JPS6149079B2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention is applicable to robots, pick and presses,
It relates to handling equipment used for assembling parts in various special purpose machines.

[Technical background of the invention and its problems]

When assembling parts using a robot, pick-and-press, special-purpose machine, etc., the work of grasping and assembling the parts is done using so-called hands. In these automatic machines, for example, robots, before assembling parts, the robot's arm is moved to the position of the part before assembly, the position of the hand is aligned, and the hand is taught to determine the assembly position of the hand. There is. This alignment requires mutual positioning of the parts to be assembled, which requires high precision. Particularly when assembling parts with small fitting clearances, the positioning accuracy of the robot's teaching, the accuracy of the parts themselves, and the positioning accuracy of the mating parts are important, and even one of these accuracy may exceed the tolerance limit. If the limit is exceeded, it becomes impossible to assemble the parts, and unless the operator makes corrections, the work will stop. Particularly when assembling parts with a clearance of a few micrometers, the hand has a very complicated structure and is expensive, and at present it is still far from being able to perform skillful work by an operator.

However, recently RCC (Remote Center
A pretty good hand called Compliemce has been developed. This has a structure as shown in FIG. 1, for example, in which a support body 3 made of an elastic member, such as rubber, is attached to a main body 2 attached to a robot arm 1.
A gripper 4 is attached via. The gripper 4 grips the inserted part 5, and when the tip of the inserted part 5 hits the entrance of the hole 7 of the inserted part 6, the remote center 8 near the tip of the inserted part 5
The gripper 4 rotates around , and the inserted part 5 is inserted into the hole 7.
It is configured so that it can be inserted by following the same pattern. Although this type of hand is considerably improved over the conventional one, it still has the disadvantage that it is not reliable because it uses an elastic material such as rubber for the support 3.

[Purpose of the invention]

The present invention has been made in view of the above-mentioned circumstances, and it is an object of the present invention to provide a handling device that allows assembly with a large tolerance limit for positioning accuracy and that does not apply unreasonable force during assembly.

[Summary of the invention]

In the present invention, a rocking body to which a grip for holding an insertion part is attached is supported by a support body so as to be swingable along a spherical surface, and this support body is supported by a mounting body so as to be horizontally movable. This handling device facilitates insertion by easily rotating around the vicinity of the abutting portion when abutting the object to be inserted, or easily horizontally deflecting to follow the insertion hole.

[Embodiments of the invention]

The details of the present invention will be explained below with reference to illustrated embodiments. 2 to 4 show the first embodiment, and the present handling device includes a mounting body 11 fixed to the arm of the robot, a support body 12 supported horizontally movably on the mounting body 11, and It is composed of a swing shaft 13 that is swingably supported, and a grip 14 is attached. Next, to describe each part, the mounting body 11 has a peripheral wall 23 on a disc part 22 protruding from a mounting part 21 to be mounted on an arm (not shown), and three horizontal walls facing the lower opening of the disc part 22, which are equally spaced. A support portion 24 extends inwardly from the peripheral wall 23. This has parallel upper and lower surfaces, and serves as rolling surfaces 26, . . . for the horizontal motion spheres 25, . In addition, the protruding mounting portion 21 has a female thread 27,
A through hole 28 is drilled in which an adjusting screw 29, a compression spring 30 and a pressure ball 31 are accommodated. The support body 12 is formed in the shape of a hollow disk with openings passing through it vertically, and openings 35, . . . , into which the horizontal support portions 24, .
is provided. Further, horizontal movement spheres 25, . . . are arranged above and below the horizontal support portions 24, .
Also, a swinging sphere 3 for a swinging shaft 13 to be described later.
6,... are arranged at three equally spaced locations, and rolling grooves are formed in those portions. The swing shaft 13 is composed of a shaft member 40 and a support member 41 formed in a mushroom shape at the upper end of the shaft member 40. The outer surface and inner surface of the support member 41 are respectively connected to the shaft member 4.
It is formed of an outer spherical surface 41 and an inner spherical surface 42 having a common center point on the axis of the lower end side of the cylindrical shaft 1, and is swingably supported at at least three locations by the above-mentioned swinging spheres 36, . Note that the supported member 43 is formed of a part of a spherical surface, but the portion into which the horizontal support portions 24, . . . enter is cut out. Further, a support recess 44 is formed at the top of the outer spherical surface 41 with the deepest part corresponding to the axis of the shaft member 40. A centripetal action acts to restrict the swinging and to bring the pressing sphere 31 into alignment with the deepest part of the support recess 44 . The lower end of the swing shaft 40 serves as a grip mounting portion. The grip 14 includes an air cylinder device 45 and a link mechanism 46 which is opened and closed by the air cylinder device 45, and the insert 15 is gripped at the lower end of the link mechanism 46.

Next, referring to the operation, FIG. 3 shows the case where the insert 15 is inserted into the inclined insertion hole 7.
By contacting the entrance of the insertion hole 7, the shaft member 40 is easily tilted, and the insert 15 is inserted into the mounting body 11.
It is inserted by the descent of .

FIG. 4 shows a case where the insert 15 is biased with respect to the insertion hole 7, and in this case as well, the support 12 is moved from side to side due to the rolling of the horizontally movable spheres 25, . The insert 15 becomes coaxial with the insertion hole 7 and is inserted.

FIG. 5 shows a second embodiment, and to explain only the differences from the first embodiment, a spring 50 and a pressing ball 51 are provided on the support 12a to push the support 13, and the mounting body 11 is The pressing sphere 31 is the support body 12a
The configuration for pressing is different, but the other configurations are exactly the same.

With this configuration, the swing shaft 13
This has the effect of preventing the movement of the mounting body 11 from interfering with the movement of the mounting body 11.

〔Effect of the invention〕

As described in detail above, in the handling device of the present invention, the insert is supported by the swinging shaft that is swingably supported, and the swinging shaft is configured to be horizontally movable by the support. Since the insert is easily displaced by a slight reaction force and rotated around the vicinity of the insertion hole, the insert can easily change its posture and be assembled.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing the configuration of a conventional example, FIG. 2 is a sectional front view of a main part of the first embodiment of the present invention, and FIGS. 3 and 4 are sectional views of main parts illustrating the operation. FIG. 5 is a sectional view of a main part showing a second embodiment of the present invention. 11... Mounting body, 12... Support body, 13...
Swinging shaft, 24...Horizontal support part, 25...Horizontal motion sphere, 31...Supporting sphere, 36...Swinging sphere, 40...Shaft member, 41...Outer spherical surface, 42...
...Inner spherical surface, 43... Supported member, 43a... Support recess.

Claims (1)

[Claims] 1. It has a shaft member, its lower end is a grip attachment part, and its upper end has a supported member consisting of an outer spherical surface and an inner spherical surface formed by a part of a spherical surface that shares a center on the axis line of the lower end side, and the above-mentioned outer side. A support recess is formed in the center of the spherical surface, the deepest part being on the axis, and has a swinging shaft, a plurality of swinging spheres, and a horizontal motion sphere, and the outer spherical surface and the inner spherical surface are held between the swinging spheres. It has a support body that swingably supports the rocking shaft, and a plurality of horizontal support parts that are parallel to each other on both upper and lower surfaces, which are held by the horizontally movable sphere to support the support body so that it can be horizontally movable. 1. A handling device comprising: a mounting body having a support sphere that elastically presses a support recess.