JP2022036717A - Positioning mechanism and positioning device including the same - Google Patents

Abstract

To provide a positioning mechanism which can easily automate holding and positioning of a number of insert members attached to a honeycomb panel, and to provide a positioning device including the positioning mechanism.SOLUTION: An insert positioning mechanism 500 includes: a contact member 504 which has an arm part 501 capable of contacting with one surface of a honeycomb panel 100 and is driven in a vertical direction; and a holding mechanism 410 which is provided at the contact member 504, driven in a perpendicular direction and a horizontal direction, and holds an insert member 200 with the arm part 501. The arm part 501 contacts with the one surface of the honeycomb panel 100 and one end part of the insert member 200. The holding mechanism 410 holds the insert member 200 while positioning the insert member 200 in the horizontal direction.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a positioning mechanism and a positioning device including the positioning mechanism.

Lightweight and high-strength aluminum honeycomb panels are often used in structures such as artificial satellites and flying objects. The aluminum honeycomb panel is a structure in which an aluminum alloy skin is bonded to both sides of a honeycomb core with an adhesive film.

In the honeycomb panel, a structure in which an insert member having a female thread portion is embedded is used in order to connect another member or device. As an example of a method for manufacturing a honeycomb panel with an insert member, there is a method in which a mounting hole for inserting the insert member is formed on one side of the honeycomb panel, and for fixing the insert member, for example, a resin adhesive is filled and fixed. .. As for the fixing position of the insert member, it is desirable that the skin surface of the honeycomb panel and one end surface of the insert member are flush with each other. However, for example, when an unexpected external force due to curing shrinkage of the adhesive acts, the insert member and the skin of the honeycomb panel may be fixed in a state where they are not at the same height.

Patent Document 1 discloses a method for fixing an insert member. In Patent Document 1, a flat plate template is used in order to make the insert member and the skin of the honeycomb panel flush with each other and at the same time maintain the pitch between the insert members. The template is provided with a hole larger than the female thread diameter of the insert member. A pin bolt is inserted into the insert member through the hole of the template, and the insert member is suspended and supported flush with the skin surface of the honeycomb panel, and the insert member is filled with an adhesive to fix the insert member.

Japanese Unexamined Patent Publication No. 11-348155

In the method of Patent Document 1, when the number of insert members to be embedded is large, a large number of man-hours such as attachment / detachment of pin bolts are required. In addition, it is not easy to automate because it requires preparation of a large number of pin bolts and templates for each product type with different arrangements.

The present disclosure has been made in view of the above reasons, and an object of the present invention is to provide a positioning mechanism capable of easily automating the gripping and positioning of a large number of insert members attached to a honeycomb panel, and a positioning device provided with the positioning mechanism.

In order to achieve the above object, the positioning mechanism of the present disclosure is a positioning mechanism for positioning an insert member having a cylindrical female screw into a mounting hole formed in a honeycomb panel, and is applied to one surface of the honeycomb panel. It is provided with a contact member having a contactable arm portion and driven in the vertical direction, and a gripping mechanism provided on the contact member and driven in the vertical and horizontal directions to grip the insert member with the arm portion. The arm portion abuts on one surface of the honeycomb panel and one end of the insert member, and the gripping mechanism grips the insert member while positioning the insert member in the horizontal direction.

According to the present disclosure, the arm portion of the positioning mechanism abuts on one surface of the honeycomb panel and one end portion of the insert member to make them flush with each other, and the gripping mechanism of the positioning mechanism positions the insert member in the horizontal direction while arming the insert member. Grip with the part. Therefore, according to the present disclosure, it is possible to obtain a positioning mechanism that facilitates automation of gripping and positioning of a large number of insert members attached to the honeycomb panel, and a positioning device including the positioning mechanism.

(A) Cross-sectional view of the insert positioning mechanism according to the first embodiment of the present disclosure, (b) Top view of a part near the insert member. (A) Cross-sectional view of the pull-up gripping mechanism portion of the gripping mechanism according to the first embodiment of the present disclosure, (b) Cross-sectional view of the gripping pin. (A) Top view of the insert member according to the first embodiment of the present disclosure, (b) Side view of the insert member. (A) Cross-sectional view showing the lowering operation of the insert positioning mechanism according to the first embodiment of the present disclosure, (b) Cross-sectional view showing the horizontal operation of the insert positioning mechanism. (A) Cross-sectional view showing the insert gripping state in the first embodiment of the present disclosure, (b) Partial top view near the insert member. Structural sectional view of the honeycomb panel with an insert member manufactured according to the first embodiment of the present disclosure. (A) Cross-sectional view of the honeycomb panel according to the first embodiment of the present disclosure, (b) (c) Cross-sectional view of the mounting hole. Cross-sectional view of the mounting hole of the honeycomb panel and the adhesive for temporary fixing according to the first embodiment of the present disclosure. Sectional drawing which shows the insert positioning structure by Embodiment 1 of this disclosure. (A) Cross-sectional view of the temporarily fixed state of the insert member according to the first embodiment of the present disclosure, (b) Cross-sectional view showing the height deviation between the skin of the honeycomb panel and the insert member. Cross-sectional view showing an example in which the bottom surface of the mounting hole is inclined in the temporary fixing of the insert member according to the first embodiment of the present disclosure. Partial sectional view of the insert positioning mechanism according to the second embodiment of the present disclosure. Cross-sectional view of the insert positioning mechanism according to the third embodiment of the present disclosure. (A) Cross-sectional view of the pull-up gripping mechanism portion of the gripping mechanism according to the fourth embodiment of the present disclosure, (b) Cross-sectional view of the gripping pin. (A) Cross-sectional view of the pull-up gripping mechanism portion of the gripping mechanism according to the fifth embodiment of the present disclosure, (b) Cross-sectional view of the gripping pin.

Hereinafter, the form of the gripping mechanism of the insert member suitable for automation and the form of the positioning method when a large number of insert members are embedded and fixed in the honeycomb panel will be described with reference to the attached drawings. The following embodiments do not limit the disclosure. In the following description, "vertical direction" and "horizontal direction" are used according to the vertical direction of FIG. 1 (a).

Embodiment 1.
The insert positioning mechanism 500 will be described with reference to FIGS. 1 and 2. FIG. 1A is a cross-sectional view showing the insert positioning mechanism 500. FIG. 1B shows the planar positional relationship between the insert member 200, the arm portion 501 for height positioning, and the pin guide arm 505. 1 (a) is a sectional view AA of FIG. 1 (b), and FIG. 2 (b) is a sectional view BB of FIG. 2 (a).

The insert positioning mechanism 500 has three arm portions 501 extending so as to hang down toward the center for gripping the insert member 200, and a contact member 504 for pressing and positioning the arm portion 501 against the honeycomb panel 100. And. The upper end of the arm portion 501 is connected to the vicinity of the outer periphery of the contact member 504, and is stationary with respect to the contact member 504.

As shown in FIG. 1B, the arm portions 501 are arranged at three locations radially from the center of the insert member 200. It is desirable that the arm portions 501 are arranged at uniform angles on a plane. The skin positioning surface 502, which shows the bottom surface of the arm portion 501, has a plane at the same height direction at all three positions.

Further, the insert positioning mechanism 500 includes a gripping mechanism 410 that moves the insert member 200 in the vertical direction and the horizontal direction with respect to the contact member 504. The gripping mechanism 410 pulls up a vertical gripping base 404 having a mechanism for reciprocating up and down at two points, a slide mechanism 403 connected to the vertical gripping base 404 and having a mechanism for moving in the horizontal direction, and an insert member 200. A pull-up gripping mechanism 402 for gripping the arm portion 501 is provided.

The vertical grip base 404 is arranged below the contact member 504. The vertical reciprocating drive of the vertical grip base 404 is designed, for example, by an electric motor, a cylinder mechanism, a cam mechanism, or the like, and reciprocates in two places up and down. The vertical grip base 404 is configured with the minimum stroke design required to grip the insert member 200.

The slide mechanism 403 is fixed to the vertical grip base 404 and is driven in the horizontal direction with respect to the contact member 504 and the vertical grip base 404. It is desirable that the slide mechanism 403 is driven by an electric or cylinder system that can set an arbitrary position so that it can correspond to a plurality of types and sizes of the insert member 200.

The pull-up gripping mechanism 402 is connected below the slide mechanism 403 and is a mechanism for gripping the insert member 200 in the vertical direction. The pull-up gripping mechanism 402 has a hook-shaped locking portion inside and has a gripping pin 401 extending downward.

Further, the insert positioning mechanism 500 includes two pin guide arms 505 that vertically and horizontally guide the vertical movement and the left / right sliding movement of the gripping pin 401. The upper end of the pin guide arm 505 is connected to the vicinity of the outer periphery of the contact member 504, and is stationary with respect to the contact member 504.

As shown in FIG. 1B, the pin guide arm 505 is arranged at two locations radially from the center of the insert member 200 at a position different from that of the arm portion 501. It is desirable that the pin guide arm 505 is arranged at equal angles on the plane.

A pin slide guide 505a, which is a guide for the gripping pin 401, is provided at the tip of the pin guide arm 505, which is vertically machined with a width larger than the diameter of the gripping pin 401. The pin slide guide 505a is notched in a U-shape that opens toward the center of the insert member 200, and the notch width is a width designed with dimensional tolerances to minimize rattling of movement. be.

The bottom surface 505b of the pin slide guide 505a of the pin guide arm 505 has a higher positional relationship than the plane formed by the three skin positioning surfaces 502. The difference in height between the bottom surface 505b and the skin positioning surface 502 is, for example, about 1 mm.

An example of the pull-up gripping mechanism 402 is shown in FIG. 2 (a). The pull-up gripping mechanism 402 includes a cylindrical flange 402a that can be connected to the slide mechanism 403, a spring guide holder 402b, and a compression spring 402c. The gripping pin 401 is connected to the spring guide holder 402b. The compression spring 402c is housed in the spring guide holder 402b when contracted. The lower end of the compression spring 402c is in contact with the upper surface of the pin slide guide 505a.

The inner wall of the cylindrical flange 402a and the outer wall of the spring guide holder 402b are slidable. Here, in order to maintain the accuracy of the squareness between the connection surface of the cylindrical flange 402a to the slide mechanism 403 and the gripping pin 401, the gap between the inner wall of the cylindrical flange 402a and the outer wall of the spring guide holder 402b is smooth. It is desirable that it is the minimum clearance that can be slid. Further, the spring guide holder 402b may be, for example, a ready-made round slide bush.

As shown in FIG. 2B, the gripping pin 401 has a shape provided with a D-cut gripping surface 401a in which a part of a straight pin having a diameter smaller than the through hole 203 of the insert member 200 is D-cut. In order to stably grip the insert member 200, the pull-up gripping mechanism 402 is provided with a detent structure so that the direction of the D-cut of the gripping pin 401 does not rotate freely.

When the vertical grip base 404 is lowered, the spring space 405, which is a gap between the spring guide holder 402b and the compression spring 402c, becomes narrower. Further, when the upper and lower gripping base 404 is lowered, the spring guide holder 402b and the compression spring 402c are brought into close contact with each other, the compression spring 402c is contracted, and the gripping pin 401 is lowered. After that, when the grip pin 401 reaches the position of the lower end of the vertical stroke, the vertical grip base 404 stops.

FIGS. 3A and 3B show an example of the shape of the insert member 200. The insert member 200 is a cylindrical member having a through hole 201 and a female screw 202 in the center, and has flanges having a diameter larger than the cylindrical diameter at both ends of the cylindrical shape. Two through holes 203 are provided on one flange in a circumferential shape. As shown in FIG. 3A, the two through holes 203 are arranged at positions symmetrical with respect to the center of the insert member 200 and at positions passing through the center. One through hole 203 is a hole for injecting the adhesive 300b for main fixing described later into the honeycomb panel 100, and the other through hole is filled with the adhesive 300b for main fixing. It is a hole that can be confirmed.

Next, the operation of the insert positioning mechanism 500 will be described with reference to FIGS. 4 and 5 in addition to the above-mentioned drawings.

As shown in FIG. 4A, the insert member 200 is placed on the insert supply base 600 before the operation of the insert positioning mechanism 500. At the initial stage of operation of the insert positioning mechanism 500, the gripping pin 401 is above the insert member 200, and the vertical gripping base 404 that moves the slide mechanism 403 up and down is located at the upper end of the vertical stroke. From this state, when the entire insert positioning mechanism 500 descends in the direction of the arrow in FIG. 4A, the gripping pin 401 automatically moves to the center of the two through holes 203 provided in the insert member 200 for gripping. Positioned and inserted at.

Subsequently, when the vertical grip base 404 descends to the position of the lower end of the vertical stroke described above, the grip pin 401 further descends to the position shown in FIG. 4 (a). At this time, the skin positioning surface 502 of the arm portion 501 is located above the insert upper surface 204, and the D-cut gripping surface 401a of the grip pin 401 is located below the insert flange lower surface 205.

Then, as shown in FIG. 4B, the left and right slide mechanisms 403 slide from the center of the insert member 200 toward the outer periphery indicated by the two arrows. The slide stop position of the slide mechanism 403 is a position where the outer inner wall 203a of the through hole 203 and the cut side surface of the gripping pin 401 do not come into contact with each other, and when the D-cut gripping surface 401a rises vertically, the D-cut is performed. It is a position where the gripping surface 401a and the insert flange lower surface 205 are stably hooked.

Subsequently, as shown in FIGS. 5A and 5B, the vertical grip base 404 rises in the direction of the arrow so that the insert positioning mechanism 500 can grip the insert member 200 and convey it to the honeycomb panel 100. Will be. 5 (b) shows the plane positional relationship between the insert member 200, the arm portion 501, and the pin guide arm 505, and FIG. 5 (a) is a cross-sectional view CC of FIG. 5 (b). Is.

In the insert member 200 of FIG. 5A, a gap is formed in the spring space 405 as the upper and lower grip base 404 rises, and the compression spring 402c tends to expand due to the compression spring force. Due to the urging of the pull-up gripping mechanism 402, the D-cut gripping surface 401a and the insert flange lower surface 205 are brought into contact with each other and pulled up, and are suspended by three-point support by the three arm portions 501. After that, the entire insert positioning mechanism 500 rises, and while suspending and supporting the insert member 200, the operation proceeds to the operation shown in FIG. 9, which will be described later.

Here, based on FIG. 6, the configuration in which the insert member 200 is arranged on the honeycomb panel 100 is shown.

A mounting hole 104 for inserting the insert member 200 is provided on one side of the honeycomb panel 100 in which the aluminum skin 103 is bonded to both sides of the honeycomb core 101 with the adhesive film 102. The insert member 200 is inserted into the mounting hole 104, and for example, a resin adhesive 300 for fixing the insert member 200 is filled. The adhesive 300 includes an adhesive 300a for temporary fixing and an adhesive 300b for main fixing.

It is desirable that the height position of the insert member 200 to which the honeycomb panel 100 and the insert member 200 are fixed by curing the adhesive 300 is the same height on the skin surface 105 and the insert upper surface 204.

Next, the procedure for manufacturing the honeycomb panel with the insert member is shown below with reference to FIGS. 7 to 11 in addition to the above-mentioned drawings.

First, with reference to FIG. 7, the preparation of the honeycomb panel 100 before mounting the insert member 200 will be described. The honeycomb panel 100 of FIG. 7A is manufactured by laminating an aluminum skin 103 on both sides of a honeycomb core 101 with an adhesive film 102.

Subsequently, as shown in FIG. 7B, in order to embed the insert member 200 from one side of the honeycomb panel 100, the aluminum skin 103, the adhesive film 102, and the honeycomb core 101 are processed to form a mounting hole 104.

Further, as shown in FIG. 7 (c), when the thickness T of a certain portion of the honeycomb panel 100 is thicker than the thickness T of FIG. 7 (b), the depth Dp of the mounting hole 104 is FIG. 3 ( In relation to the height H of the insert member 200 of b), the honeycomb core 101 may be machined at a depth Dp halfway.

Subsequently, the honeycomb panel 100 provided with a large number of mounting holes 104 of FIGS. 7 (b) and 7 (c) is positioned and set on an assembly stage of an automatic machine (not shown).

Subsequently, as shown in FIG. 8, in the mounting hole 104, a certain amount of adhesive 300a for temporary fixing, for example, a resin, for temporarily fixing the insert member 200 in a positioned state is placed in the mounting hole 104. Inject into the bottom of the hole.

After the temporary fixing adhesive 300a is injected into the bottoms of all the mounting holes 104, the insert positioning mechanism 500 is assembled while the insert member 200 is suspended and supported at three points of the arm portion 501. The honeycomb panel 100 positioned and set on the stage moves upward at a position perpendicular to the mounting hole 104.

Subsequently, as shown in FIG. 9, the entire insert positioning mechanism 500 is lowered, the insert member 200 is inserted into the bottom of the mounting hole 104, and the insert member 200 is positioned.

The lowering position of the insert positioning mechanism 500 is stopped at a height at which the three surfaces of the skin positioning surface 502, which is the bottom surface of the arm portion 501, come into contact with the skin surface 105, which is the surface of the honeycomb panel 100. As a result, it is possible to maintain the flushness between the insert upper surface 204 and the skin surface 105. That is, the plane position where the three surfaces of the skin positioning surface 502 and the skin surface 105 are in contact with each other is an important assembly standard.

Here, FIG. 10 (a) in which the surface of the insert upper surface 204 and the skin surface 105 is maintained is a normal insert member position, but for example, the adhesive 300a for temporary fixing is cured and shrunk due to an external stress. , The insert member 200 may sink as shown in FIG. 10 (b). In order to cope with this, by setting the spring coefficient of the compression spring 402c of the gripping mechanism 410 to a spring coefficient higher than the assumed external force, the insert upper surface 204 and the skin surface 105 can be maintained flush with each other.

Further, as shown in FIG. 11, for example, even if the bottom surface of the mounting hole 104 is slanted and the volume balance of the temporary fixing adhesive 300a below the insert member 200 is poor, the surface of the insert upper surface 204 and the skin surface 105. You can keep one.

After that, the height of the insert member 200 was positioned at the same height as the skin surface 105, and at the same time, the adhesive 300a for temporary fixing was spread under the insert member 200, and the adhesive 300a for temporary fixing was spread. Maintain until it hardens. The above-mentioned temporary fixing assembly work can be automated.

Finally, the adhesive 300b for main fixing is injected and filled through the through hole 203 of the temporarily fixed insert member 200. By curing the adhesive 300b for main fixing, the honeycomb panel 100 with the insert member 200 shown in FIG. 6 is completed.

According to the first embodiment, even when it is necessary to insert a large number of insert members 200 into the mounting holes 104 of the honeycomb panel 100, the structure can easily automate the gripping mechanism and the positioning method of the insert members 200. .. It is also possible to configure a positioning device using the insert positioning mechanism 500, which is a positioning mechanism.

Embodiment 2.
Further, as shown in FIG. 12, in the processing of the honeycomb panel 100, when a protrusion 105a due to a burr is present at the corner of the mounting hole 104, a point contact point is formed on the skin positioning surface 502 and the skin surface 105. Occur. In this case, the reference plane may not be maintained. Therefore, in the second embodiment, in order to avoid the protrusion 105a, the relief processing portion 502a is provided on the skin positioning surface 502 located near the diameter of the mounting hole 104. This makes it possible to avoid point contact.

Embodiment 3.
It is conceivable that the plane formed by the three skin positioning surfaces 502, which is the bottom surface of the arm portion 501, and the skin surface 105 of the honeycomb panel 100 arranged on the automatic machine stage are not parallel to each other. In the third embodiment, as shown in FIG. 13, a stiff elastic body 506 is arranged on the upper portion of the contact member 504 that supports the entire insert positioning mechanism 500. As a result, the plane formed by the three surfaces of the skin positioning surface 502 and the skin surface 105 can be maintained in parallel. The elastic body 506 is formed of, for example, a plurality of compression springs, rubber, or the like.

Since the inclination of the plane formed by the three surfaces of the skin positioning surface 502 and the skin surface 105 is not large and is assumed to be 1 ° or less, the elastic body 506 is provided following the above inclination. Further, it is preferable that the elastic body 506 has an elastic modulus in which the three surfaces of the skin positioning surface 502 are pressed with a strength that does not separate from the skin surface 105 until the temporary fixing adhesive 300a is cured.

Embodiment 4.
In the gripping pin 401 of the fourth embodiment, as shown in FIGS. 14A and 14B, a part of the straight pin having a diameter smaller than that of the through hole 203 of the insert member 200 is a thin columnar shape coaxial with the straight pin. Is formed in. As a result, the coaxial cut gripping surface 401b having an annular shape is formed in place of the D-cut gripping surface 401a of the first embodiment. 14 (b) is a cross-sectional view DD of FIG. 14 (a).

According to the fourth embodiment, there is an advantage that the gripping pin 401 does not need to be provided with a rotation stop structure. When the through hole 203 is small and the diameter of the gripping pin 401 is small, it is necessary to pay attention to the strength design.

Embodiment 5.
In the gripping pin 401 of the fifth embodiment, as shown in FIGS. 15A and 15B, a part of the straight pin is processed to replace the D-cut gripping surface 401a of the first embodiment with a crescent shape. A crescent-cut gripping surface 401c is formed. Note that FIG. 15B is a cross-sectional view taken along the line EE of FIG. 15A.

In the fifth embodiment, the contact area between the insert member 200 and the crescent cut gripping surface 401c can be widened, or the crescent shape close to the diameter of the through hole 203 can be provided.

The present disclosure is not limited to the above embodiment, and various modifications and applications are possible.

The shapes and arrangements of the insert positioning mechanism 500, the insert member 200, and the like are not limited to those shown in the drawings.

Insert members 200 having different dimensions may be attached to one honeycomb panel 100.

Further, it can be arbitrarily combined with other automation mechanisms for mounting the insert member 200.

100 honeycomb panel, 101 honeycomb core, 102 adhesive film, 103 aluminum skin, 104 mounting hole, 105 skin surface, 105a protrusion, 200 insert member, 201 through hole, 202 female screw, 203 through hole, 203a outer inner wall, 204 insert Top surface, 205 Insert flange bottom surface, 300 adhesive, 300a Temporary fixing adhesive, 300b This fixing adhesive, 401 gripping pin (grasping member), 401a D-cut gripping surface, 401b coaxial cut gripping surface, 401c, crescent moon Cut gripping surface, 402 pull-up gripping mechanism, 402a cylindrical flange, 402b spring guide holder, 402c compression spring (urgency member), 403 slide mechanism, 404 vertical gripping base, 405 spring space, 410 gripping mechanism, 500 insert positioning mechanism, 501 Arm part (arm part), 502 skin positioning surface, 502a relief processing part, 504 contact member, 505 pin guide arm, 505a pin slide guide, 506 elastic body, 600 insert supply base.

Claims (5)

A positioning mechanism for positioning an insert member having a cylindrical female screw into a mounting hole formed in a honeycomb panel.
An abutting member having an arm portion capable of abutting on one surface of the honeycomb panel and driving in the vertical direction,
A gripping mechanism provided on the contact member, driven in the vertical direction and the horizontal direction, and gripping the insert member with the arm portion is provided.
The arm portion comes into contact with one surface of the honeycomb panel and one end portion of the insert member.
The gripping mechanism grips the insert member while positioning the insert member in the horizontal direction.
Positioning mechanism. The insert member has a flange at one end, and a through hole extending in the thickness direction is formed in the flange.
The gripping mechanism is
A gripping member provided so as to be insertable into the through hole of the insert member and having a hook-shaped locking portion for locking the flange.
A urging member that urges the locking portion of the gripping member to the insert member.
The positioning mechanism according to claim 1. Three arm portions are provided to support the insert member at three points.
The positioning mechanism according to claim 1 or 2. Further provided on the contact member is an elastic body that absorbs a vertical displacement between one surface of the honeycomb panel and the insert member.
The positioning mechanism according to any one of claims 1 to 3. A positioning device comprising the positioning mechanism according to any one of claims 1 to 4.

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