JP2003326424A - Component feeding method and its device for caulking machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a component feeding method and its device for a caulking machine capable of efficiently feeding a component to the caulking machine. <P>SOLUTION: In a type holding a first component in a base 10 of the caulking machine 3, uniting a second component 2 to the first component 1 and then caulking and integrating both first and second components, the first component 1 is held in the base 10 of the caulking machine 3 by a reciprocating feeding rod 4, and the second component 2 is united with the first component 1 by a versatile robot device 5. By this, component feeding with no idle time between feeding of the first component and feeding of the second component 2 is carried out, time shortening of component feeding is achieved and productivity is improved. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a caulking machine in which a first part and a second part are integrated, and to supply both parts to the caulking machine.

[0002]

2. Description of the Related Art Conventionally, when at least two parts are integrated by a caulking machine, one parts feeding robot is installed for one caulking machine. Then, the parts supply procedure is as follows. First, the first part is supplied to the caulking machine, then, as the second supply operation, the second part is supplied to the caulking machine, and then the caulking machine is operated to perform the caulking process. Was going on.

[0003]

In the prior art as described above, since the supply operation of the component supply robot is performed for each of the first component and the second component, the component supply time is increased. It took a long time and it was difficult to improve productivity. Further, since the shape and size of the first part and the second part are different, a chuck mechanism for holding the first part and a chuck mechanism for holding the second part are provided in one part supply robot. Although it is necessary to provide them separately, the equipment cost is high although the productivity is not improved. Further, in the case of one component supply robot, since the component supply is performed from one direction, the component supply trajectory has a complicated form and the number of axes of the robot must be increased. It is necessary to remarkably improve the operating accuracy of.

The present invention has been made in view of the above-mentioned problems, and it is carried out in a form in which the supply means for the first part and the second part are divided.

[0005]

According to the invention described in claim 1, the first component is held on the base of the caulking machine, and the second component is joined to the first component, and then the first component is joined. In the type in which both the first and second parts are caulked and integrated,
The first part is held on the base of the caulking machine by a reciprocating supply rod, and the second part is combined with the first part by a versatile robot device. It is a supply method.

Therefore, since the first part is supplied to the base of the caulking machine by the reciprocating supply rod, the supplying operation itself is a reciprocating form, and the supply is simplified. Then, since the supply of the first component by the reciprocating operation and the supply of the second component by the versatile robot device can be continuously progressed, the supply of the first component and the supply of the second component can be performed. In the meantime, the parts are supplied without a blank time, and the time for supplying the parts is shortened. In this way, productivity can be improved.

According to a second aspect of the present invention, the first component is held on the base of the caulking machine, the second component is joined to the first component, and then the first and second components are joined together. To a caulking machine including a reciprocating feed rod for holding a first part on a base and a versatile robot device for combining a second part with the first part It is a parts supply device.

This device is used for carrying out the above method and operates in the same manner as the above method.

According to a third aspect of the present invention, in the first or second aspect, the first component is a shaft-shaped component, and a holding portion that holds the shaft-shaped component in a predetermined posture at the tip of the supply rod. Is formed, and the axis of the shaft-shaped component is coaxial with the axis of the receiving hole of the base when the feed rod advances, and a component feeding method and device for a caulking machine.

Therefore, in order to make the axis of the shaft-shaped part and the axis of the receiving hole of the base coaxial with each other, the relative position between the shaft-shaped part and the supply rod is accurately set via the holding portion. Therefore, there are few factors that disturb the coaxial state to find it, which is convenient for inserting the shaft-shaped component into the receiving hole. The fact that the insertion into the receiving hole is performed by the behavior of the simplified shaft-shaped component makes it possible to quickly and surely supply the shaft-shaped component, which is very important for shortening the time for supplying the component to the caulking machine. Is effective for.

According to a fourth aspect of the present invention, in the robot apparatus having general versatility according to the first or second aspect,
A method and an apparatus for supplying parts to a caulking machine, characterized in that a supply arm for supplying a second part to a plurality of caulking machines is provided.

In this way, the second caulking machine is moved toward the second caulking machine.
The provision of the supply arm for supplying the above parts makes it possible to diversify the functions of the robot and to fully operate a plurality of caulking machines to significantly improve the productivity. Such an advantage is obtained by organically associating the first part with the supply rod that performs the simplest reciprocating motion and the supply function of the diversified and versatile robot described above. It has been done.

According to a fifth aspect of the present invention, in the fourth aspect, a plurality of supply arms are provided, and each supply arm holds a different type of second component and supplies the second component to the caulking machine. And a device for supplying parts to a caulking machine.

Since the first component is supplied in a short time in the simplified supply form as described above, a plurality of supply arms of the robot apparatus are provided to adapt to such a supply cycle, and different types of first parts are provided. By supplying the second part to the caulking machine, it is possible to match the supply cycle of the first part and the supply cycle of the second part as much as possible, and perform caulking processing for a wide range of parts in a short time. To do.

According to a sixth aspect of the present invention, in the third aspect, the holding portion of the supply rod comprises a positioning portion that matches the outer peripheral surface of the shaft-shaped component and a suction means that prevents the shaft-shaped component from falling. And a device for supplying parts to a crimping machine.

As described above, the holding portion accurately positions the relative position between the first component and the supply rod, and the positioning portion,
Since the first component that matches the positioning portion is formed by the suction means that prevents the displacement and the fall of the first component, the first component held at the tip of the supply rod may fall during the supply. Without feeding, it is accurately supplied to the receiving hole of the base of the crimping machine. Therefore, the axial first
It is possible to maintain the high productivity by avoiding troubles in the production process without causing the supply error of the parts in the receiving hole.

The present invention will be described in detail below with reference to the illustrated embodiments.

The parts dealt with in this embodiment are a shaft-shaped part 1 and a plate-shaped part 2. Both parts 1, 2 are supplied to a caulking machine 3 so that a part of the shaft-shaped part 1 is plastic. The parts 1 and 2 are deformed and integrated. The shaft-shaped component 1 is the first component held by the supply rod 4 and supplied to the caulking machine 3, and the plate-shaped component 2 is retained by the versatile robot device 5 and supplied to the caulking machine 3. There are two parts.

As shown in FIG. 2, the shaft-shaped component 1 is composed of a shaft portion 6, a large-diameter portion 7 connected to the shaft portion 6 and a crimped portion 8 connected to the shaft portion 6, and the cross section thereof is circular. For example, it is made of steel materials. Further, the plate-shaped component 2 is made of a thick steel plate, and a through hole 9 through which the caulking portion 8 penetrates is opened in the central portion thereof.

The crimping machine 3 is generally employed, in which the shaft portion 6 of the shaft-shaped component 1 is inserted into the receiving hole 11 of the base 10 and the through hole 9 of the plate-shaped component 2 is crimped. After fitting, the working die 12 descends, and the caulking recess 13
The caulked portion 8 is plastically deformed to be described later with reference to FIGS.
Both parts 1 and 2 are integrated as shown in FIG.

There are various forms of reciprocating motion imparted to the supply rod 4, and there are linear advancing / retreating motions, square motions, rocking motions, and the like. here,
It is a linear reciprocating motion except for FIG. Supply rod 4
Is accommodated in the guide cylinder 14 in a retractable state, and is moved forward and backward by an air cylinder 15 connected to the guide cylinder 14. Reference numeral 16 is a piston rod of the air cylinder 15 and is connected to the supply rod 4. The advancing / retreating direction of the supply rod 4 is inclined with respect to the advancing / retreating direction of the processing die 12 of the caulking machine 3.

A component supply pipe 17 extending from a parts feeder (not shown) is connected to the guide cylinder 14, and the shaft-shaped component 1 is held at the tip of the supply rod 4 from the component supply pipe 17. It has become so. In order to hold this, a holding portion 18 is provided at the tip of the supply rod 4. As shown in FIGS. 2A and 2B, the holding portion 18 is such that the large-diameter portion 7 and the caulking portion 8 fit into the arc-shaped recess 19, and the shaft-shaped component 1 fits exactly into the recess 19. When the supply rod 1 advances, the orientation of the recess 19 is set so that the axis of the shaft-shaped component 1 and the axis of the receiving hole 11 become coaxial as shown in FIG. 3 (A). A magnet (permanent magnet) 20, which is a suction means, is attached to the tip of the supply rod 4 in order to prevent the shaft-shaped component 1 from being displaced or dropped. The concave portion 19 corresponds to the positioning portion.

When the supply rod 4 advances and stops at the position shown in FIG. 3 (A) and then the attractive force of the magnet 20 disappears, the shaft-shaped component 1 falls as it is and the shaft portion 6 receives the receiving hole 11. Inserted inside. Thus, in order to eliminate the attraction force of the magnet 20, the position of the magnet 20 is set back. That is, the actuating shaft 22 is inserted into the actuating hole 21 opened in the longitudinal direction of the supply rod 4 so as to be able to move forward and backward, and the magnet 20 is bonded to the tip of the actuating shaft 22 by adhesion or welding. A long hole 23 is opened in the longitudinal direction of the operation hole 21, and a stopper piece 24 fixed to the operation shaft 22 penetrates the long hole 23 and projects to the outside of the supply rod 4. Working hole 2
The compression coil spring 25 is inserted into the spring 2, and the stopper piece 24 abuts the lower end of the elongated hole 23 due to its elasticity, and in this state, the downward attracting surface 26 of the magnet 20 attracts the caulking portion 8.

An air cylinder 27 is fixed to the guide cylinder 14, and a locking piece 29 attached to a piston rod 28 of the air cylinder 27 passes through an elongated hole 30 formed in the longitudinal direction of the operating shaft 22 and enters the guide cylinder 14. There is. The locking piece 29 that has entered is
When the supply rod 4 advances and stops at the position shown in FIG. 3 (A) with the stopper piece 24 facing each other, the air cylinder 27 operates to move the stopper piece 24 backward while compressing the compression coil spring 25. Then, the magnet 20 is drawn into the operation hole 21. As a result, the attractive force of the magnet 20 on the shaft-shaped component 1 is substantially eliminated, and the shaft-shaped component 1
Is inserted into the receiving hole 11.

A movement control section 3 provided in the robot apparatus 5.
1, the chuck 33 provided at the tip of the supply arm 32
Can be repositioned freely. Generally, the chuck 33 can reach a predetermined position by appropriately moving in the X direction in the left-right direction in FIG. 1, the Y direction in the up-down direction, and the Z direction in the direction perpendicular to the paper surface of FIG. . The plate-like parts 2 are stacked in a magazine (not shown) and are standing by, and they are held by the chuck 33 and fitted into the shaft-like part 1. The chuck 33
Alternatively, the plate-shaped component 2 may be moved by pinching it with a jaw, or the vacuum cup 34 as shown in FIG. 3B may serve the same function. Alternatively, the plate-shaped component 2 may be moved using a magnet (permanent magnet) 35 as shown in FIG.

As shown in FIG. 3, a supporting jig 36 is provided to support the plate-shaped component 2. Support jig 3
A groove 37 for advancing and retracting is formed in the central portion of 6, and although not shown, for example, the supporting jig 3 is formed by an air cylinder.
Move 6 back and forth. The support jig 36 comes in after the shaft-shaped component 1 is inserted into the receiving hole 11, and the support jig 36 is in a plate shape as shown in FIG. Part 2 is supplied. After that, the processing die 12 advances and the caulking processing is performed as shown in FIG.

An air passage 38 is formed in the support jig 36, and the air passage 38 opens upward through the injection port 39. When the caulking process is completed and the processing die 12 retracts, the air ejected from the ejection port 39 blows off the integrated shaft-shaped component 1 and plate-shaped component 2 as shown in FIG.
It is thrown into 0.

Therefore, since the shaft-shaped component 1 is supplied to the base 10 of the caulking machine 3 by the reciprocating supply rod 4, the supply operation itself is a reciprocating form, and the supply is simplified. Further, since the supply of the shaft-shaped component 1 by the reciprocating operation and the supply of the plate-shaped component 2 by the versatile robot device 5 can be continuously advanced, the supply of the shaft-shaped component 1 and the supply of the plate-shaped component 2 can be performed. Since there is no blank time between the parts supply, the parts supply time can be shortened and the productivity can be improved.

The above-mentioned supply rod 4 advances and retreats from diagonally above, but the one shown in FIG. 4 is of a type that advances and retracts in the horizontal direction. Then, as indicated by an arrow 41 in the figure, the supply rod 4 is adapted to perform a square motion. The other configurations and operational effects are the same as those of the above-described embodiment.

The embodiment shown in FIG. 5 is a case where the supply arm 32 extends from the robot apparatus 5 toward the plurality of caulking machines 3. Here, a plurality of supply arms 32 are also installed and each of them is installed. Different plate-shaped parts 2 are held on the supply arms 32. The shaft-shaped component 1 is fed to each caulking machine 3 by a reciprocating feed rod 4, and a plate-shaped component 2 having various different shapes is fed by a feed arm 32. Therefore, the shaft-shaped component 1 and the various plate-shaped components 2 are continuously supplied to the respective caulking machines 3, and various types of production can be efficiently performed. Other configurations and operational effects are the same as those of the above-described embodiments.

The structure shown in FIG. 6 is an alternative to that shown in FIG. 3 (D), and has a magnet (permanent magnet) 42 fixed to the working die 12.
The component that has been caulked is pulled up, and the component is separated from the working die 12 by applying this component to the protruding member 43 fixed to the stationary member.

In the above-described embodiments, the magnet 20 which is a permanent magnet is adopted at the tip of the supply rod 4, but it can be replaced with an electromagnet. In that case, let the supply rod 4 penetrate in the electromagnetic coil,
The tip of the supply rod 4 is magnetized.

Further, although the magnet 20 is used as the attraction means of the supply rod 4, a vacuum may be applied to the shaft-shaped component 1 instead of the magnet 20.

[0034]

As described above, according to the method and apparatus for supplying parts to a caulking machine of the present invention, the first part is supplied to the base of the caulking machine by the reciprocating supply rod.
The supply operation itself is a reciprocating mode, and the supply is simplified. Then, since the supply of the first component by the reciprocating operation and the supply of the second component by the robot apparatus having versatility can be continuously advanced, the supply of the first component and the second component can be performed.
The parts are supplied without any blank time between the parts supply and the parts supply time is shortened. In this way, productivity can be improved.

Further, in order to make the axis of the shaft-shaped component and the axis of the receiving hole of the base coaxial with each other, the relative position between the shaft-shaped component and the supply rod is accurately set via the holding portion. Therefore, there are few factors that disturb the coaxial state to find it, which is convenient for inserting the shaft-shaped component into the receiving hole. The fact that the insertion into the receiving hole is performed by the behavior of the simplified shaft-shaped component makes it possible to quickly and surely supply the shaft-shaped component, which is very important for shortening the time for supplying the component to the caulking machine. Is effective for.

Further, since the supply arm for supplying the second part to the plurality of caulking machines is provided, the functions of the robot are diversified, and the plurality of caulking machines are fully operated to improve productivity. It is possible to greatly improve. Such an advantage is obtained by organically associating the first part with the supply rod that performs the simplest reciprocating motion and the supply function of the diversified and versatile robot described above. It has been done.

Since a plurality of supply arms are provided and the second parts of different types are held in the respective supply arms and supplied to the caulking machine, the first part has a simplified supply form as described above. Is supplied in a short time, and by adapting to such a supply cycle, the plurality of supply arms of the robot apparatus are supplied to supply different kinds of second parts to the caulking machine, thereby providing a first part supply cycle. By matching the supply cycle of the second part as much as possible, it is possible to perform swaging for a wide range of parts in a short time.

As described above, the holding portion, the positioning portion for accurately determining the relative position between the first component and the supply rod,
Since the first component that matches the positioning portion is formed by the suction means that prevents the displacement and the fall of the first component, the first component held at the tip of the supply rod may fall during the supply. Without feeding, it is accurately supplied to the receiving hole of the base of the crimping machine. Therefore, the axial first
It is possible to maintain the high productivity by avoiding troubles in the production process without causing the supply error of the parts in the receiving hole.

[Brief description of drawings]

FIG. 1 is a vertical side view showing an embodiment of the present invention.

FIG. 2 is a vertical sectional side view of a supply rod and a cross-sectional view of a tip portion.

FIG. 3 is a diagram showing an operation process of component supply.

FIG. 4 is a vertical sectional side view showing another embodiment.

FIG. 5 is a schematic plan view showing another embodiment.

FIG. 6 is a side view showing another embodiment.

[Explanation of symbols]

1 First part, axial part 2 Second parts, plate-shaped parts 3 caulking machine 10 bases 4 supply rod 5 Robot device 18 Hold 11 receiving hole 32 supply arm 19 Positioning unit 20 Adsorption means

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Claims (6)

[Claims] 1. A type in which a first part is held on a base of a caulking machine, a second part is united with a first part, and then both the first and second parts are caulked to be integrated. At
The first part is held on the base of the caulking machine by a reciprocating supply rod, and the second part is combined with the first part by a versatile robot device. Supply method. 2. A type in which a first part is held on a base of a caulking machine, a second part is united with a first part, and then both the first and second parts are caulked to be integrated. At
A reciprocating feed rod for holding a first part on a base, and a general-purpose robot device for incorporating a second part into the first part. 3. The method according to claim 1 or 2, wherein
Is a shaft-shaped part, and a holding part for holding the shaft-shaped part in a predetermined posture is formed at the tip of the supply rod, and when the supply rod advances, the axis of the shaft-shaped part is the axis of the receiving hole of the base. And a device for supplying parts to a caulking machine, characterized by being configured so as to be coaxial. 4. The caulking according to claim 1 or 2, wherein the versatile robot device is provided with a supply arm for supplying the second component toward a plurality of caulking machines. Method and equipment for supplying parts to machines. 5. The caulking machine component according to claim 4, wherein a plurality of supply arms are provided, and each of the supply arms holds a second component of a different type and supplies the second component to the caulking machine. Supply method and its equipment. 6. The caulking according to claim 3, wherein the holding portion of the supply rod includes a positioning portion that matches the outer peripheral surface of the shaft-shaped component and a suction means that prevents the shaft-shaped component from falling. Method and equipment for supplying parts to machines.