JP2006320987A - Non-round workpiece fitting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a non-circular workpiece fitting device capable of fitting a first fitting part of a first workpiece to a second fitting part of a second workpiece, and also, capable of reducing assembling time. <P>SOLUTION: The non-circular workpiece fitting device has a first workpiece holding part 3 for holding the first workpiece 1 having the first non-circular fitting part 10, a second workpiece holding part 4 for holding the second workpiece 2 having the second non-circular fitting part 20, an oscillating motion mechanism 5 for oscillating motion in which at least one of the first/second workpiece holding parts 3, 4 is swayed while being rotated, and a driving mechanism 6 for driving the oscillating motion mechanism 5 so as to fit a circumferential phase of the first fitting part 10 of the first workpiece 1 to that of the second fitting part 20 of the second workpiece 2 by matching them with each other. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a non-circular workpiece fitting apparatus.

  The prior art will be described by taking as an example a case where a first work and a second work constituting a reduction gear called a harmonic drive are assembled. As shown in FIG. 10, the 1st workpiece | work 1 which comprises a harmonic drive is provided with the concave 1st fitting part 10 which makes non-circular shape. Moreover, the 2nd workpiece | work 2 which comprises a harmonic drive is provided with the convex 2nd fitting part 20 which makes non-circular shape. As is well known, the harmonic drive is a very large reduction mechanism having a reduction ratio of 1/80 to 1/300 or the like.

  According to the apparatus described above, in FIG. 10, the first fitting portion 10 of the first workpiece 1 has a non-circular shape, and specifically has an elliptical shape in which the inner diameter has a major axis and a minor axis. The second fitting part 20 of the second workpiece 2 has a non-circular shape, and specifically has an elliptical shape with an outer diameter having a major axis and a minor axis. Here, the difference between the major axis and the minor axis of the ellipse is such a minute amount that it is practically invisible to the operator's eyes, for example, 1 mm or less, particularly 0.6 mm or less. That is, as shown in FIG. 10, the difference between the diameter X in one direction and the diameter Y in the direction orthogonal thereto is a minute amount.

  Here, as long as the phase in the circumferential direction of the first fitting portion 10 of the first workpiece 1 and the phase in the circumferential direction of the second fitting portion 20 of the second workpiece 2 do not match in the circumferential direction, they are fitted together. I can't.

  However, as described above, since the difference between the major axis and the minor axis is such a minute amount that it cannot be visually recognized with the naked eye, the first fitting part 10 of the first work 1 and the second fitting part of the second work 2 It is not easy to manually engage 20. Further, in this work, in many cases, when the first work 1 and the second work 2 are brought close to each other, the phase in the circumferential direction of the first fitting portion 10 of the first work 1 is hidden by the second work 2. Moreover, the phase in the circumferential direction of the second fitting portion 20 of the second workpiece 2 is hidden by the first workpiece 1, and the phase in each circumferential direction cannot be accurately confirmed with the naked eye. For this reason, a lot of experience and intuition are required for the fitting operation. Therefore, considerable time is required for assembling the first work 1 and the second work 2. For this reason, improvement in assemblability is desired.

  The present invention has been made in view of the above circumstances, and automatically matches the phase in the circumferential direction of the first fitting portion of the first workpiece and the phase in the circumferential direction of the second fitting portion of the second workpiece. The first fitting portion of the first workpiece and the second fitting portion of the second workpiece can be fitted, and the assembly time for assembling the first workpiece and the second workpiece can be shortened. It is an object to provide a non-circular workpiece fitting device.

A non-circular workpiece fitting device according to the present invention includes a first workpiece holding portion that holds a first workpiece including a first fitting portion that has a non-circular shape having one of a concave shape and a convex shape;
A second work holding part for holding a second work having a second fitting part having a non-circular shape that can be fitted to the first fitting part of the first work while having the other of the concave and the convex;
At least one of the first workpiece holding portion and the second workpiece holding portion is swung while being swung, and the phase in the circumferential direction of the first fitting portion of the first workpiece and the second are caused by the swing motion. A swing motion mechanism for matching and fitting the phase in the circumferential direction of the second fitting portion of the workpiece;
A drive mechanism that drives the swing motion mechanism so that the phase in the circumferential direction of the first fitting portion of the first workpiece and the phase in the circumferential direction of the second fitting portion of the second workpiece are matched and fitted. It is characterized by comprising.

  According to the non-circular workpiece fitting device according to the present invention, the first workpiece including the first fitting portion having a non-circular shape having one of the concave and the convex is held by the first workpiece holding portion. To do. In addition, the second workpiece including the second fitting portion having a non-circular shape having the other of the concave and the convex is held by the second workpiece holding portion. In this state, the swing mechanism is driven by the drive mechanism. As a result, a swinging motion is performed in which at least one of the first work holding part and the second work holding part is swung while being rotated. With such a swing motion, the phase in the circumferential direction of the first fitting portion of the first workpiece and the phase in the circumferential direction of the second fitting portion of the second workpiece are automatically aligned, The first fitting portion and the second fitting portion of the second workpiece are fitted.

  According to the non-circular workpiece fitting device according to the present invention, when the swing motion mechanism is driven by the drive mechanism, the phase in the circumferential direction of the first fitting portion of the first workpiece and the second of the second workpiece. The phase in the circumferential direction of the fitting portion can be automatically aligned, and the first fitting portion of the first workpiece and the second fitting portion of the second workpiece can be fitted. Therefore, the assembly time for assembling the first workpiece and the second workpiece can be shortened.

  According to a preferred embodiment of the present invention, the drive mechanism includes a drive shaft and a rotary handle or a drive motor mechanism that rotates the drive shaft. According to a preferred embodiment of the present invention, when the phase in the circumferential direction of the first fitting portion of the first workpiece matches the phase in the circumferential direction of the second fitting portion of the second workpiece, the swing motion mechanism is The amount of fitting between the first fitting portion of the first workpiece and the second fitting portion of the second workpiece due to gravity acting on one of the first workpiece and the second workpiece and / or the biasing force of the biasing member. It is set as the structure which increases. When using gravity, it is preferable to arrange the first work and the second work side by side in the vertical direction. In this case, it is possible to exemplify a form in which all or a part of the base is raised and the first work and the second work are arranged side by side in the vertical direction. The biasing member can be provided in the swing motion mechanism. Examples of the urging member include a spring and a foam. Known springs such as a coil spring, a leaf spring, and a disc spring can be employed as the spring.

  According to a preferred embodiment of the present invention, the rotation blocking portion is provided between the first workpiece holding portion or the second workpiece holding portion and the drive shaft, and the rotation blocking portion is the first fitting portion of the first workpiece. And the second fitting portion of the second workpiece are fitted together, the transmission of the rotational driving force of the drive shaft to the first workpiece holding portion or the second workpiece holding portion is blocked. If it interrupts | blocks in this way, it will be suppressed that an unnecessary load acts on a 1st workpiece holding part or a 2nd workpiece holding part. A bearing or a clutch is illustrated as a rotation interruption | blocking part.

  According to a preferred embodiment of the present invention, the swing motion mechanism includes a swing mechanism that swings one of the first workpiece holding portion and the second workpiece holding portion, and the drive mechanism is directly connected to the swing mechanism. Alternatively, a drive shaft that is indirectly connected and rotates the swing mechanism around the axis is provided. The swing motion of the swing motion mechanism can be achieved by swinging.

  According to a preferred embodiment of the present invention, in the cross section along the axis of the drive shaft, the swing motion mechanism further swings one of the first work holding part and the second work holding part. A position adjustment mechanism is provided that moves the mechanism in a direction that intersects the axis of the drive shaft. Adjusting the position in this way is advantageous for matching the phase in the circumferential direction of the first fitting portion of the first workpiece with the phase in the circumferential direction of the second fitting portion of the second workpiece. The position adjusting mechanism includes a rotating body that is rotated around the axis of the driving shaft by the driving shaft, a guide portion that extends in a direction intersecting the axis of the driving shaft provided on the rotating body, and the guide portion. And a movable body that is movable.

  According to a preferred embodiment of the present invention, the rocking mechanism is equipped with a rocking body pivotally supported by the moving body, a rotating shaft provided integrally with the rocking body, and a rotating shaft integrally rotated. And an attachment for detachably attaching the first work holding part or the second work holding part. The attachment has a central shaft hole, and a form in which a bearing is interposed between the inner peripheral surface of the central shaft hole of the attachment and the outer peripheral surface of the rotating shaft can be exemplified. The bearing can suppress the rotational driving force of the rotating shaft from being transmitted to the attachment. Moreover, according to the preferable form of this invention, the several 1st workpiece holding part or 2nd workpiece holding part which has a different size so as to correspond to the kind of workpiece | work is provided, and the 1st workpiece holding part or the 2nd An engagement element for detachably attaching the work holding part to the attachment is provided.

  Embodiment 1 of the present invention will be specifically described below with reference to FIGS. FIG. 1 is a side view showing the device partially in section. FIG. 2 is a side view partially showing a cross section of the main part of the apparatus. FIG. 3 is a plan view showing the main part of the apparatus. FIG. 4 is a cross-sectional view showing the vicinity of the moving body.

  The non-circular workpiece fitting device according to the present embodiment is configured to assemble a first workpiece 1 and a second workpiece 2 constituting a reduction gear called a harmonic drive. As described above, the harmonic drive is a very large reduction mechanism having a reduction ratio of 1/80 to 1/300 or the like as is well known.

  As described above, the first workpiece 1 includes the first fitting portion 10 having the inner peripheral surface 10i that forms the recess. The first fitting portion 10 has a non-circular shape, and specifically has an elliptical shape with an inner diameter having a major axis and a minor axis. The second workpiece 2 includes a second fitting portion 20 having an outer peripheral surface 20p that forms a convex. The second fitting portion 20 has a non-circular shape, and specifically has an elliptical shape with an outer diameter having a major axis and a minor axis. Here, even if the outer diameters of the first workpiece 1 and the second workpiece 2 are, for example, 50 to 20 centimeters, the difference between the major axis and the minor axis is a minute amount that cannot be visually recognized. For example, it is 1 mm or less, especially 0.6 mm or less. As described above, since the difference between the long diameter and the short diameter is a minute amount, the fitting operation between the first fitting portion 10 of the first workpiece 1 and the second fitting portion 20 of the second workpiece 2 is not always easy.

  As shown in FIG. 1, the non-circular workpiece fitting device according to this embodiment includes a first workpiece holding portion 3 that holds a first workpiece 1 and a second workpiece holding portion 4 that holds a second workpiece 2. A swing motion mechanism 5 for swinging the first work holding portion 3 while rotating it, a drive mechanism 6 for driving the swing motion mechanism 5, and a base 7 for holding them. Yes. The base 7 includes a fixed base 73 having a first slide block 70 functioning as a guide portion, and arrows A1 and A2 in the first slide block 70 of the fixed base 73 (that is, the first work 1 and the second work 2). And a movable base 75 having a slide rail 75c slidably provided in a direction toward or away from each other. As shown in FIG. 3, a plurality of slide rails 75 c are provided side by side, and the straight movement of the movable base 75 is ensured.

  The movable table 75 is accessible to the fixed table 73. As shown in FIG. 1, the movable table 75 is provided with a first work holding unit 3, a swing motion mechanism 5, and a drive mechanism 6. The second work holding unit 4 is fixed to the fixed base 73. The base 7 is equipped with a horizontal shaft 77 (see FIG. 1). The base 7 is swung in the directions indicated by arrows R1 and R2 about the rising shaft 77.

  As shown in FIG. 3, a rack 78 having a tooth portion 78c is arranged on the fixing base 73 along the directions of arrows A1 and A2. The movable base 75 is provided with a rotatable operation shaft 80, a pinion 81 having a tooth portion 81 c that meshes with a tooth portion 78 c of a rack 78 provided at one end portion of the operation shaft 80, and provided at the other end portion of the operation shaft 80. And an operation handle 82 as an operation unit. When the operation handle 82 is rotated around its axis P3, the pinion 81 rotates around the axis P3 of the operation shaft 80, and the slide rail 75c of the movable base 75 is moved by the engagement of the pinion 81 and the rack 78. One slide block 70 slides, and the movable base 75 is slid in the directions of arrows A1 and A2 with respect to the fixed base 73. Thereby, the 1st work 1 and the 2nd work 2 can be made to approach.

  As shown in FIG. 1, the first work holding unit 3 has a thick cylindrical shape having a first constraining surface 36 that constrains the outer peripheral surface 1 p of the first work 1. And a small-diameter cylindrical portion 32 that is coaxially connected to the large-diameter cylindrical portion 31. The small diameter cylindrical portion 32 has an inner diameter smaller than the inner diameter of the large diameter cylindrical portion 31. The support jig 33 provided on the movable table 75 assists the support of the posture of the first work holding unit 3.

  The drive mechanism 6 includes a drive shaft 60 having a shaft core P1 rotatably supported by a shaft holding portion 76 of the base 7 and a shaft core P1. The drive shaft 60 is coaxially connected to the drive shaft 60 and is manually connected to the drive shaft 60. The rotary handle 61 is rotated around P1. FIG. 1 shows a cross section of the drive shaft 60 along the axis P1. According to this embodiment, when the first work 1 is attached to the first work holding part 3 and the second work 2 is attached to the second work holding part 4, the axis P <b> 1 of the drive shaft 60 is the first work 1. And the axis of the second workpiece 2.

  The swing motion mechanism 5 includes a position adjustment mechanism 9 that moves the first work 1 in a direction that intersects the axis P1 of the drive shaft 60. The position adjustment mechanism 9 is connected to the distal end portion of the drive shaft 60 of the drive mechanism 6 and rotated around the axis P1 of the drive shaft 60 by the drive shaft 60, and the drive shaft provided on the rotary body 90. A rail-shaped guide portion 91 extending along a direction (arrow B1, B2 direction) intersecting the 60 axis P1, and a guide body movable along the guide portion 91 (arrow B1, B2 direction) As a slide block 92 and a moving body 93 having the slide block 92 integrally therewith. The rotating body 90 includes a first stopper portion 94 and a second stopper portion 95 that regulate the movement amount of the moving body 93. The moving body 93 is disposed between the first stopper portion 94 and the second stopper portion 95, and this prevents the moving body 93 from being detached in the directions of arrows B1 and B2.

  As shown in FIGS. 1 and 2, the first stopper portion 94 of the rotating body 90 is provided with a guide pin 96 and a coiled spring member 97 wound around the guide pin 96. The guide pin 96 is inserted into the hole 93 c of the moving body 93 and functions as a guide for guiding the position of the moving body 93 and restricting the position of the moving body 93. In the standby state, the moving body 93 that supports the first workpiece 1 is elastically supported by the first stopper portion 94 of the rotating body 90 by the spring force of the spring member 97. The moving body 93 can be displaced in a direction intersecting the axis P1 of the drive shaft 60.

  As shown in FIGS. 1 and 2, the swing motion mechanism 5 includes a swing mechanism 50 that swings the first work holding unit 3. The oscillating mechanism 50 is integrated with an oscillating body 52 pivotally supported by a movable body 93 in a direction of arrows C1 and C2 by a pivot shaft 51 having a pivot shaft core PW, and an end portion of the oscillating body 52. And the attachment 55 equipped so as to be able to rotate integrally with the rotation shaft 53. As shown in FIG. 4, the slide block 92 is integrally connected to the moving body 93 via an arm portion 93k. Further, the pivot shaft 51 has a horizontal axis shape, and can move along the rail-shaped guide portion 91 along the direction intersecting the axis P1 integrally with the moving body 93, the slide block 92, and the arm portion 93k. .

  As shown in FIGS. 1 and 2, the attachment 55 has a metal cylindrical shape, an inner peripheral surface 56i that forms a central shaft hole 56, an outer peripheral surface 55p, and a stopper portion that extends in the centrifugal direction. And a flange portion 57 that can function as The inner peripheral surface 32i of the small diameter cylindrical portion 32 of the first work holding portion 3 is fitted to the outer peripheral surface 55p of the attachment 55 so as to be detachable. When the load acting on the first workpiece 1 in the circumferential direction is large, the first workpiece holding unit 3 is rotatable relative to the attachment 55. Since the end surface 32s of the small diameter cylindrical portion 32 of the first work holding portion 3 hits the flange portion 57 of the attachment 55, the position of the first work holding portion 3 is adjusted in the axial direction. A bearing 58 having a rolling function is interposed between the inner peripheral surface 56 i of the central shaft hole 56 of the attachment 55 and the outer peripheral surface 53 p of the rotating shaft 53. The bearing 58 includes an inner ring 580, an outer ring 581, and a plurality of rolling elements 583 interposed between the inner ring 580 and the outer ring 581.

  Here, when the load acting in the circumferential direction of the first work holding unit 3 is small, when the rotation shaft 53 of the swing motion mechanism 5 rotates around the axis P1, the attachment 55 is connected to the axis P1 via the bearing 58. Rotate around On the other hand, when the load acting in the circumferential direction of the first work holding unit 3 is large, the attachment 55 and the first work are used for the rolling operation of the bearing 58 even when the rotary shaft 53 rotates around the axis P1. The rotation of the holding unit 3 is suppressed. That is, according to the magnitude of the load acting on the first work holding unit 3, the bearing 58 can block transmission of the rotational driving force of the rotating shaft 53 to the first work holding unit 3 and the attachment 55. it can.

  Next, the case where the 1st work 1 and the 2nd work 2 are assembled is explained. First, the first work 1 is held by the first work holding unit 3 and the second work 2 is held by the second work holding unit 4. As shown in FIG. 1, the first fitting portion 10 of the first workpiece 1 and the second fitting portion 20 of the second workpiece 2 face each other. Further, as shown in FIG. 1, the axis P1 of the drive shaft 60, the axis of the first workpiece 1 and the axis of the second workpiece 2 are matched with each other, or are brought close to each other in the direction perpendicular to the axis. It is preferable to keep it. In this state, the movable table 75 is moved relative to the fixed table 73 in the approaching direction (arrow A1 direction), thereby bringing the first workpiece holding unit 3 and the second workpiece holding unit 4 closer to each other while facing each other. In this state, generally, the phase in the circumferential direction of the first fitting portion 10 of the first workpiece 1 and the phase in the circumferential direction of the second fitting portion 20 of the second workpiece 2 are different. The first fitting portion 10 of the first workpiece 1 and the second fitting portion 20 of the second workpiece 2 cannot be fitted.

  Therefore, an operation of fitting the first fitting part 10 of the first work 1 and the second fitting part 20 of the second work 2 is performed. That is, an operator or the like causes the base 7 to stand up by swinging in the direction of arrow R1 (see FIG. 1) about the stand-up shaft 77, and the shaft core P1 of the drive shaft 60 stands up along the vertical direction. Wake up. As a result, the second work 2 and the first work 1 are juxtaposed so that the first work 1 is positioned above the second work 2. In this state, the operator rotates the rotary handle 61 to rotate the drive shaft 60 around the axis P1 at a low speed. Then, the rotational driving force of the drive shaft 60 is transmitted to the drive shaft 60 → the rotating body 90 → the moving body 93 → the swinging body 52 → the rotating shaft 53 → the attachment 55 → the first work holding unit 3 → the first work 1. In this way, the first work holding unit 3 rotates around the axis P1 of the drive shaft 60. As a result, the 1st fitting part 10 of the 1st work 1 currently held at the 1st work holding part 3 rotates around the axis P1 of the drive shaft 60. Here, since the 2nd workpiece holding part 4 is being fixed to the base 7, the 2nd workpiece | work 2 currently hold | maintained at the 2nd workpiece holding part 4 does not rotate but is maintained in a non-rotating state. Further, since the swinging body 52 and the rotating shaft 53 are pivotally supported by the pivot shaft 51 so as to be swingable in the directions of the arrows C1 and C2 around the pivot shaft axis PW, the attachment 55 and the first work holding portion 3 are supported. Appropriately swings around the axis P1 of the drive shaft 60. As a result, the first work 1 held by the first work holding part 3 swings while rotating around the axis P <b> 1 of the drive shaft 60.

  Even when the phase in the circumferential direction of the first fitting portion 10 of the first workpiece 1 and the phase in the circumferential direction of the second fitting portion 20 of the second workpiece 2 are different in the circumferential direction, the above-mentioned is described. With such a swing motion in the swing motion mechanism 5, the phases in the circumferential direction of both can be automatically matched in a short time. When the phases in the circumferential direction are matched in this way, the first work 1 is moved along the vertical direction with respect to the attachment 55 by the downward gravity acting on the first work 1 on the upper side of the second work 2. 2 Move down toward work 2. As a result, the first fitting portion 10 of the first workpiece 1 is automatically fitted to the second fitting portion 20 of the second workpiece 2, and the amount of fitting between both is increased. Work 2 is assembled.

  Here, when the first fitting portion 10 of the first workpiece 1 and the second fitting portion 20 of the second workpiece 2 are fitted, the rotational driving force of the drive shaft 60 rotated by the rotary handle 61 is increased. When it is transmitted as it is to the first work holding part 3 and the first work 1 through the attachment 55, the second work holding part 4 and the second work 2 are set in a fixed state. Or a big load acts on the 2nd workpiece holding part 4, and similarly a big load acts on the 1st work 1 and the 2nd work 2, and there is a possibility of damaging these.

  In this respect, according to this embodiment, when the operator or the like rotates the rotary handle 61 and the drive shaft 60 rotates around the axis P1, the drive shaft 60, the rotary body 90, the rocking body 52, the attachment 55, Although the first work holding unit 3 rotates around the axis P <b> 1 of the drive shaft 60, a bearing 58 is provided between the rotation shaft 53 and the attachment 55. For this reason, after the 1st fitting part 10 of the 1st work 1 and the 2nd fitting part 20 of the 2nd work 2 fit, the rotation driving force of rotation handle 61 is the attachment 55 and the 1st work holding part. Transmission to 3 is blocked. That is, in the state where the first fitting portion 10 of the first workpiece 1 and the second fitting portion 20 of the second workpiece 2 are fitted, the bearing 58 is attached by the rotational driving force of the rotary handle 61 and the drive shaft 60. 55, it can function as a rotation blocking unit that blocks transmission to the first workpiece holding unit 3 and the first workpiece 1. Therefore, the attachment 55, the first work holding unit 3, and the first work 1 are not rotated in the same manner as the second work holding unit 4. As a result, even if the rotary handle 61 is rotated around the axis P1 by an operator or the like, a large load may act on the first workpiece holding unit 3 and the second workpiece holding unit 4 in the circumferential direction thereof. As a result, the possibility of damaging the first work holding part 3 and the second work holding part 4 and the possibility of damaging the first work 1 and the second work 2 are avoided.

  As described above, according to the present embodiment, the first fitting portion 10 of the first workpiece 1 and the second fitting portion 20 of the second workpiece 2 are elliptical (non-circular shape). If the swing mechanism 5 is driven by the drive mechanism 6, the phase in the circumferential direction of the first fitting portion 10 of the first workpiece 1 and the phase in the circumferential direction of the second fitting portion 20 of the second workpiece 2 will be described. And the first fitting part 10 of the first work 1 and the second fitting part 20 of the second work 2 can be fitted and quickly assembled. Therefore, the assembly time for assembling the first workpiece 1 and the second workpiece 2 can be shortened.

  Further, according to the present embodiment, the moving body 93 that supports the swinging body 52 so as to be swingable intersects with the axis P1 of the drive shaft 60 along the guide portion 91 (in the directions of arrows B1, B2, that is, , And movable along the axis perpendicular to the axis P1. For this reason, when the rotary handle 61 is rotated and the rotating body 90 rotates around the axis P1, the moving body 93 intersects the axis P1 of the drive shaft 60 along the guide portion 91 ( The position can be adjusted as appropriate along the directions of arrows B1 and B2. Therefore, the first work holding part 3 and, consequently, the first fitting part 10 of the first work 1 held by the first work holding part 3 are appropriately positioned in a direction intersecting the axis P1 of the drive shaft 60. Can be adjusted. This is advantageous in automatically matching the phase in the circumferential direction of the first fitting portion 10 of the first workpiece 1 and the phase in the circumferential direction of the second fitting portion 20 of the second workpiece 2.

  According to the present embodiment, since a plurality of first workpieces 1 having different sizes are used, a plurality of first workpiece holding units 3 having different sizes of portions for holding the first workpiece 1 are used to cope with this. The attachment 55 is prepared to be exchangeable. Each first work holding part 3 can attach the 1st work 1 from which size differs individually. Therefore, the plurality of first work holding portions 3 can be exchanged and attached to the attachment 55. That is, as shown in FIG. 5, a plurality of penetrating engagement holes 18 are formed at the boundary between the first work holding unit 3 and the attachment 55. The engagement hole 18 is formed in a boundary region between the inner peripheral surface 3 i of the first work holding unit 3 and the outer peripheral surface 55 p of the attachment 55. The attachment 55 has an engagement element 15. As shown in FIG. 5, the engagement element 15 has a U-shape, and includes a holder 16 having a disk shape and a plurality of engagement pins 17 arranged in parallel to the holder 16.

  And when attaching the 1st workpiece holding part 3 to the attachment 55, the some engagement pin 17 of the engagement element 15 is moved to the arrow E1 direction, and it fits in the some engagement hole 18 of the penetration state, respectively, and it can attach or detach. Engage. As a result, as shown in FIG. 6, the first work holding unit 3 can be attached to the attachment 55 in a state of being prevented from coming off. On the other hand, when the first work holding part 3 is removed from the attachment 55, the first work holding part 3 can be attached by removing the engagement pin 17 of the engagement element 15 having a U-shape from the engagement hole 18. 55 can be separated. If the first work holding part 3 is replaced in this way, a plurality of first works 1 having different sizes can be dealt with. As described above, the engagement element 15 can function as a jig that is detachably attached to the attachment 55 by exchanging the plurality of first work holding portions 3.

  FIG. 7 shows a second embodiment. The present embodiment basically has the same configuration and operational effects as the first embodiment. Hereinafter, the description will focus on the different parts. The drive mechanism 6 includes a drive shaft 60 and a drive motor mechanism 65 that rotationally drives the drive shaft 60. The drive motor mechanism 65 is connected to the drive shaft 60. The drive motor mechanism 65 includes a worm wheel 65a coaxially provided on the drive shaft 60, a worm 65c that meshes with the worm wheel 65a, and a motor 65e that rotationally drives the worm 65c. The motor 65e is fixed to the movable base 75. The worm wheel 65a and the worm 65c constitute a speed reduction mechanism. When the drive motor mechanism 65 rotates and the worm 65c rotates around the axis P4, the worm wheel 65a and the drive shaft 60 rotate around the axis P1.

  In the present embodiment, similarly to the first embodiment, even when the first fitting portion 10 of the first workpiece 1 and the second fitting portion 20 of the second workpiece 2 are elliptical, the drive mechanism 6 is used. If the swing motion mechanism 5 is driven by this, the phase of the first fitting portion 10 of the first workpiece 1 and the phase of the second fitting portion 20 of the second workpiece 2 are automatically matched, and the first workpiece 1 The 1st fitting part 10 and the 2nd fitting part 20 of the 2nd workpiece 2 are fitted, and, thereby, the 1st work 1 and the 1st work 1 can be assembled quickly. Therefore, the assembly time for assembling the first workpiece 1 and the second workpiece 2 can be shortened.

  8 and 9 show a third embodiment. The present embodiment basically has the same configuration and operational effects as the first embodiment. Hereinafter, the description will focus on the different parts. An urging member 150 formed of a tension coil spring is provided. The urging member 150 is interposed between the movable base 75 and the fixed base 73, and has a biasing force that pulls the movable base 75 and approaches the fixed base 73. Therefore, the direction of the urging force of the urging member 150 is a direction in which the first work 1 and the second work 2 are brought closer to each other.

  When the phase in the circumferential direction of the first fitting portion 10 of the first workpiece 1 and the phase in the circumferential direction of the second fitting portion 20 of the second workpiece 2 are matched, the swing motion mechanism 5 is A configuration in which the amount of engagement between the first fitting portion 10 of the first workpiece 1 and the second fitting portion 20 of the second workpiece 2 is automatically increased by the urging force of the urging member 150 acting on the workpiece 1; Has been. In this embodiment, in order to use the biasing force of the biasing member 150 to increase the amount of fitting between the first fitting portion 10 of the first workpiece 1 and the second fitting portion 20 of the second workpiece 2, The gravity of the first workpiece 1 may not be used. For this reason, the axis P1 of the drive shaft 60 does not have to be arranged in the vertical direction, and can remain along the horizontal direction. Of course, in this embodiment as well, as in the first embodiment, the axis P1 of the drive shaft 60 may be arranged in the vertical direction. Instead of the urging member 150 formed of a tension coil spring, an unillustrated urging member formed of a compression coil spring is interposed between the movable base 75 and the fixed base 73, and the movable base 75 is fixed to the fixed base 73. You may make it approach.

(Other examples)
According to the above-described embodiment, the first fitting portion 10 of the first workpiece 1 has a concave shape, and the second fitting portion 20 of the second workpiece 2 has a convex shape. May be reversed. According to the above-described embodiment, the swing motion mechanism 5 is configured to swing the first work holding unit 3 while rotating the first work holding unit 3. However, the configuration is not limited thereto, and the second work holding unit 4 is rotated. It is good also as a structure made to swing while making it swing. Further, a swing motion mechanism is provided on the first work holding portion 3 side, and a swing motion mechanism is provided on the second work holding portion 4 side, so that both the first work holding portion 3 and the second work holding portion 4 are provided. It is good also as a structure which is rock | fluctuated and swung while rotating.

  Moreover, according to the above-described embodiment, it is applied to the assembly of the first fitting part 10 of the first work 1 and the second fitting part 20 of the second work 2 constituting the harmonic drive. Is not limited to harmonic drives. Although the 1st fitting part 10 of the 1st work 1 and the 2nd fitting part 20 of the 2nd work 2 have constituted ellipse shape, it may not be restricted to this but a star shape in a section and a polygonal shape in a section may be sufficient. In short, the 1st fitting part 10 and the 2nd fitting part 20 should just have comprised the non-round shape which can be fitted. In addition, the present invention is not limited to the embodiments described above and shown in the drawings, and can be implemented with appropriate modifications within a range not departing from the gist.

  The present invention can be used for fitting the first fitting portion and the second fitting portion, which have a non-circular shape such as an elliptical shape. For example, it can be applied to a case where a reduction gear called a harmonic drive is assembled.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view showing a partial cross section of an apparatus according to a first embodiment. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view showing a partial cross section of a main part of an apparatus according to Example 1. 1 is a plan view illustrating a main part of an apparatus according to Example 1. FIG. FIG. 4 is a cross-sectional view illustrating the vicinity of a moving body according to the first embodiment. It is a block diagram which shows the structure which concerns on Example 1 and attaches a 1st workpiece holding part to an attachment using an engagement element. It is a block diagram which shows the structure which concerns on Example 1 and attached the 1st workpiece holding part to the attachment using the engagement element. It is a side view which concerns on Example 2 and shows a partially sectioned apparatus. FIG. 10 is a side view showing a part of the apparatus according to a third embodiment. FIG. 10 is a plan view illustrating a main part of the apparatus according to a third embodiment. It is a block diagram which shows the principal part of a harmonic drive.

Explanation of symbols

  1 is a first work, 10 is a first fitting part, 2 is a second work, 20 is a second fitting part, 3 is a first work holding part, 4 is a second work holding part, and 5 is a swing motion mechanism , 50 is a swinging mechanism, 52 is a swinging body, 53 is a rotating shaft, 55 is an attachment, 58 is a bearing (rotation blocking unit), 6 is a driving mechanism, 60 is a driving shaft, 61 is a rotating handle, and 65 is a driving motor mechanism. , 9 is a position adjusting mechanism, 90 is a rotating body, 91 is a guide unit, and 93 is a moving body.

Claims (9)

A first work holding part for holding a first work including a first fitting part having a non-circular shape having one of a concave and a convex;
A second workpiece holding portion that holds the second workpiece having a second fitting portion having a non-circular shape that has the other of the concave and the convex and can be fitted to the first fitting portion of the first workpiece. When,
A swing motion that swings while rotating at least one of the first workpiece holding portion and the second workpiece holding portion is performed, and the first fitting portion of the first workpiece in the circumferential direction is caused by the swing motion. A swing motion mechanism for matching the phase and the phase in the circumferential direction of the second fitting portion of the second workpiece to be fitted;
The swing motion mechanism is driven so that the phase in the circumferential direction of the first fitting portion of the first workpiece and the phase in the circumferential direction of the second fitting portion of the second workpiece are matched and fitted. A non-circular workpiece fitting device, comprising:   In Claim 1, when the phase in the peripheral direction of the 1st fitting part of the 1st work and the phase in the circumferential direction of the 2nd fitting part of the 2nd work match, the swing motion mechanism is The first fitting portion of the first work and the second fitting of the second work are caused by gravity acting on one of the first work and the second work and / or the urging force of the urging member. A non-circular workpiece fitting device characterized in that the amount of fitting with a joint is increased.   In Claim 1 or 2, the rotation interception part is provided between the 1st work maintenance part or the 2nd work maintenance part, and the drive mechanism, and the rotation interception part is the 1st work of the 1st work. When the first fitting portion and the second fitting portion of the second workpiece are fitted, the rotational driving force of the drive mechanism is transmitted to the first workpiece holding portion or the second workpiece holding portion. A non-circular workpiece fitting device characterized by blocking.   The swing motion mechanism according to any one of claims 1 to 3, further comprising a swinging mechanism that swings one of the first work holding part and the second work holding part. The non-circular workpiece fitting device according to claim 1, wherein the drive mechanism includes a drive shaft that is directly or indirectly connected to the swing mechanism and rotates the swing mechanism about an axis.   5. The swing according to claim 4, wherein the swing motion mechanism further swings one of the first work holding part and the second work holding part in a cross section along the axis of the drive shaft. A non-circular workpiece fitting device comprising a position adjusting mechanism for moving the mechanism in a direction intersecting the axis of the drive shaft.   6. The position adjusting mechanism according to claim 5, wherein the position adjusting mechanism extends in a direction intersecting with a rotating body rotated about the axis of the driving shaft by the driving shaft and an axis of the driving shaft provided on the rotating body. A non-circular workpiece fitting device, comprising: a guided portion and a movable body movable along the guiding portion.   7. The swing mechanism according to claim 6, wherein the swing mechanism is pivotally supported by the movable body so as to be swingable, the rotation shaft provided integrally with the swing body, and the rotation shaft integrally rotating. A non-circular workpiece fitting device comprising: an attachment that is mounted and detachably attaches the first workpiece holding portion or the second workpiece holding portion.   8. The attachment according to claim 7, wherein the attachment has a central shaft hole, and a bearing is interposed between an inner peripheral surface of the central shaft hole of the attachment and an outer peripheral surface of the rotary shaft. Non-circular workpiece fitting device.   9. The non-circular workpiece fitting device according to claim 1, wherein the drive mechanism includes a rotary handle or a drive motor mechanism that rotates the drive shaft. 10. .

Images