JP2743191B2 - Screw assembly device by vibration - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a screw assembling apparatus using vibration, and more particularly, to applying vibration to align and align a number of screws or washers in an alignment hole of a component alignment plate. The present invention relates to a screw assembling apparatus by vibration which facilitates taking out of a screw and a washer.

[Prior Art] Conventionally, various vibration generators have been provided.

Many of such vibration generating devices have been used to generate diametrical vibrations by repeating reciprocating motion in a uniaxial direction.

Specifically, a vibration generator that converts eccentric motion by an eccentric cam fixed to the output shaft of a motor into a linear motion repeatedly, or a repetitive linear motion that uses the advance and retreat of a cylinder by excitation and demagnetization of an electromagnetic solenoid is used. Vibration generators were provided.

Such vibration generators have been widely used for transferring materials, sieving parts in parts feeders and the like, in addition to so-called vibration sieves.

However, in such a conventional vibration generator, although it is possible to simply generate vibration, a technical field which is difficult to apply is generated because the direction of vibration is uniaxial.

Especially in recent years, with the miniaturization of components,
An automation line for assembling a workpiece by a robot arranged on an assembly line has come to be used.

In such an automation line, the parts to be used are always supplied to a certain position so that the manipulator of the robot can easily take out the parts to be used, or the parts are arranged in a part alignment dish formed in a certain shape, It has become necessary for the manipulator of the robot to assemble the parts while sequentially taking out the parts from the part arrangement plate.

However, among the parts, especially in the case of small-sized parts, for example, vertically long and directional parts such as screws having small diameters or pins, it is not only difficult to supply to a certain position by the parts feeder, but also However, it is also difficult to arrange the parts on the parts arrangement plate. Further, it is difficult to supply even thinner washers and the like to a fixed position one by one, and it is also difficult to align them on a component alignment plate.

Therefore, the same applicant applies vibration to the component aligning plate, so that the vibrating device itself that performs the vibration can be tilted, and a component provided with a number of alignment holes for aligning components in the vibrating device. Fix the alignment dish,
Efficiency can be reduced in a very short time by forming long and directional components such as screws or pins with a small diameter due to vibration, or thin components such as washers so that they are aligned with the alignment holes in the component alignment plate. There is provided a vibrating component aligning apparatus which can perform component alignment in a specific manner.

FIGS. 6 to 6 show such a vibrating component alignment apparatus.
There was something like that shown in Figure 13.

FIG. 6 is a front view showing an embodiment of the vibration component alignment device, and FIG. 7 is a detailed sectional view of the vibration generator used in the vibration component alignment device shown in FIG. 9 is a perspective view of the component aligning dish, FIGS. 9 and 10 are different cross-sectional views showing the relationship between the aligning holes and the vibrating object, and FIG. 11 is a vibration diagram shown in FIG. FIG. 12 is a front view showing another embodiment of the parts aligning apparatus, and FIGS. 12 and 13 are FIGS.
FIG. 12 is an explanatory diagram showing a flow of a vibrated object when the vibration component alignment device shown in FIG. 11 is used.

First, means for aligning components according to the present invention will be described. When aligning the components, it is desirable to make the vibration direction of the vibration generator 10 different depending on the shape of the components. Therefore, the alignment of the components together with the shape of the vibrating object 40 as the components will be described.

The first embodiment, as shown in FIGS. 6-9, uses a vibration generator 10 to align longitudinal and directional components such as screws or pins of small diameter. An example in which the vibration is vertical vibration will be described.

This embodiment includes a tilting device 20 fixed to a base frame 50,
The vibration generator 10 includes a vibration generator 10 that is supported by a shaft 50 via an inclined shaft 21, and a component arrangement plate 30 that is fixed to the vibration generator 10.

The tilting device 20 is formed by two cylinders 22 and 23 provided on a base frame 50 with a tilting shaft 21 interposed therebetween.

These two cylinders 22 and 23 are connected to one cylinder 22
When the cylinder rod of the other cylinder 23 protrudes, the cylinder rod of the other cylinder 23 does not protrude. Conversely, when the cylinder rod of the cylinder 23 protrudes to the other cylinder rod, the cylinder rod of one cylinder 22 is formed so as not to protrude. The vibration generating device 10 is alternately inclined in the left-right direction in the drawing by the alternate protrusion of the two cylinders 22, 23.

The vibration generating device 10 includes a stationary frame 11 supported by a base frame 50 by an inclined shaft 21, a vibrating body 13 connected to the stationary frame 11 by a flexible connecting body 12, A motor 14 fixed to the body 13 and an output shaft 15 of the motor 14
The eccentric body 16 is fixed to the eccentric body 16.

Here, the connecting body 12 is formed of a flexible material such as a spring, a vibration-proof rubber, or the like.

Further, the motor 14 is provided such that the output shaft 15 is parallel to the surface of the vibrating body 13. Therefore, the rotation of the eccentric body 16 caused by the rotation of the motor 14 causes the vibration body 13 to vibrate in the vertical direction.

Further, a component aligning dish 30 is fixed to the vibrating body 13.

As shown in FIG. 3, the component alignment plate 30 has a large number of alignment holes 31 recessed. Although the alignment hole 31 is drawn relatively large for convenience of illustration, the alignment hole 31
If so, the diameter is slightly larger than the diameter of the screw 41 to be aligned.

Next, the operation of the vibration component aligning apparatus according to this embodiment will be described.

First, the state before the start of operation will be described.
Numeral 13 is inclined with respect to the illustrated example shown in FIG.

The following description will be made on the assumption that this inclination direction is inclined to the left side in FIG. Further, it is assumed that a number of screws 41 as the vibrating object 40 are contained in the component alignment dish 30 fixed to the vibrating body 13 of the vibrating device.

In such a state, the cylinder rod of the right cylinder 23 projects upward, and the cylinder rod of the left cylinder 22 is retracted.

When the motor 14 is rotated in this state, the eccentric body 16 fixed to the output shaft 15 of the motor 14 rotates, and the eccentric rotation of the eccentric body 16 applies a load that causes the motor 14 to perform a circular motion. .

However, at this time, since the motor 14 is fixed to the vibrating body 13 and the vibrating body 13 is fixed to the stationary frame 11 by the flexible connecting body 12, the stationary frame 11 was considered as a stationary axis. Sometimes, due to the load in the circular motion direction of the motor 14,
The vibrating body 13 repeats a fine circular motion in the vertical direction due to the flexibility of the connecting body 12.

The fine vertical circular motion acts on the vibrating body 13 as so-called vertical vibration in the circular direction.

At the same time as the rotation of the motor 14 is performed, the cylinder rod of the left cylinder 22 is gradually protruded, and the cylinder rod of the right cylinder 23 is gradually retracted, whereby the vibration generator 10 itself is rotated. Will gradually shift from the left slope to the right slope.

Also, when changing the tilt direction around the tilt axis 21 due to such a change in the tilt direction, the motor
The vibrating body 13 repeats fine longitudinal vibration because the 14 continues to rotate in the vertical direction.

In this way, the cylinder rod of the cylinder 22 on the left side of the drawing protrudes, and
The body itself tilts rightward about the tilt axis 21.

When the longitudinal vibration occurs in the vibrating body 13 in this manner, the vibration 13
Since the component aligning dish 30 is fixed to the, the component aligning dish 30 also generates fine longitudinal vibration.

The screw 41 as the vibrating object 40 in the component alignment dish 30 is also vibrated by the fine longitudinal vibration applied to the component alignment dish 30, and the screw 41 in the component alignment dish 30 is in the off-state.

Then, among the screws 41, some of the screws 41 enter the alignment holes 31.

The screw 41 in which the screw portion has entered the alignment hole 31 in this way does not jump out of the alignment hole 31 due to the subsequent longitudinal vibration,
By repeating the longitudinal vibration and the inclination, the screws 41 are located in all the alignment holes 31, and the screws 41 can be aligned.

FIG. 10 shows a case where the pin 42 is formed in the shape of a crank and is used for alignment of, for example, terminals of an IC.

Generally, such a pin 42 has a long axis 43, a crank portion 44, and a short axis 45. When the pins 42 are aligned, the pins 42 are often aligned with the short axis 45 facing upward. In this case, the fifth
As shown in the figure, alignment is performed by providing an alignment hole 31 in which the long axis 43 enters and a groove continuous with the alignment hole 31 in which the crank part 44 enters in the component alignment plate 30 and applying longitudinal vibration. is there.

If the major axis 43 enters the alignment hole 31 during such vibration,
Although it does not jump out of the alignment hole 31 by the subsequent vibration, if the short axis 45 enters the alignment hole 31, the pin 42 jumps out of the alignment hole 31 by the subsequent vibration, so finally Can all be arranged in a predetermined shape.

That is, when the pins 42 are aligned in a predetermined shape in this manner, the pins 42 have a size such that they protrude when the short axis 45 enters the alignment hole 31 but do not protrude when the long axis 43 enters. It is necessary to make longitudinal vibration.

The embodiment shown in FIG. 11 is a vibration generating device for aligning a vertically long and directional component such as a screw or a pin having a small diameter as a vibrating object 40 or a thin component such as a washer. This is a case in which the vibration of 10 is an oblique vibration in which a vertical direction and a horizontal direction are combined.

At this time, the output shaft 15 of the motor 14 is provided to be inclined with respect to the diaphragm.

When formed in this manner, the eccentric rotation of the motor 14 causes the diaphragm to vibrate in a mixture of longitudinal vibration and lateral vibration.

When such vibration occurs, the vibrating object 40 is aligned with the aligning hole 31 while squirming due to the longitudinal vibration, and the horizontal vibration becomes a circular vibration on the surface coinciding with the surface of the component aligning plate 30. The vibrating object 40 is gradually moved in the left-right direction by the tilting device 20 while being subjected to fine circular vibration.

If such a movement is a rightward movement,
As shown in FIG. 12, the vibrated object 40, which has all gathered to the left of the vibrating body 13 before the start of movement, gradually moves to the right by vibrating while being tilted to the right. However, assuming that the lateral vibration of the vibrating body 13 itself is clockwise rotation as shown in FIG. 12, for example, the vibrating object 40 moves rightward while receiving the load due to the clockwise rotation. try to.

Therefore, at this time, the vibrating object 40 moves rightward while moving upward in FIG. 12 of the vibrating body 13.

After completing the movement to the right in this way,
The vibrating object 40 on 13 is gathered to the right of the vibrating body 13, but this time in the opposite direction, that is, as shown in FIG. 13 due to the inclination to the left, this time it is gathering on the near side in the drawing , To the left of the vibrating body 13.

Therefore, according to the embodiment shown in FIG. 11, the vibrating object 40 in the component aligning dish 30 fixed to the vibrating body 13 of the vibration generating device 10 has a longitudinal vibration due to the rotation of the motor 14 and a circular vibration. Due to the lateral vibration and the tilting by the tilting device 20, the vibrating body 13 moves while acting on the vibrating body 13 so as to move in different directions depending on the going and returning directions of the tilting by the tilting device 20.

Therefore, the vibrating object 40 has a substantially uniform distribution in the component alignment dish 30 by repeating the rightward tilt and the leftward tilt by the tilting device 20 while causing the vibrating body 13 to perform the horizontal circular vibration. Is to move.

Therefore, it moves on the component aligning dish 30 in an extremely uniform state, and is aligned with all the aligning holes 31.

Further, although not shown in detail,
In order to align thin parts such as a washer, the vibration generated by the vibration generator 10 may be set as a horizontal vibration.

In this way, the object to be vibrated 40 is moved by the operation of the vibration generating device 10 and the tilting device 20 while performing all the alignment operations on the component alignment plate 30 as shown in FIGS. It is aligned with the hole 31.

In this way, by applying vibrations in different directions depending on the shape of the vibrated object 40, the vibrated object 40
Are aligned in the alignment holes 31.

[Problems to be Solved by the Invention] With such a vibrating component aligning apparatus, components can be efficiently aligned in a short time, but, for example, a screw and a washer can be combined and assembled in a state where it can be easily taken out. It was supposed to be impossible.

Means for Solving the Problems Accordingly, the present invention provides a manipulator or the like that integrates screws and washers by assembling the screws and washers while aligning the screws and washers by vibration, and thereafter positioning the washer alignment plate on the mounting plate. It is an object of the present invention to automate the screws and washers in a subsequent assembly line by forming them so that they can be easily taken out.

In order to achieve the above-described object, the present invention provides a vibration generator that generates vibration, in which a washer aligning plate provided with a large number of washer aligning holes for aligning washers is formed so as to be fixable. A screw alignment plate provided with a large number of screw alignment holes for aligning screws at the top of the screw alignment plate is formed so as to be fixable.
At the position corresponding to the washer alignment hole of the washer alignment plate, a diameter smaller than the washer diameter and larger than the screw part diameter is provided, and the washer alignment plate has a washer alignment hole larger than the screw part diameter. At the position corresponding to the through hole of the washer alignment plate, a mounting plate with a pipe with an outer diameter smaller than the through hole and an inner diameter larger than the thread diameter is provided at the position corresponding to the through hole of the washer alignment plate , From below the washer aligning plate and the screw aligning plate in which the washer and the screw are aligned, the mounting plate is positioned so that the pipe is located in the through hole, and the washer and the screw are formed on the pipe so as to be mountable. It is characterized by.

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

FIG. 1 is a sectional view showing a state in which a screw 41, a spring washer 46 and a flat washer 47 are aligned and assembled. FIG. 2 is a flat washer aligning plate 32 in which a screw 41, a spring washer 46 and a flat washer 47 are aligned and assembled, and a spring washer. FIG. 3 is a cross-sectional view showing a state in which a placing plate 70 having a pipe 71 erected under a flat washer aligning plate 32 among the aligning plate 33 and the screw aligning plate 34 is positioned, and FIG. FIG. 4 is a cross-sectional view showing a state where it is positioned on a mounting plate;
5 is a perspective view of the pipe 71. FIG.

Further, in this embodiment, the case where the screw 41, the spring washer 46, and the flat washer 47 are aligned as the vibrated object 40 is shown.

At this time, first, as the component alignment plate 30, the flat washer alignment plate 32, the spring washer alignment plate 33, and the screw alignment plate
34 types are prepared.

First, a flat washer aligning plate 32 is used as the component aligning plate 30, and the flat washer 47 is aligned in the flat washer aligning hole 35 of the flat washer aligning plate 32. Regarding the alignment of the flat washers 47, since the flat washers 47 are thin parts, the vibration generated by the vibration generator 10 may be set as the horizontal vibration. Also the flat washer alignment holes at this time
The diameter and depth of 35 are formed to be substantially the same as the diameter and thickness of flat washer 47. Further, in the flat washer aligning hole 35 of the flat washer aligning plate 32, a through hole 36 having a diameter larger than the screw diameter of the screw 41 aligned by the screw aligning plate 34 penetrates the flat washer aligning plate 32. Has been drilled.

Next, the spring washer alignment plate 33 is positioned on the flat washer alignment plate 32 in which the flat washer 47 is aligned with the flat washer alignment hole 35. Here, the thickness of the spring washer alignment plate 33 is substantially the same as the thickness of the spring washer 46, and the diameter of the spring washer alignment hole 37 is formed to be substantially the same as the diameter of the spring washer 46. The spring washer 46 is a flat washer 47
Since the diameter is smaller than that, the flat washer 47 in the flat washer aligning hole 35 of the flat washer aligning plate 32 is pressed by the spring washer aligning plate 33.

Therefore, the next spring washer alignment plate 33
When the spring washer 46 is aligned with the spring washer alignment hole 37, the flat washer 47 in the flat washer alignment hole 35 of the flat washer alignment plate 32 does not pop out.

Thus, the spring washer 46 is inserted into the spring washer alignment hole 37 of the spring washer alignment plate 33.
Is aligned, the component aligning dish 30 is provided on the upper surface of the flat washer aligning dish 32 with the spring washer aligning dish 33.
Is located, the flat washer 47 and the spring washer 46 are aligned. Here, regarding the alignment of the spring washer 46, since the spring washer 46 is a thin part,
Vibration caused by the vibration may be regarded as a lateral vibration.

After that, the screw aligning plate 34 is located on the upper surface of the spring washer aligning plate 33 located on the upper surface of the flat washer aligning plate 32.

Here, the diameter of the screw alignment hole 38 provided in the screw alignment plate 34 is
The diameter of the screw 41 is substantially the same. Therefore, the spring washer 46 in the spring washer alignment hole 37 of the spring washer alignment plate 33 is
It will be held down by 34.

Therefore, the spring washer 46 in the spring washer aligning hole 37 of the spring washer aligning plate 33 does not jump out when the screw 41 is aligned with the screw aligning hole 38 of the screw aligning plate 34 in the next step.

In this way, the screw to the screw alignment hole 38 of the screw alignment plate 34
When the alignment of 41 is performed, the component aligning dish 30 is placed on the upper surface of the flat washer aligning dish 32 with the spring washer aligning dish.
33, and the screw washer 34 is positioned on the upper surface of the spring washer
7. The spring washer 46 and the screw 41 are aligned in the assembled state just like the used state. Here, regarding the alignment of the screw 41, since the screw 41 is an elongated part, the vibration generated by the vibration generator 10 is used as the vertical vibration, and the screw 41
You should be able to enter.

In this way, as shown in FIG. 1, the screw 41, the spring washer 46, and the flat washer 47 can be aligned in a combined state. Therefore, although the aligned assembly can be completed in this state, it cannot be used for automatic assembly using a robot manipulator or the like as it is.

Therefore, according to the present invention, after once assembling and aligning in a state as shown in FIG. 1, as shown in FIG. 2, a spring washer aligning plate 33 and a screw aligning plate 34 With the plate positioned, place the plate 70 under the flat washer aligning plate 32 and place the pipe of the plate 70
71, screw 41, spring washer 46, flat washer
After pushing up the spring washer alignment plate 33 and the screw alignment plate 34 together with 47, the spring washer alignment plate
33 and the screw alignment plate 34 are to be removed.

Here, the mounting plate 70 has a pipe 71 having an outer diameter smaller than that of the through hole 36 and an inner diameter larger than the diameter of the threaded portion at a position corresponding to the through hole 36 of the flat washer alignment plate 32. There is something.

Accordingly, when the placing plate 70 is located below the flat washer aligning plate 32 and the pipe 71 of the placing plate 70 is inserted into the through hole 36, the tip of the pipe 71 comes into contact with the lower surface of the flat washer 47. , Screw 41, spring washer 46, flat washer 47
Can be integrally protruded from the flat washer aligning plate 32 as shown in FIG.

Further, as shown in the sectional view of FIG. 4 and the perspective view of FIG. 5, the pipe 71 shown in FIG. Such a notch 73 is provided, and the screw 41 is directly
Can be gripped.

Therefore, the screws 41 with the spring washers 46 and the flat washers 47 aligned with the respective pipes 71 of the mounting plate 70 are:
The driver is directly gripped by the driver having the two-sided pawl 74, and the screw can be tightened.

Of course, in addition to this, for example, a notch may be provided in the pipe 71 from three directions, and a screw may be gripped by a three-way claw (not shown).
However, it is also possible to use a claw that presses a flat washer in conjunction with a driver to grip the screw.

Further, in the embodiment, the state where both the flat washer 47 and the spring washer 46 are mounted has been described, but only one of the washers may be combined with the screw 41.

Further, in the above description, with the spring washer aligning plate 33 and the screw aligning plate 34 positioned above the flat washer aligning plate 32, the placing plate 70 is positioned below the flat washer aligning plate 32, and the placing plate It has been described that the spring washer aligning plate 33 and the screw aligning plate 34 are removed after the spring washer aligning plate 33 and the screw aligning plate 34 are pushed up together with the screw 41, the spring washer 46, and the flat washer 47 by the pipe 71. However, in addition to this, after assembling and aligning in the state shown in FIG. 1, the spring washer aligning plate 33 and the screw aligning plate 34 are removed from the flat washer aligning plate 32, and the upper surface of the flat washer aligning plate 32 is removed. After the screw 41, the spring washer 46, and the flat washer 47 are assembled together, the mounting plate 70 having the pipe 71 erected below the flat washer alignment plate 32 may be positioned.

Screw 41, spring washer 46, flat washer
When aligning 47 with the flat washer alignment plate 32, the spring washer alignment plate 33, and the screw alignment plate 34, the vibration generator 10
It was explained that vibration was caused by the
A slope of 20 may be added.

In the above description, if the cylinders 22 and 23 are provided with a speed controller so as to gradually advance and retreat, it is easy to use. Further, it is also possible to provide only one cylinder and repeat the inclination by moving the cylinder forward and backward.

Although the tilting device 20 is described using a cylinder as an example, the tilting device 20 may be formed by other methods such as the tilting device 20 using an eccentric cam.

Further, in the embodiment described above, the vibration generator 10 has been described as an example of the circular vibration using the eccentric rotation of the motor 14, but other means such as an eccentric cam fixed to the output shaft of the motor repeatedly repeats the eccentric motion. It is also possible to use a vibration generating device 10 that converts the motion into motion, a vibration generating device 10 that uses a repetitive linear motion utilizing the advance and retreat of a cylinder by exciting and demagnetizing an electromagnetic solenoid, and the like.

[Effects of the Invention] As described above, the present invention assembles a screw and a washer by aligning the screw and the washer by vibration, and thereafter positions the washer aligning plate on the mounting plate, thereby integrating the screw and the washer with the manipulator. The screw and the washer are formed in such a manner that they can be easily taken out, so that the screw and the washer can be automated in the subsequent assembly line.

[Brief description of the drawings]

The drawings show an embodiment of the present invention. FIG. 1 is a sectional view showing a state in which a screw, a spring washer and a flat washer are aligned and assembled, and FIG. 2 is a sectional view in which a screw, a spring washer and a flat washer are aligned and assembled. A cross-sectional view showing a state where a placing plate having a pipe erected under the flat washer aligning plate among the flat washer aligning plate, the spring washer aligning plate, and the screw aligning plate is positioned. FIG. 3 is a flat washer aligning plate. Cross-sectional view showing a state where the
FIG. 4 is a sectional view taken along line AA of FIG. 3, FIG. 5 is a perspective view of a pipe, and FIGS. 6 to 13 show a conventional vibrating component aligning apparatus. FIG. 6 is a front view showing an embodiment of the vibration component alignment device, and FIG. 7 is a detailed sectional view of the vibration generator used in the vibration component alignment device shown in FIG. 9 is a perspective view of the component aligning dish, FIGS. 9 and 10 are different cross-sectional views showing the relationship between the aligning holes and the vibrating object, and FIG. 11 is a vibration diagram shown in FIG. FIG. 12 is a front view showing another embodiment of the component aligning device, and FIGS. 12 and 13 are explanatory views showing the flow of the vibrating object when the vibrating component aligning device shown in FIG. 11 is used. FIG. 10: Vibration generator, 11: Static frame 12: Connected body, 13: Vibrator 14: Motor, 15: Output shaft 16: Eccentric body, 20: Tilt device 21: Tilt shaft, 22 …… Cylinder 23 …… Cylinder, 30 …… Parts alignment plate 31 …… Alignment hole 32 …… Flat washer alignment plate 33 …… Spring washer alignment plate 34 …… Screw alignment plate 35 …… Flat washer alignment hole 36 …… Through hole 37… Spring washer alignment hole 38… Screw alignment hole, 40… Vibration object 41… Screw, 42… Pin 43… Long axis, 44… Crank part 45… Short axis 46… Spring washer 47 Flat washer 50 Base frame 60 Holding plate 70 Mounting plate 71 Pipe 72 Tube portion 73 Missing portion 74 Two-way claw

Claims (1)

(57) [Claims] 1. A vibration generating apparatus for generating vibration, wherein a washer aligning plate provided with a large number of washer aligning holes for aligning washers is formed so as to be fixable, and a screw is aligned on an upper portion of the washer aligning plate. A screw alignment plate provided with a large number of screw alignment holes is formed so as to be fixable, and the screw alignment holes of the screw alignment plate are positioned at positions corresponding to the washer alignment holes of the washer alignment plate with a diameter smaller than the washer diameter and a screw. The washer alignment plate is provided with a diameter larger than the part diameter and the washer alignment hole is penetrated by a through hole with a diameter larger than the screw diameter, and the outer shape is located at a position corresponding to the through hole of the washer alignment plate. A mounting plate with a pipe with a smaller diameter than the through hole and an inner diameter larger than the diameter of the threaded part is provided, and the washer and screw are aligned below the washer alignment plate and screw alignment plate. The screw assembly device by vibration is characterized in that the mounting plate is positioned so that the pipe is positioned in the through hole, and a washer and a screw can be mounted on the pipe.