JP2024057181A - Air pressure assembly device - Google Patents

Abstract

[Problem] To provide an air pressure feeding assembly device capable of positioning a transport part Wa in a desired position at high speed and with high accuracy and inserting the shaft of the transport part into a tubular part of a mating member. [Solution] The air pressure feeding assembly device 1 includes a tube 40 configured to transport a transport part Wa, a straight pipe section 131 having a straight pipe hole 131a through which the transport part Wa carried out from the tip of the tube 40 by air pressure can pass, a plurality of claws 132 provided on the tip side of the straight pipe section 131 and capable of opening and closing, and a pushing device 123 that applies a pushing force to the large diameter head Wa2 in a centering state in which the claws 132 are closed, the tip of the shaft Wa1 of the transport part Wa is inserted into the centering gap C, and the large diameter head Wa2 of the transport part Wa is engaged with the claws 132. [Selected Figure] Fig. 17

Description

The present invention relates to an air pressure assembly device.

Patent Document 1 describes a device that uses air pressure to feed transported parts. This device is a small part supply device that can stably supply small parts to a specified holding position for a chuck that opens the small part holding position so that the small parts can be set on the work side when welding the small parts to the work.

The small part supply device supplies small parts to the small part holding position of the chuck, with a chuck that holds the small parts to be welded to the workpiece opening during welding to release the holding of the small parts. The chuck has a transfer path that can transfer the small parts from the receiving port to the holding position. The supply device has a supply chute that has a supply port connected to the receiving port and can transfer the small parts to the transfer path, an air source that supplies air into the supply chute so that the small parts can be pressure-fed to the holding position side, and a pusher that is disposed near the supply port and moves a pressing part toward the holding position to press the small parts supplied by air against the holding position and stop them there.

JP 2013-66978 A

By the way, there is a task of transporting a transport part that has a shaft portion and a large-diameter head portion located at the base end of the shaft portion, and inserting the shaft portion of the transport part into the cylindrical portion of the mating member to be assembled. Until now, this task has been performed by the worker's hand or by a multi-axis robot hand. Whether it is performed by the worker's hand or the multi-axis robot hand, the transport parts must be grasped one by one and inserted into the cylindrical portion of the mating member to be assembled. In other words, the operations of grasping, transporting, and inserting must be performed in order for each transport part.

There is a demand to shorten the time required to transport the above-mentioned transport part and insert the shaft of the transport part into the cylindrical part of the member to be assembled. However, when the work is performed by a worker's hand or a multi-axis robot hand, the assembly work cannot be shortened because the work must be performed back and forth between the gripping position and the insertion position.

As described in Patent Document 1, it is possible to apply air pressure feeding technology. By applying air pressure feeding technology, there is no need to move back and forth between the gripping position and the insertion position, and the assembly work can be shortened.

In addition, when inserting the shaft of the transport part into the tubular portion of the mating member, it is necessary to position the shaft of the transport part with high precision relative to the tubular portion of the mating member. By applying the air pressure feeding technology described in Patent Document 1, the transport part can be transported at high speed. However, in Patent Document 1, the transport part does not have a shape that includes a shaft and a large-diameter head. Therefore, further ingenuity is required to position the transport part with a shaft and a large-diameter head with high precision so that it is in the desired position relative to the mating member.

The present invention was made in consideration of this background, and aims to provide an air pressure feeding assembly device that can quickly and accurately position a transport part in a desired orientation and insert the shaft of the transport part into the tubular part of the mating part.

One aspect of the present invention is an air pressure feeding assembling device for conveying a conveying part having a shaft portion and a large diameter head portion located at a base end of the shaft portion, and inserting the shaft portion of the conveying part into a cylindrical portion of a mating member, the air pressure feeding assembling device comprising:
A holding jig for holding the mating member;
A tube having flexibility and configured to be capable of transporting the transport component;
a component supply device that supplies the transport component to a base end side of the tube;
an air supplying device that supplies air to a base end side of the tube to pressure-feed the conveying part supplied to the base end side of the tube toward a tip end side of the tube;
a straight pipe portion connected to a tip side of the tube, formed in a straight pipe shape, and configured to be able to pass the conveying component discharged from the tip of the tube;
a plurality of claws provided at a tip end of the straight pipe portion, configured to be openable and closable with a closed state as a reference state, configured to form a centering gap through which the shaft portion of the conveying component can be inserted in the closed state and to engage with the large-diameter head portion of the conveying component, and configured to allow the large-diameter head portion to pass through in an open state;
an extrusion device that applies an extrusion force to the large diameter head of the conveying part in a centering state in which the claw portion is in the closed state, the tip of the shaft portion of the conveying part is inserted into the centering gap, and the large diameter head of the conveying part is engaged with the claw portion;
a moving device that moves the holding jig and the straight pipe portion relative to each other;
A control device that controls the air supply device, the push-out device, and the moving device;
Equipped with
The control device includes:
by controlling the moving device, the cylindrical portion of the mating member and the centering gap formed by the claw portion in the closed state are opposed to each other;
By controlling the air supply device to supply the air to the tube, the conveying part is pressure-fed to the tip of the straight pipe part through the tube, and the conveying part and the claw part are brought into the centering state;
The air pressure feeding assembly device controls the extrusion device in the centering state to apply the extrusion force to the large diameter head, thereby moving the conveying part, and as the large diameter head of the conveying part moves, the claw portion is opened and the shaft portion of the conveying part is inserted into the tubular portion of the mating assembly member.

According to the above aspect, the air supply device supplies air to the tube, so that the transported parts can be compressed and sent from the part supply device to the tip of the straight pipe section through the tube. This makes it possible to speed up the transport from the part supply device to the tip of the straight pipe section.

Furthermore, after the transport component is air-pressurized and delivered to the tip of the straight pipe section, the transport component and the claw are in a centering state. The centering state is a state in which the claw is closed, the tip of the shaft of the transport component is inserted into the centering gap, and the large-diameter head of the transport component is engaged with the claw. In the closed state, the claw forms a centering gap through which the shaft of the transport component can be inserted. The shaft of the transport component, which has been air-pressurized and delivered, is inserted into the centering gap thus formed, thereby centering the transport component. In other words, the air supply device supplies air to the tube, and the transport component is transported to the tip of the straight pipe section at high speed and positioned in the desired position with high precision.

Then, the extrusion device applies an extrusion force to the centered large-diameter head of the conveying part, opening the claws, and the conveying part is assembled to the mating member while maintaining its centered position. Specifically, the shaft of the conveying part is inserted into the tubular portion of the mating member. Therefore, the conveying part can be positioned quickly and with high precision so that it is in the desired position, and the shaft of the conveying part can be inserted into the tubular portion of the mating member.

As described above, according to the above aspect, it is possible to provide an air pressure delivery assembly device that can quickly and accurately position the conveyed part in a desired position and insert the shaft of the conveyed part into the tubular part of the mating part.

Note that the reference characters in parentheses in the claims indicate the corresponding relationship to the specific means described in the embodiments described below, and do not limit the technical scope of the present invention.

FIG. FIG. 2 is a front view showing the air pressure feeding assembly device according to the embodiment. FIG. 3 is a view taken from direction III (direction X) in FIG. 2 . 4 is a cross-sectional view taken along line IV-IV in FIG. 2, and is a plan view of the component supply area (lower area) of the air pressure feeding assembling device. FIG. 3 is a cross-sectional view taken along the line VV in FIG. 2, and is a plan view of the component insertion area (upper area) of the air pressure feeding assembling device. FIG. 4 is an enlarged front view of the component insertion area (upper area) of the air pressure feeding assembly device. FIG. 7 is a view taken from the VII direction in FIG. 6 . FIG. 8 is a view seen from the VIII direction in FIG. 6, excluding the holding jig moving device. FIG. 4 is a partially enlarged side view showing a component insertion nozzle unit that constitutes the air pressure feeding assembly device. FIG. 4 is a partially enlarged cross-sectional view showing a component insertion nozzle unit that constitutes the air pressure feed assembly device. FIG. 11 is an enlarged view taken from the XI direction in FIG. Enlarged cross-sectional view of XII-XII in Figure 10. 6 is a flowchart showing a procedure for assembling a transport component to a mating member by compressed air. 14 is a partial cross-sectional view of the component insertion nozzle unit when the component, which has been compressed by air, is discharged from the tube to the straight pipe section, where the straight pipe section corresponds to the cross section taken along the line XIV-XIV in FIG. 13 is a partial cross-sectional view of the component insertion nozzle unit when a component being transported by air pressure contacts an inclined inner surface of a claw portion. FIG. 13 is a partial cross-sectional view of the component insertion nozzle unit when a transported component fed by air pressure is centered on the inner surface of the tip of the claw portion. FIG. 13 is a partial cross-sectional view of the component insertion nozzle unit when the extrusion device starts extruding the transported component. FIG. 13 is a partial cross-sectional view of the component insertion nozzle unit in the middle of extruding a transported component by the extrusion device. FIG. 13 is a partial cross-sectional view of the component insertion nozzle unit in the middle of extruding a transported component by the extrusion device. FIG. 13 is a partial cross-sectional view of the component insertion nozzle unit when the extrusion device has completed extrusion of the transported component. FIG. FIG. 13 is a partial cross-sectional view of the component insertion nozzle unit with the extrusion device returning to its original position.

(Embodiment 1)
1. Example of assembly object W An example of the assembly object W will be described with reference to Fig. 1. As shown in Fig. 1, the assembly object W includes a transport part Wa as an assembly target member and a mating assembly member Wb to which the transport part Wa is to be assembled. Fig. 1 shows a cross-sectional view of a state in which some of the transport parts Wa have been assembled to the mating assembly member Wb and other transport parts Wa are about to be assembled to the mating assembly member Wb.

The transport part Wa, which is the component to be assembled, is made of, for example, hard resin. The transport part Wa may also be made of a lightweight metal. However, the transport part Wa must have a mass large enough to be compressed by air.

The transport part Wa, which is the member to be assembled, has a shaft Wa1 and a large-diameter head Wa2 located at the base end of the shaft Wa1 (the upper end in Fig. 1). The shaft Wa1 is formed, for example, in a columnar shape such as a cylindrical or polygonal columnar shape, or in a tubular shape such as a cylindrical or polygonal tube shape. In this embodiment, the shaft Wa1 is formed in a cylindrical shape. The tip surface of the shaft Wa1 is formed in a flat shape. However, the tip surface of the shaft Wa1 may be formed in a curved surface that protrudes slightly or a tapered conical surface.

The large diameter head Wa2 is integrally formed at the base end of the shaft portion Wa1 and has a circumscribing circle larger than the circumscribing circle of the outer circumscribing surface of the shaft portion Wa1. In this embodiment, the large diameter head Wa2 is formed in a plate shape. For example, the large diameter head Wa2 is formed in a disk shape or an approximately disk shape with a notch in one part. The large diameter head Wa2 is located approximately coaxially with the shaft portion Wa1.

The transport part Wa has a shape similar to a hexagonal bolt or a socket head bolt. However, the shaft part Wa1 of the transport part Wa does not have a thread. Also, in this embodiment, the thickness of the large diameter head part Wa2 relative to the outer diameter of the shaft part Wa1 is thinner than that of a bolt.

The mating member Wb is formed, for example, from a hard resin. The mating member Wb may also be formed from a metal. The mating member Wb is formed, for example, in a case shape, and has a plurality of tubular portions Wb1. The tubular portions Wb1 are formed to a size that allows the shaft portion Wa1 of the transport part Wa to be inserted, but is formed to a size that does not allow the large-diameter head Wa2 to be inserted. In other words, the inner diameter of the tubular portions Wb1 is slightly larger than the outer diameter of the shaft portion Wa1 of the transport part Wa, and smaller than the outer diameter of the large-diameter head Wa2. Furthermore, in this embodiment, the tubular portions Wb1 are formed to penetrate from the upper surface to the lower surface of FIG. 1.

The transport part Wa and the mating assembly part Wb can have shapes different from those shown in FIG. 1. In other words, the transport part Wa and the mating assembly part Wb only need to be in a relationship in which the shaft portion Wa1 of the transport part Wa is inserted into the tubular portion Wb1 of the mating assembly part Wb.

2. Overall Configuration of the Air Pressure Feed Assembly Apparatus 1 The air pressure feed assembly apparatus 1 is an apparatus for transporting a transport part Wa and inserting a shaft portion Wa1 of the transport part Wa into a tubular portion Wb1 of a mating assembly member Wb. The overall configuration of the air pressure feed assembly apparatus 1 will be described with reference to Figures 2 to 5. As shown in Figures 2 and 3, the air pressure feed assembly apparatus 1 includes a frame 11, an upper plate 12, and a lower plate 13 as a support body 10. The frame 11 is formed, for example, in a rectangular frame shape by a plurality of pillar members, a plurality of beam members, etc.

The upper plate 12 is located in the vertical middle of the frame 11 and is fixed to the frame 11. The upper plate 12 divides the lower area into a part supply area A1 and the upper area of the air pressure feed assembly device 1, the part insertion area A2. The upper plate 12 functions as the installation surface for the part insertion area A2. The lower plate 13 is fixed to a position on the frame 11 lower than the upper plate 12. In other words, the lower plate 13 is fixed near the floor on which the frame 11 is installed. The lower plate 13 functions as the installation surface for the part supply area A1.

The air pressure feeding assembly device 1 includes a part supply device 20 that supplies the transported part Wa to the part supply area A1, and an air supply device 30. The air pressure feeding assembly device 1 is arranged across the part supply area A1 and the part insertion area A2, and includes a tube 40 that transports the transported part Wa from the part supply area A1 to the part insertion area A2. The air pressure feeding assembly device 1 includes, in the part insertion area A2, a holding jig 50 that holds the assembly partner part Wb, a part insertion nozzle unit 60 for inserting the transported part Wa, a moving device 70 that moves the holding jig 50 and the part insertion nozzle unit 60 relative to each other, and a detector 80 for detecting that the transported part Wa has been inserted into the assembly partner part Wb.

The configuration of the parts supply area A1 will be described with reference to Figures 2 to 4. The parts supply device 20 is configured to be able to supply transport parts Wa one by one to the base end 41 side of the tube 40. In this embodiment, the parts supply device 20 includes, for example, a parts feeder 21 and a feeder 22, as shown in Figures 2 to 4. The parts feeder 21 stores multiple transport parts Wa, and when driven, transports the multiple transport parts Wa in a line at the end.

The cutting device 22 is composed of, for example, an air or hydraulic cylinder device, and performs a process of cutting out the transported parts Wa one by one at the end of the line of parts that have been aligned and transported by the parts feeder 21. The cutting origin position of the cutting device 22 corresponds to the end of the parts feeder 21, and the cutting destination position of the cutting device 22 corresponds to the base end 41 of the tube 40. In other words, the cutting device 22 supplies the transported parts Wa from the end of the parts feeder 21 to the base end 41 of the tube 40.

The air supply device 30 is provided on the base end 41 side of the tube 40 and is configured to be able to supply air to the base end 41 side of the tube 40. The air supply device 30 pressure-feeds the transport part Wa supplied to the base end 41 side of the tube 40 toward the tip 42 side of the tube 40 by supplying air to the base end 41 side of the tube 40. The air supply device 30 has a valve (not shown) that connects to an air supply source.

As shown in Figures 2 and 3, the tube 40 is flexible and configured to be able to transport the transport part Wa. The tube 40 is formed so that the shaft Wa1 of the transport part Wa is kept facing forward in the direction of travel while the transport part Wa is being transported. In other words, the inner diameter of the tube 40 is only slightly larger than the circumscribed circle diameter of the large-diameter head Wa2 of the transport part Wa. The tube 40 is preferably transparent or translucent so that any blockages in the transport part Wa can be visually confirmed along the way.

The configuration of the part insertion area A2 will be described with reference to Figures 2 to 3 and 5. The holding jig 50 holds the mating part Wb. In this embodiment, the holding jig 50 constitutes a table and holds the mating part Wb placed on its upper surface. The holding jig 50 may also be equipped with a clamping device (not shown). In this embodiment, the holding jig 50 is configured to be movable in the X and Y directions relative to the upper plate 12 by a holding jig moving device 71 that constitutes the moving device 70 described below.

The holding jig 50 also has a hole 51 that penetrates in the vertical direction (Z direction) in the center. The hole 51 is shown as, for example, a rectangular hole, but it can be any shape. This hole 51 is formed so that the detector 80 can detect that the transported part Wa has been inserted into the mating assembly member Wb. The holding jig 50 places the mating assembly member Wb on the periphery of the hole 51. Therefore, the hole 51 is formed to penetrate at a position corresponding to the tubular portion Wb1 of the placed mating assembly member Wb.

The part insertion nozzle unit 60 is connected to the tip 42 side of the tube 40. The part insertion nozzle unit 60 is configured to be movable in the Z direction relative to the upper plate 12 by a nozzle moving device 72 constituting a moving device 70 described later. The part insertion nozzle unit 60 temporarily holds the transported part Wa discharged from the tip 42 of the tube 40 in a centered state. Furthermore, the part insertion nozzle unit 60 pushes out the transported part Wa temporarily held in a centered state from the nozzle tip and inserts it into the assembly partner member Wb. Details of the part insertion nozzle unit 60 will be described later.

The moving device 70 is a device that moves the holding jig 50 and the part insertion nozzle unit 60 relative to one another. In this embodiment, the moving device 70 includes a holding jig moving device 71 and a nozzle moving device 72. The holding jig moving device 71 moves the holding jig 50 in the X direction and the Y direction relative to the upper plate 12. The nozzle moving device 72 moves the part insertion nozzle unit 60 in the Z direction relative to the upper plate 12. Details of the moving device 70 will be described later.

The detector 80 is, for example, an optical sensor. The detector 80 is disposed on the upper surface of the upper plate 12, facing the component insertion nozzle unit 60 in the Z direction. In this embodiment, the detector 80 is fixed to the upper plate 12, and its movement is restricted.

When the transported part Wa is inserted into the mating assembly part Wb by the part insertion nozzle unit 60, the inserted transported part Wa and the mating assembly part Wb are positioned directly below the part insertion nozzle unit 60. In this state, the holding jig 50 that holds the mating assembly part Wb is also positioned directly below the part insertion nozzle unit 60.

In other words, when the transport part Wa is inserted, the part insertion nozzle unit 60 and the detector 80 are positioned so that the inserted transport part Wa, the assembly partner member Wb, and the holding jig 50 are sandwiched between them. However, since the holding jig 50 has a hole 51, the optical path of the detector 80 is located at the hole 51 of the holding jig 50 and is not blocked by the holding jig 50. Furthermore, the tubular portion Wb1 of the assembly partner member Wb penetrates in the vertical direction. Therefore, the detection light of the detector 80 passes through the hole 51 of the holding jig 50 and further passes through the lower opening of the tubular portion Wb1 of the assembly partner member Wb to reach the transport part Wa. Therefore, the detector 80 can detect that the transport part Wa has been inserted into the tubular portion Wb1 of the assembly partner member Wb.

The control device 90 controls the part supply device 20, the air supply device 30, the part insertion nozzle unit 60, and the movement device 70.

3. Configuration of the Moving Device 70 The configuration of the moving device 70 will be described with reference to Figures 6 to 8. The moving device 70 includes a holding jig moving device 71 and a nozzle moving device 72.

In this embodiment, the holding jig moving device 71 moves the holding jig 50 in two horizontal axial directions, the X direction and the Y direction, relative to the upper plate 12. The holding jig moving device 71 includes an intermediate table 101, a Y direction guide 102, a Y direction driving device 103, an X direction guide 104, and an X direction driving device 105.

The intermediate table 101 is provided facing the upper surface of the upper plate 12 at a distance. The Y-direction guide 102 is arranged on the upper surface of the upper plate 12 to extend in the Y direction, and guides the intermediate table 101 to be movable in the Y direction. The Y-direction driving device 103 is a driving mechanism or a linear motor mechanism composed of a rotary motor and a ball screw, and moves the intermediate table 101 along the Y-direction guide 102 by driving. The Y-direction driving device 103 is controlled by the control device 90.

The X-direction guide 104 is disposed on the upper surface of the intermediate table 101 so as to extend in the X-direction, and guides the holding jig 50 so that it can move in the X-direction. The X-direction driving device 105 is a driving mechanism constituted by a rotary motor and a ball screw, a linear motor mechanism, or the like, and moves the holding jig 50 along the X-direction guide 104 by driving it. The X-direction driving device 105 is controlled by the control device 90.

The nozzle moving device 72 moves the component insertion nozzle unit 60 in the vertical Z direction relative to the upper plate 12. The nozzle moving device 72 includes a gate-shaped support member 111 and a Z direction driving device 112.

The gate-shaped support member 111 is formed in a gate shape and is fixed to the upper surface of the upper plate 12. The gate-shaped support member 111 has a holding jig moving device 71 between the pillars on both sides, forming an area in which the holding jig 50 and the assembly partner member Wb can move. The Z-direction driving device 112 is a driving mechanism or a linear motor mechanism composed of a rotary motor and a ball screw, and moves the component insertion nozzle unit 60 in the Z direction by driving it. The Z-direction driving device 112 is controlled by the control device 90.

4. Configuration of the component insertion nozzle unit The configuration of the component insertion nozzle unit will be described with reference to Figures 6 to 8. The component insertion nozzle unit 60 temporarily holds the transported part Wa discharged from the tip 42 of the tube 40 in a centered state, and pushes the transported part Wa temporarily held in the centered state out from the nozzle tip to insert it into the counterpart assembly member Wb.

The part insertion nozzle unit 60 includes a unit support 121, a part insertion nozzle 122, and an extrusion device 123. The unit support 121 is fixed to the Z slider of the Z direction drive device 112 of the nozzle movement device 72. The unit support 121 holds the tip end of the tube 40 so that the axis of the tip end of the tube 40 is aligned vertically.

The part insertion nozzle 122 is held by the unit support 121 and connected to the tip side of the tube 40. The part insertion nozzle 122 temporarily holds the transported part Wa discharged from the tip 42 of the tube 40 in a centered state. Furthermore, the part insertion nozzle 122 is configured to be able to eject the transported part Wa, which is temporarily held in a centered state, from the nozzle tip when a pushing force is applied to the transported part Wa by the pushing device 123. Details of the part insertion nozzle 122 will be described later.

The push-out device 123 applies a push-out force to the transported part Wa that is temporarily held in a centered state in the part insertion nozzle 122. The push-out device 123 is held by the unit support 121 and is provided at a position adjacent to the part insertion nozzle 122. The push-out device 123 includes a push-out member 123a and a push-out drive device 123b.

The pusher member 123a is formed in a flexible rod shape and is provided so as to be able to enter the interior of the component insertion nozzle 122. The pusher member 123a is arranged so as to extend in a direction inclined with respect to the vertical direction which is the axis of the component insertion nozzle 122. The inclination angle is set so that the angle with respect to the vertical direction is smaller than the angle with respect to the horizontal direction.

The pusher member 123a is flexible, for example, by being configured with a spring. However, the pusher member 123a is configured so that it can apply a pushing force from its tip to the transported part Wa that is temporarily held in a centered state in the part insertion nozzle 122. Therefore, the pusher member 123a is configured so that it can exert the necessary axial force while being flexible. In addition to a spring, a metal wire or a resin wire can also be used as the pusher member 123a.

The extrusion drive device 123b allows the extrusion member 123a to move back and forth in the axial direction (reciprocating motion). The extrusion drive device 123b is, for example, configured with a cylinder, and a cylinder rod is attached to the extrusion member 123a. Instead of a cylinder, the extrusion drive device 123b can also use a drive mechanism configured with a rotary motor and a ball screw or a linear motor mechanism.

5. Detailed Configuration of Component Insertion Nozzle Unit 60 The detailed configuration of the component insertion nozzle 122 and the pusher member 123a of the pusher device 123 that constitute the component insertion nozzle unit 60 will be described with reference to Figures 9 to 12. In Figures 9 to 12, the component insertion nozzle 122 and the pusher device 123 are shown in a reference state. The component insertion nozzle 122 includes a straight tube portion 131, a plurality of claw portions 132, a fulcrum forming member 133, and an elastic member 134.

The straight pipe section 131 is formed, for example, from metal or hard resin into a cylindrical shape having a vertical axis. The straight pipe section 131 has a straight pipe hole 131a inside. The inner peripheral surface of the straight pipe hole 131a is formed into a circular shape in radial cross section. The straight pipe hole 131a is formed to have the same inner diameter over its entire length.

The straight pipe hole 131a extends vertically. That is, the straight pipe section 131 is held in the unit support 121 (shown in FIG. 6) so that the axis of the straight pipe hole 131a coincides with the vertical direction. Furthermore, the base end side of the straight pipe section 131, i.e., the base end side of the straight pipe hole 131a (upper end in FIG. 10), is connected to the tip 42 side of the tube 40. The straight pipe hole 131a is formed so that the transport part Wa discharged from the tip 42 of the tube 40 can pass through. In detail, a slight gap is formed between the inner peripheral surface of the straight pipe hole 131a and the outer peripheral surface of the large diameter head Wa2 of the transport part Wa, allowing the posture of the large diameter head Wa2 to change.

The straight pipe section 131 has an inclined hole 131b that extends from the inner peripheral surface of the straight pipe hole 131a in a direction inclined with respect to the axis of the straight pipe section 131. The inclined hole 131b has an opening on the inner peripheral surface of the straight pipe hole 131a. The extrusion member 123a reciprocates through the inclined hole 131b. Therefore, the inner diameter of the inclined hole 131b is slightly larger than the outer diameter of the extrusion member 123a.

The straight pipe section 131 has multiple slits 131c on the tip side (lower side in FIG. 10). In this embodiment, the straight pipe section 131 has three slits 131c spaced equally apart in the circumferential direction. However, the straight pipe section 131 may have three or more slits 131c, and may have, for example, four slits 131c.

The straight pipe section 131 has a first annular groove 131d that runs around the entire circumference on the outer circumferential surface at the base end side (upper side in FIG. 10) of the axial range in which the slits 131c are formed. Furthermore, the straight pipe section 131 has a second annular groove 131e that runs around the entire circumference on the outer circumferential surface at the middle part of the axial range in which the slits 131c are formed.

The claw portion 132 is formed of, for example, metal or hard resin. The claw portion 132 is arranged in each of the multiple slits 131c of the straight pipe portion 131. Therefore, in this embodiment, three claw portions 132 are arranged. The claw portion 132 is provided on the tip side of the straight pipe portion 131. The claw portion 132 is configured to be openable and closable with the closed state as the reference state. In this embodiment, the claw portion 132 is provided on the straight pipe portion 131 so as to be swingable with the base end side (upper side in FIG. 10) as a fulcrum, and the tip side (lower side in FIG. 10) is configured to be openable and closable in the radial direction of the straight pipe portion 131.

The claw portion 132 has a hook portion 132a on the base end side (upper side in FIG. 10) of the radial outer surface. The hook portion 132a is formed in a U-shape that is convex upward. The hook portion 132a is located at a position corresponding to the first annular groove 131d of the straight pipe portion 131.

The claw portion 132 has a groove 132b that opens to the outer periphery in the middle of the radial outer surface. The groove 132b is located closer to the tip of the claw portion 132 (lower side in FIG. 10) than the hook portion 132a. The groove 132b is located at a position corresponding to the second annular groove 131e of the straight pipe portion 131.

The claw portion 132 is located at the tip side of the radial inner surface, and has a tip inner surface 132c formed by a surface parallel to the axial direction of the straight pipe portion 131 in the closed state. In this embodiment, the tip inner surface 132c is formed in a flat shape. However, the tip inner surface 132c may be formed in a curved concave shape. When the three claw portions 132 are in a closed state as a reference state, the tip inner surface 132c of the claw portion 132 forms a centering gap C through which the shaft portion Wa1 (circular shape shown by a two-dot chain line) of the transport part Wa can be inserted. The centering gap C is a size that allows centering of the shaft portion Wa1, so the inscribed circle of the centering gap C is set to be slightly larger than the circumscribed circle of the shaft portion Wa1.

The claw portion 132 has an inclined inner surface 132d that is located on the base end side (upper side in FIG. 10) of the tip inner surface 132c among the radial inner surfaces. In this embodiment, the inclined inner surface 132d is provided continuously with the tip inner surface 132c. When the claw portion 132 is in the closed state as the reference state, the inclined inner surface 132d inclines radially inward as it approaches the tip inner surface 132c. In this embodiment, the inclined inner surface 132d is formed in a flat shape.

In the closed state, the inclined inner surface 132d is configured to be abutted by the tip surface (axial end surface) of the shaft portion Wa1 of the transport part Wa pressurized through the tube 40, thereby guiding the shaft portion Wa1 of the transport part Wa into the centering gap C. Furthermore, in the closed state, the inclined inner surface 132d engages the large diameter head Wa2 of the transport part Wa. In other words, when the claw portion 132 is in the closed state, the large diameter head Wa2 abuts against the inclined inner surface 132d, preventing the large diameter head Wa2 from passing through.

Furthermore, as shown in FIG. 12, the size and arrangement of the claws 132 are set so that, when viewed in the axial direction of the straight pipe section 131, the gap between the inclined inner surfaces 132d of the claws 132 that are adjacent in the circumferential direction does not allow the tip surface of the shaft section Wa1 of the transport part Wa to be inserted into the gap. This means that when the tip surface of the shaft section Wa1 of the transport part Wa is located in the gap between the inclined inner surfaces 132d of the claws 132 that are adjacent in the circumferential direction, a part of the tip surface of the shaft section Wa1 will always abut against the inclined inner surface 132d.

As described above, the claw portion 132 is provided on the straight pipe portion 131 so as to be able to open and close. The claw portion 132 is configured so that, in the open state, the large diameter head Wa2 of the transport part Wa can pass through it. In other words, the claw portion 132 is configured so that, in the open state, it can be expanded to an extent equal to or greater than the straight pipe hole 131a of the straight pipe portion 131.

The fulcrum forming member 133 is disposed at the tip side (lower side in FIG. 10) of the straight pipe portion 131 and forms a swing fulcrum for the claw portion 132. In this embodiment, the fulcrum forming member 133 is formed in an annular shape and forms a common swing fulcrum for the multiple claw portions 132.

In this embodiment, the fulcrum forming member 133 is formed in an annular shape from an elastic material. The fulcrum forming member 133 is, for example, an O-ring. The fulcrum forming member 133 is fitted into the first annular groove 131d of the straight pipe section 131. Therefore, the fulcrum forming member 133 is positioned in the axial direction relative to the straight pipe section 131, and is restricted from shrinking radially inward.

Furthermore, the fulcrum forming member 133 is engaged with the swing fulcrum on the base end side of the claw portion 132. In detail, the fulcrum forming member 133 engages with the hook portion 132a of the claw portion 132. Therefore, the fulcrum forming member 133 is engaged with both the radially inner side and the radially outer side of the straight pipe portion 131 relative to the hook portion 132a of the claw portion. In other words, the fulcrum forming member 133 is fitted into the first annular groove 131d and into the hook portion 132a, thereby allowing the swing fulcrum of the claw portion 132 to be positioned.

By using an annular elastic material for the fulcrum forming member 133, the gap between the fulcrum forming member 133 and the claw portion 132 can be reduced. In particular, by using a viscoelastic body such as an O-ring for the fulcrum forming member 133, the gap can be further reduced. This increases the positional accuracy as a swing fulcrum. In addition, by forming the fulcrum forming member 133 into an annular shape, it becomes easier to machine the first annular groove 131d of the straight pipe portion 131 into which the fulcrum forming member 133 is fitted.

The fulcrum forming member 133 may be a ring-shaped elastic material such as a metal snap ring. The fulcrum forming member 133 may also be a pin member that constitutes the swing fulcrum of each of the claws 132.

The elastic member 134 applies an elastic force radially inward to the claw portion 132 so that the reference state of the claw portion 132 is the closed state. However, the elastic member 134 also has the function of positioning the claw portion 132 so that the centering gap C is formed by the tip inner surface 132c of the claw portion 132 when the claw portion 132 is in the closed state, which is the reference state. The elastic member 134 is configured so that the claw portion 132 is opened by swinging the claw portion 132 against the elastic force.

In this embodiment, the elastic member 134 is formed in a ring shape from an elastic material. The elastic member 134 is, for example, an O-ring. In other words, the elastic member 134 constitutes a member that imparts a common elastic force to the multiple claw portions 132. However, the elastic member 134 may also be configured to impart an elastic force independently to each of the claw portions 132.

Furthermore, in this embodiment, the elastic member 134 is fitted into the second annular groove 131e of the straight pipe portion 131. Therefore, the elastic member 134 is positioned in the axial direction with respect to the straight pipe portion 131, and is restricted from contracting radially inward. Furthermore, the elastic member 134 engages with the groove 132b of the claw portion 132. Therefore, when the claw portion 132 is in the open state, the elastic member 134 is configured to apply an elastic force radially inward to the groove 132b of the claw portion 132.

By applying a viscoelastic body such as an O-ring to the elastic member 134, the gap between the elastic member 134 and the claw portion 132 can be reduced. In particular, when the elastic member 134 operates, the gap between the elastic member 134 and the claw portion 132 can be reduced. This increases the positioning accuracy of the claw portion 132 in the reference state and its positioning accuracy during operation. In addition, by forming the elastic member 134 into an annular shape, it becomes easier to machine the second annular groove 131e of the straight pipe portion 131 into which the elastic member 134 is fitted.

As shown in FIG. 10, the extrusion member 123a of the extrusion device 123 is provided so as to be capable of reciprocating along the inclined hole 131b, and is provided so as to be capable of protruding into the straight hole 131a. Here, in the straight pipe section 131, the straight hole 131a and the inclined hole 131b have an angle. The extrusion member 123a is made of a spring, and is therefore flexible. Therefore, the extrusion member 123a can protrude from the inclined hole 131b into the straight hole 131a while deforming.

When the claw portion 132 is in a closed state and the transport part Wa is centered by the claw portion 132, the pushing member 123a applies a pushing force to the large diameter head Wa2 of the transport part Wa. In other words, the pushing member 123a applies a pushing force to the large diameter head Wa2, thereby pushing the transport part Wa outward from the tip of the straight pipe portion 131.

6. Assembly Method The method (steps) of assembling the transport part Wa to the assembly partner Wb by the compressed air assembling device 1 will be described with reference to the flow chart in Fig. 13 and Figs. 14 to 21 showing the states of each step.

As shown in FIG. 13, the control device 90 controls the parts feeder 21 to align and transport the transported parts Wa by the parts feeder 21 (S1). Next, the control device 90 controls the cutting device 22 to cut out one transported part Wa from the rear end of the parts feeder 21 toward the base end 41 of the tube 40 (S2).

Then, the control device 90 controls the air supply device 30 to supply air to the base end 41 side of the tube 40 (S4). Then, as shown in FIG. 14, the transport part Wa located on the base end 41 side of the tube 40 is pressure-fed through the tube 40 to the tip of the straight pipe section 131. As shown in FIG. 14, the transport part Wa can be in a slightly inclined position in the straight pipe hole 131a of the straight pipe section 131.

At this time, as shown in FIG. 14, the claws 132 are in a closed state as a reference state due to the action of the elastic member 134. When the claws 132 are in a closed state, the tip inner surfaces 132c of the multiple claws 132 are located radially inward from the inner circumferential surface of the straight tube hole 131a of the straight tube portion 131. The tip inner surfaces 132c of the multiple claws 132 form a centering gap C. The centering gap C is large enough to allow the shaft portion Wa1 of the transport part Wa to pass through, but large enough so that the large diameter head Wa2 of the transport part Wa cannot pass through.

Furthermore, as shown in FIG. 14, the inclined inner surface 132d of the claw portion 132 protrudes into the straight pipe hole 131a of the straight pipe portion 131. Therefore, as shown in FIG. 15, when the transport part Wa is transported to the tip side of the straight pipe portion 131 by compressed air, if the transport part Wa is transported in an inclined position in the straight pipe hole 131a, the tip surface of the shaft portion Wa1 of the transport part Wa abuts against the inclined inner surface 132d.

As shown in FIG. 15, the tip surface of the shaft Wa1 of the transport part Wa abuts against the inclined inner surface 132d and is guided along the inclined inner surface 132d. Then, as shown in FIG. 16, the shaft Wa1 is inserted into the centering gap C. Furthermore, since the centering gap C is smaller than the large-diameter head Wa2 of the transport part Wa, the large-diameter head Wa2 abuts against the inclined inner surface 132d and is locked. In this way, the transport part Wa is in a state where the tip of the shaft Wa1 of the transport part Wa is inserted into the centering gap C, and the large-diameter head Wa2 of the transport part Wa is locked against the inclined inner surface 132d of the claw portion 132.

The inscribed circle of the centering gap C is set to be slightly larger than the circumscribed circle of the shaft Wa1, so the shaft Wa1 of the transport part Wa is centered by the inner tip surface 132c of the claw portion 132 in the closed state. If the transport part Wa is not inclined in the straight pipe hole 131a, the shaft Wa1 of the transport part Wa is centered immediately without coming into contact with the inclined inner surface 132d.

The state of the claw portion 132 and the transport part Wa in FIG. 16 is the centering state. In other words, the centering state is a state in which the claw portion 132 is closed, the tip of the shaft portion Wa1 of the transport part Wa is inserted into the centering gap C, and the large diameter head portion Wa2 of the transport part Wa is engaged with the claw portion 132.

Meanwhile, as shown in FIG. 13, while steps S2 to S5 are being performed, the control device 90 controls the moving device 70 to position the holding jig 50 and the straight pipe section 131 (S6). In this way, the tubular section Wb1 of the assembly partner member Wb faces the centering gap C formed by the claw section 132 in the closed state.

In this embodiment, the control device 90 controls the holding jig moving device 71 to move the holding jig 50 in the XY directions, and position the tubular portion Wb1 of the assembly partner member Wb held by the holding jig 50 below the straight pipe portion 131. The control device 90 also controls the nozzle moving device 72 to move the straight pipe portion 131 downward in the Z direction, and position the tip of the straight pipe portion 131 near the tubular portion Wb1 of the assembly partner member Wb.

The operation for positioning the holding jig 50 and the straight pipe section 131 may be performed at any timing between S2 and S5. However, it is preferable to perform this operation at the timing between S2 and S3. In other words, by positioning the straight pipe section 131 when air pressure-feeding the transported part Wa, the tube 40 can be placed in a stationary state. In other words, air pressure-feeding of the transported part Wa can be performed stably.

In addition, in FIG. 16, a portion of the tip of the shaft Wa1 of the transport part Wa is inserted into the tubular portion Wb1 of the mating assembly member Wb. In other words, the transport part Wa is centered by the multiple claw portions 132, and the tip of the shaft Wa1 is inserted into the tubular portion Wb1. However, when the transport part Wa is centered, a portion of the shaft Wa1 of the transport part Wa may not be inserted into the tubular portion Wb1 of the mating assembly member Wb. In this case, the shaft Wa1 of the transport part Wa is positioned above the tubular portion Wb1 of the mating assembly member Wb. At this time, the transport part Wa is centered by the multiple claw portions 132.

Next, as shown in FIG. 13 and FIG. 17 to FIG. 20, in the centering state, the control device 90 controls the push-out device 123 to apply a pushing force to the large diameter head Wa2 of the transported part Wa by the push-out member 123a (S7). Then, the push-out member 123a of the push-out device 123 pushes out the transported part Wa. Then, as shown in FIG. 17 to FIG. 20, the claw portion 132 is opened as the large diameter head Wa2 of the transported part Wa moves, and the shaft portion Wa1 of the transported part Wa is further inserted into the tubular portion Wb1 of the assembly partner member Wb. As shown in FIG. 20, the shaft portion Wa1 of the transported part Wa is completely inserted into the tubular portion Wb1 of the assembly partner member Wb.

The pushing member 123a exerts a pushing force on the large-diameter head Wa2 of the transported part Wa, causing the large-diameter head Wa2 to move downward while remaining in contact with the inclined inner surface 132d. In other words, as the large-diameter head Wa2 moves, the inclined inner surface 132d acts to continuously increase the opening of the claw portion 132.

In the centered state shown in FIG. 16, if a portion of the tip of the shaft Wa1 of the transport part Wa is not inserted into the tubular portion Wb1 of the mating assembly member Wb, pressing force is applied by the pusher member 123a, causing a portion of the tip of the shaft Wa1 of the transport part Wa to be inserted into the tubular portion Wb1 of the mating assembly member Wb. After that, pressing force is further applied by the pusher member 123a, causing the shaft Wa1 of the transport part Wa to be completely inserted into the tubular portion Wb1 of the mating assembly member Wb, as shown in FIG. 20.

Then, the detector 80 detects that the shaft portion Wa1 of the transported part Wa has been inserted into the tubular portion Wb1 of the mating assembly member Wb, and records the detection result (S8). After that, as shown in FIG. 21, the push-out device 123 is returned to the initial state (S9).

Here, in this embodiment, the holding jig moving device 71 allows the holding jig 50 to move in the horizontal XY direction, but is restricted from moving in the vertical Z direction. On the other hand, the nozzle moving device 72 allows the straight pipe section 131 to move in the Z direction, but is restricted from moving in the XY direction. The detector 80 is restricted from moving by the upper plate 12. In detail, as shown in FIG. 20, when the transport part Wa is inserted, the detector 80 is arranged facing the straight pipe section 131 with the assembly partner member Wb and the holding jig 50 sandwiched between them. Therefore, since the detector 80 is located directly below the tube section Wb1 of the assembly partner member Wb, the tube section Wb1 is located on the optical path of the detector 80. Therefore, the detector 80 can detect that the shaft section Wa1 of the transport part Wa has been inserted into the tube section Wb1 of the assembly partner member Wb.

Next, if the detection result by the detector 80 indicates that the transport part Wa is not inserted into the cylindrical portion Wb1 (S10: Yes), the control device 90 ends the process. In this case, the control device 90 may output an alarm.

If the detection result by the detector 80 indicates that the transported part Wa is correctly inserted into the tubular portion Wb1 (S10: No), it is determined whether or not the tubular portion Wb1 exists as the next insertion location in the assembly partner member Wb (S11). If the tubular portion Wb1 exists as the next insertion location (S11: Yes), the process returns to S2 and S6 and repeats.

If the tubular portion Wb1 does not exist as the next insertion location (S11: No), it is determined whether or not the next assembly partner member Wb exists (S12). If the next assembly partner member Wb exists (S12: Yes), the control device 90 controls the holding jig moving device 71 to move the holding jig 50 forward in the Y direction as the replacement work position. After the assembly partner member Wb is replaced by a new assembly partner member Wb by the worker (S13), the process is repeated again from S2 and S6. Note that the assembly partner member Wb replacement work is performed by the worker, but if a robot (not shown) is provided, it may be performed by the robot. If the next assembly partner member Wb does not exist (S12: No), the assembly process ends.

7. Effects of the embodiment According to the above embodiment, the air supply device 30 supplies air to the tube 40, so that the transported part Wa can be compressed and fed by air from the part supply device 20 to the tip of the straight pipe section 131 through the tube 40. Therefore, the transport speed from the part supply device 20 to the tip of the straight pipe section 131 can be increased.

Furthermore, in order to reliably insert the shaft portion Wa1 of the transport part Wa into the tubular portion Wb1 of the mating assembly member Wb, it is necessary to bring the tip of the part insertion nozzle 122 as close as possible to the tubular portion Wb1 of the mating assembly member Wb. According to the above embodiment, the tip of the part insertion nozzle 122, i.e., the structure including the tip of the straight pipe portion 131 and the multiple claw portions 132, can be made smaller. Therefore, the tip of the straight pipe portion 131 can be brought closer to the tubular portion Wb1 of the mating assembly member Wb, and the shaft portion Wa1 of the transport part Wa can be reliably inserted into the tubular portion Wb1 of the mating assembly member Wb.

Furthermore, after the transport part Wa is compressed by air and fed to the tip of the straight pipe section 131, the transport part Wa and the claw section 132 are in a centering state. The centering state is a state in which the claw section 132 is in a closed state, the tip of the shaft section Wa1 of the transport part Wa is inserted into the centering gap C, and the large diameter head section Wa2 of the transport part Wa is engaged with the claw section 132. In the closed state, the claw section 132 forms a centering gap C through which the shaft section Wa1 of the transport part Wa can be inserted. The shaft section Wa1 of the transport part Wa, which has been compressed by air, is inserted into the centering gap C thus formed, thereby centering the transport part Wa. In other words, the air supply device 30 supplies air to the tube 40, and the transport part Wa is transported to the tip side of the straight pipe section 131 at high speed and positioned in the desired position with high precision.

Then, the push-out device 123 applies a pushing force to the large diameter head Wa2 of the centered transport part Wa, opening the claw portion 132, and the transport part Wa is assembled to the counterpart assembly member Wb while maintaining the centered position. Specifically, the shaft portion Wa1 of the transport part Wa is inserted into the tubular portion Wb1 of the counterpart assembly member Wb. Therefore, the transport part Wa can be positioned quickly and with high precision so that the transport part Wa is in the desired position, and the shaft portion Wa1 of the transport part Wa can be inserted into the tubular portion Wb1 of the counterpart assembly member Wb.

The claw portion 132 is provided on the straight pipe portion 131 so as to be swingable around the base end side as a fulcrum, and the tip side is configured to be openable and closable. The air pressure feeding assembly device 1 further includes an elastic member 134 that is formed in a ring shape from an elastic material, is arranged on the outer peripheral surface of the tip side of the straight pipe portion 131, and applies an elastic force radially inward to the outer surface of the claw portion 132 so that the reference state of the claw portion 132 is a closed state, and is configured so that the claw portion 132 swings against the elastic force to open the claw portion 132.

The use of the elastic member 134 enables the claw portion 132 to open and close. Therefore, the claw portion 132 can be opened and closed without using a drive device. Furthermore, by forming the elastic member 134 from a ring-shaped elastic material, the gap between the elastic member 134 and the claw portion 132 can be reduced. In particular, when the elastic member 134 operates, the gap between the elastic member 134 and the claw portion 132 can be reduced. This increases the positioning accuracy of the claw portion 132 in the reference state and the positioning accuracy during operation. Furthermore, by forming the elastic member 134 into a ring shape, it becomes easier to process the second annular groove 131e of the straight pipe portion 131 into which the elastic member 134 is fitted. In this way, the claw portion 132 can be operated with high precision, the swing mechanism of the claw portion 132 can be simplified, and the air pressure supply assembly device 1 can be made smaller.

The air pressure feeding assembly device 1 further includes a fulcrum forming member 133 that is formed in a ring shape from an elastic material, is disposed on the outer peripheral surface of the tip side of the straight pipe portion 131, is engaged with the fulcrum on the base end side of the claw portion 132, and constitutes the swing fulcrum of the claw portion 132. By forming the fulcrum forming member 133 from an annular elastic material, the gap between the fulcrum forming member 133 and the claw portion 132 can be reduced. In particular, by applying a viscoelastic body such as an O-ring to the fulcrum forming member 133, the gap can be further reduced. This increases the positional accuracy of the swing fulcrum. In addition, by forming the fulcrum forming member 133 in a ring shape, it becomes easier to process the first annular groove 131d of the straight pipe portion 131 into which the fulcrum forming member 133 is fitted. In this way, by forming the fulcrum forming member 133 from an annular elastic material, a high-precision swing fulcrum can be realized, and the fulcrum structure can be simplified, allowing the air pressure feeding assembly device 1 to be miniaturized.

The claw portion 132 is located at the tip end of the radial inner surface and has a tip inner surface 132c formed by a surface parallel to the axial direction of the straight pipe portion 131 in the closed state. The tip inner surface 132c forms a centering gap C in the closed state. This configuration allows the centering of the transport part Wa to be performed with high precision.

The tip inner surface 132c is also formed in a flat shape. This allows for high machining accuracy of the tip inner surface 132c, and as a result, high centering accuracy of the transport part Wa. By forming the tip inner surface 132c in a flat shape, a gap can be formed between the tip inner surface 132c and the shaft part Wa1 of the transport part Wa. This improves the insertability of the shaft part Wa1 into the centering gap C.

The claw portion 132 further includes an inclined inner surface 132d, which is located on the base end side of the tip inner surface 132c among the radial inner surfaces and inclined radially inward as it approaches the tip inner surface 132c in the closed state. The inclined inner surface 132d is configured to guide the shaft portion Wa1 of the transport part Wa to the centering gap C when the tip surface of the shaft portion Wa1 of the transport part Wa, which is compressed by air, comes into contact with the inclined inner surface 132d in the closed state, and engages the large-diameter head Wa2 of the transport part Wa. The inclined inner surface 132d is further configured to continuously increase the opening of the claw portion 132 as the large-diameter head Wa2 moves by applying a pushing force to the large-diameter head Wa2 of the transport part Wa by the pushing device 123.

In this way, the inclined inner surface 132d can improve the centering accuracy of the transport part Wa, and can move the transport part Wa smoothly when it is pushed out. Therefore, the transport part Wa can be reliably inserted into the tubular portion Wb1 of the assembly partner member Wb.

The size and arrangement of the claws 132 are set so that, when viewed in the axial direction of the straight pipe section 131, the gap between the inclined inner surfaces 132d of the claws 132 adjacent in the circumferential direction is such that the tip surface of the shaft section Wa1 of the transport part Wa cannot be inserted into the gap. This ensures that the transport part Wa is reliably centered.

In addition, there are three or more claws 132. This allows the transported part Wa to be centered stably.

The straight pipe section 131 also has an inclined hole 131b that extends from the inner peripheral surface of the straight pipe hole 131a in a direction inclined with respect to the axis of the straight pipe section 131. The extrusion device 123 has a flexible extrusion member 123a. The extrusion member 123a is provided so as to be able to move back and forth along the inclined hole 131b, is provided so as to be able to protrude inside the straight pipe hole 131a, and applies an extrusion force to the large diameter head Wa2 of the transport part Wa in the centered state. The extrusion member 123a can reliably apply an extrusion force to the transport part Wa.

The pushing member 123a is a spring. This allows the pushing member 123a to be flexible and reliably generate a pushing force against the large diameter head Wa2 of the transport part Wa.

The straight pipe section 131 is also positioned so that the axis of the straight pipe hole 131a coincides with the vertical direction. In this case, the transported part Wa transported to the straight pipe hole 131a moves toward the tip side of the straight pipe section 131 due to the force of the compressed air and the gravity of the transported part Wa. Since the direction of the force of the compressed air coincides with the direction of the gravity of the transported part Wa, the centering of the transported part Wa can be stabilized.

The inner peripheral surface of the straight pipe hole 131a of the straight pipe section 131 is formed in a circular shape in radial cross section. The large diameter head Wa2 of the transport part Wa is formed in a plate shape. A gap is formed between the inner peripheral surface of the straight pipe hole 131a and the outer peripheral surface of the large diameter head Wa2, allowing the posture of the large diameter head Wa2 to change. The posture of the transport part Wa transported through the straight pipe hole 131a may change. However, the configuration of the straight pipe section 131 allows the transport part Wa to be reliably centered.

The tubular portion Wb1 of the assembly partner member Wb is formed through. Furthermore, the holding jig 50 holds the assembly partner member Wb on its upper surface and has a hole 51 that penetrates at a position corresponding to the tubular portion Wb1 of the assembly partner member Wb. The air pressure feeding assembly device 1 also includes a detector 80. The detector 80 is disposed opposite the straight pipe portion 131 while sandwiching the assembly partner member Wb and the holding jig 50 when the transport part Wa is inserted, and detects that the transport part Wa has been inserted into the tubular portion Wb1 of the assembly partner member Wb. As a result, the detector 80 can detect whether the transport part Wa has been reliably inserted at the timing when the transport part Wa is inserted into the assembly partner member Wb. As a result, there is no need to provide a separate inspection process, and the time required for the inspection process can be reduced.

The moving device 70 allows the holding jig 50 to move horizontally and the straight pipe section 131 to move vertically while restricting its movement in the horizontal direction, and the movement of the detector 80 is restricted. This allows the detector 80 to stably detect the transported part Wa.

W: Object to be assembled Wa: Transported part Wa1: Shaft part Wa2: Large diameter head part Wb: Mating part to be assembled Wb1: Cylindrical part 1: Air pressure feeding assembly device 20: Part supply device 30: Air supply device 40: Tube 50: Holding jig 51: Hole 70: Movement device 80: Detector 90: Control device 123: Extrusion device 123a: Extrusion member 131: Straight tube part 131a: Straight tube hole 131b: Inclined hole 132: Claw part 132c: Tip inner surface 132d: Inclined inner surface 133: Support forming member 134: Elastic member C: Centering gap

Claims (14)

An air pressure feeding assembling device (1) for conveying a conveying part (Wa) having a shaft portion (Wa1) and a large diameter head portion (Wa2) located at a base end of the shaft portion, and for inserting the shaft portion of the conveying part into a tubular portion (Wb1) of a mating member (Wb),
A holding jig (50) for holding the mating member;
A tube (40) having flexibility and configured to be capable of transporting the transport component;
a part supply device (20) that supplies the transport part to the base end side of the tube;
an air supply device (30) that supplies air to the base end side of the tube to pressure-feed the conveying part supplied to the base end side of the tube toward the tip end side of the tube;
a straight pipe section (131) connected to the tip side of the tube and having a straight pipe hole (131a) through which the transport part carried out from the tip of the tube can pass;
a plurality of claw portions (132) provided at the tip side of the straight pipe portion, configured to be openable and closable with a closed state as a reference state, configured to form a centering gap (C) through which the shaft portion of the transport component can be inserted in the closed state and to engage with the large-diameter head portion of the transport component, and configured to allow the large-diameter head portion to pass through in an open state;
an extrusion device (123) that applies an extrusion force to the large diameter head of the conveying part in a centering state in which the claw portion is in the closed state, the tip of the shaft portion of the conveying part is inserted into the centering gap, and the large diameter head of the conveying part is engaged with the claw portion;
A moving device (70) that moves the holding jig and the straight pipe portion relative to each other;
A control device (90) for controlling the air supply device, the extrusion device, and the moving device;
Equipped with
The control device includes:
By controlling the moving device, the cylindrical portion of the mating member and the centering gap formed by the claw portion in the closed state are opposed to each other (S6);
The air supply device is controlled to supply the air to the tube, thereby pressure-feeding the transport part to the tip of the straight pipe portion through the tube, and bringing the transport part and the claw portion into the centering state (S5);
The air pressure feeding assembly device controls the extrusion device in the centering state to apply the extrusion force to the large diameter head, thereby moving the conveying part, and as the large diameter head of the conveying part moves, the claw portion is opened and the shaft portion of the conveying part is inserted into the tubular portion of the mating assembly member (S7). The claw portion is provided on the straight pipe portion so as to be swingable around a base end side as a fulcrum, and a tip end side is configured to be openable and closable,
2. The air pressure feeding assembly device according to claim 1, further comprising: an elastic member (134) formed in a ring shape from an elastic material, arranged on an outer circumferential surface of a tip end side of the straight pipe portion, applying an elastic force radially inward to the outer surface of the claw portion so that the reference state of the claw portion becomes the closed state, and configured so that the claw portion becomes the open state by swinging against the elastic force. The air pressure feeding assembly device according to claim 2 further comprises a fulcrum forming member (133) that is formed in a ring shape from the elastic material, is disposed on the outer peripheral surface of the tip side of the straight pipe portion, is engaged with the fulcrum on the base end side of the claw portion, and constitutes a swing fulcrum of the claw portion. The claw portion is
a tip inner surface (132c) located on a tip side of a radial inner surface and formed by a surface parallel to the axial direction of the straight pipe portion in the closed state, the tip inner surface forming the centering gap in the closed state. The air pressure delivery assembly device according to claim 4, wherein the inner tip surface is formed in a flat shape. The claw portion is
The radial inner surface is located on the base end side of the tip inner surface, and in the closed state, the inclined inner surface (132d) is inclined radially inward as it approaches the tip inner surface,
The inclined inner surface is
In the closed state, the tip surface of the shaft portion of the conveying part that is compressed by air comes into contact with the tip surface of the shaft portion of the conveying part, thereby guiding the shaft portion of the conveying part into the centering gap, and engaging the large diameter head portion of the conveying part.
The air pressure feeding assembly device according to claim 4, wherein the pushing device applies the pushing force to the large diameter head of the transporting part, thereby continuously increasing the opening degree of the claw portion as the large diameter head moves. The air pressure delivery assembly device according to claim 6, wherein the size and arrangement of the claws are set so that, when viewed in the axial direction of the straight pipe section, the gap between the inclined inner surfaces of the claws adjacent in the circumferential direction is such that the tip surface of the shaft of the transport component is not inserted into the gap. The air pressure feeding assembly device according to claim 7, wherein the claws are three or more. The straight pipe portion has an inclined hole extending from an inner peripheral surface of the straight pipe portion in a direction inclined with respect to an axis of the straight pipe portion,
The extrusion device includes:
The air pressure feeding assembly device according to any one of claims 1 to 3, further comprising a push-out member (123a) that is flexible, is provided so as to be capable of reciprocating along the inclined hole, is provided so as to be capable of protruding into the straight hole, and applies the pushing force to the large diameter head of the conveying part in the centered state. The air pressure delivery assembly device according to claim 9, wherein the pushing member is a spring. The air pressure feeding assembly device according to any one of claims 1 to 3, wherein the straight pipe section is arranged so that the axis of the straight pipe hole coincides with the vertical direction. The straight pipe portion has an inner circumferential surface that is circular in radial cross section,
The large diameter head is formed in a plate shape,
The air pressure feeding assembly device according to any one of claims 1 to 3, wherein a gap is formed between an inner peripheral surface of the straight tube hole and an outer peripheral surface of the large diameter head, allowing a posture of the large diameter head to change. The cylindrical portion of the mating member is formed with a through hole,
The holding jig holds the mating member on an upper surface thereof and has a hole (51) passing through the mating member at a position corresponding to the tubular portion of the mating member,
The air pressure feeding assembly device according to any one of claims 1 to 3, further comprising a detector (80) that is disposed opposite the straight pipe portion while sandwiching the mating assembly member and the holding jig therebetween when the transporting part is being inserted, and that detects that the transporting part has been inserted into the tubular portion of the mating assembly member. the moving device allows the holding jig to move in a horizontal direction and allows the straight pipe section to move in a vertical direction while restricting the movement in the horizontal direction;
14. The air pressure feeding assembly device according to claim 13, wherein movement of the detector is restricted.

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