rotary body 52 as a rotary member is rotatably supported via a pair of upper and lower bearings 51. This rotating body 5
The upper part of 2 has a large-diameter portion 5 having a larger diameter than the lower part of the rotating body 52.
2a is formed. Further, a cover member 53 is attached and fixed to the lower surface of the lower holding plate 23 by a bolt 54 so as to cover the rotating body 52, and a shape corresponding to the rotating body 52 is provided between the cover member 53 and the lower holding plate 23. A flow chamber 55 is formed.

As shown in FIG. 3, a large number of grooves 56a extending in the vertical direction are formed on the outer peripheral portion of the large diameter portion 52a, and a large number of protrusions 56b are formed along the outer peripheral surface of the large diameter portion 52a by the grooves 56a. It is formed at equal intervals. And the large diameter part 5
On the upper surface of 2a, weights 57 as four displacement members are embedded at positions displaced from the axis of the vibration shaft 50. The weight 57 displaces the center of gravity of rotation of the rotating body 52 from the axis of the vibration shaft 50, so that vibration is generated when the rotating body 52 is rotated. A supply port 58 for supplying high-pressure air to the flow chamber 55 is formed on the side surface of the cover member 53. Further, the cover member 53
An exhaust port 60 for exhausting air from the flow chamber 55 is formed at a position opposite to the supply port 58 with the vibration shaft 50 sandwiched therebetween.

Therefore, when high-pressure air is supplied to the flow chamber 55 through the supply port 58, the air pressure acts on the protrusion 56b to rotate the rotating body 52. The air in the flow chamber 55 is exhausted to the outside through the exhaust port 60.

As shown in FIG. 2, a holder 62 for holding the pin 6 is provided below the cover member 53 with a bolt 63.
It is attached and fixed by. An insertion hole 64 extending vertically is formed on the lower surface of the holder 62. A suction passage 65 for sucking air is connected to the side surface of the holder 62 and is connected to the insertion hole 64. Then, when air is sucked out from the suction passage 65 with the pin 6 inserted in the insertion hole 64, a negative pressure is generated in the insertion hole 64 and the pin 6 is held without falling from the inside of the insertion hole 64. When the suction of the air from the suction passage 65 is stopped, the state in which the pin 6 is held by the holder 62 is released.

The lower holding plate 23, the upper holding plate 25, the cover member 53 and the holder 62 constitute the hand body 11. Next, the operation of the chuck device configured as described above will be described.

When the pin 6 is assembled to the work 7, the chuck device 5 stopped at a predetermined position by the vertical arm 4 is lowered and the pin 6 is inserted into the insertion hole 64 of the chuck device 5. Then, air is sucked out from the suction passage 65 to hold the pin 6 in the holder 62, and again the chuck device 5 is held.
Return to the specified position and stop. Then, the chuck device 5 is horizontally moved by the horizontal arm 3 and stopped at the assembly position above the work 7. At this time, if a movement error occurs in the horizontal arm 3, the pin 6 is positioned above the fitting hole 8 with its axis deviated from the axis of the fitting hole 8 by, for example, about 0.5 mm.

The pressure chamber 43 is supplied through the supply / discharge passage 44.
Air is supplied to the piston 40, and the air pressure pushes the piston 40 upward. Then, a gap is formed between the tapered portion 41 of the piston 40 and the ball 45a, and the hand body 11 is parallel to the mounting body 10 and can freely move in all directions by the gap. . Further, when air is supplied to the flow chamber 55 through the supply port 58, the protrusion 56b receives the air pressure and the rotating body 52 rotates.
When the rotating body 52 rotates, the rotating center of gravity of the rotating body 52 is displaced by the four weights 57, so that the hand body 1
Vibration occurs in the entire 1 and the pin 6. The pin 6 is parallel to the mounting body 10 and freely vibrates in all directions, and also vibrates in the direction orthogonal to the axis of the fitting hole 8 in the work 7.

When the chuck device 5 is lowered in this state, the tip of the pin 6 comes into contact with the tapered surface 9 of the fitting hole 8.
Since the hand body 11 is movable with respect to the mounting body 10, the pin 6 comes into contact with the taper surface 9 so that the pin 6 moves along the taper surface 9 as the chuck device 5 descends and is aligned with the axis of the fitting hole 8. Move towards. That is, the hand body 11 moves with respect to the mounting body 10 so as to absorb the deviation between the pin 6 and the fitting hole 8, and the pin 6 is fitted into the fitting hole 8. The gap between the tapered portion 41 and the ball 45a is set in advance to a size that can sufficiently absorb the deviation between the pin 6 and the fitting hole 8 due to the movement error of the horizontal arm 3.

Further, since the pin 6 comes into contact with the tapered surface 9 while vibrating, the contact between the pin 6 and the tapered surface 9 is made intermittently. Therefore, a large frictional force is not continuously applied to the contact surface between the pin 6 and the tapered surface 9, and it is possible to prevent the pin 6 from being scraped by the frictional force.
Furthermore, since the pin 6 is parallel to the mounting body 10 and freely vibrates in all directions, the pin 6 does not vibrate in the direction in which the hand body 11 moves like reciprocating vibration. As a result, the movement of the hand body 11 is not hindered by the vibration of the pin 6, and the hand body 11 is reliably moved so as to absorb the deviation between the pin 6 and the fitting hole 8.

On the other hand, after the pin 6 is fitted into the fitting hole 8,
When the suction of the air from the suction passage 65 is stopped, the pin 6 is released from the state held in the insertion hole 64. Then, when the chuck device 5 is raised by the vertical arm 4, the pin 6 is removed from the chuck device 5. When the supply of air from the supply / discharge passage 44 to the pressure chamber 43 is stopped after the pin 6 is removed from the chuck device 5, the piston 4
No air pressure is applied to the zero pressure receiving portion 42. as a result,
The coil spring 46 urges the pinton 40 downward, and the tapered portion 41 of the piston 40 is pressed against the ball 45a. Due to the contact between the taper portion 41 and the ball 45a, the hand body 11 that has been moving with respect to the mounting body 10 is returned to the fixed position before the movement.

As described above in detail, in this embodiment, the pin 6 is used.
The hand body 11 moves relative to the mounting body 10 due to the contact between the pin 6 and the tapered surface 9, and the displacement between the pin 6 and the fitting hole 8 is absorbed. At this time, since the pin 6 vibrates and contacts the tapered surface 9, the contact between the pin 6 and the tapered surface 9 is performed intermittently. Therefore, a large frictional force does not act on the contact surface between the pin 6 and the tapered surface 9, and it is possible to prevent the pin 6 from being scratched by the tapered surface 9. Therefore, the generation of chips from the pin 6 can be prevented, and the pin 6 can be easily fitted into the fitting hole 8.

In this embodiment, since the pin 6 is freely vibrated in parallel and parallel to the mounting body 10, the movement of the hand body 11 is not obstructed by the vibration of the pin 6, and the hand body 11 is prevented. Can be reliably moved with respect to the mounting body 10.

Further, in the present embodiment, when air is supplied to the pressure chamber 43, the hand main body 11 becomes movable with respect to the mounting main body 10 by the amount of the gap between the taper portion 41 and the ball 45a. Then, the upper and lower clamping plates 23, 25 are always in contact with the balls 17, 18 so that the upper clamping plate 25, 25
Is urged by the coil spring 33. Therefore, the hand body 11 moves only in the direction orthogonal to the axis of the pin 6, and the pin 6 can be moved in parallel without tilting. Therefore, the pin 6 can be smoothly fitted into the fitting hole 8 without being fitted obliquely into the fitting hole 8. Furthermore, since the pin 6 is not obliquely fitted into the fitting hole 8, the pin 6
It is possible to prevent the inner peripheral surface of the fitting hole 8 from being damaged by the lower end of the.

Further, in this embodiment, since a large number of protrusions 56b are formed by forming a large number of grooves 56a on the outer peripheral surface of the large diameter portion 52a, the protrusions 56b can be easily formed. it can.

(Second Embodiment) Next, a second embodiment of the present invention will be described with reference to FIGS. In this embodiment, the lower part of the hand body is the same as that in the first embodiment, and therefore the same reference numerals as those in the first embodiment are used and detailed description thereof will be omitted.

As shown in FIG. 5, the upper plate 73 constituting the mounting body 71 is mounted and fixed to the lower surface 4a of the vertical arm 4,
A connecting shaft 74 extending in the vertical direction is attached and fixed to the lower surface of the upper plate 73 by bolts 75. A tubular guide bush 76 is fitted in the connecting shaft 74 so as to be vertically movable along the connecting shaft 74, and a large diameter portion 77 is formed to project at the lower end of the guide bush 76. An upper sandwiching plate 78 is inserted above the large diameter portion 77 of the guide bush 76, and the upper sandwiching plate 78 is connected to the large diameter portion 77 by a bolt 79. A coil spring 80 is arranged on the outer circumference of the guide bush 76, and the coil spring 80 is compressed by the upper holding plate 78 and the upper plate 73. Therefore, the upper clamping plate 78 is pressed downward by the hob spring 80.

At the lower end of the connecting shaft 74, a triangular lower plate 82 facing in parallel with the upper plate 73 is attached and fixed by a bolt 81. Upper and lower ball holding concave portions 83a and 84a are formed on the upper and lower surfaces of the lower plate 82, and the balls 83 and 84 are rollably held in the concave portions 83a and 84a, respectively. Incidentally, the recesses 83a, 84a
Are formed at positions corresponding to the respective vertices of the lower plate 82, and the balls 83 and 84 are provided in the respective concave portions 83a and 84a, but only one of each is shown in FIG. And
An upper holding plate 78 biased downward by the coil spring 80 is in contact with the upper ball 83. or,
A first through hole 85 extending in the vertical direction is formed at a position corresponding to the center of gravity of the lower plate 82 having a triangular shape. A second through hole 86 having a diameter larger than that of the first through hole 85 is formed in a position corresponding to the first through hole 78 in the upper holding plate 78 so as to extend in the vertical direction.

As shown in FIGS. 4 and 5, the first through hole 8
In the inner circumference of the opening of 5, the upper and lower recesses 8 are in two steps, upper and lower.
Three and eight, respectively, 88 are formed on a concentric circle centered on the axis of the first through hole 85 at equal intervals.
The upper and lower recesses 87 and 88 are formed in an arcuate cross section, and the upper recess 87 is displaced from the lower recess 88 in the direction away from the first through hole 85. And the upper and lower recesses 87, 8
Balls 89 and 90 are arranged in the container 8 so as to abut each other.

Below the lower plate 82, a lower holding plate 91 constituting the hand body 72 is arranged, and the lower holding plate 91 is in contact with a ball 84 held on the lower surface of the lower plate 82. . At the position corresponding to the first through hole 85 on the upper surface of the lower holding plate 91, the support shaft 9 having a diameter smaller than that of the through hole 85 is provided.
2 is formed, and the support shaft 92 penetrates the first and second through holes 85 and 86. Also, in the support shaft 92,
A triangular portion 93 having a substantially triangular cross section is formed in a portion corresponding to the lower recess 88, and three outer side surfaces 93 a to 9 a of the triangular portion 93 are formed.
A ball 90 is in contact with each of 3c.

A cylindrical pressing body 94 is inserted above the first through hole 85 of the support shaft 92, and a large diameter portion 94a is formed at the lower end of the pressing body 94. The lower surface of the large diameter portion 94a is in contact with the balls 89 inserted in the upper recesses 87, respectively. A coil spring 95 is inserted through the pressing body 94, and the coil spring 9
5 is compressed by an attachment piece 97 fixed to the upper end of the support shaft 92 with a bolt 96. Therefore, the pressing body 94 is pressed against each ball 89 by the coil spring 95, and the ball 89 and the ball 90 and the ball 90 and the outer surface 9 are pressed.
3a-93c are pressure-contacted. In this state, a gap is formed between the ball 90 and the side wall of the lower recess 88 and between the support shaft 92 and the first through hole 85, and the hand body 72
Is held in place by the pressing force of the coil spring 95.

Next, the operation of the chuck device 70 configured as described above will be described. In order to fit the pin 6 into the fitting hole 8 of the work 7, the arms 3 and 4 are moved and the chuck device 5 holding the pin 6 is stopped above the work 7.
At this time, if a movement error occurs in the horizontal arm 3, the axis of the pin 6 is about 0.5 mm with respect to the axis of the fitting hole 8.
It is located above the fitting hole 8 in a shifted state. In this case, similarly to the first embodiment, the pin 6 is freely vibrated in parallel with the mounting body 71 in all directions.

When the chuck device 5 is lowered in this state, the tip of the pin 6 comes into contact with the tapered surface 9 of the fitting hole 8.
When the chuck device 5 is further lowered, the hand body 72 moves with respect to the mounting body 71 so that the pin 6 moves along the tapered surface 9 toward the axis of the fitting hole 8. As a result, the ball 90 positioned in the direction in which the hand body 72 moves moves together with the hand body 72 and pushes up the ball 89, and the pushing body 94 is pushed by the pushed up ball 89.
Moves upward against the biasing force of the coil spring 95. When the hand body 72 moves, the displacement between the pin 6 and the fitting hole 8 is absorbed, so that the pin 6 is fitted into the fitting hole 8.
Fit in. The gap between the ball 90 and the side wall of the lower recess 88 and the gap between the support shaft 92 and the first through hole 85 are sufficiently displaced between the pin 6 and the fitting hole 8 due to the movement error of the horizontal arm 3. It is preset to a size that can be absorbed.

Further, since the pin 6 contacts the tapered surface 9 while vibrating as in the first embodiment, a large frictional force is not continuously applied to the contact surface between the pin 6 and the tapered surface 9,
It is possible to prevent the pin 6 from being scraped by the frictional force. Furthermore, since the pin 6 is parallel to the mounting body 71 and freely vibrates in all directions, the hand body 72
Is not disturbed by the vibration of the pin 6, and the hand body 72 is reliably moved so as to absorb the deviation between the pin 6 and the fitting hole 8.

On the other hand, after the pin 6 is fitted into the fitting hole 8,
When the state in which the pin 6 is held by the holder 62 is released and the chuck device 5 is raised by moving the vertical arm 4, the pin 6 is released.
Is removed from the chuck device 5. Then, the pressing body 94 presses the ball 89 downward by the urging force of the coil spring 95. Further, each ball 89 presses the ball 90, and by pressing this ball 89, each ball 90 is pressed.
Presses the outer side surfaces 93a to 93c of the triangular portion 93 in the direction toward the axis of the first through hole 85. Then, the balls 90 are pressed against the outer surfaces 93 a to 93 c, so that the hand body 7 that has moved with respect to the mounting body 71.
2 is returned to the home position before moving.

As described in detail above, according to the embodiment, the first
As in the embodiment, a large frictional force does not continuously act on the contact surface between the pin 6 and the tapered surface 9 and the pin 6 is tapered.
Can be prevented from being scratched and scratched. Therefore, it is possible to prevent chips from being generated from the pin 6, and the pin 6 can be easily fitted into the fitting hole 8.
Further, the movement of the hand body 72 is not hindered by the vibration of the pin 6, and the hand body 72 can be reliably moved with respect to the mounting body 71.

Further, in this embodiment, the coil spring 9 is used.
The pressing body 94 biased by 5 presses the ball 89, and the lower holding plate 91 contacts the ball 84. Therefore, the hand body 72 moves only in the direction orthogonal to the axis of the pin 6, and the pin 6 can be moved in parallel without tilting. Therefore, the pin 6 is not fitted into the fitting hole 8 at an angle, and the pin 6 can be fitted into the fitting hole 8 smoothly. Furthermore,
Since the pin 6 is not obliquely fitted into the fitting hole 8, the inner peripheral surface of the fitting hole 8 can be prevented from being damaged by the lower end of the pin 6.

The present invention is not limited to the above-mentioned embodiments, but may be embodied with the following modifications. (1) In each of the above embodiments, as shown in FIG. 6, the protrusion 56b may be formed so as to be inclined with respect to the direction orthogonal to the axis of the rotating body 52.

(2) In each of the above embodiments, the rotating body 52
Although it is rotated by air, the rotating body 52 may be rotated by using other working fluid such as working oil. (3) In each of the above embodiments, the rotating body 52 may be rotated by the electric motor instead of rotating the rotating body 52 by the working fluid. In this case, the rotating body 52 may be a spur gear, and the output shaft of the electric motor may be meshed with the spur gear. In this case, the protrusion 56b, the supply port 58, and the exhaust port 60 can be omitted. Further, in FIG. 2, an annular piezoelectric element is attached to the cover member 53 at a position facing the lower surface of the rotating body 52, and the upper surface of the piezoelectric element is brought into contact with the lower surface of the rotating body 52. Then, a traveling wave may be generated by applying a voltage to the piezoelectric element to rotate the rotating body 52. Also in this case, similarly to the above, the protrusion 56b, the supply port 58, and the exhaust port 60 can be omitted.

(4) In each of the above embodiments, the rotating body 52
The bearing 51 is omitted, and the piezoelectric element is directly attached to the vibration shaft 50. Then, the vibration shaft 50 may be vibrated by applying a voltage to the piezoelectric element. Further, the vibrating shaft 50 may be directly vibrated by a solenoid or the like instead of the piezoelectric element. With this structure, the number of parts of the chuck device 5 can be reduced.

(5) In each of the above embodiments, as shown in FIG. 7, a spur gear 98 as a rotating member is rotatably attached to the vibrating shaft 50 so as to be eccentric with respect to the axis of the vibrating shaft 50. On the outside of the spur gear 98, a gear ring 99 as an annular rotating means whose inner peripheral surface meshes with a part of the spur gear 98 is rotatably arranged around the axis of the vibration shaft 50. Further, a large number of vertically extending grooves 100a are cut on the outer peripheral portion of the gear ring 99 to form a large number of protrusions 100b along the outer peripheral portion of the gear ring 99. In this case, when air is sent out through the supply port 58, the protrusion 100
Air pressure acts on b, and the gear ring 99 rotates about the axis of the vibration shaft 50. Since the gear ring 99 meshes with a part of the spur gear 98, the rotation of the gear ring 99 also causes the spur gear 98 to rotate about the axis of the vibration shaft 50. Since the spur gear 98 is attached to the vibrating shaft 50 so as to be eccentric with respect to the axis of the vibrating shaft 50, when the spur gear 98 rotates, the vibrating shaft 50 is freely parallel to the mounting body 71 and in all directions. Vibrate. Therefore, as in the embodiment, the pin 6 can be prevented from being scraped by the tapered surface 9, and the pin 6 can be fitted into the fitting hole 8 without being damaged.

(6) In the above embodiments, if the hand bodies 11, 72 are provided on the mounting bodies 10, 71 so that they can vibrate, the hand bodies 11, 72 are mounted.
It does not have to be provided so as to be movable parallel to 0 and 71.

(7) In each of the above embodiments, four weights 57 are provided on the rotating body 52, but the number may be changed as appropriate. In this case, since the centrifugal force applied to the vibration shaft 50 when the rotating body 52 rotates changes as compared with the case where four weights 57 are provided, the magnitude of vibration of the pin 6 can be changed.

(8) In each of the above embodiments, the hand body 1
Although the holders 62 for holding the pins 6 by sucking the air in the insertion holes 64 are illustrated as the reference numerals 1, 71, instead of this, a robot hand for holding the assembly member by gripping the hand main bodies 11, 71. May be provided.

Next, technical ideas other than the claims which can be understood from the above-described embodiments will be described below together with their effects. (1) In the chuck device according to the first aspect, a piezoelectric element that generates vibration when a voltage is applied to the chuck body is provided. Even with this configuration, the work can be assembled to the work without damaging the assembly parts.

(2) In the chuck device according to the second aspect, the rotating means is an electric motor. Even with this configuration, the work can be assembled to the work without damaging the assembly parts.

In the present specification, the vibration generating means is not limited to one that generates vibration by rotating an eccentric member, but also one that converts electric energy into vibration energy such as a piezoelectric element or a solenoid. Define to include.

Further, in the present specification, the rotating means is defined to include not only the means utilizing the fluid pressure of the working fluid but also the electric motor, the piezoelectric element and the like.

[0065]

As described above in detail, according to the present invention, the assembling member can be assembled to the member to be assembled without damaging it.

[Brief description of drawings]

FIG. 1 is a side view showing an industrial robot according to a first embodiment.

FIG. 2 is a sectional view showing a chuck device according to a first embodiment.

FIG. 3 is a plan sectional view showing the configurations of a rotating body and a cover member.

FIG. 4 is a plan sectional view showing upper and lower recesses and a ball according to a second embodiment.

FIG. 5 is a cutaway sectional view showing a chuck device according to a second embodiment.

FIG. 6 is a plan sectional view showing a protrusion of a rotating body of another example.

FIG. 7 is a plan sectional view showing a spur gear and a gear ring of another example.

[Explanation of symbols]

3 ... Horizontal arm, 4 ... Vertical arm, 6 ... Pin as assembly member, 7 ... Work as assembled member, 10 ... Mounting body, 11 ... Hand body, 52 ... Rotation as vibration generating means and rotating member Body, 56a ... Groove, 56b ... Projection, 57
... Weight as displacement member, 71 ... Mounting body, 72 ... Hand body, 98 ... Spur gear as rotating member, 99 ... Gear ring as rotating means.

Claims (5)

[Claims] 1. A chuck device that is attached to an arm of an industrial robot, holds and conveys an assembling member by the operation of the arm, and performs an assembling operation of an assembling member and an assembling member, An attachment main body connected to the arm and a hand main body provided to the attachment main body and holding the assembly member are provided, and the hand main body is provided so as to be vibrable with respect to the attachment main body. A chuck device that is vibrated by a vibration generating means. 2. A chuck which is attached to an arm of an industrial robot, conveys a pin in an upright state by the operation of the arm, and inserts the pin into an insertion hole formed in a work for assembling work. In the apparatus, a mounting main body supported by the arm and a hand main body suspended from the mounting main body and holding the pin are provided, and a direction orthogonal to an axis of the fitting hole formed in the workpiece. A chuck device in which a hand body is provided on a mounting body so that the hand body can vibrate, and the hand body is vibrated by a vibration generating means. 3. The vibration generating means includes a rotating member rotatably provided on the hand body, a displacing member provided on the rotating member for displacing a rotational center of gravity of the rotating member, and a rotating means for rotating the rotating member. The chuck device according to claim 1 or 2, comprising: 4. The rotating means is a working fluid, wherein a plurality of protrusions are formed on the outer peripheral surface of the rotating member, and the working fluid is ejected toward the protrusions. Chuck device. 5. The chuck device according to claim 4, wherein the protrusion is formed by a plurality of grooves formed on the outer peripheral surface of the rotating member.