JP2022087907A - Insert supply device - Google Patents

Abstract

To provide an insert supply device capable of preventing damage to an insert or the like by threadedly engaging an insert with an insert insertion tool and reliably engaging a hook with a notch.SOLUTION: An insert supply device 1A of the present invention is a device for supplying a coil-shaped insert I having a notch N on the inside to an insert insertion tool 3 having a hook 3b that engages with the notch N by relatively rotating to the insert I. The insert supply device 1A has a pressing portion 14h which assumes a pressing state against an outer peripheral surface of the insert I in a stage before the hook 3b engages with the notch N and assumes a separated state from the outer peripheral surface of the insert I in a stage after the hook 3b engages with the notch N.SELECTED DRAWING: Figure 2

Description

The present invention relates to an insert feeder that supplies an insert with an inner notch to an insert insertion tool.

For example, when a member is fastened with a screw to a base material having a relatively weak strength such as a light metal such as aluminum or a resin, an insert may be attached in advance to a female screw portion of the work which is the base material. Since such an insert can reduce the load that the work receives from the screw, it is possible to prevent the work from being damaged when the screw is fastened and to increase the fastening force by the screw.

Various types of inserts have been used from before, and one of them is that by winding a steel wire with a diamond-shaped cross section in a coil shape, the outside becomes a male screw shape and the inside becomes a female screw shape, and the inside near the end. A coil-shaped insert provided with a concave hook portion called a notch is known (see, for example, Patent Document 1). When attaching this insert to the female thread portion of the work, an insert insertion tool provided with a hook that engages with the notch and formed in a male thread shape is used, as shown in Patent Document 1. When this insertion tool is rotated relative to the insert, the insert and the insertion tool are screwed together and the hook engages with the notch. It does not run idle and can be securely attached to the work.

As a device for supplying such an insert to an insert insertion tool, for example, an insert supply device as in Patent Document 2 is known. The insert feeder has the function of providing the insert in a predetermined position in a predetermined position, and also prevents the insert from rotating together with the insert tool when the insert tool is rotated relative to the insert. Therefore, it is necessary to have a function of holding the insert. Furthermore, if the insert bends radially outward due to the nature of the spring and the hook gets over the notch, poor engagement between the notch and the hook occurs, so the insert is supported from the outside so that it does not bend radially outward. Functions are also needed. Therefore, in the insert supply device of Patent Document 2, the escaper (holding disk 11) is provided with a slit slightly smaller than the outer diameter of the insert, and the insert is held by being press-fitted therein.

Japanese Unexamined Patent Publication No. 2000-356212 Japanese Unexamined Patent Publication No. 2016-7695

By the way, in the insert supply device of Patent Document 2, a mechanism for press-fitting the insert into the slit must be separately provided. In addition, when the insert screwed into the insertion tool is moved to the work and the insert is detached from the slit, the holding force due to press fitting turns around and acts as an unnecessary resistance force, which may damage the insert or slit or cause a notch. There is a risk of problems such as disengagement with the hook.

In view of these problems, the present invention prevents the insert from rotating together with the insertion tool when the insert is screwed into the insert insertion tool, the notch and the hook can be reliably engaged, and the insert is inserted. It is an object of the present invention to provide an insert supply device capable of preventing damage to an insert or the like when moving the insert to a work.

INDUSTRIAL APPLICABILITY The present invention is an insert feeder for supplying a coiled insert having an inner notch to an insert insertion tool having a hook that engages with the notch by rotating relative to the insert. Before the hook engages with the notch, the hook is pressed against the outer peripheral surface of the insert, and after the hook engages with the notch, the hook is separated from the outer peripheral surface of the insert. It is characterized by being provided with a pressing portion.

In such an insert supply device, the bottom portion on which the insert is placed, the side wall portion facing the outer peripheral surface of the insert mounted on the bottom portion, and the pressing portion approaching and approaching the side wall portion. It is preferable that the moving portion is provided with a moving portion to be separated, and the moving portion switches between a pressing state and a separated state with respect to the outer peripheral surface of the insert by moving the pressing portion closer to and away from the side wall portion.

Further, it is preferable that such an insert supply device is provided with a pressing force changing means for changing the pressing force generated when the pressing portion is pressed against the insert against the outer peripheral surface of the insert.

It is preferable to provide a bottom portion on which the insert is placed and a holding portion for holding the lower end portion of the insert mounted on the bottom portion so as to prevent rotation.

The insert feeder of the present invention is pressed against the outer peripheral surface of the insert before the hook engages with the notch, and is separated from the outer peripheral surface of the insert after the hook engages with the notch. Since the pressing portion is provided, it is possible to prevent the insert from rotating together with the insertion tool when the insert is screwed into the insert insertion tool. In addition, the notch and the hook can be securely engaged, and damage to the insert or the like can be prevented when the insert is moved to the work.

It is a schematic diagram of the insert insertion apparatus provided with 1st Embodiment of the insert supply apparatus which concerns on this invention. It is a schematic diagram of the insert supply device shown in FIG. It is a block diagram of the insert supply device and the insert insertion device shown in FIG. It is explanatory drawing which showed the state of picking up an insert by the insert insertion tool shown in FIG. It is the schematic of the insert insertion apparatus which comprises the 2nd Embodiment of the insert supply apparatus which concerns on this invention. It is a schematic diagram of the insert supply device shown in FIG. It is a block diagram of the insert supply device and the insert insertion device shown in FIG. It is the schematic about the insert insertion apparatus which comprises the 3rd Embodiment of the insert supply apparatus which concerns on this invention. It is a schematic diagram of the insert supply device shown in FIG. It is a block diagram of the insert insertion apparatus shown in FIG. It is explanatory drawing which showed the state of picking up an insert by the insert insertion tool shown in FIG. It is a schematic diagram about the insert insertion apparatus which comprises the 4th Embodiment of the insert supply apparatus which concerns on this invention. It is a schematic diagram of the insert supply device shown in FIG. It is a block diagram of the insert insertion apparatus and the insert insertion apparatus shown in FIG. It is the schematic about the 5th Embodiment of the insert supply apparatus which concerns on this invention.

Hereinafter, an embodiment of the insert supply device according to the present invention will be described with reference to the drawings. Further, in the following description, for convenience, the right, left, front, rear, top, bottom, and X, Y, Z orientations shown in the drawings will be described.

1 to 4 show an insert insertion device 2A including the first embodiment (insert supply device 1A) of the insert supply device according to the present invention. The insert insertion device 2A includes an insert insertion device 1A, an insert insertion tool 3, and an insert insertion robot 4 that three-dimensionally moves the insert insertion tool 3 with respect to the work W.

First, the insert insertion tool 3 will be described. As shown in FIGS. 1 and 4A, the insert insertion tool 3 includes a male screw portion 3a and a rotary driver portion 3c. The male screw portion 3a has a male screw shape that matches the female screw-shaped portion provided inside the insert I, and the hook 3b having a shape that engages with the concave notch N provided inside the insert I is at the tip. It is provided. The hook 3b is movable inward and outward in the radial direction with respect to the insert I, and is urged outward in the radial direction. A rotary motor 6a for rotating the male screw portion 3a and a torque sensor 6b for detecting the torque at that time are provided in the rotary driver portion 3c.

As shown in FIG. 1, the insert insertion robot 4 moves the X table 5 for moving the work W in the X-axis direction, the Z unit 7 for moving the insert insertion tool 3 in the Z-axis direction, and the Z unit 7 in the Y-axis direction. It is equipped with a Y unit 8 to be moved.

Further, the insert insertion robot 4 includes the robot control unit 9 shown in FIG. The robot control unit 9 is electrically connected to the X drive motor 5a, the Z drive motor 7a, and the Y drive motor 8a provided in the X table 5, the Z unit 7, and the Y unit 8 described above. Further, the rotary motor 6a and the torque sensor 6b provided in the rotary driver unit 3c of the insert insertion tool 3 are electrically connected to the robot control unit 9. Further, the robot control unit 9 operates the teaching / operating device 10 used when the operator inputs teaching data (teaching data) and performs various operations, and the input teaching data and insert insertion device 2A. The program / teaching data storage unit 11 that stores the program is electrically connected.

Next, the insert supply device 1A will be described. As shown in FIG. 2, the insert supply device 1A includes a bowl feeder 12, a linear feeder 13, an escaper 14, an insert pressing member 15, a connecting member 16, an elastic body (compression spring) 17, an escaper rotation motor 18, and a pressing member drive motor 19. It is equipped with.

The bowl feeder 12 accommodates the inserts I stacked in bulk inside the bowl feeder 12 and supplies the insert I to the straight-ahead feeder 13 by vibrating. Further, the straight-ahead feeder 13 has a function of dropping the insert I other than the predetermined posture and returning it to the bowl feeder 12 while moving the insert I straight, whereby the postures of the insert I are aligned and supplied to the escaper 14. ..

The escaper 14 has a circular shape, and its outer edge portion is provided with a plurality of notches 14a spaced apart from each other in the circumferential direction. The escaper 14 is rotated in a predetermined direction by the escaper rotation motor 18, receives one insert I from the straight feeder 13 at a position where the notch portion 14a faces the straight feeder 13, and is in a standby position (straight forward in the first embodiment). The insert I is moved to a position displaced by 180 ° in the circumferential direction with respect to the feeder 13.

The insert pressing member 15 corresponds to the "pressing portion" of the present specification, and has a function of pressing the outer peripheral surface of the insert I which has been moved to the standby position by the notch portion 14a. In the first embodiment, the connecting member 16 is attached to the pressing member driving motor 19 for driving the insert pressing member 15 by a set screw or the like. The pressing member drive motor 19 corresponds to the "moving unit" in the present specification. Further, the insert pressing member 15 is rotatably attached to the shaft portion of the pressing member drive motor 19 and is prevented from coming off by an E ring or the like. An elastic body 17 is provided between the insert pressing member 15 and the connecting member 16. When the connecting member 16 is rotated in the forward direction or the reverse direction by the pressing member drive motor 19, the insert pressing member 15 configured in this way approaches or approaches the insert I as shown by the solid line and the broken line in FIG. Move in the direction of separation. Here, when the insert pressing member 15 is moved in a direction approaching the insert I, when the pressing member driving motor 19 is rotated even after the insert pressing member 15 comes into contact with the insert I, the pressing member driving motor 19 and the pressing member driving motor 19 are rotated. Since the elastic body 17 is bent by the rotating connecting member 16, the insert pressing member 15 can be pressed against the outer peripheral surface of the insert I by an elastic force corresponding to the amount of the bending. As described above, the connecting member 16, the elastic body 17, and the pressing member drive motor 19 of the first embodiment change the pressing force generated when the insert pressing member 15 is pressed against the insert I against the outer peripheral surface of the insert I. It has a function to change the pressing force and corresponds to the "means for changing the pressing force" in the present specification.

As shown in FIG. 4, the notch portion 14a has a bottom portion 14b on which the insert I extending on the XY plane is placed, and an insert I which stands vertically from the bottom portion 14b and is placed on the bottom portion 14b. It is provided with a side wall portion 14c facing the outer peripheral surface of the above.

Further, the insert supply device 1A includes a supply device control unit 20 shown in FIG. The supply device control unit 20 is electrically connected to a vibrating device 21 that vibrates the bowl feeder 12 and the linear feeder 13 in addition to the above-mentioned escaper rotation motor 18 and the holding member drive motor 19. The supply device control unit 20 is also connected to the robot control unit 9. As a result, the insert supply device 1A can be made to cooperate with the insert insertion robot 4.

Such an insert insertion device 2A can supply the insert I to the insert insertion tool 3 by the procedure shown in FIG.

First, as shown in FIG. 4A, the insert insertion tool 3 is moved directly above the insert I which has been moved to the standby position by the notch 14a based on the control by the robot control unit 9. Next, the insert pressing member 15 is moved toward the outer peripheral surface of the insert I based on the control by the supply device control unit 20. As a result, the insert pressing member 15 presses against the outer peripheral surface of the insert I in a state where the insert I is placed on the bottom portion 14b of the notch portion 14a, and the side wall portion 14c and the insert pressing member 15 as shown in FIG. Be pinched. The pressing force of the insert pressing member 15 does not have to be increased to the extent that the insert I does not slip against the side wall portion 14c and the insert pressing member 15. That is, as will be described later, when the male screw portion 3a of the insert insertion tool 3 is rotated with respect to the insert I, it is sufficient that both are finally screwed together, and the male screw portion 3a of the insert insertion tool 3 with respect to the insert I. The force may be such that the insert I slips with some resistance against the side wall portion 14c and the insert holding member 15 when they are brought into contact with each other while being rotated.

Next, as shown in FIG. 4C, the male screw portion 3a of the insert insertion tool 3 is rotated and moved downward. Then, as described above, the outer peripheral surface of the insert I is sandwiched between the side wall portion 14c and the insert holding member 15, so that the female screw-shaped portion inside the insert I and the male screw portion 3a of the insert insertion tool 3 are screwed together. To go. Since the hook 3b provided on the insert insertion tool 3 moves inward in the radial direction against the urging elastic force, it hinders when the male screw portion 3a with the insert I is screwed. It will never be.

As described above, the outer peripheral surface of the insert I is pressed by the side wall portion 14c and the insert pressing member 15, and the bending of the insert I to the outside in the radial direction is suppressed. As shown in 4 (d), the hook 3b can be reliably engaged with the notch N provided at the end of the insert I. That is, even if the insert insertion tool 3 further rotates after the hook 3b engages with the notch N, the hook 3b gets over the notch N because the bending of the insert I outward in the radial direction is suppressed. Problems can be prevented. Therefore, it is possible to detect the engagement between the notch N and the hook 3b by detecting the change in torque caused by the engagement by the torque sensor 6b, and for example, the hook 3b is attached to the notch N after the insert insertion tool 3 is started to rotate. The operation of rotating the insert insertion tool 3 during the expected time until engagement (for example, the time obtained by adding the margin time to the required engagement time calculated from the rotation speed of the insert insertion tool 3 and the number of pitches of the insert I). It is possible to indirectly detect the engagement between the notch N and the hook 3b.

After detecting the engagement between the notch N and the hook 3b, the robot control unit 9 and the supply device control unit 20 rotate the presser member drive motor 19 in the reverse direction to press the insert as shown in FIG. 4 (e). The member 15 is separated from the outer peripheral surface of the insert I. After that, the insert insertion tool 3 is moved upward as shown in FIG. 4 (f). After the insert I in the standby position is picked up by the insert insertion tool 3 in such a procedure, the insert I is moved toward the work W shown in FIG. 1 and the insert I is attached to the female thread portion provided on the work W.

As described above, according to the insert supply device 1A of the first embodiment, when the hook 3b is engaged with the notch N to move the insert insertion tool 3 upward, the force from the insert holding member 15 does not act on the insert I. Therefore, it is possible to prevent damage to the insert I and disengagement between the notch N and the hook 3b at the time of pickup.

Next, a second embodiment (insert supply device 1B) of the insert supply device according to the present invention will be described with reference to FIGS. 5 to 7. The insert supply device 1B of the second embodiment is mounted on the insert insertion device 2B including the above-mentioned insert insertion tool 3 and the insert insertion robot 4. In the following description, the parts common to the above-mentioned insert insertion device 2A are designated by the same reference numerals in the drawings and the description thereof will be omitted.

As shown in FIG. 6, the insert supply device 1B of the second embodiment is composed of an insert supply pallet 22 and an insert holding member 23.

In the second embodiment, the insert supply pallet 22 has a plurality of insert insertion holes 22a arranged in a row in the Y-axis direction, and recesses located behind the insert insertion holes 22a and cutting out a part of these insert insertion holes 22a. It is equipped with 22b. One insert I can be accommodated in the insert insertion hole 22a. Further, the insert insertion hole 22a has a bottom portion 22c on which the insert I extending on the XY plane is placed, and a side wall portion 22d that stands vertically from the bottom portion 22c and faces the insert I placed on the bottom portion 22c. And have.

The insert holding member 23 is arranged in the recess 22b and is rotatably held with respect to the insert supply pallet 22 about the Y-axis direction. The insert pressing member 23 is moved by the pressing member drive motor 19 shown in FIG. 7 in a direction approaching or separating from the insert insertion hole 22a as shown by the solid line and the broken line in the partially enlarged view of FIG. The insert pressing member 23 corresponds to the "pressing portion" of the present specification.

As shown in FIG. 7, the electrical configuration of the insert insertion device 2B of the second embodiment is the same as that of the insert insertion device 2A described above, but each insert is stored in the program / teaching data storage unit 11. The position of the insertion hole 22a is stored as a standby position.

When the insert I is supplied to the insert insertion tool 3 by the insert supply device 1B configured as described above, the insert I is previously housed in the insert insertion hole 22a and stored in the program / teaching data storage unit 11. Based on the position information of the insertion hole 22a, the insert insertion tool 3 is moved directly above any one of them. Further, the insert pressing member 23 is rotated by the pressing member drive motor 19 in a direction approaching the insert insertion hole 22a, and the outer peripheral surface of the insert I placed on the bottom portion 22c is sandwiched between the side wall portion 22d and the insert pressing member 23. ..

After that, the male threaded portion 3a of the insert insertion tool 3 is rotated and moved downward to screw the female threaded portion inside the insert I and the male threaded portion 3a of the insert insertion tool 3, and further notch. The hook 3b can be engaged with N. When engaging the hook 3b with the notch N, the insert insertion tool 3 is rotated during the estimated time until the hook 3b engages with the notch N, as in the insert insertion device 2B described above. Alternatively, the insert insertion tool 3 may be rotated until the value of the torque detected by the torque sensor 6b changes.

After the hook 3b is engaged with the notch N, the pressing member drive motor 19 is rotated in the reverse direction to separate the insert pressing member 23 from the outer peripheral surface of the insert I. After that, by moving the insert insertion tool 3 upward, the insert I accommodated in the insert insertion hole 22a is picked up, moved toward the work W shown in FIG. 1, and the insert I is inserted into the female screw portion provided in the work W. Can be attached.

In the second embodiment, all the inserts I accommodated in each insert insertion hole 22a are pressed by one insert pressing member 23, but the plurality of insert pressing members 23 divided so as to shorten the length are used. The insert I may be pressed. Further, although the above-mentioned insert pressing member 23 is directly rotated by the pressing member drive motor 19, a member having an elastic force like the above-mentioned elastic body 17 is arranged inside the insert pressing member 23. , The pressing force of the insert pressing member 23 against the outer peripheral surface of the insert I may be changed.

Next, a third embodiment (insert supply device 1C) of the insert supply device according to the present invention will be described with reference to FIGS. 8 to 11. The insert supply device 1C of the third embodiment is mounted on the insert insertion device 2C including the above-mentioned insert insertion tool 3 and the insert insertion robot 4.

The insert supply device 1C of the third embodiment is configured by the insert supply pallet 24 as shown in FIG.

In the third embodiment, the insert supply pallet 24 includes a plurality of holes 24a arranged in a row in the Y-axis direction. The hole portion 24a has a bottom portion 24b extending downward on the XY plane on which the insert I is placed, a cylindrical lower peripheral wall portion 24c extending upward from the bottom portion 24b, and a lower peripheral wall portion. It is composed of a diameter-expanded portion 24d that expands in diameter upward from the portion 24c and a cylindrical upper peripheral wall portion 24e that extends upward from the diameter-expanded portion 24d. The inner diameter of the lower peripheral wall portion 24c is substantially the same as the outer diameter of the insert I, and the lower end portion of the insert I is lightly fitted to the lower peripheral wall portion 24c. As a result, the insert I can be held in a non-rotating manner with respect to the insert supply pallet 24. On the other hand, the inner diameter of the upper peripheral wall portion 24e is larger than the outer diameter of the insert I. The lower peripheral wall portion 24c corresponds to the "holding portion" of the present specification, and the upper peripheral wall portion 24e corresponds to the "pressing portion" of the present specification.

As will be described later, the insert supply pallet 24 preferably has a high coefficient of friction at a portion (or a part thereof) from the bottom portion 24b to the upper peripheral wall portion 24e. Therefore, it is preferable that the entire insert supply pallet 24, the entire hole portion 24a, or a part of the hole portion 24a is made of a material having a relatively high coefficient of friction (for example, rubber or hard sponge).

Since the insert supply device 1C does not have an electrical component such as a motor, the above-mentioned supply device control unit 20 and the like (see FIG. 3) are not required as shown in FIG. The electrical configuration of the insert insertion device 2C is the same as that of the insert insertion device 2A shown in FIG. 3, while the program / teaching data storage unit 11 has the position of each hole 24a as a standby position. I remember it.

Such an insert insertion device 2C can supply the insert I to the insert insertion tool 3 by the procedure shown in FIG. FIG. 11 is a cross-sectional view showing a state in which the insert I housed in the hole portion 24a is picked up by the insert insertion tool 3 from a front view cut by a YZ plane.

First, as shown in FIG. 11A, the insert insertion tool 3 is inserted into the hole portion 24a based on the position of the hole portion 24a stored in the program / teaching data storage unit 11 and the control by the robot control unit 9. Move directly above the contained insert I. The insert I is housed in the hole portion 24a, and the lower end portion of the insert I is lightly fitted to the lower peripheral wall portion 24c in a state where the insert I is placed on the bottom portion 24b and held to prevent rotation.

Next, as shown in FIG. 11B, the male screw portion 3a of the insert insertion tool 3 is rotated and moved downward. As described above, since the lower end portion of the insert I is lightly fitted to the lower peripheral wall portion 24c and held to prevent rotation, the female screw-shaped portion inside the insert I and the male screw portion 3a of the insert insertion tool 3 are screwed together. I will do it. Here, if the portion constituting at least a part of the hole portion 24a (bottom portion 24b or upper peripheral wall portion 24e) is formed of rubber, a hard sponge, or the like, the function of preventing the insert I from rotating is more effectively exhibited. Ru. Since the hook 3b provided on the insert insertion tool 3 moves inward in the radial direction against the urging elastic force, it hinders when the insert I and the insert insertion tool 3 are screwed together. It will never be. Further, the insert insertion tool 3 is not screwed to the insert I to the end, and the range in which the insert insertion tool 3 is screwed into the insert I is, for example, about the depth D of the upper peripheral wall portion 24e as shown in the figure.

After that, the rotation of the insert insertion tool 3 is temporarily stopped, and the insert insertion tool 3 is moved upward as shown in FIG. 11C to pull out the lower end portion of the insert I from the lower peripheral wall portion 24c. As described above, the insert insertion tool 3 is not screwed to the end with the insert I, and does not reach the lower end of the insert I held by the lower peripheral wall portion 24c to prevent rotation. That is, the lower end portion of the insert I can be deformed inward in the radial direction due to the nature of the spring itself, and is only lightly fitted to the lower peripheral wall portion 24c. Therefore, the insert insertion tool 3 It is possible to prevent damage to the insert I and the hole portion 24a when moving the insert I upward.

Next, as shown in FIG. 11D, the insert insertion tool 3 is moved in the left-right direction by a predetermined amount, and the lower end portion of the insert I is pressed against the upper peripheral wall portion 24e.

After that, as shown in FIG. 11 (e), the male screw portion 3a of the insert insertion tool 3 is rotated. At this time, since the insert I receives a resistance force from the pressed upper peripheral wall portion 24e, the male screw portion 3a rotates with respect to the insert I. Here, when the upper peripheral wall portion 24e is formed of rubber or the like, the resistance force from the upper peripheral wall portion 24e can be further increased. The resistance force from the upper peripheral wall portion 24e can also be changed by the amount of pressing of the insert insertion tool 3 against the upper peripheral wall portion 24e. Further, since the outer peripheral surface of the insert I is pressed against the upper peripheral wall portion 24e, it is possible to prevent the insert I from bending outward in the radial direction, so that the male screw portion 3a is relative to the insert I. As it rotates, the hook 3b can be reliably engaged with the notch N provided at the end of the insert I.

Since the upper peripheral wall portion 24e is not pressed against the lower end portion of the insert I over the entire circumference, if the position of the notch N is displaced in the circumferential direction with respect to the upper peripheral wall portion 24e (for example, the upper peripheral wall portion). If the notch N is located on the opposite side of the portion 24e), the effect of preventing the insert I from bending outward in the radial direction may not be sufficiently exhibited. Therefore, when the insert I is pressed against the upper peripheral wall portion 24e by the insert insertion tool 3, the insert I also rotates a small amount due to the rotation of the insert insertion tool 3 (the insert I slips with some resistance to the upper peripheral wall portion 24e). Adjust the amount of pressing so that. That is, since the insert I spins slightly with respect to the upper peripheral wall portion 24e, even if the insert I bends outward in the radial direction, the outer peripheral surface of the insert I periodically presses against the upper peripheral wall portion 24e. Become. Therefore, the notch N and the hook 3b can be reliably engaged with each other regardless of the position in the circumferential direction of the initial notch N when the insert I is pressed against the upper peripheral wall portion 24e.

Further, when the hook 3b is engaged with the notch N, as described above, the estimated time from the start of rotating the insert insertion tool 3 until the hook 3b is engaged with the notch N (for example, the rotation speed of the insert insertion tool 3). The insert insertion tool 3 may be rotated during (the time obtained by adding the margin time to the required engagement time calculated from the number of pitches of the insert I), or the notch N may be formed based on the value of the torque obtained by the torque sensor 6b. The insert insertion tool 3 may be rotated until it can be detected that the hook 3b is engaged.

After that, as shown in FIG. 11 (f), the insert I is accommodated in the hole portion 24a by moving the insert insertion tool 3 so that the insert I separates from the upper peripheral wall portion 24e and moves further upward. Can be picked up. That is, when the hook 3b is engaged with the notch N to move the insert insertion tool 3 upward, the force from the upper peripheral wall portion 24e does not act on the insert I, so that even in the third embodiment, the insert I at the time of pickup It is possible to prevent damage and disengagement between the notch N and the hook 3b.

Next, a fourth embodiment (insert supply device 1D) of the insert supply device according to the present invention will be described with reference to FIGS. 12 to 14. The insert supply device 1D of the fourth embodiment is mounted on the insert insertion device 2D including the above-mentioned insert insertion tool 3 and the insert insertion robot 4.

As shown in FIG. 13, the insert supply device 1D includes a bowl feeder 12, a straight-ahead feeder 13, an escaper 14, and an escaper rotary motor 18 provided in the insert supply device 1A described above. As shown in FIG. 14, the presser member drive motor 19 (see FIG. 3) provided in the insert supply device 1A is not required in the insert supply device 1D, and the supply device control unit 20 vibrates with the escaper rotation motor 18. The device 21 is electrically connected.

As shown in FIG. 13, the escaper 14 of the fourth embodiment includes notches 14d provided at intervals in the circumferential direction. The cutout portion 14d has a bottom portion 14e extending downward on the XY plane on which the insert I is placed, a cylindrical lower peripheral wall portion 14f extending upward from the bottom portion 14e, and a lower side. It is composed of a stepped portion 14g extending from the peripheral wall portion 14f on the XY plane and a semi-cylindrical upper peripheral wall portion 14h extending upward from the stepped portion 14g. The inner diameter of the lower peripheral wall portion 14f is substantially the same as the outer diameter of the insert I, and the lower end portion of the insert I is lightly fitted to the lower peripheral wall portion 14f. As a result, the insert I can be prevented from rotating and held with respect to the escaper 14. On the other hand, the inner diameter of the upper peripheral wall portion 14h having a semi-cylindrical shape is larger than the outer diameter of the insert I. The lower peripheral wall portion 14f corresponds to the "holding portion" of the present specification, and the upper peripheral wall portion 14h corresponds to the "pressing portion" of the present specification.

When the insert I is supplied to the insert insertion tool 3 by the insert supply device 1D configured as described above, the inserts I bulkly stacked inside the bowl feeder 12 are accommodated in the same manner as the insert supply device 1A. The accommodated inserts I are supplied to the escaper 14 in a line by the straight feeder 13, and one insert I received by the notch 14a is transferred to the straight feeder 13 by the rotation of the escaper 14. Move to the standby position offset by 180 ° in the circumferential direction.

After that, in the same procedure as shown in FIGS. 11A to 11C, the male screw portion 3a of the insert insertion tool 3 is screwed into the insert I to a depth D of the upper peripheral wall portion 14h. Then, in the same procedure as shown in FIGS. 11 (d) to 11 (e), the lower end portion of the insert I is pressed against the upper peripheral wall portion 14h, and the insert insertion tool 3 is further rotated to engage the hook 3b with the notch N. .. After that, by moving the insert insertion tool 3 so that the insert I separates from the upper peripheral wall portion 14h and moves further upward, the insert I is inserted from the notch portion 14d without receiving the resistance force from the upper peripheral wall portion 14h. I can be picked up.

Although the embodiments embodying the present invention have been exemplified above, the present invention is not limited to the specific embodiment, and the present invention is described in the scope of claims unless otherwise specified in the above description. Various modifications and changes are possible within the scope of the above. Moreover, the effect in the above-described embodiment is merely an example of the effect resulting from the present invention, and does not mean that the effect according to the present invention is limited to the above-mentioned effect.

For example, in the insert supply device 1C of the third embodiment shown in FIGS. 8 to 11, the lower peripheral wall portion 24c for holding the lower end portion of the insert I and the upper peripheral wall portion 24e against which the outer peripheral surface of the insert I is pressed are provided. Although it is configured to be composed of one hole portion 24a, it may be configured as the insert supply device 1E of the fifth embodiment shown in FIG. The insert supply device 1E includes an insert supply pallet 25, and a plurality of holes 25a provided in the insert supply pallet 25 have a bottom portion and a lower peripheral wall portion similar to the above-mentioned bottom portion 24b and lower peripheral wall portion 24c. Although it is provided, the portion corresponding to the enlarged diameter portion 24d and the upper peripheral wall portion 24e is omitted. On the other hand, the insert supply device 1E has a semi-cylindrical peripheral wall portion 25b having an inner diameter larger than the outer diameter of the insert I at the left-right end portion of the insert supply pallet 25 (“pressing portion” of the present specification. ”Is provided). That is, the hook 3b can be engaged with the notch N by pressing the outer peripheral surface of the insert I against the peripheral wall portion 25b as in the case of the upper peripheral wall portion 14h.

Further, the insert supply device 1A of the first embodiment controls the rotation amount of the presser member drive motor 19 when changing the pressing force of the insert presser member 15 against the outer peripheral surface of the insert I, thereby compressing by the connecting member 16. The pressing force was changed by changing the amount of bending of the elastic body 17, but the elastic body 17 was omitted so that the insert pressing member 15 could be directly rotated by the pressing member drive motor 19, and the pressing member was changed. The pressing force may be changed based on the current value when the drive motor 19 is driven. Further, the above-mentioned motor such as the pressing member driving motor 19 may be replaced with another driving means (for example, an air cylinder) to drive the motor, and the pressing force may be changed by changing the air pressure thereof.

Further, although the cylindrical hole shape is formed by the bottom portion 24b and the lower peripheral wall portion 24c in the insert supply device 1C of the third embodiment, the configuration does not have to always maintain the cylindrical hole shape. For example, a plate-shaped sponge in which the bottom portion 24b is deformed with a slight load may be used. In that case, in addition to the weight of the insert I, a minute downward pressing force is applied by the approach to the insert I by the rotary tool. As a result, the sponge is deformed to form a dent, and the dent becomes the lower peripheral wall portion 24c, and as a result, the lower end portion of the insert I can be prevented from rotating and held.

Further, in the first to fifth embodiments, an insert having a notch as an engaging portion, that is, an insert so-called a tongueless insert, has been described as a supply device, but an insert that can be supplied by the insert supply device according to the present invention has been described. Is not limited to the so-called tongueless insert, and may be an insert of another form. For example, as proposed in Japanese Patent Application Laid-Open No. 2008-38937, even if an engaging portion called a tongue is provided, the engaging portion of the insertion tool may get over the engaging portion (tong) of the insert. On the other hand, the effect of the present invention works effectively.

1A-1E: Insert supply device 3: Insert insertion tool 3b: Hook 14b, 14e, 22c, 24b: Bottom portion 14c, 22d: Side wall portion 14f, 24c: Lower peripheral wall portion (holding portion)
14h, 24e: Upper peripheral wall portion (pressing portion)
15, 23: Insert holding member (pressing part)
16: Connecting member (means for changing pressing force)
17: Elastic body (means for changing pressing force)
19: Pressing member drive motor (moving part, pressing force changing means)
25b: Peripheral wall part (pressing part)
I: Insert N: Notch

Claims (4)

An insert feeder for supplying a coiled insert having an inner notch to an insert insertion tool having a hook that engages the notch by rotating relative to the insert.
Before the hook engages with the notch, it is pressed against the outer peripheral surface of the insert, and after the hook engages with the notch, it is separated from the outer peripheral surface of the insert. An insert supply device comprising a pressing portion. It is provided with a bottom portion on which the insert is placed, a side wall portion facing the outer peripheral surface of the insert mounted on the bottom portion, and a moving portion for moving the pressing portion closer to and away from the side wall portion.
The insert supply according to claim 1, wherein the moving portion switches between a pressed state and a separated state with respect to the outer peripheral surface of the insert by moving the pressing portion closer to and away from the side wall portion. Device. The insert supply device according to claim 2, further comprising a pressing force changing means for changing the pressing force generated when the pressing portion is pressed against the insert with respect to the outer peripheral surface of the insert. The insert supply device according to claim 1, further comprising a bottom portion on which the insert is placed and a holding portion for holding the lower end portion of the insert mounted on the bottom portion so as to prevent rotation.

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