JPS5890432A - Inner rotating body insertion device for outer rotating body for constant velocity joint - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention allows an inner rotating body and an outer rotating body to transmit rotational force from one to the other through small spheres arranged along the outer periphery of the inner rotating body. This invention relates to a device for inserting an inner rotating body into an outer rotating body for an equi-articulating hand, which is used in the assembly process of an equi-articulating hand.

The assembly process of an equal connector in which the inner rotating body and the outer rotating body transmit rotational force from one side to the other via small spheres arranged along the outer periphery of the inner rotating body is extremely difficult. Because of the complexity, conventionally, the assembly of the above-mentioned equal connectors had to be done manually by skilled workers, which required a lot of labor and time.
There were limits to improving production efficiency.

Therefore, the main object of the present invention is to enable the inner rotating body and the outer rotating body to transmit rotational force from one side to the other via small spheres arranged along the outer periphery of the inner rotating body. An object of the present invention is to obtain an inner rotating body insertion device for an outer rotating body for an equi-articulated hand, for automating the process of fitting the inner rotating body into the outer rotating body in the assembly process of an equi-articulating hand.

Hereinafter, based on an embodiment of the present invention with reference to the drawings, an example in which an inner rotating body fitting device for an outer rotating body for an equi-articulating hand is applied to a fully automatic assembly apparatus for an equi-articulating hand will be described.

First, in FIG. 1 (α), the inner rotary body 1 of the equiarticulate member includes, for example, an inner ring member 2 and an annular cage 4 fixed on the outer peripheral surface of the inner ring member 2 and whose outer surface is formed of a convex spherical surface. In the center of the inner ring member 2, there is a connecting hole 3 having, for example, a female spline on the inner circumferential surface, to be fitted to one of the input-side rotation shaft and the output-side rotation shaft. For example, six small sphere receiving holes 61 *62 t..., 66 are formed in the outer peripheral part 5 formed by the part along the outer peripheral surface of the inner ring member 2 and the cage 4. They are formed at equal intervals in the circumferential direction.

Further, as shown in FIG. 1(h), the outer rotary body 8 of the equal connector is formed of a concave spherical surface that matches the convex spherical surface forming the outer surface of the outer peripheral portion 5 of the inner rotary body 1. The inner rotating body 1 has an inner surface 11 having an inner surface 11, and each small sphere receiving hole 61s62*..., 6. an outer ring portion 10 having a small sphere receiving groove 12 that engages with small spheres fitted in and transmits rotational force between each of these small spheres; A connecting portion 9 for connecting to a rotation shaft is provided.

The center of the concave spherical surface forming the inner surface 11 of the outer ring portion 10 of the outer rotor 8 is generally located at the inner portion of the outer ring portion 10 on the rotation center line of the outer rotor 80, and at the edge of the inner surface 11. Since the diameter in the direction perpendicular to the rotational center line is smaller than the diameter in the direction perpendicular to the rotational centerline in the portion further inside than the end edge, each small sphere receiving hole 6+1621 of the inner rotating body 1... , 66, it is impossible to fit the inner rotating body 1 into the outer ring portion 10 of the outer rotating body 8.

Therefore, as a first step, each small sphere receiving hole 61 of the inner rotating body 1 is
, 6□, . . . , 66, a pair of small sphere receiving holes 61 and 64 located at positions facing each other in the diametrical direction are selected,
From the radial direction, a small sphere 71 . Push in 74.

Next, as a second step, as shown in FIG. 1(b), the rotation center line of the inner rotor 1 is perpendicular to the rotation center line of the outer rotor 80, and the pair of small spheres 71. 7
The inner rotating body 1 is inserted into the outer rotating body 8 while maintaining a relative posture of the inner rotating body 1 with respect to the outer rotating body 8 such that the inner rotating body 4 does not interfere with the edge portion of the outer rotating body 8.

As a third step, as shown in FIG. 1 (1), the rotation center line of the inner rotor 10 and the rotation center line of the outer rotor 8 are made to coincide.

Then, as the fourth step, Fig. 1(d) and Fig. 1(
1), while the inner rotating body 1 is oscillated relative to the outer rotating body 8 around the diametrical axis of oscillation passing through the pair of small spheres γ1.74, The small spheres 72-73 are pushed into the small sphere receiving holes 6□, 63 on one side exposed from the outer rotary body 8 of the inner rotary body 1 from the radial direction of the inner rotary body 1, and then the small spheres on the other side are inserted. Receiving hole6. .

66 and a small sphere 76. γ6 is pushed into the inner rotating body 1 from the radial direction to complete the assembly.

FIG. 2 shows an overall layout of an example of an assembly device for assembling the equal connector through the above steps. A conveying device 13, such as a conveyor, for example, which conveys the outer rotating body 8 one after another at regular intervals in a posture such that the inner surface 11 of the outer ring portion 10 faces upward is shown in FIG. 1 (tl). Automatic working position ■ for performing the first process, Automatic working position ■ for performing the second process shown in Figure 1 (b), Automatic working position ■ for performing the second process shown in Figure 1 (1), Automatic working position ■ for performing the second process shown in Figure 1 (1) Automatic working position ■, Figure 1 (d) and Figure 1 (-
) is arranged so as to sequentially pass through automatic working positions (1) and (2) for carrying out the fourth step shown in ().

In the automatic working position ■, the inner rotating body 1 is in the chute 14
When the inner rotating body 1 fed by this chute 14 comes into contact with the guide wall 17 in the direction perpendicular to the chute 14, the rod 16 of the operating cylinder 15 immediately expands. , the inner rotating body 1 is pressed and moved along the guide wall 17. When the inner rotating body 1 comes into contact with the guide wall 18 perpendicular to the guide wall 17, it is held at that position, and in this state, a pair of diametrically opposed, for example, small sphere receiving holes of the inner rotating body 1 are opened. 6
1. A pair of actuating cylinders 1 disposed on a straight line passing through 64 and facing each other with the inner rotating body 1 in between.
Small sphere pushing portions 20.22 formed at the tips of the rods 9 and 21 push each small sphere 71. 74 into the corresponding small sphere receiving hole 61 . Push into 64.

At this time, the orientation of the inner rotating body 1 is adjusted so that a pair of diametrically opposed, for example, small sphere receiving holes 61 = 64 of the inner rotating body 1 are on the center line of each small sphere pushing part 20, 22 as accurately as possible. However, in order to automatically set the orientation of the inner rotor 1 to the appropriate orientation, for example, the inner rotor 1 must be set smoothly to the outer rotor 8.
Using chamfered parts 5α and 5b previously formed on the outer surface of the inner rotating body 1 so as to be able to fit into the inside, these chamfered parts 5α and 5h are connected to the left and right side wall surfaces of the chute 14 and the rod 1.
By sequentially applying the liquid to the end face of the guide wall 18 and the wall face of the guide wall 18, the inner rotating body 1 moves while always maintaining a proper orientation.
Can be held. Or again,
When the inner rotating body 1 comes into contact with the guide wall 18, the orientation of the selected small sphere receiving hole of the inner rotating body 1 is detected by the detection means, and the orientation of the inner rotating body 1 is adjusted to be an appropriate orientation. Alternatively, the orientation of the inner rotating body 1 may be automatically corrected by rotating the inner rotating body 1 around the rotation center line.

3 and 4 show an example of the specific structure of the small sphere pushing device A for carrying out the first step at the automatic working position I of FIG. 2.

A piston 41 is fitted into the working cylinder 19 fixed on the base plate 40, and a rod 42 integrated with the piston 41 allows working fluid, such as hydraulic oil, to enter the working cylinder 19 through a fluid supply/discharge hole 43. It expands when introduced into the working cylinder 19, and contracts when working fluid is introduced into the working cylinder 19 through the fluid supply/discharge hole 44.

Inside the rod 42 is an annular cylinder chamber 45 equipped with an air vent.
An annular piston 41 is fitted into the annular cylinder chamber 45 so as to be constantly pressed toward the distal end of the rod 42 by a pressing spring 46 . The tip of the annular rod 48 that is integrated with the annular piston 47 is normally pressed against the rod 4 by the pressing action of the pressing spring 46.
It protrudes beyond the tip of the small-diameter protrusion 49 that protrudes along the center line of 2. Small spheres 71 sent from a magazine (not shown) are sequentially supplied into the tip of the annular rod 48 one by one.

An interlocking arm 52 is provided at the tip of the annular outer wall portion 51 of the rod 42.
A rack 53 formed on the side surface of the distal end of the interlocking arm 52 is connected to a support plate 54 fixed on the base plate 40 and a holding plate on which the inner rotating body 1 is held. 5
A pinion 57 on a pinion shaft 56 supported between
It meshes with the. In FIG. 2, when the inner rotor 1 is moved along the guide wall 17 and comes into contact with the guide wall 18, the inner rotor 1
The pinion shaft 56 is arranged so that its rotation center line coincides with the rotation center line of the pinion 5T.

A rod 58 is fitted into the actuating cylinder 21 fixed on the base plate 4o at a position opposite to the actuating cylinder 19 with the pinion shaft 56 in between, and the rod 58 is inserted into the actuating cylinder 21 so as to be freely movable therein. An annular piston 61 is fitted into the annular cylinder chamber 59 having an extraction hole so as to be constantly pressed toward the distal end side of the rod 58 by a retaining spring 60.

An annular rod 62 integrated with this annular piston 61
Due to the pressing action of the pressing spring 60, the tip of the rod 58 protrudes beyond the tip of the small-diameter protrusion 63 that normally protrudes along the center line of the rod 58. A cylindrical small sphere supply section 64 is formed at the tip of the annular rod 62 for sequentially feeding small spheres 74 sent from a magazine (not shown) into the tip of the annular rod 62 one by one. Ru.

An interlocking arm 66 is provided at the tip of the annular outer wall portion 65 of the rod 58.
A rack 67 formed on the side surface of the distal end of the interlocking arm 66 is engaged with the pinion 57 from the side opposite to the rack 53 with respect to the pinion shaft 56 . The center line of the rod 42 and the center line of the rod 58 are both on the same straight line perpendicular to the center line of the pinion shaft 56,
Moreover, the distance between the tip surface of the small diameter protrusion 49 of the rod 42 and the center line of the pinion shaft 56 is always the distance between the tip surface of the small diameter protrusion 63 of the rod 58 and the center line of the pinion shaft 56. is kept equal to .

Since the small sphere pushing device A shown in FIGS. 3 and 4 is constructed as described above, the working fluid is introduced into the working cylinder 19 from the fluid supply/discharge hole 44 and
is in the retracted position, the rod 42 and the interlocking arm 5
2.66 is in a retracted position, and in this state each spherule feeder 50.
Small spheres 71 = 74 are supplied from the magazine via 64 into the tips of the corresponding annular rods 48 and 62, respectively.

Then, when the inner rotating body 1 is moved along the guide wall 17 in FIG. 1 and comes into contact with the guide wall 18 in an appropriate orientation,
The fluid supply/discharge hole 44 communicates with the fluid storage tank, and working fluid is introduced into the working cylinder 19 from the fluid supply/discharge hole 43, causing the rod 42 to extend. Along with this, rod 4
The rod 58 which is in an interlocking relationship with 2 also moves forward. the result,
First, the distal end surface of each annular rod 48.62 contacts the inner rotating body 1 from the diametrically opposite side, and then the rod 42.
As the rod expands and moves forward, the rod 58 also moves further, and each small diameter protrusion 49.63 moves relative to each annular rod 48.62 while resisting the elastic force of each pressing spring 46, 60. Then, each small sphere 71=74 is inserted into the corresponding small sphere receiving hole 6. .

6. Push it inside. At this time, the tip of each annular rod 48, 62 securely holds the corresponding small sphere r1.7° in each small sphere receiving hole 61. 64.

Each small sphere 71 = 74 small sphere receiving holes 61 . When the insertion into the rod 64 is completed, the fluid supply/discharge hole 43 is communicated with the fluid storage tank, and the working fluid is introduced into the working cylinder 19 from the fluid supply/discharge hole 44, so that the rod 42 contracts and retreats. However, the rod 58 also retreats accordingly.

In FIG. 2, a pair of small spheres 7. ．． Each of the 74 small sphere receiving holes 61. 64 and the respective actuating cylinders 19, 210 rods are retracted, the rods 24 of the actuating cylinders 23 immediately expand to move the inner rotating body 1 into the guide wall 1.
8, and is moved toward the gripping device 3° of the inner rotating body inserting device B based on an embodiment of the present invention, which is waiting at the automatic working position (3).

The inner rotary body insertion device B according to an embodiment of the present invention includes a rotary drive device 25 for reciprocating the rotary shaft 26 around the rotation center line within a certain angular range, and a A fixed support frame 27, an actuation cylinder 28 fixed on the support frame 27, and an inner rotating body 1 attached to the tip of a rod 29 of the actuation cylinder 28 that expands and contracts in a direction perpendicular to the rotation axis 26. It is equipped with a gripping device 30 for gripping.

When waiting for the inner rotating body 1, the actuating cylinder 28
is held in the horizontal direction, for example, and the inner rotating body 1 is pressed by the actuating cylinder 230 and the guide wall 1
8, the rod 29 of the actuating cylinder 28 immediately extends and moves forward, and when the inner rotating body 1 reaches the edge of the holding plate 55, the gripping claws supported at the tip of the gripping device 30 are moved forward. The inner rotating body 1 is gripped from both upper and lower sides. When the gripping device 30 grips the inner rotary body 1, the rod 29 of the actuating cylinder 28 contracts and the rotating shaft 26 of the rotary drive device 25 rotates, and the gripping device 30 grips the inner rotary body 1 so that its rotation center line is vertical. The robot swings from a position in which it is gripped with the inner rotating body 1 facing in the direction, to a position in which it is gripped with the inner rotating body 1 positioned downward and its rotation center line facing in the horizontal direction. In synchronization with this operation, the outer rotor 8 is carried below the inner rotor 1 by the conveyor 13, and the rod 29 of the actuating cylinder 28 is extended again, thereby aligning the center of rotation of the inner rotor 1. is perpendicular to the center line of rotation of the outer rotating body 80, and the relative posture of the inner rotating body 1 with respect to the outer rotating body 8 is such that the pair of small spheres 71-74 do not interfere with the edge of the outer rotating body 8. is maintained,
The inner rotating body 1 is fitted into and protected by the outer rotating body 8.

5 and 6 show an inner rotating body according to an embodiment of the present invention for carrying out the second step as shown in FIG. Insertion device B
A more detailed example is shown. Working cylinder 2
A main body 69 of the gripping device 30 is fixed to the tip of the rod 29 of No. 8 via a fitting 68, and a piston is fitted into a cylinder chamber 70 formed in the main body 69 so as to allow synovial fluid to flow freely. The rod 72 integrated with the fluid supply/discharge hole 1
When working fluid is introduced into the cylinder chamber 70 from 3, it expands and moves forward, and when working fluid is introduced into the cylinder chamber 70 from the fluid supply/discharge hole 74, it contracts and retreats.

An engagement pin 75 is held at the tip of the rod 72, and each engagement pin 75 has a pivot shaft 76, 77.
A pair of bell cranks 78.7 whose central part is pivoted by
9 are engaged with each other, and the other ends of the bell cranks 78 and 79 are aligned perpendicularly to the center line of the piston T2 along a guide groove 86 formed at the tip of the main body 69, respectively. It engages with engaging screws 80 and 81 fixed to a pair of sliding fluids 82 and 83, respectively, which have corresponding gripping claws 84 and 85 on their distal ends.

Therefore, when the rod T2 extends and moves forward, each of the bell cranks 78, 79 swings around the pivot shafts 76 and 77 in a direction in which the distal end side widens, causing the gripping claws 84 and 85 to separate from each other, and the rod 12 contracts and retreats, each bell crank 78, 79 swings around the pivot shaft 76, 77 in a direction in which the distal ends approach each other, and each gripping claw 8
4.85 closer to each other.

Since the inner rotating body insertion device B based on one embodiment of the present invention shown in FIGS. When the cylinder 28 is in a horizontal state, each gripping claw 84, 8
The rotary shaft 26 of the rotary drive device 25 is rotated so that the inner rotating body 5 faces the inner rotating body 1 on the holding plate 55 of FIG. As the discharge hole 74 communicates with the fluid storage tank and the working fluid is introduced into the cylinder chamber Io from the fluid supply/discharge hole 73, the rod 72 extends and moves forward, and accordingly, each bell crank 78, 79 The distal ends are swung in the direction of expanding each other, and the gripping claws 84, 85 occupy positions in which they are moved away from each other.

The inner rotating body 1 is the rod 24 of the actuating cylinder 23 in FIG.
When the rod 29 of the actuating cylinder 28 is immediately extended and moved along the guide wall 18, when the inner rotating body 1 reaches the edge of the retaining plate 55, the fluid supply/discharge hole 73 is opened. By communicating with the storage tank and introducing working fluid into the cylinder chamber 70 from the fluid supply/discharge hole γ4, the rod 72 contracts and retreats, and accordingly, the tips of the bell cranks 78 and 79 approach each other. The gripping claws 84-, 85 reliably grip the inner rotating body 1 from both upper and lower sides while moving toward each other.

When the pair of gripping claws 84 and 85 grip the inner rotating body 1,
As the rod 29 of the actuation cylinder 28 contracts, the rotation shaft 26 of the rotary drive device 25 rotates, and the gripping device 30
From a position in which the inner rotating body 1 is gripped with its rotational center line pointing in the vertical direction, the inner rotating body 1 is positioned downward and its rotational center line is adjusted. Then, as the rod 29 of the actuating cylinder 28 expands again, the center line of rotation of the inner rotating body 1 becomes perpendicular to the center line of rotation of the outer rotating body 80, as shown in FIG. 1(A). In addition, the inner rotating body 1 is moved in such a manner that the pair of small spheres B and 74 do not interfere with the edge of the outer rotating body 8 while maintaining the relative attitude of the inner rotating body 1 to the outer rotating body [C]. is fitted into the outer rotating body 8 carried below.

When the inner rotating body 1 is inserted into the outer rotating body 8, the fluid supply/discharge hole 74 is immediately communicated with the fluid storage tank, and the working fluid is introduced into the cylinder chamber γθ from the fluid supply/discharge hole T3. As the rod 72 extends and moves forward, the distal ends of the bell cranks 78 and 79 are swung in a direction in which they are expanded, and the gripping claws 84 and 8 are moved in a direction in which they are separated from each other. and separates from the inner rotating body 1 that was being held between them. Then, the rod 29 of the actuating cylinder 28 contracts, and the rotating shaft 26 of the rotary drive device 25
rotates to bring the operating cylinder 28 into a horizontal state, and the inner rotating body inserting device B again maintains its standby attitude for the next inner rotating body 1.

In FIG. 2, after the inner rotor 1 has been inserted by the inner rotor insertion device B, the outer rotor 8 is conveyed by the conveyor 13 and reaches the automatic working position (2) for performing the third step. Here, the posture of the inner rotating body 1 with respect to the outer rotating body 8 is corrected by the correction device 31.

FIG. 7 shows a specific example of a correction device 31 for correcting the posture of the inner rotating body 1 with respect to the outer rotating body 8 as shown in FIG. 1(c). An actuating cylinder 89 is horizontally fixed to the base plate 81 via a bracket 88, and the tip of a rod 90 of the actuating cylinder 89 has a cam shape with a horizontal lower surface and a preset front edge. A first straightening plate 91 having a first straightening plate 91 is attached. Further, an actuation cylinder 92 is vertically fixed on the substrate 87 at a position directly above the transport device 13, and a second straightening plate 94 having a horizontal lower surface is attached to the lower end of the rod 93 of the actuation cylinder 92. It is installed.

Since the straightening device 31 shown in FIG. 7 is configured as described above, the inner rotating body 1 is
The outer rotating body 8 in which the
When the rod 90 of the actuating cylinder 89 is expanded,
The front edge of the first straightening plate 91 moves forward in the horizontal direction while being close to the upper end surface of the outer ring part 10 of the outer rotating body 8, and the outer ring part 1
0, and tilts the inner rotating body 1 within the outer rotating body 8 to such an extent that the center line of rotation of the inner rotating body 1 is directed in the vertical direction. At this time, the outer rotary body 8 is appropriately rotated between its rotation center lines according to the cam shape of the front edge of the first correction plate 91, and the rotation center line of the inner rotor body 1 is directed in the y-vertical direction. When the inner rotating body 1 is tilted within the outer rotating body B to a certain extent, the direction of the diameter of the inner rotating body 1 through which the center of each of the pair of small spheres 71-74 passes is parallel to the conveying direction of the conveying device 13. ing.

After the inner rotary body 1 is tilted in this way, the rod 90 of the actuating cylinder 89 contracts and retreats, and the rod 93 of the actuating cylinder 92 extends, so that the lower surface of the second straightening plate 94 tilts the inner rotary body 1. By pressing, the inner rotating body 1
The rotation center line of the outer rotating body 8 is precisely oriented in the vertical direction and coincides with the rotation center line of the outer rotating body 8. After the second straightening plate 94 presses the inner rotating plate 1 until the rotational center line of the inner rotating body 10 matches the rotational center line of the outer rotating body 8, the operating cylinder 92
The rod 93 contracts and retreats.

In FIG. 2, the inner rotating body 1 and the outer rotating body 8 whose postures have been corrected by the correction device 31 are further transported by the conveying device 13 as shown in FIG. 1(d) and FIG. 1(1). is sent to automatic working positions ① and ② to carry out the fourth step.

First, in the automatic working position (3), as shown in FIG. 1(d), the inner rotating body 1 has a pair of diametrically opposed small spheres 7. ．． 7. The small sphere receiving hole 6t on the side exposed from the outer rotating body 8 is swung in one direction around the oscillating axis passing through the
, 6s, by a small spherical push-in portion 33.35 formed at the tip of each rod of a pair of actuation cylinders 32.34 having basically the same structure as the actuation cylinder 19 used in the first step. , respectively small spheres 7□ , 7
3 is pressed.

In addition, in the automatic working position V, as shown in FIG. 1 (1), the inner rotating body 1 has a pair of small spheres 71
The outer rotating body 8 is oscillated in the other direction around the oscillating axis passing through the
Spherule-receiving holes 6 on the more exposed side, . 66, the first
A small spherical indentation ff37.39 is formed at the tip of each rod of a pair of working cylinders 36 and 38, which have basically the same structure as the working cylinder 19 used in the process.
According to the microspheres 7. ．． 7. is pushed in to complete the assembly of the equal connector.

FIGS. 8 and 9 show that the inner rotating body 1 is in automatic working positions ① and ② when performing the fourth step as shown in FIGS. 1(d) and 1(1). A specific example of a rocking device 95 for rocking is shown. A piston 97 is fitted into the working cylinder 96 of the rocking device 95 so as to allow fluid to flow freely, and the rod 18 integrated with the piston 97 allows working fluid to be introduced into the working cylinder 96 through a fluid supply/discharge hole 99. It extends and descends, and fluid supply/discharge hole 1
When the working fluid is introduced into the working cylinder 96 from oo, it contracts and rises. The upper surface of a frame 101 is fixed to the tip of the rod 98, and a pair of side frames fixed to the mutually opposing side frames of the swing frame 107 are fixed to the mutually opposing side frames of the frame 101. Horizontal rocking shafts 104 and 105 are pivotally supported via bearings 102 and 103, respectively. At the center of the swing frame 107, an engager 106 that can be fitted into the connecting hole 3 of the inner rotating body 1 is provided to protrude downward. When the swinging device 95 is disposed above the conveying device 13 in FIG. A pair of diametrically opposed small spheres 7 of the inner rotating body 1 on the device 13
1. It is arranged so as to coincide with the swing axis passing through 74.

An actuation cylinder 108 is fixed to the side frame portion of the frame 101, and a rod 110 of a piston 109, which is fitted into the actuation cylinder 108 so as to allow synovial fluid, is connected to the fluid supply/discharge hole 11.
When working fluid is introduced into the working cylinder 108 through the fluid supply/discharge hole 112, it expands and descends, and when the working fluid is introduced into the working cylinder 108 through the fluid supply/discharge hole 112, it contracts and rises. The lower end of the rod 110 is connected to a link 113
One end of the link 113 is pivotally supported by a pivot pin 114, and the other end of the link 113 has a proximal end fixed to a gear 116 that is pivotally supported by a support shaft 115 on the side frame of the frame 101. It is pivotally supported by a pivot pin 118 at the distal end of the arm 117 .

The gear 116 is a gear 119 fixed on the swing shaft 105.
It meshes with the.

Since the rocking device 95 shown in FIGS. 8 and 9 is configured as described above, the rotation center line of the inner rotating body 10 is vertically aligned as shown in FIG. 1 (1). In the oriented state, the inner rotating body 1 and the outer rotating body 8° are connected to the conveying device 1.
3 and reaches just below the engaging element 106, the fluid supply/discharge hole 100 is communicated with the fluid storage tank, and the working fluid is introduced into the working cylinder 96 through the fluid supply/discharge hole 99, thereby Rod 9B extends (2” (frame body 10
1do” (ni1・IIMI.

Accordingly, the engaging element 106 is connected to the connecting hole 3 of the inner rotating body 1.
fit inside. In this state, when the fluid supply/discharge hole 112 is communicated with the fluid storage tank and the working fluid is introduced into the working cylinder 108 from the fluid supply/discharge hole 111, the rod 11
0 extends and descends, the downward movement of the rod 110 is converted into the rotational movement of the gear 116 via the link 113 and the arm 117, and the rotational movement of the gear 116 is further converted into the rotational movement of the gear 116.
19, the engager 106 moves to the swing shaft 1.
It swings in one direction around the swing center line of 04 and 105. As a result, the inner rotating body 1 is swung in one direction around the oscillating axis passing through the pair of small spheres 71-74, so that the small spherical receiving holes 62. 63, the small spheres 7□, 73 can be pushed in by the small sphere pushing portions 33.35 formed at the tip of each rod of the actuating cylinder 32.34.

Small sphere 7□ for each small sphere receiving hole 6□, 63.

When the pushing in step 7 is completed, the fluid supply/discharge hole 111 is communicated with the fluid storage tank, and the working fluid is introduced into the working cylinder 108 from the fluid supply/discharge hole 112, so that the upward movement of the rod 110 is caused by the gear 116. , and the gear 119 is further rotated in the opposite direction, so that the engager 106 swings in the opposite direction along the center lines of the swing shafts 104 and 105 together with the swing frame 107, and returns to its original position. .

As a result, the center line of rotation of the inner rotating body 10 again faces in the vertical direction and coincides with the center line of rotation of the outer rotating body 80. In this state, the fluid supply/discharge hole 99 is communicated with the fluid storage tank, and
When the working fluid is introduced into the working cylinder 96 from the fluid supply/discharge hole 100, the rod 98 contracts and rises.
Correspondingly, the frame 101 rises together with the engager 106, and the engager 106 is disengaged from the connecting hole 3 of the inner rotating body 1, thereby completing the work at the automatic work position (2) in FIG.

After the work at the automatic working position (2) is completed, the inner rotary body 1 and the outer rotary body 8 are subsequently conveyed to the automatic working position (2) by the conveying device 13.

In this automatic working position V, basically the rocking device 95
By means of another rocking device having the same structure as the rocking device 95 and arranged in the opposite direction with respect to the conveying device 13 to the rocking device 95 arranged in the automatic working position The outer rotating body 8 is oscillated about the oscillating axis passing through the small spheres 71-74 in the direction opposite to that in the automatic working position (1), so that the outer rotating body 8 Small sphere receiving holes 65, 6 on the more exposed side. On the other hand, the small spheres 7s and 7a are pushed in by the small sphere pushing parts 37.39 formed at the tip of each rod of the actuating cylinder 36.38.

As described above, according to the present invention, since the grasping device for temporarily grasping the equally articulated inner rotary body for hand is provided, in carrying out the step of fitting the inner rotary body into the outer rotary body,
In addition to reliably gripping the inner rotating body, the gripping and releasing operations for the inner rotating body can be performed automatically, and the gripping device is equipped with an actuating cylinder for expanding and contracting the rod that carries the gripping device at its tip. , it is possible to reliably grip the inner rotor at the set position after the previous process has been carried out, and it is also possible to reliably fit the gripped inner rotor into the outer rotor at the set position. Furthermore, since the actuating cylinder is provided with a rotational drive device that can rotate the actuating cylinder in both forward and reverse directions around an axis perpendicular to the axial direction of the rod, the center line of rotation of the inner rotating body gripped by the gripping device can be rotated. can be automatically corrected to be the optimum orientation with respect to the outer rotor, so that the gripping device, the actuating cylinder and the rotary drive act in cooperation with each other, so that the inner rotor The inner rotating body is automatically and reliably rotated while the rotational center line of the body is perpendicular to the rotational center line of the outer rotating body, and the optimal azimuth posture with respect to the outer rotating body is maintained. can be inserted into the outer rotating body.

[Brief explanation of the drawing]

Figure 1 (α) to 6) is a process explanatory diagram showing an example of the work process when assembling an example of an equi-articulated 1000, and Figure 2 is an overall layout diagram of the equipment for carrying out the assembly process shown in Figure 1. , FIG. 3 is a plan sectional view of the main part of the small sphere pushing device, FIG. 4 is a partially sectional side view of the small sphere pushing device of FIG. 3, and FIG. 5 is an inner rotary bowl according to an embodiment of the present invention. 6 is a partial cross-sectional side view of the main part of the body insertion device of FIG. 5, FIG. 7 is a side view of the main part of the correction device, and FIG. FIG. 9 is a partially sectional front view of the main part of the swinging device, and FIG. 9 is a side view of the main part, partially in section, of the swinging device shown in FIG. 1... Inner rotating body, 8... Outer rotating body, 25...
Rotary drive device, 28... Working cylinder, 29... Rod, 30... Gripping device. Patent Applicant Honda Motor Co., Ltd. Figure 1 Figure 9 Figure 8

Claims (1)

[Claims] While temporarily grasping the equi-articulated inner rotating body (1), the rotation center line of the gripped inner rotating body (1) is perpendicular to the rotation center line of the equi-articulating outer rotating body (8). a gripping device (30) that releases the inner rotating body (1) when the inner rotating body (1) is inserted into the outer rotating body (8) in the state; an actuating cylinder (28) for moving the gripping device (30) forward and backward in the axial direction of the rod (29) by telescopically operating a rod (29) carried in the section; Insertion of the inner rotating body into the equally articulated outer rotating body for the hand, which is equipped with a rotation drive device (25) that can rotate in both forward and reverse directions within a certain angle range around an axis perpendicular to the axial direction of the rod (29). Device.