JP2510870Y2 - Floating hand - Google Patents

Description

[Detailed description of the device]

[0001]

[Field of Industrial Application] The present invention is used for assembling electronic members, etc., which require small parts and high accuracy.
The present invention relates to a floating hand which is held at the tip of a manipulator and which is used for mounting parts.

[0002]

2. Description of the Related Art Conventionally, as this type of floating hand, there is one shown in FIG. This one is provided with a reciprocating member a capable of reciprocating with respect to the work W, and a floating head b mounted in displaceable surface contact with the end face of the reciprocating member a facing the work W direction. A holding hole k for holding a work assembly component B is formed on the surface of the floating head b facing the work W. The floating head b has shafts d, d extending from the end surface on the side of the reciprocating member a so as to freely pass through the reciprocating member a. A flange e is provided around the tip of each shaft d, and a compression spring f is compressed between the flange e and the reciprocating member a to separate the floating head b from the work W. Urged to.

When the component B is press-fitted into the hole 9 of the workpiece W, the floating head b follows the position error of the hole 9 of the workpiece W when it comes close to the hole 9 of the workpiece W. The contact surface with and slides and is displaced, and then the reciprocating member a presses the component B into the hole 9.

Further, the floating head b needs to be returned to the centering position C by correcting the displacement with respect to the reciprocating member a for the next work. Therefore, in the portion where the floating head b and the reciprocating member a face each other, a tapered hole g is provided at the center on the floating head b side, and at the center on the reciprocating member a side,
A rod h having a tapered tip i corresponding to the tapered hole g is built in so as to be capable of projecting and retracting toward the tapered hole g side.
In order to enable the reciprocating motion of the rod h, the reciprocating member a
An actuator j is also housed inside. When the floating head b is centered, the rod h is extended and the tip i thereof is fitted into the tapered hole g.

[0005]

However, in the above-mentioned conventional floating hand, since the rod h and the actuator j are housed in the reciprocating member a, the structure becomes complicated and the entire shape of the floating hand is reduced. There is a problem that the work cannot be press-fitted into a work that is large and has a complicated shape. There is also a problem in that it takes time and effort to assemble the rod h and the actuator j.

Further, the above floating hand is
When displacing or centering the floating head b with respect to the reciprocating member a, dust is generated due to friction between contacting portions, and therefore it is not suitable for use in a clean room where electronic members are handled.

The present invention has been made in view of such a point, and an object thereof is to reduce the size of the entire floating hand so that parts can be attached to a complicated work. In addition, it is intended to simplify the assembling work.

[0008]

In order to achieve the above object, a device according to claim 1 is a reciprocating member capable of reciprocating with respect to a work, and an end face of the reciprocating member facing toward the work and a displacement. A floating head that makes surface contact as much as possible and a biasing means that biases the floating head in a direction away from the work, and a holding portion that holds a work assembly component on the surface of the floating head facing the work. In the floating hand formed with, on the outer periphery of the floating head and the reciprocating member, to form a fitting groove across the contact surface of the both,
An O-ring made of an elastic material is fitted in the fitting groove.

A second aspect of the invention is dependent on the first aspect of the invention, in which the O-ring is made of fluororubber, and the contact surfaces of the floating head and the reciprocating member are provided with the O-ring. The surface of the surface contacting with the O-ring is treated with a fluorine-based resin.

A third aspect of the invention is dependent on the first or second aspect of the invention, wherein an air suction hole is provided on a surface of the holding portion of the floating head which is in contact with a component, and the air suction hole is formed. The hole is connected to the air suction means and communicates with a dust collection hole formed on the contact surface of the floating head with the reciprocating member.

[0011]

With the above construction, in the device according to claim 1,
When press-fitting the parts held in the holding part of the floating head into the hole of the work, the floating head moves following the position error of the hole of the work while keeping surface contact with the reciprocating member, and reciprocates. It will be displaced from the member. At the same time, the O-ring expands and deforms to allow the positional displacement between the floating head and the reciprocating member while the O-ring is still fitted in the fitting groove. Then, when the reciprocating member is retracted from the work side after the parts are attached to the work, the restoring force of the O-ring causes the floating head to be centered with respect to the reciprocating member, and the O-ring also has the original shape. Return to.

According to the second aspect of the present invention, when the floating head is displaced with respect to the reciprocating member or when the floating head returns to the centering position of the reciprocating member, even if friction occurs between the contact surfaces of the two members. In the O-ring and its surroundings, the layer made of the fluororesin can suppress the generation of dust.

According to the third aspect of the present invention, the air suction means sucks the components to float them, and the air suction means emits dust generated near the center of the contact surface between the reciprocating member and the floating head. Collect through the dust collection hole.

[0014]

Embodiments of the present invention will be described below with reference to the drawings.

1 and 2 show a floating hand according to an embodiment of the present invention. The floating hand A is attached to the tip of a manipulator (not shown), and is capable of reciprocating with respect to a positioned work W, and a reciprocating member 1 and the end face of the reciprocating member 1 facing the work W. And a floating head 2 that is in surface contact with. On the surface of the floating head 2 facing the work W, a holding hole 3 which is a holding portion for adsorbing the component B for assembling the work W is recessed.

Further, the floating head 2 includes
On the surface facing the reciprocating member 1, two shafts 4 and 4 are provided on the circumference around the central axis.
Penetrates the reciprocating member 1. A flange 5 is provided around the tip of each shaft 4, and a compression spring 6 is compressed between the flange 5 and the reciprocating member 1.
The floating head 2 is urged in a direction away from the work W. In the figure, 7 is a stopper for controlling excessive biasing of the floating head 2, and 8 is a flange 5.
And a receiving plate which faces the compression springs 6 and faces each other.

The reciprocating member 1 is connected to an actuator independently provided at a position not shown in the drawing, and is reciprocated by driving the actuator. Reciprocating member 1 in the direction of work W
In the forward movement, the actuator is operated after the floating head 2 is displaced following the position error of the hole 9 of the work W. This time,
The reciprocating member 1 presses the floating head 2 holding the component B, so that the component B is pressed into the hole 9 of the work W.

On the outer circumferences of the floating head 2 and the reciprocating member 1, a fitting groove 10 having a U-shaped cross section is formed between the contact surfaces of the two members. An O-ring 11 made of fluorine rubber is fitted. Further, both contact surfaces of the floating head 2 and the reciprocating member 1 are surface-treated with a fluororesin around the surfaces contacting the O-ring 11.
Dustproof layers 16 and 16 are formed.

An air suction hole 12 is provided on the central axis of the surface of the holding hole 3 of the floating head 2 which contacts the part B. A side hole 13 is formed on the side wall of the air suction hole 12 so as to extend laterally, and is connected to an air suction means (not shown) via a suction hose 14. Further, the air suction hole 12 is a dust collection hole 15 formed in the contact surface of the floating head 2 with the reciprocating member 1.
Next, the operation of this embodiment will be described. When the component B held by the holding portion 3 of the floating head 2 is press-fitted into the hole 9 of the work W, the positional error of the hole 9 of the work W is kept while the floating head 2 is in surface contact with the reciprocating member 1. And the position of the reciprocating member 1 is displaced. At the same time, O-ring 11
However, the diameter of the floating head 2 is expanded and deformed so as to allow the positional displacement between the floating head 2 and the reciprocating member 1 while being fitted in the fitting groove 10. When the reciprocating member 1 is retracted from the work W side after the attachment of the component B is completed, the floating head 2 is centered with respect to the reciprocating member 1 by the restoring force of the O-ring 11.
The ring 11 also returns to its original shape. Therefore, an actuator or the like for centering is not required, the entire floating hand can be downsized, and parts can be attached to a complicated work. Further, since the assembling for the centering is completed only by fitting the O-ring 11 in the fitting groove 10, the whole assembling work can be simplified.

Further, when the floating head 2 is displaced from the centering position C of the reciprocating member 1 or when the floating head 2 returns to the centering position C of the reciprocating member 1, the contact surface between them, particularly the O-ring 1
Friction occurs in and around 1, but in that case, the dust-proof layers 16 and 16 made of a fluororesin suppress the generation of dust and do not disperse the dust to the outside air. Therefore, the work of assembling the work can be carried out with confidence in a clean room where precision parts are handled. Further, since the dust generated near the central portion of the contact surface between the reciprocating member 1 and the floating head 2 is collected by using the air suction means which is a means for holding the component B, the dust is scattered to the outside air. Can be reliably prevented and work can be assembled in a clean room with peace of mind.

In the above embodiment, when holding the component, the suction is performed by vacuum suction using the air suction means. However, the invention is not limited to this. For example, a magnetic substance is used to hold the component by magnetic attraction. You may.

In the floating head of the above-described embodiment, the holding portion for the component is the holding hole for the press-fitted component, but it is not limited to this, and the component is a screw, and the holding portion has a structure of a screw tightener. It may be.

Although the O-ring is made of fluorine rubber in the above embodiment, it may be made of an elastic material other than this.

[0024]

As described above, according to the floating hand of the present invention, the fitting groove is formed on the outer circumference of the floating head and the reciprocating member so as to extend between the contact surfaces of both members. Since the floating head is centered with respect to the reciprocating member by the restoring force of the O-ring made of the elastic material fitted in the mating groove, an actuator or the like for centering is not required and the entire size can be reduced. , Parts can be attached to a complicated work. Also, the whole assembling work can be simplified.

In particular, even if friction occurs on the contact surface between the floating head and the reciprocating member, it is particularly easy to cause friction, and dust is generated on the O-ring and its surroundings that are in contact with the outside air. Since it is possible to suppress the generation, it is possible to assemble the work with confidence in a clean room where precision parts are handled.

Further, according to the third aspect of the invention, since the dust generated near the central portion of the contact surface between the reciprocating member and the floating head is collected by the air suction means, it is possible to surely disperse the dust to the outside air. As a result, it is possible to perform work assembly work safely in a clean room.

[Brief description of drawings]

FIG. 1 is a sectional view of a floating hand showing an embodiment of the present invention.

FIG. 2 is an enlarged cross-sectional view showing the periphery of a fitting groove.

FIG. 3 is a cross-sectional view of a conventional floating hand.

[Explanation of symbols]

 1 Reciprocating member 2 Floating head 3 Holding hole (holding part) 10 Fitting groove 11 O-ring 12 Air suction hole 15 Dust collection hole 16 Dustproof layer A Floating hand B Part C Centering position W Work

Claims (3)

(57) [Scope of utility model registration request] 1. A reciprocating member capable of reciprocating with respect to a work, a floating head displaceably in surface contact with an end face of the reciprocating member facing the work, and a biasing force of the floating head in a direction away from the work. In a floating hand in which a holding portion for holding a work assembly component is formed on a surface of the floating head facing the work, the floating head and the reciprocating member are provided on the outer circumference thereof. The floating hand is characterized in that a fitting groove extending between the contact surfaces of the two is formed, and an O-ring made of an elastic material is fitted in the fitting groove. 2. The O-ring is made of fluorocarbon rubber,
2. The floating hand according to claim 1, wherein both contact surfaces of the floating head and the reciprocating member are surface-treated with a fluororesin around the surfaces contacting the O-ring. 3. An air suction hole is provided on a surface of the holding portion of the floating head which is in contact with a component, and the air suction hole is connected to an air suction means and the reciprocating motion of the floating head is performed. The dust collection hole formed in the contact surface with the moving member is communicated with the dust collection hole.
Alternatively, the floating hand according to claim 2.