JP2006116669A - Press-in device and press-in method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a press-in device and a press-in method, preventing excessive press-in reaction force at the time of pressing-in from being transmitted to a robot hand a manipulator to which the press-in device is attached. <P>SOLUTION: This press-in device 1 includes: a fitting member fitted to a positioning means; an engagement means for taking reaction force at the time of pressing-in while engaging with a part of a work to be pressed in; a press-in means for pressing in a pin P; and a part holding means mounted directly or indirectly on the tip of the press-in means, wherein the press-in means is floating-connected to the fitting member through a spring 6, and the engagement means is fixed to the press-in means. When the pin P is subjected to eccentric load X from the edge of a press-in hole W2, the press-in means is rocked relatively to the fitting member. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a press-fitting device and a press-fitting method for press-fitting a shaft-like component into a press-fitting hole drilled in a press-fitted work, and in particular, an excessive amount during press-fitting to a robot hand or manipulator to which the press-fitting device is attached. The present invention relates to a press-fitting device and a press-fitting method that do not transmit a proper press-fitting reaction force.

  Conventionally, various problems have occurred in operations such as assembling a knock pin into a pin hole of a transaxle case of a vehicle and fitting the pin while being pressed into the pin hole. In the conventional press-fitting device, a press-fitting cylinder unit is attached to the tip of a support column provided with a cantilever arm, and a work mounting table that also serves as a reaction force receiver during press-fitting is provided on the support column. The thing of composition etc. is used widely.

  Usually, when a pin is press-fitted into a pin hole of a press-fit work such as the transaxle case, an excessive pressing force acts on the press-fit work. The pressed work may be deformed or damaged by this pressing force, and it is necessary to prevent such deformation. Therefore, measures such as using a movable reaction force receiver that applies a force opposite to the pressing force to the press-fit work are taken. However, such a movable reaction force receiver is formed in a relatively large scale that can withstand the pressing force during press fitting, and as a result, the press fitting apparatus itself becomes large.

  On the other hand, even when the above-described movable reaction force receiver is used, the reaction force at the time of press-fitting acts on the cantilever arm of the press-fitting device. Therefore, the press-fitting device has a high rigidity that can resist the reaction force. The structure needed to be designed. Furthermore, the press-fitting cylinder unit is fixed to the arm of the press-fitting device. Therefore, there is a problem that it is difficult to cope with a change in position or a quantity of the press-fitting cylinder unit. Patent Document 1 discloses an invention relating to a pin press-fitting device that can obtain a high pressing force during press-fitting.

  By the way, in the assembly line, the tact time (reference time) of the entire line is determined by the cycle time neck process. For example, when the cycle time in the process of press-fitting the knock pin into the pin hole of the transaxle case as described above is about 1 minute, and the neck process is set to 5 minutes, a wasteful waiting time (this In this case, about 4 minutes) will occur. Since the conventional press-fitting device is configured as described above, it can only deal with press-fitting work, and the four minutes cannot be used for other process work.

JP-A-8-90446

  According to the pin press-fitting device of Patent Document 1, it is possible to obtain a high press input, but it is impossible to avoid an excessive reaction force during press-fitting acting on a manipulator or the like that supports the press-fitting device.

  The present invention has been made in view of the above-described problems, and provides a press-fitting device and a press-fitting method that hardly causes a press-fitting reaction force during press-fitting to a robot hand or a manipulator to which the press-fitting device is attached. With the goal. It is another object of the present invention to provide a press-fitting device that can be easily attached to and detached from a robot hand or the like of the assembly line and can improve the efficiency of the assembly line, and a press-fitting method using the press-fitting device.

  In order to achieve the above object, a press-fitting device according to the present invention is a press-fitting device that can be attached to positioning means such as a robot hand or a manipulator and press-fit a shaft-like component into a press-fitting hole formed in a press-fitted work. The press-fitting device includes an attachment member attached to the positioning means, an engaging means that takes a reaction force during press-fitting while engaging a part of the press-fitted work, a press-fitting means for press-fitting parts, and a tip of the press-fitting means And a component holding means that is directly or indirectly attached to the mounting member. The press-fitting means is floatingly connected to the mounting member, and the engaging means is fixed to the press-fitting means.

  The press-fitting device of the present invention is detachably attached to a positioning means such as a robot hand or a manipulator, and is positioned immediately above the press-fitting hole of the press-fitted work in the attached state. The attachment member directly attached to the positioning means is not particularly limited, but may be a shaft member made of, for example, a steel or aluminum tube or rod. The press-fitting means may be an appropriate press-fitting means using hydraulic pressure or air pressure, and this press-fitting means is floatingly connected to the mounting member. Here, the floating connection means a connection in which the press-fitting means and the attachment member can take an appropriate movement mode relatively. For example, the press-fitting means is connected to the attachment member. A moving mode that can move up and down relatively or swing left and right is mentioned. For example, when the press-fitting means aligns the pin or the like with the pin hole of the press-fit work piece, a part of the tip of the pin is a reaction force from the opening edge of the pin hole. (In this case, the pin receives an eccentric load vertically upward from below), and this reaction force can be avoided from being transmitted to the positioning means.

  Further, in the press-fitting device, an engaging means for taking a reaction force during press-fitting is fixed to the press-fitting means. It is preferable that a part of the engaging means is disposed at a position facing the press-fitting means, and a shaft such as a pin is used in a posture in which a part of the press-fitted work is sandwiched between the press-fitting means and the engaging means. Shaped parts are press-fitted into the pin holes. For example, when a pin hole is drilled in the collar part of the press-fitted work, the pin is press-fitted from above the collar part with the engagement means engaging the lower part of the collar part (the pin hole). can do.

  A component holding means for holding a shaft-like component such as a pin directly or indirectly is attached to the tip of the press-fitting means. Here, indirectly, when the distance from the tip of the press-fitting means to the press-fitting hole of the press-fitting work is large, an appropriate shaft member is interposed at the tip of the press-fitting means, and the component is held at one end of the shaft member. Means that means are installed.

  Furthermore, the press-fitting device is manufactured as a tool device that can be attached to and detached from positioning means such as a robot hand. Therefore, when using, for example, a double-arm robot as the positioning means, the press-fitting device of the present invention can be attached to one robot hand, and a separate tool device for work can be attached to the other robot hand. It is also possible to improve the overall work efficiency. Furthermore, it is possible to use a press-fitting device and a work device separately from the same robot hand while attaching and detaching them separately. In this case, it is possible to diversify the variations of the assembly line configuration.

  In another embodiment of the press-fitting device according to the present invention, the component holding means is configured such that a first member that holds a component and a second member that press-fits the component are relatively slidably connected. It is formed.

  As such an embodiment, for example, there is a form in which the second member is composed of a housing that opens downward, and the first member is connected to the inside of the housing via an elastic member such as a spring. Here, the shaft member is provided in the housing (second member) in a direction (vertical direction) toward the opening. On the other hand, the first member is a housing having a shaft hole, and the first member and the second member are assembled in a state in which the shaft member of the second member is loosely fitted in the shaft hole. A pin hole for holding a pin is formed in an end face of the first member facing the shaft hole, and the pin hole and the shaft hole facing each other are on the same axis. In such a configuration, the end surface of the first member is brought into contact with the surface of the press-fitted work with the pin positioned in the press-fitting hole of the press-fitted work, and the second member is pressed by the press-fitting means. After the two shaft members abut one end of the pin, the pin can be press-fitted into the press-fitting hole (in this case, the engaging means is engaged with a part of the press-fitted work).

  Here, each of the second member and the first member is provided with an air hole, and the air hole can be configured to communicate with the pressure switch via the pressure pipe. In the first member, the air hole is closed by inserting the pin into the pin hole, the pressure switch is turned on by the pressure rise in the pressure pipe, and the operator is notified that the pin has been properly inserted into the pin hole. It becomes possible. On the other hand, in the second member, for example, when the first member comes into contact with the inner end surface of the housing of the second member before the pin (first member) is pressed at a predetermined high pressure, the pressure pipe is By closing the air holes of the two members, the pressure switch is turned on, and it is possible to notify the operator that the press-fitting with the normal load has not been performed. Such a problem may occur when the pin is not molded into a predetermined shape, or when there is a broken portion in the pin or the press-fitting hole.

  In another embodiment of the press-fitting device according to the present invention, the press-fitting means is connected to the attachment member via an upward biasing means.

  An elastic member such as a coil spring can be used as the upward biasing means. By adopting a configuration in which one end of the spring is attached upward to the attachment member and a part of the press-fitting means is attached to the other end of the spring, the spring is contracted by the weight of the press-fitting means and the engaging means, and the press-fitting The means receives an upward biasing force from the spring.

  Since the press-fitting means is connected to the mounting member via a spring (floating connection), the press-fitting means can freely move up and down during positioning of the component, and therefore, when the pin tip comes into contact with the press-fitting hole, It is possible to avoid a force acting directly on the positioning means.

  In another embodiment of the press-fitting device according to the present invention, the press-fitting means is a cylinder unit including at least a cylinder and a piston rod.

  As the press-fitting means, for example, a high pressing force during press-fitting can be obtained by using a cylinder unit composed of a hydraulic cylinder. As will be described later, when positioning a part (carrying the tip of the part to the press-fitting hole position), press-fitting is performed at a low pressure and the press-fitted work is engaged by the engaging means. By press-fitting at a high pressure while the work to be press-fitted is engaged, it is possible to reliably realize the press-fitting of the component into the press-fitting hole without damaging the component.

  In another embodiment of the press-fitting device according to the present invention, the cylinder unit further includes a casing and a ram that can slide inside the casing, and the tip of the piston rod and one end of the ram are fixed. The other end is fixed to the second member of the component holding means.

  The present invention is suitable when the distance from the tip of the piston rod to the press-fit work is large. For example, a casing is fixed to the mounting member, and a cylinder unit is attached to the upper end of the casing so that the tip of the piston rod can enter and leave the casing. By fixing one end of the ram to the tip of this piston rod and fixing the other end of the ram to the second member of the component holding means, the vertical movement of the piston rod can be transmitted to the second member via the ram, It is possible to press-fit the parts.

  In another embodiment of the press-fitting device according to the present invention, the mounting member is further provided with a counterweight, so that the eccentric moment generated in the positioning means can be reduced.

  In general, since a press-fitting means, an engaging means, or the like is mounted on one end side of the mounting member, an eccentric moment acts on the press-fitting means side where the mounting member is attached to the positioning means. Therefore, by mounting a counterweight on the other end side of the attachment member on the side opposite to the press-fitting means side, the eccentric moment that can occur in the positioning means can be eliminated.

  In this way, by removing the eccentric moment that can act on the positioning means, it is possible to reduce the scale of the positioning means as a result of making the reaction force during press-fitting difficult to act on the positioning means. .

  Further, the press-fitting method according to the present invention includes an attachment portion attached to the positioning means, an engaging means for taking a reaction force at the time of press-fitting into a part of the press-fitted work, and a cylinder unit comprising at least a cylinder and a piston rod. A press-fitting device comprising a component holding means mounted directly or indirectly on the tip of the piston rod, wherein the press-fitting means is floatingly connected to the mounting member, and the engaging means is fixed to the press-fitting means. A press-fitting method in which a shaft-like component is press-fitted into a press-fitting hole drilled in a press-fitted workpiece using a press-fitting device, and the component holding means is held by a positioning means in a posture in which the component is held by the component holding means. Is positioned in the press-fitting hole of the press-fitted workpiece, and the tip of the part is guided to the press-fitting hole with the piston rod in a posture in which the engaging means does not engage with a part of the press-fitted work. By pressing the part in a posture in which the tip of the means is in contact with the press-fit work, the engaging means is engaged with a part of the press-fit work, and the part is further pressed to press-fit the part into the press-fit hole. It is characterized by that.

  The press-fitting method of the present invention will be described by taking a transaxle case as the press-fitted work and a knock pin as the shaft-like part. In addition, the component holding means is composed of the first member and the second member as described above, and each of them is formed in the housing and is connected to each other by a spring. The case of the embodiment which can press the knock pin attached to the pin hole of the first member with the provided shaft member is assumed.

  The knock pin is automatically attached to the first member by positioning means such as a human hand or a robot hand. At this time, it is preferable to check the setting of the knock pin with a pressure switch communicating with the first member.

  After mounting the knock pin on the first member, the positioning means is moved to position the first member directly above the press-fitting hole of the transaxle case. At this time, there is a minute gap between the engaging means and a part of the transaxle case (for example, a collar portion at an appropriate position provided on the transaxle case).

  Next, press-fitting is started at a low pressure by the hydraulic cylinder. When the knock pin comes into contact with the opening edge of the press-fitting hole, the hydraulic cylinder (press-fitting means) is floatingly connected to the mounting member via a spring or the like so as to be movable up and down or swingable. Can be absorbed by a spring. Therefore, the possibility that the reaction force from the tip of the knock pin acts on the positioning means is extremely low.

  Furthermore, if the hydraulic cylinder is continuously pressed in at a low pressure, the pressing force required for press-fitting the knock pin into the press-fitting hole is larger than the low pressure that is applied. The lower surface of a certain collar is engaged.

  Next, the knocking pin is press-fitted by switching the hydraulic cylinder to a high pressure. At this time, the tip of the knock pin is positioned in the press-fitting hole, and the end of the first member is in contact with the surface of the transaxle case. The first member is housed inside the second member against the bias of the spring (the spring connecting the first member and the second member) by pushing the knock pin at a high pressure with the shaft member inside the second member. Will slide as you do.

  If the knock pin is missing or wrong, or there is an abnormality in the press-fit hole, the knock pin will be inserted into the press-fit hole even when the hydraulic cylinder is at a low pressure. In this case, the knock pin is not properly fitted in the press-fitting hole. In order to cope with such a problem at the time of press fitting, an air hole can be provided in the second member, and the air hole and the pressure switch can be communicated with each other via a pressure pipe or the like.

  As can be understood from the above description, according to the press-fitting device and the press-fitting method of the present invention, the reaction force generated at the time of press-fitting the component can be obtained by adopting a configuration in which the attachment member and the press-fitting means are floatingly connected so as to move up and down. It can be made difficult to transmit to a positioning means such as a hand, and therefore the positioning means can be miniaturized. Further, according to the press-fitting device of the present invention, since it can be attached to and detached from a robot hand or a manipulator, it can be easily used or changed with other work tool devices, improving the working efficiency of the assembly unit and various variations. Can be achieved.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing a press-fitting device of the present invention. 2 to 6 are diagrams for explaining the press-fitting method of the present invention step by step. The press-fitting device is attached to the robot hand 8, but it goes without saying that the positioning means may be other manipulators.

  FIG. 1 shows a press-fitting device 1. The press-fitting means 4 is fixed to the bifurcated portions 21, 21 of the mounting member 2 via springs 6, 6, and the press-fitting device 1 is roughly configured by fixing the engaging means 3 to the press-fitting means 4. Yes. A through hole 21a is formed in the bifurcated portion 21 (see FIG. 4), and a rod body 45 that connects between the flanges 44a and 44b at both ends of the casing 43 is loosely fitted into the through hole 21a. The engaging means 3 is provided with an engaging portion 31 for engaging a part of the press-fit work from below. The attachment member 2 is attached to the robot hand 8 via an ATC 82 on the attachment tool side that can be attached to and detached from the ATC 81 (automatic attachment / detachment device) at the tip of the robot hand 8. The ATC 81 and the ATC 82 are fastened by a stop bar 83 fitted in each pin hole, and the tip of the stop bar 83 is fitted in the pin hole of the mounting member 2. A counterweight 7 is further attached to the pin hole attaching member 2 so that an eccentric moment does not act on the connecting portion between the robot hand 8 and the attaching member 2.

  Next, the press-fitting method of the present invention will be described with reference to FIGS.

  First, the configuration of the press-fitting device 1 will be described in more detail with reference to FIG. The press-fitting means 4 is a cylinder unit in which a cylinder 41 is fixed to a flange 44 a at the end of a casing 43, and a piston rod 42 can enter and leave the casing 43. The piston rod 42 can slide up and down while being guided by a guide member 47 in the casing 43. The tip of the piston rod 42 is fixed to one end of the ram 46, and the other end of the ram 46 is fixed to the second member 52.

  The second member 52 includes a housing 52a that is open at the bottom and a shaft member 52b that is provided in the housing 52a in the vertical direction. In addition, an air hole 52 c is formed at an end portion that is fixed to the ram 46, and a pressure switch 94 is connected to the air hole 52 c through a pressure pipe 93.

  A first member 51 is attached to the open side of the second member 52 via a spring 53. The first member 51 includes a casing 51a having one end opened, and a pin hole 51b for fitting a knock pin P is formed at the other end of the casing 51a. The shaft member 52b of the second member 52 is fitted on the open side of the housing 51a so as to be slidable in the vertical direction, and the first member 51 is opposed to the second member 52 against the bias of the spring 53. Therefore, the end of the shaft member 52b can push out the end of the knock pin P when sliding. The first member 51 is also provided with an air hole 51 c, and the air hole 51 c is connected to a pressure switch 92 via a pressure pipe 91.

  As shown in FIG. 2, the press-fitting method is such that the robot hand 8 is drilled in the flange W1 of the press-fit work W with the knock pin P fitted into the pin hole 51b by manual operation or automatic operation of the robot. The knock pin P is positioned immediately above the press-fitting hole W2. Here, a gap h is secured between the engaging portion 31 and the lower surface of the flange portion W1.

  Next, as shown in FIG. 3, by extending the piston rod 42 downward (in the direction of the arrow X), the knock pin P fitted into the first member 51 via the ram 46 and the second member 52 is inserted into the press-fitting hole W2. Position to. At this time, the lower end surface of the first member 51 is in contact with the surface of the flange W1. Also at this stage, a gap h is secured between the engaging portion 31 and the lower surface of the flange portion W1.

  At the stage of FIG. 3, the tip of the knock pin P is in contact with the opening edge of the press-fitting hole W2. Here, as shown in FIG. 4, for example, it is often assumed that only a part of the tip of the knock pin P receives the eccentric reaction force X from a part of the opening edge. In this case, the press-fitting means 4 can swing in the direction of the arrow Y in the vertical plane by the eccentric load X. That is, since the press-fitting means 4 is floatingly connected to the mounting member 2 via the springs 6 and 6, the press-fitting means 4 can swing relative to the mounting member 2, and this swinging motion can be performed on one side. As the spring 6 expands and contracts and the other spring 6 extends repeatedly, the spring 6 converges to a stationary state.

  After positioning the knock pin P, the piston rod 42 is further extended at a low pressure. If it is necessary to press the knock pin P into the press-fitting hole W2 at a relatively high pressure, the knock pin P is not fitted into the press-fitting hole W2 at this low pressure stage. The fixed engagement means 3 is raised. As the engaging means 3 rises (in the direction of arrow X in FIG. 5), the engaging portion 31 comes into contact with the lower surface of the flange portion W1. At this stage, a gap h is secured between the open end of the first member 51 and the inner wall of the second member 52.

  After the engaging portion 31 is brought into contact with the lower surface of the flange portion W1, as shown in FIG. 6, the piston rod 46 is extended at a high pressure, thereby making the engaging portion 31 a reaction force receiver and the spring 53. Against this, the shaft member 52b of the second member 52 pushes the knock pin P downward. By setting the insertion length of the knock pin P into the press-fitting hole W2 and the gap h to the same length, the knock pin P can be press-fitted in a predetermined length when the gap h becomes zero as shown in the figure. It will be completed.

  According to the press-fitting method of the present invention described above, even when parts such as pins receive an eccentric load (eccentric reaction force) from the opening edge of the press-fitting hole, the eccentric load can be absorbed in the press-fitting device 1, Therefore, it is possible to prevent an eccentric load from acting on the positioning means. This leads to downsizing of the positioning means. Furthermore, since the press-fitting device 1 is configured to be detachable from the positioning means, it can be used together with an attachment / detachment device for other work, and the work variations of one positioning means (for example, a robot hand) are diversified. It is also possible.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and there are design changes and the like without departing from the gist of the present invention. They are also included in the present invention.

The perspective view which showed the press injection apparatus of this invention. The figure which showed the press injection method of this invention. FIG. 3 shows the press-fitting method of the present invention following FIG. 2. FIG. 4 is a view taken in the direction of arrow IV in FIG. 3 and showing a case where the press-fitting means and the component holding means are swinging. FIG. 5 shows the press-fitting method of the present invention following FIG. 4. FIG. 6 shows the press-fitting method of the present invention following FIG. 5.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Press-fit apparatus, 2 ... Mounting member, 3 ... Engagement means, 4 ... Press-fit means, 5 ... Parts holding means, 6 ... Spring (upward biasing means), 7 ... Counterweight, 8 ... Robot hand (positioning means) ), 41 ... Cylinder, 42 ... Piston rod, 43 ... Casing, 46 ... Ram, 51 ... First member, 52 ... Second member, W ... Press-fit work, W1 ... Butt, W2 ... Press-fit hole, P ... Knock pin (Shaft-shaped parts)

Claims (7)

A press-fitting device that can be attached to a positioning means such as a robot hand or a manipulator and press-fits a shaft-like component into a press-fitting hole formed in a press-fitted work,
The press-fitting device includes an attachment member attached to the positioning means, an engagement means that takes a reaction force at the time of press-fitting while engaging a part of the work to be press-fitted, a press-fitting means for press-fitting parts, and a tip of the press-fitting means. A press-fitting device, wherein the press-fitting means is floatingly connected to the mounting member, and the engaging means is fixed to the press-fitting means. .   The said component holding means is formed by connecting the 1st member which hold | maintains components, and the 2nd member which press-fits components relatively so that sliding is possible. Press-fitting device.   The press-fitting device according to claim 1, wherein the press-fitting unit is connected to the attachment member via an upward biasing unit.   The press-fitting device according to any one of claims 1 to 3, wherein the press-fitting means is a cylinder unit including at least a cylinder and a piston rod.   The cylinder unit further includes a casing and a ram that can slide inside the casing. The tip of the piston rod and one end of the ram are fixed, and the other end of the ram is fixed to the second member of the component holding means. The press-fitting device according to claim 4, wherein the press-fitting device is provided.   The press-fitting device according to any one of claims 1 to 5, wherein an eccentric moment generated in the positioning means can be reduced by further mounting a counterweight on the attachment member. A mounting unit that is attached to the positioning means, an engaging means that takes a reaction force during press-fitting to a part of the work to be press-fitted, a cylinder unit that includes at least a cylinder and a piston rod, and directly or indirectly at the tip of the piston rod A press-fitting device comprising a component-holding means to be mounted on the press-fitting device, wherein the press-fitting means is floatingly connected to the mounting member, and the engaging means is press-fitted using a press-fitting device fixed to the press-fitting means. A press-fitting method for press-fitting a shaft-like component into a press-fitting hole drilled in a work,
Position the component holding means in the press-fitting hole of the press-fitted work with the positioning means while holding the part with the part-holding means. Guide the tip of the part to the press-fitting hole, and press the part in a posture in which the tip of the part holding means is in contact with the press-fitted work, thereby engaging the engaging means with a part of the press-fitted work. A press-fitting method, wherein the component is press-fitted into the press-fitting hole by further pressing.

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