JP2020151813A - Assembly device of shaft member - Google Patents

Abstract

To insert a shaft member into a fitting hole properly without performing special processing to the fitting hole and the shaft member even in a case of narrow fitting.SOLUTION: An assembly device of a shaft member inserts a shaft member into a fitting hole of a component fixed to a fixing base and includes: a holding mechanism which holds the shaft member; a moving mechanism which moves the holding mechanism to the fixing base from above; and a floating support mechanism which supports the holding mechanism relative to the moving mechanism. The floating support mechanism has a gas introduction chamber into which a compressed gas is introduced and which includes a clearance allowing relative movement between the holding mechanism and the moving mechanism.SELECTED DRAWING: Figure 2A

Description

The present invention relates to a shaft member assembling device for inserting a shaft member into a component.

Conventionally, a method of assembling a shaft member disclosed in Patent Document 1 is known.
The method of assembling the shaft member disclosed in Patent Document 1 is a method of fitting the shaft member into the fitting hole of the main body (part) having the fitting hole, and the fitting hole is formed into a stepped hole. And / or the shaft member is molded into a stepped shape, the main body is fixed to the jig so that the fitting hole is in the vertical direction, and at least the vicinity of the tip of the shaft member is inserted into the fitting hole. The main body and the jig are vibrated at the natural frequency of the main body and the jig or a frequency close to the natural frequency, and the shaft member is fitted into the fitting hole.

Japanese Unexamined Patent Publication No. 2006-26781

However, in Patent Document 1, when the clearance between the fitting hole and the shaft member is a narrow fitting of about several μm, the shaft member cannot be sufficiently inserted to the deep part of the fitting hole, or the shaft member is inserted. It sometimes took a long time to do this. Further, in Patent Document 1, since it is necessary to form the fitting hole of the main body into a stepped hole or to form the shaft member into a stepped shape, there is a problem that the applicable products are limited and the manufacturing cost is increased. There was a problem that it took.

The present invention has been made to solve such problems of the prior art, and even in the case of narrow fitting, the shaft member is fitted without any special processing on the fitting hole or the shaft member. It is an object of the present invention to provide an assembly device for a shaft member that can be appropriately inserted into a hole.

The shaft member assembling device according to one aspect of the present invention is a shaft member assembling device for inserting the shaft member into a fitting hole of a component fixed to a fixed base, and is a holding mechanism for holding the shaft member and a holding mechanism. The floating support mechanism is provided with a moving mechanism for moving the holding mechanism from above toward the fixed base and a floating support mechanism for supporting the holding mechanism with respect to the moving mechanism. The floating support mechanism is introduced with compressed gas and the holding mechanism and the moving mechanism. It has a gas introduction chamber that includes a clearance that allows relative movement with.

According to the shaft member assembling device, the shaft member is appropriately inserted into the fitting hole without any special processing of the shaft member in the fitting hole even in the case of narrow fitting.

It is a plan sectional view which shows a part and a shaft member. It is a front view which shows the assembly apparatus of a shaft member. It is a front view which shows the moving mechanism, the holding mechanism, and the floating support mechanism. It is a side view which shows the moving mechanism, the holding mechanism, and the floating support mechanism. It is a side view which shows the state which the moving mechanism moves from the upper part to the lower part. It is a front view which shows the holding mechanism and a floating support mechanism. It is a side view which shows the holding mechanism and a floating support mechanism. It is a front sectional view of the floating support mechanism. It is a bottom sectional view of the floating support mechanism which shows the positional relationship between an insertion part and a gas introduction hole. It is a front view which shows the state which the assembly apparatus of a shaft member inserts a shaft member.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a front sectional view showing a component 60 to which a shaft member 80 is assembled by the assembly device 1 according to the present embodiment.
The component 60 of FIG. 1 is a valve body of a valve that switches a fluid flow state, that is, a hydraulic switching valve that switches by hydraulic oil, an electromagnetic switching valve that switches by excitation, and the like, and is made of casting, resin, or the like. The component 60 has a plurality of ports 61 through which hydraulic oil flows, and a plurality of flow paths 62.

Pipe members such as hoses and pipes through which hydraulic oil flows are connected to the plurality of ports 61. The plurality of ports 61 are supplied with hydraulic oil from the pipe member or discharge the hydraulic oil to the pipe member.
The plurality of flow paths 62 are formed inside the component 60 and are paths through which hydraulic oil flows. The plurality of flow paths 62 are connected to the plurality of ports 61, hydraulic oil is supplied from the first port, and hydraulic oil is discharged to the second port.

As shown in FIG. 1, the component 60 is formed with an fitting hole 63 into which the shaft member 80 is inserted. The fitting hole 63 is an annular (cylindrical) hole extending from one end to the other end of the component 60. A plurality of flow paths 62 are connected to each of the fitting holes 63. In the present embodiment, two fitting holes 63 are formed in the component 60. The number of fitting holes 63 corresponds to the number of shaft members 80 inserted into the component 60, and the number of fitting holes 63 is not limited to two and may be one or three or more. .. Inside one end side of the fitting hole 63, an endless fitting groove 63a is formed along the circumferential direction of the fitting hole 63. The fitting groove 63a is an annular groove formed so as to step down on the inner circumference of the fitting hole 63, and the inner diameter of the fitting groove 63a is larger than the inner diameter of the fitting hole 63. A packing (elastic member) 70 is fitted into the fitting groove 63a.

As shown in FIG. 1, the shaft member 80 is formed in a long columnar shape and is inserted into the fitting hole 63 of the component 60. The shaft member 80 is a spool that can move in the longitudinal direction inside the fitting hole 63. By moving the inside of the component 60 in the longitudinal direction, the shaft member 80 changes the connection destinations of the plurality of flow paths 62 formed in the component 60, and switches the distribution state.
As shown in FIG. 1, the shaft member 80 has a connecting portion 81 and projecting portions 82 protruding in the axial direction from both end portions of the connecting portion 81, respectively. The connecting portion 81 and at least one protruding portion 82 are inserted into the fitting hole 63. In the present embodiment, the connecting portion 81 and the protruding portion 82 on one side (left end side in FIG. 1) are inserted into the fitting hole 63. The outer diameter of the portion (connecting portion 81 and at least one protruding portion 82) of the shaft member 80 to be inserted into the fitting hole 63 is slightly smaller than the inner diameter of the fitting hole 63, and the inner diameter of the fitting hole 63 and the corresponding portion. The difference from the outer diameter of the portion is, for example, 4 to 7 μm.

As shown in FIG. 1, of the projecting portions 82, the projecting portion 82 inserted into the fitting hole 63 is chamfered so as to form a tapered inclined portion 83. Further, an elastic member (spring) 84 that applies a force to switch the position of the shaft member 80 is attached to the protruding portion 82 on the side opposite to the side inserted into the fitting hole 63. When the switching valve is a hydraulic switching valve, the protruding portion 82 is provided with a pressure receiving portion to which pressure is applied from the hydraulic oil, and is not limited to the above configuration.

Hereinafter, the assembly device 1 of the shaft member 80 for inserting the shaft member 80 into the fitting hole 63 will be described with reference to FIGS. 2A to 5.
The assembly device 1 of the shaft member 80 assembles the shaft member 80 to the component 60 by inserting the shaft member (spool) 80 into the fitting hole 63 of the component (valve body) 60 fixed to the fixing base 3. In the present embodiment, the assembly device 1 of the shaft member 80 includes a compressor 2 that supplies gas, and the assembly device 1 of the shaft member 80 operates by a gas such as air supplied by the compressor 2. The assembly device 1 may be configured to operate with a compressed gas supplied from an external compressed gas supply source. Further, the assembly device 1 of the shaft member 80 is not limited to the configuration operated by the compressed gas, and may be configured to be operated by driving an electric motor, for example, and the driving method thereof is not limited to the above configuration.

As shown in FIG. 2A, the assembly device 1 of the shaft member 80 includes a fixing base 3, a holding mechanism 10, and a moving mechanism 30. The fixing pedestal 3 is a pedestal on which the component 60 is mounted on the upper surface and the mounted component 60 is fixed. The fixing base 3 fixes the component 60 so that the penetration direction of the fitting hole 63 of the component 60 faces the vertical direction. For example, the fixing base 3 fixes the component 60 by sandwiching the component 60 from the outside to the inside of the component 60 so that the base end side of the shaft member 80 in the fitting hole 63 in the insertion direction faces upward. To do. The fixing base 3 only needs to be able to fix the component 60 so that the base end side of the shaft member 80 in the fitting hole 63 in the insertion direction faces upward, and the fixing base 3 is bolted to the hole formed in the component 60. The component 60 may be fixed by fastening a fastening member such as the above, and the fixing method is not limited to the above configuration.

As shown in FIG. 2A, the holding mechanism 10 is installed above the fixing base 3 and holds the shaft member 80. The holding mechanism 10 has an insertion direction of the shaft member 80 so that the tip end side of the shaft member 80 in the insertion direction faces the component 60 (fitting hole 63), that is, the central axis C of the shaft member 80 faces the vertical direction. Holds the base end side of.
In the following description, the central axis C of the shaft member 80 held by the holding mechanism 10 will be described as a reference axis.

As shown in FIGS. 2A to 2F, the holding mechanism 10 has a base end portion 11 and a gripper 12. The base end portion 11 is provided below the moving mechanism 30, and various grippers 12 can be attached to the base end portion 11. Specifically, the base end portion 11 is composed of a plurality of shafts and the like extending in the vertical direction, and is connected to the upper portion of the gripper 12.
As shown in FIGS. 2A to 2F, the gripper 12 is a mechanism for sandwiching the shaft member 80, and is, for example, a three-claw parallel opening / closing gripper. The gripper 12 may be a two-claw parallel opening / closing gripper as long as it can hold the shaft member 80, and is not limited to the three-claw parallel opening / closing gripper.

As shown in FIGS. 2E and 2F, the gripper 12 has a plurality of gripping claws 13 and a pinching drive unit 15. The gripping claw 13 is a portion that holds the shaft member 80, extends downward from the base end side, and the lower end portion of the gripping claw 13 is bent toward the reference axis C. The surface of the lower end of the gripping claw 13 on the reference axis C side, that is, the surface in contact with the shaft member 80 is formed of gunmetal. Not limited to this, for example, an elastic member 14 such as rubber or silicon may be attached to the contact surface of the gripping claw 13 with the shaft member 80. As shown in FIGS. 2A to 2F, the gripping claws 13 are arranged equidistantly and equidistantly from the reference axis C. In this embodiment, the gripper 12 has three gripping claws 13. The gripping claws 13 are arranged at intervals of approximately 120 °.

The pinching drive unit 15 is a portion that supports the gripping claw 13 and drives the gripping claw 13. The configuration of the sandwiching drive unit 15 is not particularly limited, and for example, various conventionally known techniques can be applied. For example, as shown in FIGS. 2E and 2F, the gripping drive unit 15 includes a gripping and imparting unit 16, a guided unit 17, a guide unit 18, and a pneumatic cylinder 19. The gripping portion 16 applies a force so that the guided portion 17 approaches the reference axis C. Specifically, the gripping portion 16 is an elastic body such as a spring, and each is connected to the outside of the guided portion 17 in the width direction. As a result, the gripping claw 13 moves in the direction approaching the reference axis C, so that the gripper 12 is closed.

The guided portion 17 is connected to the upper portion of the gripping claw 13, and the outside in the width direction is connected to the gripping granting portion 16, and a force is applied from the gripping granting portion 16 toward the reference axis C. As shown in FIGS. 2E and 2F, the guided portion 17 has an inclined surface 17a formed on the inner surface in the width direction. The inclined surface 17a is inclined from the upper part on the outer side in the width direction to the lower part on the inner side in the width direction.
As shown in FIGS. 2E and 2F, the guide portion 18 guides the guided portion 17 (grasping claw 13) in a direction away from the reference axis C. The guide portion 18 has a truncated cone shape in which an inclined portion 18a having a tapered shape is formed from the upper part to the lower part, and the inclined portion 18a comes into contact with the inclined surface 17a of the guided portion 17. When the guide portion 18 moves in the vertical direction, the inclined portion 18a slides on the inclined surface 17a of the guided portion 17 and guides the guided portion 17 in a direction away from the reference axis C. As a result, the gripping claw 13 moves in the direction away from the reference axis C, and the gripper 12 is opened.

The pneumatic cylinder 19 is driven by the gas (air) supplied from the compressor 2 and moves the guide portion 18 in the vertical direction. The pneumatic cylinder 19 includes a cylinder tube 19a, a piston 19b provided in the cylinder tube 19a so as to be movable in the axial direction, and a rod 19c connected to the piston 19b. A guide portion 18 is arranged on the tip end side of the rod 19c, and the guide portion 18 moves in conjunction with the piston 19b.

As shown in FIGS. 2E and 2F, the piston 19b divides the inside of the cylinder tube 19a into a first air chamber 19a1 and a second air chamber 19a2. The first air chamber 19a1 is an air chamber on the bottom side (opposite side of the rod 19c side) of the cylinder tube 19a. The second air chamber 19a2 is an air chamber on the rod 19c side of the cylinder tube 19a. The base end portion 11 of the cylinder tube 19a is provided with a port (not shown) that supplies and discharges air and communicates with the first air. On the other hand, the tip of the cylinder tube 19a is provided with a port (not shown) that supplies and discharges air and communicates with the second air chamber 19a2. That is, when air is supplied to the first air chamber 19a1 through the port, air is discharged from the second air chamber 19a2 through the port, the piston 19b moves to the tip side of the cylinder tube 19a, and the rod 19c moves. Stretch. On the other hand, when air is supplied to the second air chamber 19a2 through the port, air is discharged from the first air chamber 19a1 through the port, the piston 19b moves to the base end side of the cylinder tube 19a, and the rod 19c Shrinks. The holding drive unit 15 may move the holding mechanism 10 by hydraulic pressure, or may move the holding mechanism 10 by driving an electric motor, as long as the gripping claw 13 can be driven to open and close.

As shown in FIG. 2D, the moving mechanism 30 relatively moves the holding mechanism 10 from the upper side to the lower side (fixed base 3 side) and from the lower side to the upper side in the vertical direction. The moving mechanism 30 has a sliding rail 31 and a drive unit 32. The sliding rail 31 extends in the vertical direction, and its position is fixed relative to the fixing base 3. The drive unit 32 is, for example, a pneumatic cylinder that can be driven by the air supplied from the compressor. The drive unit 32 includes a cylinder tube 32a, a piston 32b provided in the cylinder tube 32a so as to be movable in the axial direction, and a rod 32c connected to the piston 32b. A holding mechanism 10 is arranged on the tip end side of the rod 32c, and the holding mechanism 10 moves in conjunction with the piston 32b.

As shown in FIGS. 2B and 2C, the piston 32b divides the inside of the cylinder tube 32a into a first air chamber 32a1 and a second air chamber 32a2. The first air chamber 32a1 is an air chamber on the bottom side (opposite side of the rod 32c side) of the cylinder tube 32a. The second air chamber 32a2 is an air chamber on the rod 32c side of the cylinder tube 32a. The base end portion 11 of the cylinder tube 32a is provided with a port (not shown) that supplies and discharges air and communicates with the first air chamber. On the other hand, the tip of the cylinder tube 32a is provided with a port (not shown) that supplies and discharges air and communicates with the second air chamber 32a2. That is, when air is supplied to the first air chamber 32a1 through the port, air is discharged from the second air chamber 32a2 through the port, the piston 32b moves to the tip side of the cylinder tube 32a, and the rod 32c moves. Stretch. On the other hand, when air is supplied to the second air chamber 32a2 through the port, air is discharged from the first air chamber 32a1 through the port, the piston 32b moves to the base end side of the cylinder tube 32a, and the rod 32c Shrinks. The moving mechanism 30 only needs to be able to move the holding mechanism 10 from above toward the fixing base 3, and the holding mechanism 10 may be moved by hydraulic pressure, or the holding mechanism 10 may be moved by driving an electric motor. You may.

As shown in FIGS. 2A to 2F, the holding mechanism 10 is supported by the floating support mechanism 40 with respect to the moving mechanism 30. The floating support mechanism 40 floatably supports the holding mechanism 10 with respect to the moving mechanism 30. As shown in FIGS. 2B, 2C, and 3, the floating support mechanism 40 has an air introduction chamber E. The air introduction chamber (gas introduction chamber) E includes clearances 42a and 43a into which the gas supplied from the compressor 2 is introduced and allows relative movement between the holding mechanism 10 and the moving mechanism 30. In the present embodiment, the assembly device 1 is provided with the compressor 2, and the gas is introduced into the air introduction chamber E from the compressor 2, but the present invention is not limited to this. For example, the compressor 2 may be omitted, and the compressed gas supplied from the external compressed gas supply source of the assembly device 1 may be introduced into the air introduction chamber E. The holding mechanism 10 includes an insertion portion 20 to be inserted into the air introduction chamber E, and the floating support mechanism 40 supports the holding mechanism 10 by accommodating the insertion portion 20 in the air introduction chamber E.

As shown in FIGS. 2A, 2B, and 3, the insertion portion 20 is provided in the center of the upper portion of the base end portion 11. The insertion portion 20 is a portion to be inserted into the air introduction chamber E, and has a shaft portion 20a and a flange portion 20b. The shaft portion 20a is a shaft-shaped portion extending upward from the center of the upper portion of the base end portion 11. The flange portion 20b is a disk-shaped portion extending from the end portion of the shaft portion 20a to the outside of the diameter of the shaft portion 20a. The flange portion 20b includes an upper wall portion 20b1 and a lower wall portion 20b2. In the present embodiment, the upper wall portion 20b1 is an upper portion of the flange portion 20b, and the lower wall portion 20b2 is a lower portion of the flange portion 20b.

Hereinafter, the floating support mechanism 40 will be described in detail. The floating support mechanism 40 includes a support body 41 that is attached to the moving mechanism 30 and forms the air introduction chamber E. As shown in FIG. 2C, the rod 32c and the sliding portion 41a are connected to the support body 41. Specifically, the lower end of the rod 32c is connected to the upper part of the support body 41, and the sliding portion 41a is connected to the rear part of the support body 41. The sliding portion 41a is slidable on the sliding rail 31, and the floating support mechanism 40 is held by the moving mechanism 30 being driven and the sliding portion 41a sliding the sliding rail 31 in the vertical direction. It can move in the vertical direction together with the mechanism 10.

The air introduction chamber E is a space for accommodating the insertion portion 20 in relative movement with respect to the floating support mechanism 40. As shown in FIGS. 3 and 4, the air introduction chamber E is formed by an internal wall portion of the support body 41. Specifically, the support body 41 includes a vertical inner wall portion 42 and a horizontal inner wall portion 43 forming the air introduction chamber E.
As shown in FIGS. 3 and 4, the vertical inner wall portion 42 is a wall portion forming a side portion of the air introduction chamber E. The vertical inner wall portion 42 is located on the side of the flange portion 20b, and forms a clearance (gap) 42a in the horizontal direction between the vertical inner wall portion 42 and the insertion portion 20, that is, between the side surface of the support body 41 and the insertion portion 20. ..

On the other hand, as shown in FIG. 3, the lateral inner wall portion 43 is a wall portion forming the upper portion and the lower portion of the air introduction chamber E. The lateral inner wall portion 43 is located on the upper side and the lower side of the flange portion 20b, and is supported between the upper portion (upper wall portion 20b1) and the lower portion (lower wall portion 20b2) of the flange portion 20b in the insertion portion 20, that is, the support. A vertical clearance (gap) 43a is formed between the upper and lower surfaces of the body 41 and the insertion portion 20. Therefore, the insertion portion 20 is allowed to move relative to the moving mechanism 30 inside the air introduction chamber E by the clearances 42a and 43a included in the air introduction chamber E.

As shown in FIG. 3, the support body 41 includes an insertion path 44 that communicates the air introduction chamber E with the outside. The insertion path 44 is a hole that penetrates in the vertical direction in the center of the air introduction chamber E. The air introduction chamber E accommodates the flange portion 20b of the insertion portion 20, and the shaft portion 20a is inserted into the insertion path 44. As shown in FIG. 4, the inner diameter of the insertion path 44 is larger than the outer diameter of the shaft portion 20a, and a clearance (gap) 44a is formed between the insertion path 44 and the shaft portion 20a.

As shown in FIG. 3, in the support body 41, a plurality of introduction ports 45 and a plurality of gas introduction paths 46 are formed as a plurality of paths for passing air by communicating the air introduction chamber E and the compressor 2. Has been done. One end side of the introduction port 45 is connected to the compressor 2 by a pipe member such as a hose or a pipe, and the gas (air) supplied from the compressor 2 is introduced into the air introduction chamber E. The introduction port 45 is formed on the side portion of the support body 41, for example.

The gas introduction path 46 is a path communicating with the air introduction chamber E. As shown in FIG. 3, one end side of the gas introduction path 46 is connected to the other end side of the introduction port 45, and is a path for introducing the gas supplied from the compressor 2 into the air introduction chamber E. The gas introduction path 46 is formed on the upper side and the lower side of the support body 41, respectively. The gas introduction path 46 on the upper side of the support body 41 extends from the outside of the support body 41 toward the reference axis C, branches in the middle portion, and bends downward. On the other hand, the gas introduction path 46 on the lower side of the support body 41 extends from the outside of the support body 41 toward the reference axis C, branches in the middle portion, and bends upward.

As shown in FIG. 3, the gas introduction path 46 includes a gas introduction hole 46a, and the gas introduction hole 46a is formed on the other end side of the gas introduction path 46. The gas introduction hole 46a introduces gas toward the upper wall portion 20b1 and the lower wall portion 20b2 of the insertion portion 20. The gas introduction hole 46a introduces a gas having the same pressure and volume into the upper wall portion 20b1 and the lower wall portion 20b2 of the insertion portion 20, respectively, and exerts the same force above and below the insertion portion 20. Give.

Specifically, a plurality of gas introduction holes 46a are formed in the upper horizontal inner wall portion 43 and the lower horizontal inner wall portion 43 of the air introduction chamber E, respectively. The gas introduction holes 46a are provided on one side and the other side in the horizontal direction from the center of the insertion portion 20, and are formed at equal intervals on the circumference centered on the center of the insertion portion 20. As shown in FIG. 4, the plurality of gas introduction holes 46a are arranged on the circumference of the virtual circle O centered on the reference axis C, and are set at a predetermined angle θ. In the present embodiment, six gas introduction holes 46a are formed in each of the upper horizontal inner wall portion 43 and the lower lateral inner wall portion 43. Therefore, the gas introduction holes 46a are arranged at intervals of 60 °. The gas introduction holes 46a may be provided on one side and the other side in the horizontal direction from the center of the insertion portion 20, and the same degree of force may be applied to the upper and lower sides of the insertion portion 20, and the gas introduction holes 46a may be arranged. , The number is not limited to the above configuration.

Further, as shown in FIG. 3, the support body 41 is formed with a plurality of paths for communicating the air introduction chamber E with the outside and discharging the air to the outside. Specifically, the support body 41 includes a gas discharge path 47, a discharge port 48, and a clearance (discharge gap) 44a as a plurality of paths for discharging air to the outside. The gas discharge path 47 is a path communicating with the air introduction chamber E. As shown in FIG. 3, the gas discharge path 47 penetrates the upper part of the support body 41 in the vertical direction. The gas discharge passage 47 includes a gas discharge hole 47a, and the gas discharge hole 47a is formed on one end side of the gas discharge passage 47. The gas discharge hole 47a is formed in the lateral inner wall portion 43 on the upper side of the air introduction chamber E, and is arranged on the circumference of the virtual circle O centered on the reference axis C. Specifically, the gas discharge hole 47a is formed between the gas introduction holes 46a formed in the upper lateral inner wall portion 43. One end side of the discharge port 48 is connected to the other end side of the gas discharge path 47, and the other end side of the discharge port 48 communicates with the outside. The clearance 44a is a clearance formed between the insertion path 44 and the shaft portion 20a, and communicates the air introduction chamber E with the outside.

Hereinafter, the gas (air) supplied from the compressor 2 to the air introduction chamber E will be described mainly with reference to FIG. The air supplied from the compressor 2 is supplied to the plurality of introduction ports 45 via the pipe member connected to the compressor 2 (R1). The air supplied to the plurality of introduction ports 45 is introduced into the air introduction chamber E through the introduction port 45, the gas introduction path 46, and the gas introduction hole 46a (R2). The air introduced into the air introduction chamber E passes through the clearances 42a and 43a formed in the air introduction chamber E, and pressure is applied to the outer surfaces of the upper wall portion 20b1 and the lower wall portion 20b2 of the insertion portion 20 by air pressure. That is, in the air introduction chamber E, the pressure when air is introduced becomes higher than the pressure when air is not introduced, and the clearances 42a and 43a allow horizontal and vertical movement in the flange portion 20b. Will be done. That is, the floating support mechanism 40 floats the insertion portion 20 in the air introduction chamber E of the support body 41, and supports the holding mechanism 10 in a floatable manner with respect to the moving mechanism 30. Therefore, even when the shaft member 80 is displaced with respect to the fitting hole 63, the holding mechanism 10 for holding the shaft member 80 can move relative to the moving mechanism 30, and the moving mechanism 30 can move. The shaft member 80 can be aligned with the fitting hole 63 when moving toward the fixing base 3. Further, since the insertion portion 20 can move in the air introduction chamber E in the direction perpendicular to the horizontal direction, the position of the shaft member 80 is deviated from the fitting hole 63. Can be easily aligned.

The air introduced into the air introduction chamber E through the gas introduction hole 46a is discharged to the outside from the path formed in the support body 41 (R3, R4). Specifically, the air introduced into the air introduction chamber E is discharged to the outside through any one of the gas discharge hole 47a, the gas discharge path 47, the discharge port 48, and the clearance 44a. As a result, the gas supplied by the compressor 2 is discharged to the outside through the gas introduction path 46, the air introduction chamber E, and the gas discharge path 47. Therefore, the compressor 2 can intermittently introduce air into the air introduction chamber E, and the floating support mechanism 40 can support the holding mechanism 10 more stably.

Hereinafter, a procedure for inserting the shaft member 80 into the fitting hole 63 will be described. First, the component 60 is placed on the fixing base 3 so that one end (left end) of the component 60 faces downward and the other end (right end) of the component 60 faces upward, and the center and reference of the fitting hole 63 of the component 60. After aligning with the axis C, it is fixed to the fixing base 3. The gripper 12 is opened by extending the pneumatic cylinder 19 of the pinching drive unit 15. With the gripper 12 open, the base end side of the shaft member 80 in the insertion direction is between the holding claws (reference axis C) so that the tip side of the shaft member 80 in the insertion direction faces the component 60 (fitting hole 63). Place on). By changing the gripper 12 from the open state to the closed state, the shaft member 80 is supported by the gripper 12.

Air is introduced from the compressor 2 into the air introduction chamber E through the introduction port 45, the gas introduction path 46, and the gas introduction hole 46a. That is, by applying external pressure to the upper wall portion 20b1 and the lower wall portion 20b2 of the insertion portion 20, the insertion portion 20 is floated in the air introduction chamber E of the support body 41 by the floating support mechanism 40.
The holding mechanism 10 and the shaft member 80 held by the holding mechanism 10 are moved downward in the vertical direction while the insertion portion 20 is floating, that is, in a floating state. Here, even if the shaft member 80 is displaced with respect to the fitting hole 63, the holding mechanism 10 is shafted with respect to the moving mechanism 30 as long as the tip of the shaft member 80 is inserted into the fitting hole 63. Since the axial center of the member 80 and the center of the fitting hole 63 move relative to each other, the position of the shaft member 80 is aligned with the fitting hole 63. In the process of inserting the shaft member 80 into the fitting hole 63, the holding mechanism 10 (gripper 12) floats in response to the external pressure on the shaft member 80, so that the shaft member 80 is inserted into the fitting hole 63 without resistance. Can be done.

When the shaft member 80 is inserted to a predetermined position in the fitting hole 63, the gripper 12 is released from the closed state to the open state, thereby releasing the gripping of the shaft member 80 by the gripper 12. Further, the holding mechanism 10 is moved upward in the vertical direction.
The above-mentioned assembly device 1 for the shaft member 80 is an assembly device 1 for the shaft member 80 that inserts the shaft member 80 into the fitting hole 63 of the component 60 fixed to the fixing base 3, and is a holding mechanism for holding the shaft member 80. A moving mechanism 30 for moving the holding mechanism 10 from above toward the fixed base 3 and a floating support mechanism 40 for supporting the holding mechanism 10 with respect to the moving mechanism 30 are provided, and the floating support mechanism 40 is compressed. It has a gas introduction chamber (air introduction chamber) E including clearances 42a and 43a through which gas is introduced and allows relative movement between the holding mechanism 10 and the moving mechanism 30.

According to the above configuration, the shaft member 80 can be appropriately inserted into the fitting hole 63 without any special processing on the fitting hole 63 or the shaft member 80 even in the case of narrow fitting.
Further, the floating support mechanism 40 includes a support body 41 to which the moving mechanism 30 is attached and forms the gas introduction chamber (air introduction chamber) E, and the holding mechanism 10 is provided in the gas introduction chamber (air introduction chamber) E. The insertion portion 20 to be inserted is included. According to the above configuration, the support body 41 can hold the insertion portion 20 so as to be relatively movable by the gas introduced into the gas introduction chamber (air introduction chamber) E.

Further, the support body 41 has a vertical inner wall portion 42 that forms a clearance 42a between the side surface of the support body 41 and the insertion portion 20, and a direction between the upper and lower surfaces of the support body 41 and the insertion portion 20. Includes a lateral inner wall portion 43 that forms a clearance 43a.
According to the above configuration, the insertion portion 20 can move in the horizontal direction and the vertical direction in the gas introduction chamber (air introduction chamber) E. As a result, even when the shaft member 80 is displaced with respect to the fitting hole 63, the holding mechanism 10 including the insertion portion 20 moves in the vertical direction and the horizontal direction, so that the shaft member 80 can be easily moved. Can be aligned.

Further, the support body 41 communicates with the gas introduction chamber (air introduction chamber) E, and also communicates with a plurality of gas introduction passages 46 to which gas is supplied from the compressor 2 and the gas introduction chamber (air introduction chamber) E. In addition, a gas discharge path 47 for discharging the gas supplied to the gas introduction chamber (air introduction chamber) E to the outside is included.
According to the above configuration, the gas supplied by the compressor 2 is discharged to the outside through the gas introduction path 46, the gas introduction chamber (air introduction chamber) E, and the gas discharge path 47. Therefore, the compressor 2 can intermittently introduce air into the gas introduction chamber (air introduction chamber) E, and the floating support mechanism 40 can further stabilize the holding mechanism 10.

Further, the insertion portion 20 includes an upper wall portion 20b1 and a lower wall portion 20b2 facing the lateral inner wall portion 43, and the plurality of gas introduction paths 46 introduce gas toward the upper wall portion 20b1 and the lower wall portion 20b2. It includes a plurality of gas introduction holes 46a.
According to the above configuration, the gas supplied by the compressor 2 can apply external pressure to the outer surfaces of the upper wall portion 20b1 and the lower wall portion 20b2 of the insertion portion 20. Therefore, the degree of floating of the holding mechanism 10 in the floating support mechanism 40 can be adjusted.

Further, the plurality of gas introduction holes 46a are formed at equal intervals on the circumference centered on the center of the insertion portion 20.
According to the above configuration, the gas supplied by the compressor 2 is evenly introduced into the insertion portion 20. Therefore, the floating support mechanism 40 can support the holding mechanism 10 while keeping it relatively horizontal.

Further, the component 60 is a valve body of a valve that switches the flow state of the fluid, and the shaft member 80 is a spool that switches the flow state by moving in the valve body 60.
According to the above configuration, since the shaft member 80 is easily inserted into the valve body 60, the shaft member 80 and the fitting hole 63 may be scratched or deformed when the shaft member 80 comes into contact with the fitting hole 63. It can be deterred from doing so. Therefore, the shaft member 80 inserted into the valve body 60 can be smoothly assembled to the valve body 60 without deteriorating the accuracy.

Although the present invention has been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended that all modifications within the meaning and scope equivalent to the scope of claims are included.

1 Assembly device 2 Compressor 3 Fixing base 10 Holding mechanism 20 Insertion part 20b1 Upper wall part 20b2 Lower wall part 30 Moving mechanism 40 Floating support mechanism 41 Support body 42 Vertical inner wall part 42a Clearance (gap)
43 Lateral inner wall 43a Clearance (gap)
46 Gas introduction path 46a Gas introduction hole 47 Gas discharge path 60 Parts (valve body)
63 Fitting hole 80 Shaft member (spool)
E Gas introduction room (air introduction room)

Claims (7)

An assembly device for shaft members that inserts shaft members into the fitting holes of parts fixed to a fixed base.
A holding mechanism for holding the shaft member and
A moving mechanism that moves the holding mechanism from above toward the fixed base, and
A floating support mechanism that supports the holding mechanism with respect to the moving mechanism,
With
The floating support mechanism
An assembly device for a shaft member into which a compressed gas is introduced and which has a gas introduction chamber including a clearance that allows relative movement between the holding mechanism and the moving mechanism. The floating support mechanism includes a support body to which the moving mechanism is attached and which forms the gas introduction chamber.
The shaft member assembling device according to claim 1, wherein the holding mechanism includes an insertion portion to be inserted into the gas introduction chamber. The support body
A vertical inner wall portion forming a clearance between the side surface of the support body and the insertion portion,
A lateral inner wall portion that forms a clearance between the upper and lower surfaces of the support body and the insertion portion, and
2. The shaft member assembling device according to claim 2. The support body
A plurality of gas introduction paths communicating with the gas introduction chamber and supplying the compressed gas,
A gas discharge path that communicates with the gas introduction chamber and discharges the gas supplied to the gas introduction chamber to the outside.
The shaft member assembling device according to claim 2 or 3, which comprises. The insertion portion includes an upper wall portion and a lower wall portion facing the lateral inner wall portion.
The shaft member assembling device according to claim 4, wherein the plurality of gas introduction paths include a plurality of gas introduction holes for introducing the gas toward the upper wall portion and the lower wall portion. The shaft member assembling device according to claim 5, wherein the plurality of gas introduction holes are formed at equal intervals on the circumference centered on the center of the insertion portion. The component is a valve body of a valve that switches the flow state of fluid.
The shaft member assembling device according to any one of claims 1 to 6, wherein the shaft member is a spool that switches the distribution state by moving in the valve body.

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