JP2010230088A - Pneumatic type actuator and assembling device equipped with the pneumatic type actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To achieve an actuator which makes possible at low cost delicate position control equivalent to the manual operation performed by an operator by the sense of touch. <P>SOLUTION: A piston rod 20 of a cylinder 14 and a valve body 32 of an air servo valve 30 are connected integrally to form a movable table 26 on which a load acts. An operation rod 66 connected to a spool 44 is provided outside the valve body. By moving the spool, an operation air supplying/discharging passage of the air servo valve 30 is opened to move a piston 18, and the operation air supplying/discharging passage of the air servo valve 30 is closed to stop the piston 18 when the piston 18 moves by the same amount as the spool 44. Thereby, the position of the movable table 26 is structured to be movable according to a movement amount of the operation rod 66. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a pneumatic actuator capable of exerting a large operating force and enabling delicate position control similar to a manual operation by an operator.

Patent Document 1 (Japanese Patent Application Laid-Open No. 2008-101649) discloses a pneumatic actuator that is applied to driving a multi-axis multi-joint robot arm or the like and enables high-level responsiveness and accurate position control. .
This actuator includes a cylinder that drives a piston that can slide in a cylinder body with compressed air, a valve body, a spool that is slidably disposed in the valve body, an electromagnetic actuator that slides the spool, and the like. And an air servo valve comprising a drive mechanism. By moving the spool by the drive mechanism, the supply and discharge of the compressed air into the cylinder body is controlled, and the position of the robot arm or the like integrally connected via the piston and the piston rod is controlled.

  On the other hand, in an assembly line of an automobile transmission device, the gears fixed to the input shaft, the output shaft and the differential gear shaft are lifted from the conveyer while meshing with each other, and these structures are transported next. It is lowered toward the incoming transmission housing and assembled to the housing.

JP 2008-101649 A

When a structure such as an input shaft with gears is assembled to the housing of the transmission device, the three shafts need to be inserted into holes or pin portions provided in the housing. In this case, the shaft or the like hits a mating member. Since wrinkles and the like occur, it is necessary to accurately control the position of the transmission structure.
However, when the actuator disclosed in Patent Document 1 is used for assembling the transmission device, the position control is performed by a manual operation while being visually observed because a mechanical or electrical drive device is used. The delicate soft touch position cannot be controlled. Therefore, wrinkles or the like are likely to occur when the three shafts hit a hole or a pin portion of the housing. Further, since the automatic control is performed using the driving device as described above, the cost is increased.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems of the prior art, and an object of the present invention is to realize an actuator that can exert a large driving force and enables delicate position control equivalent to a manual operation performed by a worker with a hand. Another object of the present invention is to realize such delicate position control at a low cost.

  In order to achieve this object, a pneumatic actuator according to the present invention includes a pneumatically driven cylinder comprising a cylinder body and a piston disposed in the cylinder body and forming air chambers on both sides, and a valve having an air supply / discharge hole. An air servo valve comprising a body and a spool that is slidably disposed in the valve body, and the working air is supplied to and discharged from the air chamber through the air supply / discharge hole by sliding the spool. Thus, in the pneumatic actuator configured to control the position of the piston, the piston rod integrally formed with the piston and the valve body are integrally connected to form a movable portion on which a load acts, and the valve An operating rod connected to the spool is provided outside the body, and the air servo valve is operated by moving the spool by moving the operating rod. The air supply / discharge path is opened to move the piston, and when the piston moves the same amount as the spool, the working air supply / discharge path is closed to stop the piston, and the position of the movable portion is set. It is configured to be movable according to the amount of movement of the operating rod.

In the pneumatic actuator according to the present invention, an operator can move the piston of the cylinder by operating the operating rod. Therefore, it is possible to perform a fine piston position control equivalent to the manual operation of the worker with a light force that can be operated by the worker. In addition, since the automatic driving device that drives the spool is not used and the position control is semi-automatic by manual operation of the worker, the device configuration can be reduced.
In addition, since air is used as the working fluid, the cost is lower than when hydraulic oil is used, and no oil stains occur and maintenance is easy.

In the pneumatic actuator according to the present invention, compressed air having a pressure higher than atmospheric pressure is used as working air for supplying and exhausting air to the air servo valve, and the compressed air is compressed with high pressure via a high pressure compressed air and a pressure reducing regulator. It is preferable to use low-pressure compressed air set at a lower pressure than air.
If the working air for supply / exhaust air to the air servo valve is equal to atmospheric pressure, the action of the working air from the air servo valve to the air chamber of the cylinder will be delayed and stable positioning will be difficult and chattering (vertical vibration) will occur on the piston. Cheap.
Therefore, in the present invention, the working air to the air servo valve is made to have a predetermined differential pressure and a pressure higher than the atmospheric pressure by using low-pressure compressed air that passes through a pressure-reducing regulator and high-pressure compressed air that does not pass through. Therefore, the servo valve spool can be quickly positioned to prevent the chattering of the piston.
Also, basically, if the difference between high and low pressure is large, the force that the piston moves is excessive and will not stop due to inertia. As a result, chattering occurs up and down. In order to prevent this phenomenon, if the high / low pressure difference is adjusted to be small, the moving force is also small. Therefore, by adjusting the pressure on the low pressure side, it is possible to adjust the high / low pressure difference so that chattering prevention and movement force can be compatible.

In the pneumatic actuator of the present invention, the grip portion of the operating rod is configured to be slidable with respect to the valve body, and the grip portion is coupled to the spool, and the sliding direction is moved to the grip portion by two springs. A spring force is applied from both sides, the grip portion is fixed at a position where the spring forces of the two springs are balanced, and the spool is disposed at a predetermined position. It is good to comprise so that the spring force difference to return may be produced.
As a result, only the load equal to the difference between the spring forces of the two springs is applied to the worker's hand, so the burden on the worker can be reduced.

  In the pneumatic actuator of the present invention, the operating rod or the grip portion of the operating rod is preferably threaded in the opposite directions and connected to the spool via two screws having different screw pitches. As a result, the relative position between the operating rod or the grip portion and the spool can be finely adjusted by the screw pitch difference between the two screws per one rotation of the screw. As a result, the relative position between the air supply / exhaust hole provided in the valve body and the spool can be finely adjusted, and the follow-up performance of the piston to the movement of the spool can be improved.

  In the assembling apparatus provided with the pneumatic actuator according to the present invention, the pneumatic actuator is disposed above a conveyor that conveys a part to be assembled, and the pneumatic actuator approaches or separates from the conveyor. The piston is arranged so as to be slidable in the vertical direction with respect to the cylinder body, and a clamp device is attached to the piston so that the part to be assembled can be gripped.

In the assembling apparatus equipped with the pneumatic actuator of the present invention, the parts to be assembled on the transfer conveyor are gripped by the pneumatic actuator of the present invention and moved up and down, enabling subtle position control equivalent to the manual operation of the worker. To do. For this reason, it is possible to assemble with high accuracy while avoiding collisions between the parts to be assembled, and there is no possibility of wrinkles on the parts to be assembled.
Further, since the pneumatic actuator is arranged so as to be movable toward or away from the conveyor, the assembly work is not disturbed without disturbing the visual perception of the worker during the assembly work.

The assembling apparatus of the present invention may be applied to an assembly line of an automobile transmission device. That is, the parts to be assembled conveyed by the conveyor are gripped by the clamping device and lifted upward, and the parts to be assembled are lowered toward the housing of the transmission apparatus conveyed next to the parts to be assembled. Configure to assemble.
As a result, the transmission device can be assembled without attaching a flaw or the like to each component of the transmission device.

  According to the pneumatic actuator of the present invention, a pneumatically driven cylinder comprising a cylinder body and a piston disposed in the cylinder body and forming air chambers on both sides, a valve body having an air supply / discharge hole, and the valve body An air servo valve including a spool slidably disposed therein, and by operating the air to and from the air chamber through the air supply / exhaust hole by sliding the spool, In the pneumatic actuator configured to perform position control, a piston rod integrally formed with the piston and the valve body are integrally connected to form a movable portion on which a load acts, and the outside of the valve body An operating rod connected to the spool is provided, and the operating rod is moved to move the spool, thereby opening the working air supply / discharge passage of the air servo valve. The piston is moved, and when the piston moves by the same amount as the spool, the working air supply / discharge passage is closed to stop the piston, and the position of the movable portion is set according to the movement amount of the operating rod. Since it is configured to be movable, the operator can move the piston of the cylinder just by operating the operating rod with a light force, and it enables subtle piston position control equivalent to manual operation by the operator. .

In addition, by performing semi-automatic position control by manual operation of the worker, the assembly apparatus is reduced in cost and air is used as the working fluid, so that the cost is lower than that of the working oil, and oil stains, etc. Maintenance is easy.
In addition, the working air exhaust path connecting the air servo valve and the compressed air supply source can be set to a pressure higher than the atmospheric pressure to prevent chattering of the piston.

FIG. 2 is an operation principle diagram of the pneumatic actuator according to the first embodiment of the present invention. It is a partially expanded sectional view of the pneumatic actuator. It is a side view of the assembly apparatus of the transmission apparatus which concerns on 2nd Embodiment of this invention. FIG. 4 is a view taken in the direction of arrow B in FIG. 3.

  Hereinafter, the present invention will be described in detail with reference to embodiments shown in the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the component parts described in this embodiment are not intended to limit the scope of the present invention to that unless otherwise specified.

(Embodiment 1)
An embodiment of a pneumatic actuator according to the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is an operation principle diagram of this embodiment. In FIG. 1, the pneumatic actuator 10 has an air driven cylinder 14 fixed on a horizontal base 12. The cylinder 14 includes a cylinder body 16 and a piston 18 slidably disposed inside the cylinder body 16. A piston rod 20 is formed integrally with the piston 18, and the piston rod 20 is led outside the cylinder body 16. A movable table 26 arranged in the horizontal direction is fixed to the piston rod 20. A load W is placed on the movable table 26.

  An air servo valve 30 is disposed in the vicinity of the cylinder 14. The air servo valve 30 includes a cylindrical valve body 32 having a hollow inside, and a spool 44 slidably disposed inside the valve body 32. Air supply / discharge holes 34, 36, 38, 40 and 42 are formed in the valve body 32. Ring-shaped recesses 46 and 48 are formed in the spool 44. A compressed air supply line 50 is connected to the air supply / discharge hole 36, and compressed air is supplied to the compressed air supply line 50 from a compressed air supply tank 52.

  A compressed air supply line 54 is connected to the air supply / discharge hole 34, a compressed air supply line 56 is connected to the air supply / discharge hole 38, and the compressed air supply lines 54 and 56 are connected to a compressed air supply line 58. ing. The compressed air supply line 58 is provided with a decompression regulator 60, by which both the air pressure in the compressed air supply line 50 and the air pressure in the compressed air supply line 58 are higher than atmospheric pressure and the compressed air supply. The pressure is set so that the pressure on the line 58 side is lower by a certain pressure difference. For example, the air pressure in the compressed air supply line 50 is set to 0.4 MPa, and the air pressure in the compressed air supply line 58 is set to 0.2 MPa.

An air supply / discharge hole 22 a is formed in one air chamber 22 of the cylinder 14 formed by the piston 18, and an air supply / discharge hole 24 a is formed in the other air chamber 24. The air supply / discharge hole 22a and the air supply / discharge hole 40 of the valve body 32 are connected by a compressed air supply line 62, and the air supply / discharge hole 24a and the air supply / discharge hole 42 of the valve body 32 are connected by a compressed air supply line 64. Connected with.
Further, a connecting rod 68 is fixed to the upper surface of the spool 44, the connecting rod 68 is guided above the movable table 26 through a hole 26a formed in the movable table 26, and an operating rod 66 is fixed to the tip thereof. Has been.

  Next, a detailed configuration of the operating rod 66 and the spool 44 will be described with reference to FIG. In FIG. 2, a hollow cylindrical grip 70 that forms the outer portion of the operating rod 66 and a center shaft 72 are connected via a knock pin 74. Between the grip 70 and the center shaft 72, a cylindrical grip base 76 is interposed in two upper and lower stages. Long holes 72 a are formed in the center shaft 72 at two positions, upper and lower, and knock pins 78 are inserted into the long holes 72 a, and both ends of the knock pins 78 are coupled to the grip base 76. A flange 84 is formed integrally with the lower grip base 76, and the flange 84 is connected to the movable table 26 by a bolt 86.

  An enlarged diameter portion 72b is formed at the central portion in the longitudinal axis direction of the center shaft 72, and a washer is provided in a space formed by the step formed by the enlarged diameter portion 72b and the flange portion 76a formed at the end of the grip base 76. 80 is arranged. Further, another washer 80 is disposed at a position where it abuts on the knock pin 78, and a coil spring 82 is inserted between these washers 80. As a result, the grip 70 and the center shaft 72 are held at a position where the elastic forces of the coil springs 82 arranged vertically are balanced.

The valve body 32 of the air servo valve 30 is coupled to the lower surface of the movable table 26 by a bolt 88. The spool 44 includes a cylindrical mandrel 90 and an outer cylinder 92 that is fitted to the outside of the mandrel 90 and has ring-shaped recesses 46 and 48 formed therein. A first adjustment screw 94 is provided at the upper end of the mandrel 90, and a second adjustment screw 96 is provided at the lower end. A screw hole is formed at the lower end of the center shaft 72, and a first adjustment screw 94 is screwed into the screw hole.
A screw hole is also formed at the lower end of the outer cylinder 92 in the direction opposite to the screw hole provided at the lower end of the center shaft 72, and a second adjustment screw 96 is screwed into the screw hole.

  A concave portion 100 is provided on the outer periphery of the lower end portion of the outer cylinder 92, and the spool 44 is fixed to the valve body 32 by applying the tip of the bolt 102 screwed to the valve body 32 into the concave portion 100. A fixing nut 98 that fixes the relative position of the mandrel 90 and the outer cylinder 92 is screwed to the lower end of the second adjustment screw 96.

The first adjustment screw 94 and the second adjustment screw 96 are threaded in directions opposite to each other, and have a difference in length of one pitch. For example, the first adjustment screw 94 is a right screw and the pitch length is 0.75 mm, and the second adjustment screw 96 is a left screw and the pitch length is 1.25 mm.
As a result, when the mandrel 90 is rotated once to the right, the mandrel 90 and the outer cylinder 92 change their relative positions downward in the longitudinal axis direction by one pitch of the second adjusting screw 96 for each rotation. 90 changes the relative position upward in the longitudinal direction with respect to the center shaft 72 by one pitch of the first adjusting screw 94. Therefore, the outer cylinder 92 can perform a minute downward movement of 0.5 mm corresponding to the difference of one pitch between the first adjustment screw 94 and the second adjustment screw 96 per rotation. Fine adjustment of the vertical position is possible.

  In such a configuration, when an operator grasps and lifts the grip 70 of the operating rod 66, the compressed air supply line 50 is compressed via the air supply / discharge hole 36, the ring-shaped recess 48 and the air supply / discharge hole 42. The compressed air is supplied to the air chamber 24. On the other hand, since the compressed air supply line 54 communicates with the compressed air supply line 62 through the air supply / discharge hole 34, the ring-shaped recess 46 and the air supply / discharge hole 40, the air in the air chamber 22 is exhausted. As a result, the piston 18 rises. Then, when the piston 18 rises by an amount corresponding to the rise of the operating rod 66, the communication path is closed and the piston 18 stops rising. For example, when the operating rod 66 is raised by 3 mm, the piston 18 is also raised by exactly 3 mm.

When the piston 18 rises by 4 mm due to the inertia force in the raising direction, the valve body 32 integrated with the piston 18 also rises by 4 mm. As a result, the valve body 32 rises 1 mm relative to the spool 44, so that the compressed air supply line 50 and the ring-shaped recess 46 communicate with each other, and compressed air is supplied to the air chamber 22 via the compressed air supply line 64. Is done. As a result, the piston 18 descends and the descent stops when the communication between the compressed air supply line 50 and the ring-shaped recess 46 is interrupted. In this way, it has a function of returning by 1 mm by itself, and has a position control performance that self-converges by the same amount as the movement amount of the operating rod 66.
As described above, the movement of the piston 18 can be accurately followed by the vertical movement of the operation rod 66 by the manual operation of the operator, so that the position control of the piston 18 can be performed with a soft touch equivalent to the operator's hand feeling. Can be done well.

  Further, the grip 70 is always held at a position where the elastic forces of the coil springs 82 arranged vertically are balanced. Therefore, when the operator moves the grip 70 up and down, an expansion / contraction difference of the upper and lower coil springs 82 is generated, and a difference in elastic force is generated based on the expansion / contraction difference, and a load corresponding to the difference in elastic force is applied to the operator's hand. . However, since the vertical movement of the cylinder 14 immediately responds to the movement of the grip 70, the amount of movement of the grip 70 is always small. Therefore, the difference in elastic force between the upper and lower coil springs 82 is eliminated immediately, and the load applied to the worker's hand does not increase.

Further, when the air chambers 22 and 24 of the cylinder 14 are equal to the atmospheric pressure, the piston 18 is likely to chatter. That is, when the working air for supplying and exhausting air to the air servo valve 30 is made equal to the atmospheric pressure, the action of the working air from the air servo valve 30 to the air chambers 22 and 24 of the cylinder 14 is delayed. The response is delayed and stable positioning is difficult, and chattering (vertical vibration) is likely to occur in the piston 18.
Therefore, in the present embodiment, the working air to the air servo valve 30 is obtained by using a low-pressure compressed air via the pressure-reducing regulator 60 and a high-pressure compressed air that is not interposed, both having a predetermined differential pressure from atmospheric pressure. Since the pressure is high, the positioning of the spool 44 of the air servo valve 30 can be performed quickly, and chattering of the piston 18 can be prevented.

(Embodiment 2)
Next, a second embodiment of the present invention will be described with reference to FIG. In the present embodiment, the pneumatic actuator of the present invention is applied to an assembly line for an automobile transmission device. FIG. 3 shows an assembling apparatus 110 constituting a part of the assembling line. In the assembling apparatus 110, a frame 114 is placed on a pedestal 112 in the horizontal direction, and the frame 114 is supported by a slide mechanism 116 so as to be slidable in the direction of arrow a. The pneumatic actuator 120 of the present invention is attached to the tip of the frame 114.

As described in the first embodiment, the pneumatic actuator 120 includes a cylinder 122, a piston that slides inside the cylinder 122, a piston rod 124 that is integral with the piston, an operating rod 126, an air servo valve. 128 and a movable table 130 to which the piston rod 124 and the valve body of the air servo valve 30 are connected.
A conveyor table 134 is attached to the side surface of the base 132, and an endless conveyor 136 that conveys an assembly target component of the transmission device is movably supported on the conveyor table 134.

  Below the conveyor table 134, a conveyor table 138 for supporting the returned endless conveyor 136 'is provided. The pallet 140 is attached to the endless conveyor 136 at equal intervals, and the parts to be assembled are placed on the pallet 140 and assembled by the worker P. The endless conveyor 136 moves in a direction perpendicular to the paper surface of FIG. 3 and is conveyed and returned.

In FIG. 3, a clamp device 142 is attached to the lower end of the piston rod 124 of the pneumatic actuator 120. In the pre-process of the assembling apparatus 110, the gears fixed to the input shaft 144, the output shaft 152, and the differential gear shaft 154, which are components of the transmission apparatus, are placed on the pallet 140 in a state where they are meshed with each other. deep.
Then, the worker P grips and lowers the operating rod 126, and lowers the piston rod 124 and the clamp device 142. Thereafter, the input shaft 144 and the like are gripped by the lowered clamp device 142 and the operating rod 126 is raised to lift the input shaft 144 and the like of the transmission structure.

  Specifically, in FIG. 4 showing a view taken in the direction of arrow B in FIG. 3, a movable table 130 is attached to the lower end of the piston rod 124, and a clamp device mounting bracket 133 is connected to the lower side of the movable table 130 via a connecting rod 131. Are attached to the clamp device mounting bracket 133. The input shaft clamp device 142a for gripping the input shaft constituting the clamp device 142, the output shaft clamp device 142b for gripping the output shaft, and the differential gear shaft are gripped. A differential gear shaft clamping device 142c is attached.

  Then, the housing T of the transmission device is transferred to the pallet 140 from the previous process. When the housing T is transported to the front position of the assembling apparatus 110 and stopped, the operating rod 126 is lowered to lower the input shaft 144, the output shaft 152, and the differential gear shaft 154 toward the housing T. Attach to T. In this case, the three shafts 144, 152, and 154 are inserted into support holes formed in the housing T or assembled by being fitted to support pins.

  When the grip 70 of the operating rod 126 is lowered during the assembly, the spool 44 of the air servo valve 30 is similarly lowered, and the compressed air flows from the air supply / exhaust hole 36 to the air chamber 22 of the cylinder 14 and descends. If the grip 70 continues to be lowered, the compressed air can continue to flow into the air chamber 22 of the cylinder, so that the piston rod 124 also continues to descend. When the vertical movement of the grip 70 is stopped, the valve body 32 fixed to the movable table 130 descends to a position where the compressed air is closed and stops. When the air is lowered too much due to inertia, the compressed air from the air supply / exhaust hole 36 flows into the air chamber 24 of the cylinder 14 and moves up the piston rod 124 to correct the position. Further, when the grip 70 is raised, the piston rod 124 is similarly raised and operates in proportion to the operation of the grip 70.

According to the present embodiment, by using the assembling apparatus 110 including the pneumatic actuator 120 of the present invention, the operator P can operate the operating rod 126 with a light force, and software equivalent to the hand feeling of the operator P is provided. The position of the transmission structure can be accurately controlled with a touch. Therefore, the assembly can be easily performed without damaging the input shaft 144, the output shaft 152, and the differential gear shaft 154 toward the housing T.
In addition, since the pneumatic actuator 120 can be moved in the direction perpendicular to the conveying direction of the conveyor 136 (in the direction of arrow a), the pneumatic actuator 120 can be easily assembled without disturbing the vision of the worker P during the assembly work. Can be.

  According to the present invention, the position control of the pneumatic actuator can be performed with the same accuracy as the hand feeling of the worker, and the cost can be reduced as compared with an apparatus automated using a drive device.

10, 120 Pneumatic actuator 14, 122 Cylinder 16 Cylinder body 18 Piston 20, 124 Piston rod 22, 24 Air chamber 26 Movable table (movable part)
30, 128 Air servo valve 32 Valve body 34, 36, 38, 40, 42, 22a, 24a Air supply / discharge hole 44 Spool 54, 56, 58, 62, 64 Compressed air supply line 60 Depressurization regulator 66, 126 Operating rod 70 Grip 76 Grip stand (fixed part)
82 Coil Spring 94 First Adjustment Screw 96 Second Adjustment Screw 110 Assembly Device 136, 136 ′ Conveyor 142 Clamp Device P Worker T Housing

Claims (6)

A pneumatically driven cylinder comprising a cylinder body and a piston disposed in the cylinder body and forming air chambers on both sides;
An air servo valve comprising a valve body having an air supply / discharge hole and a spool slidably disposed in the valve body;
In the pneumatic actuator that controls the position of the piston by sliding the spool and supplying / discharging the working air to / from the air chamber through the air supply / discharge hole,
A piston rod integrally formed with the piston and the valve body are integrally connected to form a movable portion on which a load acts, and an operating rod connected to the spool is provided outside the valve body,
By moving the operating rod and moving the spool, the operating air supply / discharge path of the air servo valve is opened to move the piston, and when the piston moves the same amount as the spool, the operating air supply / discharge A pneumatic actuator characterized in that the piston is stopped by closing a path so that the position of the movable portion can be moved according to the amount of movement of the operating rod.   The working air for supplying and exhausting air to the air servo valve is compressed air having a pressure higher than atmospheric pressure, and the compressed air includes high-pressure compressed air and low-pressure compressed air set to a pressure lower than that of the high-pressure compressed air via a pressure-reducing regulator. The pneumatic actuator according to claim 1, wherein: The grip portion of the operating rod is configured to be slidable with respect to the valve body, and the grip portion is connected to the spool,
A spring force is applied to the grip portion from both sides in the sliding direction by two springs, the grip portion is fixed at a position where the spring forces of the two springs are balanced, and the spool is disposed at a predetermined position. The pneumatic actuator according to claim 1 or 2, wherein the pneumatic actuator is configured to generate a spring force difference that returns to the original fixed position when the grip portion slides.   By connecting the operating rod or the grip portion of the operating rod to the spool via two screws threaded in opposite directions and having different screw pitches, the operating rod or the grip portion of the operating rod and the spool 4. The pneumatic actuator according to claim 3, wherein the relative position can be finely adjusted by a difference in screw pitch between the two screws. In the assembly apparatus provided with the pneumatic actuator according to any one of claims 1 to 4,
The pneumatic actuator is arranged above a conveyor that conveys an assembly, and the pneumatic actuator is arranged so as to be movable in a direction approaching or separating from the conveyor.
An assembly apparatus provided with a pneumatic actuator, wherein the piston is arranged so as to be slidable in the vertical direction with respect to the cylinder body, and a clamp device is attached to the piston so as to be able to grip a part to be assembled.   The assembly object is a transmission device of an automobile, the assembly component conveyed by the conveyor is gripped by the clamp device and lifted upward, and the transmission device housing is conveyed next to the assembly component. 6. The assembling apparatus provided with the pneumatic actuator according to claim 5, wherein the assembly target component is lowered toward the housing and assembled to the housing.

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