JP2534161B2 - Work position correction device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention adjusts the position of a work to the position of a mating member when the relative positions of the work held by the robot and the mating member into which the work is inserted are misaligned. The present invention relates to a work insertion position correction position (hereinafter, simply referred to as “position correction device”) for inserting a work into a mating member while correcting the position.

Conventional technology and its problems Conventionally, when performing assembly work for inserting a shaft (workpiece) into a hole of a mating member using a robot, if the relative position between the hole and the shaft is misaligned, the shaft hole is left as it is. Cannot be inserted. Therefore, the sixth
As shown in the figure, a position correction device 10 provided with a spline 12 between a pair of plate-shaped members 11 and 11 is provided between the robot arm 13 and the robot hand 14 to correct the position by the amount of the deviation. I am trying.

While descending, the robot hand 14 can use the deformation of the spring 12 to slide the shaft S along the conical guide surface F at the entrance of the hole H and insert the shaft S into the hole H. There is.

However, such a position correction device 10 has a spring
Since it has 12, it has the following problems.

If the relative displacement between the hole H and the shaft S is large, a large reaction force is applied to the position correcting device itself.

Even if the displacement of the relative position is slight, if the insertion distance of the shaft S into the hole H is long, the displacement amount of the shaft S becomes large as a result, and a large reaction force is applied to the position correcting device itself.

The shaft S and the position correcting device 10 must be coaxial, and the degree of freedom of the mounting position of the position correcting device 10 is low.

When the shaft S is inserted into the horizontal hole H, as shown in FIG. 6, the shaft S is difficult to insert due to its own weight tilting to the position of the imaginary line.

Means for Solving the Problems The present invention provides a housing, a work holding means that is tiltably and movably provided in the housing to hold a work, and a work that presses the work holding means in a direction intersecting a direction of inserting the work. A tilting means and a work moving means for moving the work in a projecting direction from the work holding means, the work holding means includes a support having the work moving means, and a universal joint at a rear end of the support. The above problem is solved by a device which is connected to the housing and is provided on the housing so as to be movable in the intersecting direction.

With the work (for example, shaft) held by the work holding means, the entire position adjusting device is brought close to, for example, the hole of the mating member.

When the position of the shaft and the position of the hole match,
The shaft is inserted into the hole as it is.

If the relative position is offset, the tip of the shaft first contacts the guide surface at the entrance of the hole. Then, the work moving means presses the tip of the shaft against the guide surface. Further, the work tilting means presses the work holding means from the side surface. The shaft is
By the operation of both these means, the rear end is moved and tilted in various directions such as up and down, left and right, and diagonally up and down while the front end is pressed against the guide surface. The shaft is slid into the hole by the pressing force of the work moving means when the axis of the shaft and the center of the hole coincide with each other while being moved. While being slid into the hole, the shaft is moved together with the work holding means by the amount of the relative position shift.

As a result, the shaft is inserted into the hole to a predetermined depth.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

A work insertion position correction device (hereinafter, simply referred to as “position correction device”) 20 includes a housing 21, a work holding means 22, a locking means 23, a work moving means 24, and a work tilting means 25. are doing.

The housing 21 is a portion where the entire position correcting device 20 is attached to the tip of the robot arm 70.

The work holding means 22 includes a plurality of balls in the housing 21.
Moving plate 31 equipped with 30 for planar movement
And a chuck 32 for chucking a work, for example, a shaft S, and a knuckle joint 33 for connecting the chuck 32 to the moving plate 31 so as to be tiltable. The chuck 32 has a claw (not shown) that is automatically opened and closed by a control circuit.

The locking means 23 includes at least three air cylinders 40 provided on the end surface 26 of the housing 21 and an air cylinder.
It is composed of a protrusion 42 provided on the piston 41 of 40 and a hole 35 with which the protrusion 42 engages. Hole 35 is the support for chuck 32
It is drilled on the collar 34 on 36.

The work moving means 24 is constituted by a piston 60 included in the support 36 of the chuck 3.

The work tilting means 25 is composed of a plurality of air cylinders 50 each having a piston 51 protruding into the hole 27 of the housing 21. As shown in FIG. 2, each air cylinder 50 is provided at a position facing each other with the support 36 of the chuck 32 in between.

 Next, the operation will be described.

First, a case where the relative position between the shaft S and the hole H is deviated will be described.

First, the locking means 23 engages the protrusion 42 with the hole 35,
The chuck 32 is positioned at a predetermined position with respect to the housing 21. Next, the chuck 32 holds the shaft (workpiece) S, and the robot arm 70 is moved to the set position by the control of a control circuit (not shown). The position correction device 20 is moved to the set position together with the robot arm 70. As a result, the tip of the shaft S faces the hole H, but the relative positions of the shaft S and the hole H are displaced, so that the shaft S contacts the guide surface F at the entrance of the hole H.

When the shaft S comes into contact with the guide surface F, the locking means 23 disengages the protrusion 42 from the hole 35 and makes the chuck 32 movable with respect to the housing 21. Further, the claw (not shown) of the chuck 32 is slightly opened to weaken the chucking force of the shaft S. As a result, the inside of the chuck 32 is moved by pressing the piston 60 of the shaft SHF work moving means 24. Then, the tip of the shaft S is pressed against the guide surface F of the hole H.

On the other hand, each air cylinder 50 of the work tilting means 25 is activated to press the rear end of the support 36 of the chuck 32 in a direction intersecting the insertion direction of the shaft S, as shown in FIG. As a result, the shaft S is tilted by the operation of both means, with the tip end thereof being pressed by the guide surface F, and the rear end side thereof being moved in various directions such as up and down, left and right, and diagonally up and down. During this time, when the axial center of the shaft S and the center of the hole H coincide with each other, the shaft S is slid into the hole H by the pressing force of the work moving means 24. While being slid into the hole H, the shaft S is moved together with the work holding means 22 by the amount of the relative position deviation.

This deviation is absorbed by the difference in the amount of protrusion of each piston 51. The approach distance of the shaft S is the work moving means.
It is set by a sensor (not shown) that detects the moving distance of the piston 60 of 24.

In addition, in the state of FIG. 3, while the shaft S is being inserted into the hole H, the pressing force of each piston 51 is applied to the support 36, but the pressing force of the piston 51 is such a force that the shaft S does not bend. Is set to.

After the shaft S is inserted into the hole H by a predetermined distance, the position correcting device 20 leaves the shaft S in the hole H and moves away from the hole H.

Next, when the position of the shaft S and the position of the hole H match, the tip of the shaft S is inserted into the hole H with almost no contact with the guide surface F. In this case, the chuck
The rear end of the support body 36 of 32 is pushed from the side surface by the piston 51 of the work tilting means 25, but the shaft S is restricted by the hole H, the rotational movement is blocked, and the shaft S is made to enter.

The series of operations described above is performed based on the program stored in the control circuit.

Next, an example of use of the above position correction device will be described.

FIG. 5 shows an automatic punching machine 80, in which a position correcting device 120 is provided at the tip of a bending arm 82 on a self-propelled carriage 81.

The position correcting device 120 in this case includes a drilling device (not shown) for making a hole in the support body described above. or,
Instead of the above-mentioned shaft, a hollow shaft 83 is held on the chuck so as not to fall off. The hollow shaft 83 penetrates the drill and guides the drill.

 Next, the operation will be described.

The automatic hole puncher 80 firstly inserts a bush hole 85 of a plate-shaped jig 84 previously attached to a workpiece (for example, an aircraft wing) W.
Are searched for by a visual device (not shown) using a laser. Next, the hollow shaft 83 is inserted into the bush hole 85. At that time, if the relative position between the hollow shaft 83 and the bush hole 85 is deviated, the position correction device 120 operates, and the hollow shaft 83 is reliably inserted into the bush hole 85. Finally, with the hollow shaft 83 as a guide,
The drill makes a hole in the workpiece W.

EFFECTS OF THE INVENTION Since the position correcting device of the present invention causes the work holding means, the work tilting means, and the work moving means to perform the role of the spring of the conventional position correcting device, the following effects are obtained.

Even if the relative position between the work and the mating member is deviated, the position of the work can be automatically corrected by the operation of each means, so that the force applied to the position correction device itself can be reduced.

Since the position of the work can be automatically corrected, the work and the position correction device do not necessarily have to be coaxial with each other, and the degree of freedom in the mounting position of the position correction device can be increased.

The position correction device does not deform due to its own weight, and the work can be inserted into the mating member in any posture.

Since so-called “twisting” does not occur during the work of inserting the work, particularly the work of inserting the elongated shaft can be easily performed.

Further, by having the work moving means, and by connecting the rear end of the support having the work moving means to the moving plate via the universal joint, the following effects can be obtained.

Unlike the case where the work is inserted by the strong force of the ballot arm that supports the insertion position correction device, the work is inserted into the mating member with the slight force required for inserting the work moving means, so that the work is not deformed. Can be prevented.

When the work is inserted into the mating member by the work moving means, the reaction force applied to the support is received by the moving plate.
The work can be reliably inserted into the mating member.

When the orientation of the work is different from the work insertion direction, when the work tilting means is operated with the tip of the work abutting the entrance of the work insertion part of the mating member, the rear end of the support moves to the moving plate. The work can be easily aligned with the work insertion direction by swinging by the guide.

[Brief description of drawings]

1 is a sectional view taken along the shaft of the position correcting device of the present invention, FIG. 2 is a sectional view taken along the line 2-2 of FIG. 1, FIG. 3, and FIG.
FIG. 5 is an operation explanatory view, and FIG. 5 is a perspective view of the automatic punching machine. FIG. 6 is a schematic external view of a conventional position correction device. S: Shaft (work) 20,120: Position correction device 21: Housing, 22: Work holding means 24: Work moving means, 25: Work tilting means

Claims (1)

(57) [Claims] 1. A housing, a work holding means that is tiltably and movably provided in the housing to hold a work, a work tilting means that presses the work holding means in a direction intersecting with a work inserting direction, and the work. And a work moving means for moving the work holding means from the work holding means in a protruding direction, the work holding means is connected to a supporting body having the work moving means, and a rear end of the supporting body via a universal joint. An apparatus for correcting the insertion position of a work, comprising: a movable plate provided in a housing so as to be movable in the intersecting direction.