JP2014037030A - Parts assembling device, and parts assembling method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device and a method for reliably assembling parts of the type, in which pawls are inserted.SOLUTION: In a hand 3 of a parts assembling device 1, an adsorptive pad portion 12 for adsorbing a part or cover 51 is slidably assembled with a base portion 11. A coil spring 22 is disposed between the base portion 11 and the adsorptive pad portion 12 so that the adsorptive pad portion 12 is biased toward one leg portion 11A. On the side of the other leg portion 11B, there is disposed a push-in member 42 for pushing the cover 51 from the side. The push-in member 42 can move in a direction perpendicular to the sliding direction of the absorptive pad portion 12.

Description

  The present invention relates to a part assembling apparatus and a part assembling method.

  In the assembly process of information terminals and the like, parts such as covers are assembled to the case using an articulated robot. A suction pad for sucking parts is attached to the hand at the tip of the robot. After the parts are sucked by the suction pad, the hand is moved to carry the parts from the storage tray to above the predetermined position of the case. Next, the hand is lowered vertically with respect to the case, the part is placed on the case, and the hand is retracted after releasing the suction of the part. After this, the parts are screwed to the case using another robot.

  Here, some conventional hands are provided with a pair of openable and closable claws so as to sandwich the suction pad in order to correctly position and place the parts at predetermined positions on the case. In this hand, in a state where the pair of claws are first opened, the parts are sucked and held using the suction pad, and then the pair of claws are simultaneously closed. The part is moved relative to the suction pad while being pressed by the pair of claws from the left and right, so that the center of the part is made coincident with the center of the hand.

  Moreover, as a combination of a part to be assembled and a case, there is a combination in which a part is fitted to a rail provided in the case while sliding the part. Since a hand that handles this type of part cannot assemble the part vertically from above the case, an arm that presses the part in parallel to the horizontal direction is attached in addition to the suction pad. The arm is connected to the air cylinder and is movable in the horizontal direction. When the parts are assembled to the case, the parts are sucked and held and transported to a position where they can be fitted to the case. Subsequently, the arm is moved horizontally by the air cylinder, and the parts are pushed into the case by the arm. The part is fitted to the rail of the case while moving relative to the suction pad.

Japanese Patent Laid-Open No. 9-201788 Japanese Utility Model Publication No. 5-67486

Some parts are provided with a claw that protrudes in the horizontal direction, and the part is configured so that the claw is first inserted into the concave portion of the case while the part is held obliquely and then assembled to the case. In this type of part, the force for pressing the part concentrates on the nail when the nail is inserted into the recess of the case, so that the frictional resistance at the contact portion between the nail and the recess is increased. The frictional resistance at this time is larger than when the entire part is fitted by sliding movement because the pressing force of the part is concentrated on a minute part. For this reason, even if the part was pressed with the arm, the part slipped against the suction pad, and the nail could not be inserted into the recess.
This invention is made | formed in view of such a situation, and it aims at making it possible to assemble | attach a part of the type which inserts a nail | claw reliably.

  According to one aspect of the embodiment, a pad portion that sucks and holds a part, a base portion that slidably supports the pad portion in a first direction, and a base portion that can be in contact with a side portion of the part. And a guide part capable of pressing the part in a direction opposite to the first direction and urging the pad part in a direction opposite to the first direction with respect to the base part. And an urging member that performs assembly of the parts.

  Further, according to another aspect of the embodiment, the pad portion that is slidable relative to the base portion is formed in the step of sucking and holding a part having a convex portion and the opening of a work that can be assembled with the part. A step of bringing the convex portion of the part into contact with the concave portion so that the convex portion can be fitted, and moving the base portion in a direction in which the convex portion and the concave portion are fitted with the convex portion. A step of sliding the pad portion against the guide portion attached to the base portion against a side portion opposite to the convex portion of the part; and the base portion further including the convex portion and the concave portion And a step of pressing the part with the guide part by fitting the convex part and the concave part, thereby providing a method for assembling the parts.

  By sliding the pad portion, the guide portion can be brought into contact with the part. By pressing the parts with the guide part, it is possible to assemble the parts with a large force while preventing positional deviation between the pad part and the parts.

FIG. 1 is a diagram showing an example of a schematic configuration of a parts assembling apparatus according to an embodiment of the present invention. FIG. 2 is an enlarged view showing an example of a schematic configuration of a hand, a cover, and a case of the parts assembling apparatus according to the embodiment of the present invention. FIG. 3 is a diagram for explaining an example of a part assembling method according to the embodiment of the present invention (part 1). FIG. 4 is a diagram for explaining an example of a part assembling method according to the embodiment of the present invention (part 2). FIG. 5 is a diagram for explaining an example of a part assembling method according to the embodiment of the present invention (part 3). FIG. 6 is a diagram for explaining an example of a part assembling method according to the embodiment of the present invention (part 4). FIG. 7 is a diagram for explaining an example of a part assembling method according to the embodiment of the present invention (part 5). FIG. 8 is a diagram for explaining an example of a part assembling method according to the embodiment of the present invention (part 6). FIG. 9 is a diagram for explaining an example of the effect of the parts assembling apparatus according to the embodiment of the present invention. FIG. 10 is a diagram illustrating an example of a modification of the parts assembling apparatus according to the embodiment of the present invention. FIG. 11 is a diagram showing an example of another modified example of the parts assembling apparatus according to the embodiment of the present invention.

The objects and advantages of the invention will be realized and attained by means of the elements and combinations particularly pointed out in the appended claims.
The foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to limit the invention.

  As shown schematically in FIG. 1, the parts assembling apparatus 1 has a hand 3 attached to the tip of an articulated robot 2. The parts assembling apparatus 1 is provided with a control device 4 for controlling the operations of the robot 2 and the hand 3. An operation pendant 5 for teaching is connected to the control device 4. Further, the robot 2 is connected to an exhaust pump 6 that is used when sucking and holding parts by the hand 3.

  As shown in FIG. 1 and an enlarged view of the hand holding the parts in FIG. 2, the hand 3 has a base portion 11 fixed to the robot 2. A suction pad portion 12 that sucks and holds parts is attached to the lower portion of the base portion 11 via a first compliance mechanism 15 so as to be horizontally movable. Further, a guide portion 13 having a second compliance mechanism 16 is attached to the side portion of the base portion 11 so as to press the parts.

  The base portion 11 has a slide rail 21 laid on the lower surface thereof in parallel with the X direction, which is the first direction, and the leg portions 11A and 11B of the slide rail 21 extend downward to form a gate shape as a whole. It has become.

  The suction pad portion 12 is slidably attached to the slide rail 21 of the base portion 11. The suction pad portion 12 has a slider 31 that is movably fitted to the slide rail 21. Two support columns 32 are arranged on the lower surface of the slider 31 with a predetermined interval. One suction pad 24 is attached to the lower end of each column 32 downward. Further, an adsorption hole 25 is opened on the lower surface of each adsorption pad 24, and the adsorption hole 25 is connected to the exhaust pipe 27 via an internal flow path 26. The exhaust pipe 27 is a tube connected to the exhaust pump 6 shown in FIG.

  Furthermore, one end of a coil spring 22 as an urging member is attached to the slider 31 of the suction pad portion 12. The other end portion of the coil spring 22 is fixed to one leg portion 11 </ b> A of the base portion 11. Two coil springs 22 are mounted so as to sandwich the suction pad portion 12. The number of coil springs 22 may be one, or three or more. The suction pad portion 12 is urged toward the one leg portion 11A of the base portion 11 by the coil spring 22, and is in close contact with the one leg portion 11A in an initial state where no external force acts. A stopper 23 is provided on the other leg portion 11B of the base portion 11, and the movable range of the suction pad portion 12 is a range from the one leg portion 11A to contact with the stopper 23.

  Here, the first compliance mechanism 15 in this embodiment includes a slide rail 21 of the base portion 11, a slider 31 of the suction pad portion 12, and a coil spring 22, and the suction pad portion 12 is used as the base portion. 11 has a function of supporting elastically and slidably in the X direction. In the first compliance mechanism 15, the means for elastically supporting the suction pad portion 12 is not limited to the coil spring 22, and a leaf spring or the like may be used.

  Moreover, the guide part 13 is being fixed to the side surface of the other leg part 11B arrange | positioned on the opposite side of the coil spring 22. FIG. The guide unit 13 includes a container 41 and a pushing member 42 partially inserted into the container 41, and a compression coil spring 43 that is an urging member is mounted inside the container 41. The upper end of the compression coil spring 43 is in contact with the upper surface of the container 41, and the other end is in contact with the flange 42 </ b> A at the upper end of the pushing member 42. The pushing member 42 is passed through an opening 41 </ b> A formed at the bottom of the container 41. The size of the opening 41A is smaller than the size of the flange 42A of the pushing member 42. For this reason, the pushing member 42 does not fall out of the opening 41 </ b> A of the container 41. The front end portion of the pushing member 42 is bent substantially vertically to form a pressing portion 45. The pressing portion 45 extends in parallel with the first direction X that is the moving direction of the suction pad portion 12.

  Here, the second compliance mechanism 16 of this embodiment includes a container 41, a pushing member 42, and a compression coil spring 43. The pushing member 42 is elastically formed by the compression coil spring 43 and in the Y direction. It has a function of supporting the slide in the (second direction). In the second compliance mechanism 16, the means for elastically supporting the pushing member 42 is not limited to the compression coil spring 43, and a plate spring or the like may be used.

Next, a method for assembling the parts will be described.
First, with reference to FIG. 2, an example of a case which is a part to be assembled and a work for assembling the part will be described. In this embodiment, the part is a cover 51 assembled to the case 50. The cover 51 has a plate-like main body 52, and one claw 53 (protrusion) protrudes from one side of the main body 52 in parallel with the main body 52, that is, in the X direction. On the other hand, the case 50 has an opening 55 that is substantially equal to the outer shape of the main body 52 of the cover 51, and a recess 56 in which a claw 53 of the cover 51 can be fitted is formed in a part of the opening 55.

Next, processes up to the arrangement shown in FIG. 2 will be described.
A plurality of covers 51 are housed in a housing tray (not shown) in the initial state. The control device 4 drives the robot 2 to bring the two suction pads 24 of the hand 3 into close contact with the upper surface of the cover 51. In the initial state, the suction pad portion 12 is in close contact with the one leg portion 11 </ b> A of the base portion 11 by the contraction force of the coil spring 22 of the first compliance mechanism 15, and between the cover 51 and the pressing portion 45 of the pushing member 42. A gap is formed in. In this state, the control device 4 operates the exhaust pump 6 to suck and hold the cover 51 with the two suction pads 24. Thereafter, the robot 2 is driven to lift the cover 51 and remove it from the storage tray, and convey it to above the opening 55 of the case 50. The case 50 is fixed in a state of being previously positioned on a work table (not shown) or the like.

Next, steps required until the arrangement shown in FIG. 3 is described.
The control device 4 tilts the hand 3 obliquely and lowers one end portion side of the cover 51 provided with the claws 53. At this time, the suction pad portion 12 is in contact with the position on the most end side, that is, one leg portion 11A by the inclination of the base portion 11 and the compression of the coil spring 22. In this state, the hand 3 is lowered so that the height of the claw 53 matches the height of the recess 56 of the case 50. Subsequently, the hand 3 is translated in the direction indicated by the arrow YA1 parallel to the X direction, and the claw 53 is brought into contact with the recess 56 so as to be fitted. At this time, the claw 53 first comes into contact with the recess 56, and the frictional resistance between the cover 51 and the case 50 increases.

  At this time, since the frictional resistance between the cover 51 and the case 50 is large, the suction pad portion 12 that merely holds the cover 51 by suction only overcomes the frictional resistance and pushes the claw 53 of the cover 51 into the recess 56. Cannot be applied to the cover 51. Therefore, as shown in FIG. 4, the positions of the cover 51 and the suction pad portion 12 with respect to the case 50 do not move, and only the base portion 11 moves in the direction indicated by the arrow AY1. At this time, when the coil spring 22 of the first compliance mechanism 15 extends in the direction of the arrow AY2, the suction pad portion 12 slides relative to the base portion 11 and moves toward the other leg portion 11B. As a result, the relative position of the cover 51 with respect to the hand 3 changes. As described above, the first compliance mechanism 15 receives the frictional resistance generated between the claw 53 and the concave portion 56, thereby preventing the displacement of the suction pad 24 and the cover 51.

  When the hand 3 is further moved in the direction of pushing the cover 51 into the recess 56 as indicated by an arrow AY1, the pushing member attached to the other leg 11A side of the base 11 as shown in FIG. The pressing portion 45 of 42 abuts against the other end portion of the cover 51.

  Here, the pushing member 42 is configured to move integrally with the hand 3 in the pushing direction of the cover 51. For this reason, after that, when the hand 3 is moved in the direction indicated by the arrow AY1, the cover 51 is directly pushed in the direction indicated by the arrow AY1 by the pushing member 42 from the side. Then, the suction pad portion 12 stops relative movement in the direction indicated by the arrow AY2, and moves together with the base portion 11 in the opposite direction, in this case, the direction indicated by the arrow AY1. As a result, the claw 53 is pushed into the concave portion 56 with a larger force than when the suction pad 24 is held by suction alone. As a result, as shown in FIG. 6, the claw 53 of the cover 51 is inserted into the concave portion 56 of the case 50, and both are fitted.

  When the claw 53 and the recessed portion 56 are fitted, the hand 3 is moved in the opposite direction, that is, in the direction away from the engaging portion between the claw 53 and the recessed portion 56, as indicated by an arrow AY3 in FIG. At this time, since the claw 53 and the recess 56 are fitted, the cover 51 does not move. Accordingly, the position of the suction pad portion 12 that holds the cover 51 by suction does not move. On the other hand, the suction pad portion 12 moves relative to the base portion 11 in the direction indicated by the arrow AY4 by the restoring force of the coil spring 22 of the first compliance mechanism 15, and moves toward the one leg portion 11A. Thus, although the base part 11 of the hand 3 moves, the suction pad part 12 and the cover 51 do not move. As a result, the pushing member 42 that moves integrally with the base portion 11 is separated from the side portion of the cover 51.

  Thereafter, when the hand 3 is lowered while returning to the horizontal position, the cover 51 is placed so as to cover the opening 55 of the case 50 as shown in FIG. At this time, the pushing member 42 comes into contact with the upper portion of the case 50. However, the compression coil spring 43 of the second compliance mechanism 16 is compressed, so that the pushing member 42 moves upward in the Y direction as shown by the arrow AY5, and the container 41 Be drawn into. Thereafter, the suction of the suction pad 24 is released to cancel the holding of the cover 51, and then the hand 3 is raised and retracted. The assembly of the cover 51 to the case 50 is completed through the steps so far.

  As described above, in this embodiment, the suction pad portion 12 that sucks the cover 51 is slidably attached to the base portion 11 by the first compliance mechanism 15, and the cover 51 is pushed in toward the recess 56. The member 42 is provided on the side portion of the suction pad portion 12. In the parts assembling apparatus 1, the pushing member 42 can be brought into contact with the side surface of the cover 51 by sliding the suction pad portion 12. For this reason, the nail | claw 53 can be inserted in the recessed part 56 with big force, preventing the position shift of the suction pad part 12 and the cover 51. FIG.

  Here, depending on the type of parts such as the cover 51, the position where the suction can be held may be limited. Moreover, the place to adsorb | suck may change with the shape and size of parts. For example, when the positions of the suction pad 33 and the pushing member 42 are fixed as in the hand 101 shown in FIG. 9, if the shape is like the part 102 shown in FIG. It can be pressed against the side of 102. On the other hand, if the place where the suction is possible is limited as in the part 110 shown in FIG. 9B, the pushing member 42 cannot be pressed against the side portion of the part 110. As described above, in the configuration in which the positions of the suction pad 33 and the pushing member 42 are fixed, it is necessary to manufacture a hand for each part. However, in this embodiment, since the positions of the suction pad portion 12 and the push-in member 42 can be relatively changed, assembly is possible regardless of the type of parts.

  Further, since the pushing member 42 is configured to be movable in a direction (Y direction) orthogonal to the upper surface of the case 50, the pushing member 42 does not interfere with the assembly of the cover 51.

Here, a modification of the embodiment will be described.
The cover 51 </ b> A, which is a part shown in FIG. 10, has a large thickness with respect to the depth of the opening 55 of the case 50. In the hand 60 of the assembling apparatus 1 for assembling such a cover 51 </ b> A, the pushing member 61 is fixed to the base portion 11. The length of the pushing member 61 is such a length that does not interfere with the cover 51A when the cover 51A is assembled to the case 50. In the hand 60, the pushing member 61 is brought into contact with the side surface of the cover 51 </ b> A using the first compliance mechanism 15, and the cover 51 </ b> A is pushed from the side by the pushing member 61, whereby the claw 53 is recessed in the case 50. 56. Thereafter, the posture of the hand 60 is returned to the horizontal position. At this time, a part of the cover 51 </ b> A protrudes from the opening 55 of the case 50. Since the pushing member 61 is in contact with only the protruding portion 52A of the cover 51, the cover 51 and the pushing member 61 do not interfere with each other. In such an assembling apparatus 1, the cover 51 </ b> A can be reliably assembled even in a configuration without the second compliance mechanism 16.

  In addition, the hand 70 shown in FIG. The guide part 71 has a cylinder 72 embedded in the base part 11, and a pushing member 75 is rotatably connected to a rod 72 </ b> A of the cylinder 72 via a pin 73. The rod 72A of the cylinder 72 is disposed in parallel with the X direction, and a support piece 76 is attached to the lower side of the rod 72A. The second compliance mechanism 77 in the hand 70 includes a cylinder 72, a pin 73, a pushing member 75, and a support piece 76.

  When the cover 51 is pushed in, the rod 72A is protruded and the pushing member 75 is set up vertically (parallel to the Y direction). Thereafter, the claw 53 of the cover 51 is pushed into the recess 56 of the case 50 in the same manner as described above. When the cover 51 is stored in the opening 55 of the case 50, the control device 4 pulls back the cylinder 72. The pushing member 75 connected to the rod 72 </ b> A by the pin 73 rotates in the direction indicated by the arrow with the contact point with the support piece 76 as a base point, and the pushing member 75 is retracted from above the case 50. Therefore, the push-in member 75 does not interfere with the assembly of the cover 51.

  All examples and conditional expressions given here are intended to help the reader understand the inventions and concepts that have contributed to the promotion of technology, and such examples and It is to be construed without being limited to the conditions, and the organization of such examples in the specification is not related to showing the superiority or inferiority of the invention. While embodiments of the present invention have been described in detail, various changes, substitutions and variations can be made thereto without departing from the spirit and scope of the present invention.

DESCRIPTION OF SYMBOLS 11 Base part 12 Adsorption pad part 13 Guide part 22 Coil spring (biasing member)
50 cases (work)
51 parts 53 nails (convex)
56 Concave X First direction

Claims (4)

A pad part for sucking and holding parts;
A base portion that slidably supports the pad portion in a first direction;
A guide part capable of abutting on a side part of the part, capable of moving integrally with the base part and pressing the part in a direction opposite to the first direction;
A biasing member that biases the pad portion toward the direction opposite to the first direction with respect to the base portion;
A part assembling apparatus characterized by comprising:   2. The parts assembling apparatus according to claim 1, wherein the guide part is supported by the base part so as to be movable in a direction orthogonal to the first direction. A step of adsorbing and holding parts having convex portions on the pad portion that is slidable relative to the base portion;
The step of bringing the convex portion of the part into contact with the concave portion formed in the opening of the work to which the part can be assembled;
The pad portion is slid relative to the base portion by moving the base portion in a direction in which the convex portion is fitted to the concave portion and the concave portion, and the guide portion attached to the base portion is Contacting the side of the part opposite to the convex part;
Pressing the parts with the guide portion by moving the base portion in a direction in which the convex portion and the concave portion are fitted, and fitting the convex portion and the concave portion;
A method for assembling a part, comprising: The step of bringing the convex portion of the part into contact with the concave portion so as to be fitted includes a step of arranging the part with an inclination with respect to the opening portion,
After fitting the convex part and the concave part, the parts are arranged in parallel to the opening, and the guide part is moved by moving the guide part in a direction intersecting the sliding direction of the pad part. The part assembling method according to claim 3, further comprising a step of retracting from the workpiece.

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