JP2020001145A - Caulking device and caulking method - Google Patents

Abstract

To provide a caulking device and a caulking method which can secure position reproducibility of a cradle even if using a compliance unit.SOLUTION: A caulking device 1 a robot arm 3 that holds and conveys a work-piece; a cradle 20 into which a work-piece 13 is fitted; a horn 30 that heats and presses an end part of the work-piece 13 fitted into the cradle 20; a compliance unit 40 that movably supports the cradle 20 at a position at which a second center of the cradle 20 follows a first center of the work-piece 13, when fitting the work-piece 13 held by the robot arm 3 into the cradle 20; a slide part 60 that supports the compliance unit 40 and can move the compliance unit 40 together with the cradle 20; and a positioning part 50 that holds the cradle 20 moved by the slide part 60 at a position at which the second center matches with a third center of the horn.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a caulking device and a caulking method.

  In recent years, various products have been assembled by robots, and assembling of interchangeable lenses for interchangeable lens type cameras is becoming a common example. Further, in such an optical device product, it is always an issue how to assemble and fix the optical center with respect to the reference axis of the product without eccentricity. For that purpose, the positioning accuracy of the work is important. In general, a method of positioning a work by light press-fitting into a receiving table is used for positioning in assembling an optical device. However, it is quite difficult for a robot to perform light press-fitting. To solve the problem, a method using a force sensor or a method using a compliance unit (error absorbing device) to fit a work into a receiving table is known (for example, see Patent Document 1).

  The error absorbing device described in Patent Literature 1 includes a robot mounting plate, a main body, and a chuck mounting plate. A slide base is arranged between the main body and the check mounting plate, and the slide base slides in the horizontal direction and the torsion direction, thereby absorbing an error.

JP-A-9-150391

  There are problems in fitting the work to the pedestal using the force sensor or the compliance unit. When a force sensor is used, there is a problem that it takes a very long time to specify a position and a posture that the robot faces most directly. When the error absorbing device (compliance unit) of Patent Document 1 is used, the work can be lightly press-fitted into the receiving table, but the error absorbing device can freely move in the horizontal direction (plane direction) perpendicular to the center of the receiving table. Because it can move, the cradle is not stabilized at a predetermined position in the subsequent steps.

  The present invention has been made in view of such a problem, and an object of the present invention is to provide a caulking device and a caulking method that can ensure the reproducibility of the position of a receiving table even when a compliance unit is used.

  A caulking device according to one aspect of the present invention includes a robot arm that grips and transports a work, a receiving table into which the work is fitted, and a horn that heats and presses an end of the work fitted to the receiving table. A compliance unit that movably supports the receiving table at a position where a second center of the receiving table follows a first center of the work when the work gripped by the robot arm is fitted into the receiving table. A slide part supporting the compliance unit and capable of moving the compliance unit together with the pedestal; and the pedestal moved by the slide part, wherein the second center coincides with the third center of the horn. And a positioning unit for holding the positioning unit.

  The receiving table may be retractable from the positioning section, and the work may be removable from the receiving table.

  The compliance unit has a function of returning to a reference position, the positioning portion has a fixing portion that contacts the pedestal at at least two places, and a force that returns the fixing portion and the compliance unit to the reference position. The pedestal may be held.

  The positioning portion has a first fixing portion that contacts the pedestal at at least two places, and a second fixing portion disposed on the opposite side to the first fixing portion with the pedestal interposed therebetween. The pedestal may be held by the first fixing part and the second fixing part.

  The caulking method according to one aspect of the present invention includes a transporting step of gripping a workpiece by a robot arm and transporting the workpiece to a receiving table, and the receiving step is performed at a position where a second center of the receiving table follows a first center of the workpiece. A fitting step of fitting the work into the receiving table using a compliance unit that movably supports a table, a moving step of moving the compliance unit together with the receiving table, and a positioning unit, A step of holding the pedestal at a position where the third center of the horn for heating and pressing the end of the work fitted to the pedestal coincides with the horn, and heating and pressing the end of the work. And a caulking step.

  The method may further include, after the caulking step, a release step of retracting the receiving table from the positioning section and releasing the holding of the receiving table, and a removing step of removing the work from the receiving table.

  In a case where the compliance unit has a function of returning to the reference position, in the holding step, by using a fixing portion that contacts the receiving table with the receiving table at at least two places, by a force of returning the compliance unit to the reference position. The pedestal may be held by being pressed against the fixing portion.

  In the holding step, using a first fixing portion that contacts the pedestal at at least two places and a second fixing portion disposed on the opposite side of the pedestal from the first fixing portion, The pedestal may be held by sandwiching the pedestal between the first fixing part and the second fixing part.

  Advantageous Effects of Invention According to the present invention, it is possible to provide a caulking device and a caulking method that can ensure the reproducibility of the position of the cradle even when a compliance unit is used.

It is a typical sectional view showing an example of a lens unit to which a lens was fixed by a caulking device of a 1st embodiment of the present invention. It is a typical sectional view showing an example of a lens unit before a lens is fixed by a caulking device of a 1st embodiment of the present invention. 1 is an overall view of a caulking device according to a first embodiment of the present invention. FIG. 4 is a cross-sectional view showing a state where a receiving table is held by a positioning unit in the caulking device of FIG. 3. FIG. 4 is a top view showing a state in which a receiving table is held by a positioning unit in the caulking device of FIG. 3. It is an explanatory view of a caulking method of a first embodiment of the present invention. It is an explanatory view of a caulking method of a first embodiment of the present invention. It is an explanatory view of a caulking method of a first embodiment of the present invention. It is an explanatory view of a caulking method of a first embodiment of the present invention. It is an explanatory view of a caulking method of a first embodiment of the present invention. It is an explanatory view of a caulking method of a first embodiment of the present invention. It is a sectional view showing the state where a receiving stand was held by a positioning part in a caulking device of a 2nd embodiment of the present invention. It is explanatory drawing of the swaging method of 2nd Embodiment of this invention. It is explanatory drawing of the swaging method of 2nd Embodiment of this invention. It is explanatory drawing of the swaging method of 2nd Embodiment of this invention. It is a figure showing the modification of the swaging device of a 2nd embodiment of the present invention.

[First Embodiment]
A caulking device according to a first embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, the lens unit 10 is thermally caulked by the caulking device 1 of the present embodiment shown in FIG. The lens unit 10 includes a first lens 11, a second lens 12, and a lens frame (work) 13.

The lens frame 13 is composed of a substantially cylindrical member having a first end 13A and a second end 13B. The first lens 11 and the second lens 12 are inserted and fixed inside the lens frame 13. The first end 13A of the lens frame 13 on the side where the first lens 11 is inserted is caulked, so that the first end 13A of the lens frame 13 contacts the outer edge of the first lens surface 11a of the first lens 11. The crimped portion 13C is bent toward the center (first center) O1.
The second end 13B is bent toward the center (first center) O1 of the lens frame 13. The lens frame 13 is a member that becomes the lens frame 13 by being caulked.

FIG. 2 shows the original shape of the lens frame 13 before thermal caulking. Inside the lens frame 13, a hole 14 in which the first lens 11 and the second lens 12 are arranged is formed. The inner diameter of the hole 14 is substantially the same as the outer diameter of the first lens 11 and the second lens 12.
The lens frame 13 is formed with a concave portion 15 that opens downward and is fitted into a receiving base 20 described later.
The first end 13A of the lens frame 13 has a tapered surface whose diameter decreases from the second end 13B toward the first end 13A. However, the shape of the first end 13A is an example, and the shape of the first end 13A is not limited to this, as long as the crimped portion 13C is formed by the horn 30 described later.
A bent portion bent toward the center (first center) O1 of the lens frame 13 is formed at the second end 13B. The size of the opening of the second end 13 </ b> B formed by the bent portion is smaller than the size of the second lens 12. Thus, the second lens 12 is held at the bent portion and fixed to the hole 14.
The fixing of the second lens 12 is not particularly limited, but the second lens 12 may be simply held by the lens frame 13 or may be fixed to the first lens 11 by an adhesive or the like. , May be fixed to the lens frame 13 with an adhesive or the like.

The first lens 11 and the second lens 12 are arranged such that the second lens 12 abuts on the bent portion, and the first lens 11 abuts on the second lens 12, thereby allowing the first lens 11 and the second lens 12 to move in the axial direction. Positioning is performed.
In the present embodiment, the first lens 11 and the second lens 12 are fitted one by one into the hole 14, but the first lens 11 and the second lens 12 are adhered to the hole 14 may be used. Further, the two first lenses 11 and the second lenses 12 are fitted into the lens frame 13, but the number may be one, three or more, and the number of lenses is not limited.

  The material and manufacturing method of the lens frame 13 are not particularly limited as long as the first end 13A can be thermally caulked. In the present embodiment, as an example of the lens frame 13, a molded product of a synthetic resin formed by injection molding is employed.

Next, the caulking device 1 will be described.
As shown in FIG. 3, the caulking device 1 includes a robot arm 3, a receiving table 20, a horn 30, a compliance unit 40, a positioning unit 50, and a slider (slide unit) 60.
The robot arm 3 has a three-claw hand end effector 3A. The shape of the robot arm 3 is not particularly limited, as long as it can transport the lens frame 13.

As shown in FIG. 4, the cradle 20 is a device portion to which the lens frame 13 on which the first lens 11 and the second lens 12 are mounted is fitted, and is formed of a substantially cylindrical member. The center (second center) O2 of the cradle 20 is, for example, parallel to the vertical axis.
The cradle 20 is placed on the upper surface 40 a of the compliance unit 40. The method of fixing the pedestal 20 and the compliance unit 40 is not particularly limited. For example, bolting or mechanical clamping may be employed.
The cradle 20 can be moved below the horn 30 by a slider 60. FIG. 4 is a diagram illustrating a state in which the cradle 20 into which the lens frame 13 is fitted is located below the horn 30.

The cradle 20 includes a convex portion 21 provided at an upper portion, and a receiving portion 22 provided at a lower portion and abutting on the compliance unit 40. The protrusion 21 is provided along the circumferential direction of the cradle 20. The concave portion 15 of the lens frame 13 is fitted into the convex portion 21. The position of the convex portion 21 from the center O2 is substantially the same as the position of the concave portion 15 of the lens frame 13 from the center O1. The radial size of the concave portion 15 of the lens frame 13 is slightly smaller than the radial size of the convex portion 21. It is preferable that the dimensional difference between the radial dimension of the convex portion 21 and the radial dimension of the concave portion 15 of the lens frame 13 is as small as possible. 21 is smaller by 5 μm to 10 μm than the radial dimension. Thereby, the lens frame 13 is lightly pressed into the receiving table 20.
The receiving portion 22 axially supports the lens frame 16 pressed from above when the lens frame 13 is fitted into the convex portion 21 or at the time of thermal caulking.
In a state where the lens frame 13 is fitted to the cradle 20, the center O1 of the lens frame 13 and the center O2 of the cradle 20 are substantially coaxial (including coaxial). The lens frame 13 is detachable from the cradle 20.

The horn 30 is movable in a direction parallel to the vertical axis, as shown in FIG. At the end of the horn 30 facing the cradle 20, a tapered pressing surface 31 whose diameter increases downward is formed. The pressing surface 31 is formed so that the center (third center) O3 of the horn 30 is axially symmetric. The horn 30 descends toward the cradle 20, and the pressing surface 31 of the horn 30 can press the first end 13 </ b> A of the lens frame 13 toward the first lens 11. That is, the first end 13 </ b> A of the lens frame 13 fitted to the cradle 20 is heated and pressed by the pressing surface 31.
The center (third center) O3 of the horn 30 is parallel to the moving direction of the horn 30.

As shown in FIG. 4, the compliance unit 40 has a first plate 41 and a second plate 42 that are movable along a surface direction orthogonal to a vertical axis (second center O2). The first plate 41 and the second plate 42 are configured to be relatively movable with respect to each other. The first plate 41 and the second plate 42 are movable in the surface direction by an external force acting in the surface direction.
The receiving table 20 is fixed on the first plate 41. The second plate 42 is fixed to a slider 60 described later. The method of fixing the pedestal 20 to the first plate 41 and the method of fixing the slider 60 to the second plate 42 are not particularly limited. For example, bolting or mechanical clamping may be employed.
When the compliance unit 40 receives an external force, it can move in the plane direction. Therefore, the pedestal 20 placed on the compliance unit 40 can move in the plane direction following the movement of the compliance unit 40. It is. The compliance unit 40 is of a type that returns to the reference position R when receiving no external force. However, the accuracy with which the compliance unit 40 returns to the reference position R is about several tens of microns, which is not sufficient in view of the required accuracy of the present embodiment.
Since the second plate 42 is fixed to the slider 60, the second plate 42 has a force to return to the reference position R when the first plate 41 shifts from the reference position R.

As shown in FIG. 3, the positioning section 50 has a V block (fixing section) 51 having a V-shaped groove 52.
The V block 51 is fixed to a not-shown fixing plate or the like, and the position is fixed. The horn 30 is provided above the V block 51. The positional relationship between the V block 51 and the third center O3 of the horn 30 is unchanged.

The slider 60 can move the cradle 20 to a position facing the horn 30 and a position retracted from the horn 30.
The height position of the groove portion 52 of the V block 51 in the vertical axis direction is substantially the same as the height position of the outer peripheral surface 22 a of the cradle 20. That is, the V block 51 is positioned such that the outer peripheral surface 22 a of the receiving portion 22 of the receiving table 20 abuts the groove 52 of the V block 51.

As shown in FIG. 5, the V block 51 has a first surface 51a and a second surface 51b. The first surface 51a and the second surface 51b are surfaces inclined in the sliding direction D1 of the slider 60. Accordingly, it is possible to restrict the movement of the cradle 20 in a direction intersecting the sliding direction D1 of the slider 60.
The outer peripheral surface 22 a of the receiving portion 22 of the receiving table 20 abuts on the groove 52 of the V block 51. The first surface 51a contacts the outer peripheral surface 22a of the receiving portion 22 at a point P1, and the second surface 51b contacts the outer peripheral surface 22a of the receiving portion 22 at a point P2. In this manner, in a state where the outer peripheral surface 22a of the pedestal 20 is in contact with the first surface 51a and the second surface 51b, the reference position R of the compliance unit 40 is located inside the groove 52 with respect to the center O2 of the pedestal 20. , The slider 60 is slid. Since the compliance unit 40 is of a type that returns to the reference position R, a force that returns to the reference position R inward of the groove 52 is generated as indicated by an arrow F1. Since the V-block 51 is pressed by the pedestal 20 by the returning force of the compliance unit 40, the pedestal 20 does not move in the direction opposite to the arrow F1. In addition, since the V block 51 is fixed, the V block 51 is not pushed by the receiving base 20 due to the returning force of the compliance unit 40.

  As shown in FIG. 4, the V block 51 guides the cradle 20 into the groove 52, and the cradle 20 and the V block 51 abut at the points P1 and P2. The cradle 20 is held at a position where the second center O2 of the horn 20 and the third center O3 of the horn 30 match. Specifically, the movement of the cradle 20 in a plane direction orthogonal to the second center O2 is restricted to maintain the positional relationship. That is, the movement of the pedestal 20 in the surface direction is restricted by the V block 51 and the force of returning the compliance unit 40 to the reference position R.

Next, the caulking method of the present embodiment will be described using the caulking device 1 having such a configuration.
First, as shown in FIG. 3, the lens frame 13 is gripped by the robot arm 3 and transported to the receiving table 20 fixed on the slider 60 via the compliance unit 40 (transport step). The first lens 11 and the second lens 12 are fitted in the holes 14 of the lens frame 13. The lens frame 13 is fitted into the cradle 20 by the robot arm 3. At this time, as shown in FIG. 6, the first center O1 of the lens frame 13 and the second center O2 of the cradle 20 may be shifted due to a component error or the like. The robot arm 3 descends toward the cradle 20, and the second end 13 </ b> B of the lens frame 13 comes into contact with the projection 21 of the cradle 20. Since the first center O1 and the second center O2 are misaligned, the concave portion 15 of the lens frame 13 does not fit into the convex portion 21 of the pedestal 20, but the first plate 41 of the compliance unit 40 is in the planar direction. 6 (in the direction of arrow A in FIG. 6), the cradle 20 moves to a position where the second center O2 of the cradle 20 follows the first center O1 of the lens frame 13. Thereby, as shown in FIG. 7, the concave portion 15 of the lens frame 13 is fitted into the convex portion 21 of the receiving base 20 (fitting step).

  Next, when the lens frame 13 is fitted into the cradle 20, the robot arm 3 retreats from the cradle 20. When the robot arm 3 retracts, it is detected that the robot arm 3 has retracted, and the slider 60 is moved toward the V block 51. As shown in FIG. 8, the position where the second center O2 of the cradle 20 and the third center O3 of the horn 30 are in a positional relationship, that is, the outer peripheral surface 22a of the receiving portion 22 of the cradle 20 is V The slider 60 is moved until it comes into contact with the groove 52 of the block 51 (moving step). At this time, for example, as shown by a two-dot chain line in FIG. 9, the outer peripheral surface 22 a of the receiving portion 22 first contacts the first surface 51 a of the groove 52. Further, when the slider 60 is slid toward the inside of the groove 52, the outer peripheral surface 22a of the receiving portion 22 comes into contact with the first surface 51a and the second surface 51b as shown by the solid line in FIG. .

  Further, the slider 60 moves the cradle 20 toward the V block 51. As shown in FIG. 5, the slider 60 is moved until the reference position R of the compliance unit 40 is located inside the groove 52 with respect to the center O2 of the receiving table 20. At this time, since a force (arrow F1) for returning to the V-block 51 is generated in the receiving table 20, the outer peripheral surface 22a of the receiving portion 22 presses the first surface 51a and the second surface 51b. As a result, the cradle 20 does not move in the direction away from the V-block 51, so that movement of the cradle 20 in a plane direction perpendicular to the second center O2 is restricted, and the second center O2 and the third center O2 are not moved. The positional relationship that coincides with the center O3 is held (holding step).

  Next, as shown in FIG. 10, the horn 30 is lowered. When the pressing surface 31 of the horn 30 comes into contact with the first end 13A of the lens frame, the first end 13A is heated and softened. As the horn 30 descends, the first end 13A is pressed by the pressing surface 31 and deforms along the pressing surface 31 (caulking step). Thereby, as shown in FIG. 1, the first end 13 </ b> A of the lens frame 13 is in close contact with the first lens surface 11 a while being bent on the outer peripheral portion of the first lens 11. When the caulked portion 13C is formed in this way, the lowering of the horn 30 is stopped, the heating is stopped, and the caulked portion 13C is cured. When the caulking portion 13C is hardened, the horn 30 is raised.

  Next, as shown in FIG. 11, the slider 60 moves in a direction in which the cradle 20 is retracted from the V-block 51. When the pedestal 20 moves until the reference position R of the compliance unit 40 is positioned outside the groove 52 from the center O2 of the pedestal 20, the restraint of the pedestal 20 is released (release step). Further, the cradle 20 is moved in a retracting direction to a position where it does not interfere with the horn 30, and the lens unit 10 is removed from the cradle 20 (removal step). Then, the lens frame 13 is again gripped by the robot arm 3 and transported to the receiving table 20 (return to the transport step).

When the compliance unit 40 is used and the V block 51 is not provided, when the horn 30 contacts the lens frame 13, the compliance unit 40 moves in a plane direction orthogonal to the second center O2 of the cradle 20. Therefore, it is difficult to ensure the reproducibility of the position of the cradle 20.
According to the caulking device 1 and the caulking method of the present embodiment, the second center O2 of the cradle 20 and the third center O3 of the horn 30 coincide with each other by bringing the cradle 20 into contact with the V block 51. The positional relationship is maintained. Thereby, even if the compliance unit 40 is used, the position reproducibility of the cradle 20 can be ensured.

Furthermore, after caulking the lens frame 13, the cradle 20 can be retracted from the V-block 51 and the lens frame 13 can be removed from the cradle 20. Thereby, even if the lens frame 13 has an individual difference due to a component error or the like and the position of the first center O1 is displaced by the lens frame 13, the pedestal 20 is brought into contact with the V block 51, The second center O2 and the third center O3 can be matched.
Further, since the compliance unit 40 has a function of returning to the reference position R, the movement of the receiving table 20 in the surface direction is restricted by the V block 51 and the force of returning the compliance unit 40 to the reference position R. Thereby, the movement of the receiving table 20 in the surface direction can be restricted by the simple shape of the V block 51.

Although the cradle 20 is moved with respect to the horn 30 and the positioning unit 50, a configuration in which the horn 30 and the locating unit 50 are moved with respect to the cradle 20 may be employed.
In addition, although the cradle 20 and the V block 51 are in point contact, surface contact may be possible depending on the shape of the cradle 20 and the shape of the groove 52 of the V block 51.
The mechanism for moving the slider 60 is not particularly limited, but may be manual, or may be connected to a control unit and be automatic.
Further, although the V block 51 is provided as the fixing portion, the shape is not limited to this. That is, any shape may be used as long as it restricts the movement of the cradle 20 in the plane direction.

[Second embodiment]
A second embodiment of the present invention will be described with reference to FIGS.
The caulking device 100 of the present embodiment differs from the first embodiment in the configuration of the positioning unit 70.
In the following description, the same components as those described above will be denoted by the same reference numerals, and redundant description will be omitted.

As shown in FIG. 12, the positioning section 70 includes a fixing section (second fixing section) 71 and a V block (first fixing section) 72.
The fixing part 71 has a quadrangular prism shape. The fixing portion 71 is fixed to a fixing plate (not shown) or the like, and has a fixed position. The horn 30 is provided above the fixing portion 71. The positional relationship between the fixed portion 71 and the third center O3 of the horn 30 is unchanged.
The V block 72 is arranged on the opposite side of the fixing portion 71 with the receiving stand 80 interposed therebetween. The V block 72 is mounted on the slider 60.
The V block 72 has a V-shaped groove 73 as shown in FIG. The groove 73 has a first surface 73a and a second surface 73b. The first surface 73a and the second surface 73b are surfaces inclined in the sliding direction D1 of the slider 60. Accordingly, it is possible to restrict the movement of the cradle 80 in a direction intersecting the sliding direction D1 of the slider 60.

As shown in FIG. 12, the receiving table 80 includes a convex portion 81 and a receiving portion 82, as in the first embodiment. As shown in FIG. 13, the outer peripheral portion of the receiving portion 82 has a flat portion 82 a that contacts the fixing portion 71 and an arc portion 82 b that faces the V block 72. The flat portion 82a of the receiving table 80 and the surface 71A of the fixed portion 71 facing the flat portion 82a are substantially parallel.
When the compliance unit 40 receives an external force, it can move in the plane direction. Therefore, the cradle 80 arranged on the compliance unit 40 can move in the plane direction following the movement of the compliance unit 40. .

Two rotating rollers 71a and 71b are arranged on a surface 71A of the fixed portion 71 facing the flat portion 82a of the receiving table 80. By providing the rotating rollers 71a and 71b, the flat portion 82a of the receiving table 80 can easily slide in a direction orthogonal to the sliding direction D1 of the slider 60.
The V block 72 moves toward the cradle 80, can abut on the arc portion 82 b of the receiving portion 82 of the cradle 80, and can push the cradle 80 toward the fixing portion 71. As a result, as shown in FIG. 15, the flat portion 82 a of the receiving table 80 comes into contact with the two rotating rollers 71 a and 71 b of the fixed section 71, and the arc portion 82 b of the receiving table 80 is in contact with the first surface 73 a of the V block 72. The contact is made at a point P3, and the arc portion 82b of the pedestal 80 contacts the second surface 73b of the V block 72 at a point P4, so that the second center O2 of the pedestal 20 and the third center O3 of the horn 30 are And the positional relationship is maintained by restricting the movement in the plane direction orthogonal to the second center O2.

Next, the caulking method of the present embodiment will be described using the caulking device 1 having such a configuration.
The transporting step of transporting the lens frame 13 to the receiving table 80 and the fitting step of fitting the concave portion 15 of the lens frame 13 to the convex portion 81 of the receiving table 80 are the same as in the first embodiment.

Next, as shown in FIG. 13, the slider 60 is slid toward the fixing portion 71. As shown in FIG. 14, the slider 60 is slid until the flat portion 82a of the receiving table 80 comes into contact with the two rotating rollers 71a and 71b. When the flat portion 82a of the pedestal 80 contacts the two rotating rollers 71a and 71b, the V block 72 is pushed toward the pedestal 80. The first surface 73a of the groove 73 and the arc portion 82b of the cradle 80 contact at a point P3. At this time, the second surface 73 b of the groove 73 is not in contact with the cradle 80. Further, when the V block 72 is pushed toward the pedestal 80, the pedestal 80 moves downward while the flat portion 82a of the pedestal 80 slides on the two rotating rollers 71a and 71b (the arc portion 82b of the pedestal). Move in the direction of contact with the second surface 73b: the direction of the arrow D2), and as shown in FIG. 15, the second surface 73b of the groove 73 and the arc portion 82b of the cradle 80 contact at a point P4.
In this way, the receiving table 80 is fixed by being sandwiched between the fixing section 71 and the V block 72. Accordingly, the movement of the cradle 80 in the plane direction orthogonal to the second center O2 is restricted, and the positional relationship in which the second center O2 of the cradle 80 and the third center O3 of the horn 30 match is maintained. .

  Next, similarly to the first embodiment, the horn 30 caulks the first end portion 13A of the lens frame 13. When the V-block 72 moves away from the pedestal 80 and the slider 60 moves in the direction in which the pedestal 80 is retracted from the fixed part 71, the restraint of the pedestal 80 is released. As in the first embodiment, the lens unit 10 is removed from the receiving table 80, and the lens frame 13 is again gripped by the robot arm 3 and transported to the receiving table 80.

According to the caulking device and the caulking method of the present embodiment, the receiving block 80 is pressed against the fixing portion 71 by the V block 72 so that the movement of the receiving table 80 in the surface direction is restricted, and the second center O2 of the receiving table 80 is set. The positional relationship in which the third center O3 of the horn 30 and the third center O3 coincide is maintained. Thereby, even if the compliance unit 40 is used, the position reproducibility of the cradle 80 can be ensured.
Furthermore, after caulking the lens frame 13, the cradle 80 can be retracted from the fixing portion 71 and the lens unit 10 can be removed from the cradle 80. Thereby, even if there is an individual difference in the lens frame 13 due to a component error or the like and the position of the first center O1 is shifted by the lens frame 13, the receiving table 80 is brought into contact with the fixing portion 71, and the fixing portion 71 is fixed. By sandwiching the cradle 80 with the V block 72, the second center O2 and the third center O3 can be matched.

Although the cradle 80 is moved with respect to the horn 30 and the fixed part 71, a configuration in which the horn 30 and the fixed part 71 are moved with respect to the pedestal 20 may be employed.
As shown in FIG. 16, a V block (first fixed portion) 91 is provided instead of the fixed portion 71, and a pressing portion (second fixed portion) 92 is provided instead of the V block 72. There may be. The V block 91 is fixed to a not-shown fixing plate or the like, and the pressing portion 92 is mounted on the slider 60. The pressing unit 92 can push the cradle 80 toward the V-block 91. In the case of this configuration, the arc portion 82b of the receiving portion 82 of the receiving stand 80 that comes into contact with the V-block 91 has an arc shape, and the flat portion 82a of the receiving portion 82 of the receiving stand 80 that the pressing portion 92 comes into contact with is flat. . The positional relationship between the V-block 91 and the horn 30 is invariable, and the pressing unit 92 presses the pedestal 80 against the V-block 91 to restrict the movement of the pedestal 80 in the surface direction.
Further, although the fixing unit 71 has the configuration in which the rotating rollers 71a and 71b are provided, the rotating rollers 71a and 71b may not necessarily be provided.

  The preferred embodiments of the present invention have been described above, but the present invention is not limited to these embodiments. Additions, omissions, substitutions, and other modifications of the configuration can be made without departing from the spirit of the present invention. The invention is not limited by the foregoing description, but is limited only by the scope of the appended claims.

O1 Center of lens frame O2 Center of cradle O3 Center of horn 1,100 Caulking device 3 Robot arm 13 Lens frame (work)
20, 80 Cradle 30 Horn 40 Compliance unit 50 Positioning part 51 V block (fixed part)
71 Fixed part (second fixed part)
72 V block (first fixed part)
91 V block (first fixed part)
92 Pressing part (second fixing part)

Claims (8)

A robot arm that grips and transports the work,
A receiving table into which the work is fitted,
A horn for heating and pressing an end of the work fitted to the receiving table,
A compliance unit that movably supports the receiving table at a position where a second center of the receiving table follows a first center of the work when the work gripped by the robot arm is fitted into the receiving table; ,
A slide unit that supports the compliance unit and is capable of moving the compliance unit together with the cradle,
A positioning unit that holds the cradle moved by the slide unit at a position where the second center matches the third center of the horn;
A caulking device comprising: The cradle is retractable from the positioning unit,
The caulking device according to claim 1, wherein the work is detachable from the receiving table. The compliance unit has a function of returning to a reference position,
The positioning portion has a fixing portion that contacts the cradle at at least two places,
The caulking device according to claim 1, wherein the cradle is held by the fixing portion and a force of returning the compliance unit to the reference position. The positioning unit,
A first fixing portion that contacts the cradle at at least two places;
A second fixing portion disposed on the opposite side of the first fixing portion with respect to the receiving table,
The caulking device according to claim 1, wherein the receiving table is held by the first fixing unit and the second fixing unit. A transport step of gripping the workpiece by the robot arm and transporting the workpiece to the receiving table;
A fitting step of fitting the work to the receiving table using a compliance unit that movably supports the receiving table at a position where the second center of the receiving table follows the first center of the work;
A moving step of moving the compliance unit together with the cradle;
A holding step of holding the receiving table at a position where the second center and the third center of the horn that heats and presses the end of the work fitted into the receiving table are aligned by the positioning unit. ,
A caulking step of heating and pressing the end of the work,
A caulking method comprising: After the caulking step,
A release step of retracting the pedestal from the positioning unit and releasing the restraint of the pedestal,
Removing the work from the cradle,
The caulking method according to claim 5, further comprising: When the compliance unit has a function of returning to a reference position,
In the holding step, using a fixing portion that contacts the receiving table with the receiving table in at least two places,
The caulking method according to claim 5, wherein the pedestal is pressed against the fixing portion by a force of returning the compliance unit to the reference position, and the pedestal is held. In the holding step,
Using a first fixing portion that contacts the cradle at at least two places, and a second fixing portion disposed on the opposite side to the first fixing portion with the cradle interposed therebetween,
The caulking method according to claim 5, wherein the pedestal is held by sandwiching the pedestal between the first fixing part and the second fixing part.

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