JP2788842B2 - Shaft component insertion guide method and device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for guiding the insertion of a shaft part into which a shaft part is inserted into a fitting hole of another part.

[0002]

2. Description of the Related Art Conventionally, as a shaft part insertion guide device for automatically inserting a shaft part into a fitting hole, a structure shown in FIG. 26 using a so-called compliance mechanism is known. .

FIG. 26 is a front view of a shaft component insertion guide device using a conventional compliance mechanism.

A movable plate 1102 is connected to a plate 1104 mounted on the tip of an arm 1105 via three piano wires 1103 which are stretched so as to cross each other at a point on the extension (the lower end of a rod 1101 described later). Is plate 1
It is supported in parallel with 104.

The movable plate 1102 has a rod 1101
Is attached so that its tip (lower end) coincides with the intersection on the extension of each piano wire 1103.
Is inserted into the chamfered hole 1106 of the work 1107. At this time, the tip of the rod 1101 is
6, the component force in the direction of the arrow B as a reaction force of the force in the direction of the arrow A applied to the arm 1105,
It joins the tip of the rod 1101. And the movable plate 11
02 moves in the direction of arrow B while maintaining parallel to the plate 1104. As a result, the rod 1101 moves in a direction in which its center line coincides while maintaining parallel to the hole 1106,
It is inserted into the hole 1106.

As another structure, a structure using a force sensor such as a strain gauge as shown in FIG. 27 is also known.

FIG. 27 is a front view of another conventional shaft component insertion guide device using a strain gauge.

A chuck 1109 chucking the rod 1108 is held by a chuck driving unit 1110. The chuck driving unit 1110 includes two leaf springs 111.
3 are fixed to each other with screws 1112 so as to be parallel to each other. Further, the leaf spring 11
13, an intermediate plate 1114 is attached to the holding plate 111.
5 and a screw 1112, and another two parallel leaf springs 1116 are fixed to the intermediate plate 1114 in a direction perpendicular to the two parallel leaf springs 1113. A hand base 1117 is fixed to the other two parallel leaf springs 1116.
17 is fixed to the arm 1119 by a screw 1118. The leaf spring 1113 and the leaf spring 1116 include
A strain gauge 1120 is provided to detect the amount of distortion of the leaf spring.

When the arm 1119 is lowered in the direction of arrow E and the tip of the rod 1108 comes into contact with the chamfered portion of the hole 1107a, a component force is generated in the direction of arrow C, and accordingly, a force in the same direction is applied to the chuck 1109. Join. By this force, the leaf spring 1113 is deformed into an S shape. By detecting the deformation of the leaf spring 1113 with the strain gauge 1120, it is determined that the rod 1108 is positioned on the right side in the drawing with respect to the hole 1107a, and while the arm is pressed downward in the direction of the arrow E, the arrow D is pressed. If you move to the left,
The rod 1108 moves in a direction in which the center lines thereof match while maintaining a state parallel to the hole 1107a, and fitting is performed. Here, the operation of detecting the amount of distortion and moving the arm 1119 and the operation of moving the parallel spring 1113 itself slightly to the left and right are combined, and the fitting is performed extremely smoothly.

[0010] The compliance mechanism as described above,
An automatic insertion method using a force sensor generally inserts a shaft part into a fitting part having a large fitting hole chamfered.

Furthermore, as described in Japanese Patent Application Laid-Open No. HEI 3-117525, insertion is performed without using a chamfered portion of a fitting hole into a fitting having a tight fitting margin (tolerance). There is also a method for automatically inserting a shaft part.

[0012]

According to the above-mentioned conventional automatic insertion method using the compliance mechanism, although the structure is simple and not so expensive, it is necessary to perform large chamfering in the fitting hole. For this reason, the insertion is performed with a very small chamfer amount much smaller than the reproduction accuracy of moving the shaft component gripped by the assembly robot to the fitting hole or the stop accuracy of positioning the shaft component below the chamfer amount of the fitting hole. Difficult
On the other hand, there is a problem that a robot with high stopping accuracy is very expensive and cannot be used for a general-purpose device.

Further, in the automatic insertion method using a force sensor such as a strain gauge, in addition to the same problems as those using the above-described compliance mechanism, the control system is very sophisticated, and the hardware is also difficult. The complexity increases the cost. In addition, insertion by a strain gauge is performed by pressing the tip of the shaft component and the chamfered portion of the fitting hole, correcting the position of the shaft component and the fitting hole while detecting the amount of distortion at that time, and inserting the shaft component. Therefore, there is a problem that the insertion time is long.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and has a simple and inexpensive method for inserting and guiding shaft parts, which enables highly reliable insertion guide even with a small chamfer amount. It is another object of the present invention to provide a shaft component insertion guide device.

[0015]

According to a first aspect of the present invention, there is provided a method of inserting a shaft part into a fitting hole formed in a member, the method comprising: A guide member, which is largely chamfered, has a guide hole having substantially the same diameter as the diameter of the fitting hole, and is supported to be slightly movable on a plane orthogonal to the insertion direction of the shaft component. Using a shaft part guide mechanism having a fixing means for making the guide member immovable, and in a state where the guide hole of the guide member is installed above the fitting hole of the member, the shaft part has substantially the same diameter as the shaft part. Inserting a large chamfered pin through the guide hole into the fitting hole, fixing the guide member immovably with respect to the member, and inserting the pin into the fitting hole. And after being pulled out from the guide hole, the shaft component is inserted through the guide hole. A step of inserting into the fitting hole and,
Releasing the fixing of the guide member to the member.

An apparatus according to a first aspect of the present invention is a shaft component insertion guide device for inserting a shaft component into a fitting hole formed in a member, the device being substantially chamfered and having a diameter substantially equal to the diameter of the fitting hole. A guide member having a guide hole of the same diameter and supported movably on a plane perpendicular to the insertion direction of the shaft component, and fixing means for disabling the guide member. A shaft component guiding mechanism, in which a guide hole of the guide member is provided above a fitting hole of the member, and a pin that is substantially the same diameter as the shaft component and is largely chamfered or is replaced with the pin. A finger capable of gripping the shaft component and swinging slightly on a plane orthogonal to the insertion direction of the shaft component;
And a robot having the pin inserted through the guide hole of the guide member by the robot and inserted into the fitting hole,
Next, the guide member is fixed to the member by the fixing means, and then the pin is pulled out from the fitting hole and the guide hole, and then the robot replaces the pin with the pin and guides the shaft component. Control means for penetrating the guide hole of the member, inserting the guide hole into the fitting hole, and releasing the fixing of the guide member by the fixing means.

According to a second aspect of the present invention, there is provided a method for guiding the insertion of a shaft part into a fitting hole formed in a member, the method comprising a step of substantially chamfering the diameter of the fitting hole. A guide hole having the same diameter is formed, and is supported so as to be slightly movable on a plane orthogonal to the insertion direction of the shaft component, and a pressing force is applied in one direction in the moving surface, and A guide member having a suction port formed on one side surface of the guide hole so as to apply a suction force in a direction opposite to the pressing force, and a fixing means for making the guide member immovable,
In the state where the guide hole of the guide member is installed above the fitting hole of the member using a shaft component guide mechanism having Penetrating through the guide hole of the member and inserting into the fitting hole, then supplying a negative pressure to the suction port of the guide hole, and sucking the pin on one side surface of the guide hole; and A step of fixing the shaft component so as to be immovable, and after the pin is pulled out from the fitting hole and the guide hole, the shaft component is moved through the guide hole of the guide member immediately before fitting into the fitting hole. Causing the shaft component to be attracted to one side surface of the guide hole by a negative pressure from the suction port, releasing the negative pressure of the suction port, and dropping the shaft component by its own weight to form the fitting hole. And fixing the guide member to the member. And having the steps of, a.

An apparatus according to a second aspect of the present invention is a shaft part insertion guide device for inserting a shaft part into a fitting hole formed in a member. A guide hole having the same diameter is formed, and is supported so as to be slightly movable on a plane orthogonal to the insertion direction of the shaft component, and a pressing force is applied in one direction in the moving surface, and A guide member having a suction port formed on one side surface of the guide hole so as to apply a suction force in a direction opposite to the pressing force, and a fixing means for making the guide member immovable,
Comprising a guide hole of the guide member above the fitting hole of the member, a shaft component guide mechanism, equipped with a pin that is substantially the same diameter as the shaft component and is largely chamfered,
A robot having a finger capable of gripping the shaft component and swinging slightly on a plane perpendicular to the insertion direction of the shaft component, and the robot penetrating the pin through a guide hole of the guide member. Then, a negative pressure is supplied to the suction port of the guide hole, the pin is suctioned to one side surface of the guide hole, and then the guide member is immovable by the fixing means. After fixing and pulling out the pin from the fitting hole and the guide hole, the robot replaces the pin with the shaft component, and passes through the guide hole of the guide member with respect to the fitting hole. Just before the fitting, the shaft component is released from the finger after the shaft component is sucked to one side surface of the guide hole by the negative pressure from the suction port, and then the negative pressure of the suction port is reduced. Release the shaft parts Is dropped by its own weight of inserting into the fitting hole to release the said guide member by said fixing means, and having a control means.

According to a third aspect of the present invention, there is provided a method of guiding insertion of a shaft component, wherein the shaft component is inserted into a fitting hole formed in the member, wherein the member communicates with the member substantially perpendicularly to the fitting hole. Communication hole is formed, a large chamfered guide hole having a diameter substantially the same as the diameter of the fitting hole is formed, and can be slightly moved on a plane orthogonal to the insertion direction of the shaft component. And a suction port formed on one side surface of the guide hole such that a pressing force is applied in one direction in the moving surface and a suction force is applied in a direction opposite to the pressing force. A first guide member having a first guide member having: a first shaft member guide mechanism comprising: a first guide member having: The guide portion is formed in a concave shape, and one end surface of the guide portion is largely chamfered. And the shaft part while being inserted direction slightly movably supported on a plane perpendicular to the, force pushing in one direction in the plane of movement is added, and,
A second guide member having a suction port formed in a concave surface of the guide portion so as to apply a suction force in a direction opposite to the pushing force, and a fixing means for making the second guide member immovable; A guide hole of the first guide member is provided above a fitting hole of the member, and the fitting is performed through a communication hole of the member. In a state where the guide portion of the second guide member is installed in the hole, a pin having substantially the same diameter as the shaft component and having a large chamfered work is inserted into the fitting hole through the guide hole and the guide portion, and then Supplying a negative pressure to each of the suction holes of the guide hole and the guide portion to cause the pin to be sucked on one side surface of the guide hole and the concave surface of the guide portion; Fixing the second guide member immovably; and After being pulled out from the fitting hole, the guide portion and the guide hole, the shaft component is moved through the guide hole and the guide portion to the fitting hole immediately before fitting, and the shaft component is moved out of the guide hole and the guide portion. A step of adsorbing the shaft component to one side surface of the guide hole and a concave surface of the guide portion by a negative pressure from each suction port, and releasing the negative pressure of each suction port of the guide hole and the guide portion; The method further comprises a step of dropping the shaft component by its own weight and inserting the shaft component into the fitting hole, and a step of releasing the fixing of the first and second guide members to the member.

A device according to a third aspect of the present invention is an insertion guide device for a shaft component, wherein the shaft component is inserted into a fitting hole formed in a member, and the member communicates with the member substantially perpendicularly to the fitting hole. Communication hole is formed, a large chamfered guide hole having a diameter substantially the same as the diameter of the fitting hole is formed, and can be slightly moved on a plane orthogonal to the insertion direction of the shaft component. And a suction port formed on one side surface of the guide hole such that a pressing force is applied in one direction in the moving surface and a suction force is applied in a direction opposite to the pressing force. And a fixing means for making the guide member immovable, and a guide hole of the first guide member is provided above a fitting hole of the member. A first shaft part guiding mechanism, and a semicircular concave guide having one end portion having substantially the same diameter as the diameter of the fitting hole; And one end surface of the guide portion is largely chamfered, and is supported so as to be slightly movable on a plane orthogonal to the insertion direction of the shaft component. A pressing force is added in the direction, and such that a suction force acts in a direction opposite to the pressing force, a suction port formed in a concave surface of the guide portion,
And a fixing means for making the second guide member immovable, and a guide portion of the second guide member is installed in the fitting hole through a communication hole of the member. A second shaft component guiding mechanism, and a pin having substantially the same diameter as the shaft component and having a large chamfered work, capable of gripping the shaft component and orthogonal to the insertion direction of the shaft component. A finger which can swing slightly on a plane to be moved, and the robot inserts the pin into the fitting hole through the guide hole and the guide portion, and then the suction holes of the guide hole and the guide portion Respectively, to cause the pin to be attracted to one side surface of the guide hole and the concave surface of the guide portion, and then to move the first and second guide members with respect to the member by the fixing means. Fixed to impossible, and After pulling out the pin from the fitting hole, the guide portion and the guide hole, the robot replaces the pin with the pin, and the shaft component passes through the guide hole and the guide portion and immediately fits into the fitting hole. Move to
By the negative pressure from each suction port of the guide hole and the guide portion,
After adsorbing the shaft component on one side surface of the guide hole and the concave surface of the guide portion, release the shaft component from the finger, and then release the negative pressure of the suction hole of the guide hole and the guide portion. And control means for dropping the shaft component by its own weight, inserting it into the fitting hole, and releasing the fixing of the first and second guide members by the fixing means. .

A method according to a fourth aspect of the present invention is a method of guiding the insertion of a shaft component into a fitting hole formed in a member, wherein the method is substantially chamfered and substantially equal to the diameter of the fitting hole. A guide member having a guide hole having the same diameter and supported so as to be slightly movable on a plane perpendicular to the insertion direction of the shaft component; and fixing means for making the guide member immovable. In a state where the guide hole of the guide member is installed above the fitting hole of the member using a shaft component guide mechanism, a pin having substantially the same diameter as the shaft component and having a large chamfered portion is guided by the guide member. A step of penetrating the hole into the fitting hole, a step of immovably fixing the guide member, and, after withdrawing the pin from the fitting hole and the guide hole, removing the shaft component from the guide hole. To a position where it can be slightly fitted into the fitting hole Moving the shaft component in the guide hole to match the shaft component with the fitting hole, then dropping the shaft component by its own weight and inserting the shaft component into the fitting hole; Releasing the fixing of the guide member to the member.

A device according to a fourth aspect of the present invention is a shaft component insertion guide device for inserting a shaft component into a fitting hole formed in a member, the device being substantially chamfered and having a diameter substantially equal to the diameter of the fitting hole. A guide member having a guide hole of the same diameter and supported movably on a plane perpendicular to the insertion direction of the shaft component, and fixing means for disabling the guide member. A shaft component guiding mechanism, in which a guide hole of the guide member is provided above a fitting hole of the member, and a mechanism capable of adsorbing the shaft component, and on a plane orthogonal to the insertion direction of the shaft component. A finger that can swing slightly, rotation driving means for supporting the center of the finger and rotating the finger,
A robot provided eccentrically to the finger, having a pin having the same diameter as the shaft component and having a large chamfer, and the fitting hole formed by passing the pin through a guide hole of the guide member by the robot. Then, the guide member is immovably fixed by the fixing means, and after the pin is pulled out from the fitting hole and the guide hole, the shaft component is passed through the guide hole in place of the pin. And moving the shaft component in the guide hole by rotating the finger by the rotation driving means, so that the shaft component is fitted into the fitting hole. After that, the shaft component is released from the finger, the shaft component is dropped by its own weight, inserted into the fitting hole, and the fixing of the guide member by the fixing means is released. Characterized by having a means,,
Further, in the insertion guide device for the shaft component, a large number of through holes are formed on an inner surface of the guide hole of the guide member,
The control means, in place of the rotation driving means, to sequentially supply the air of positive pressure or negative pressure to the through hole, to move the shaft component in the guide hole, or of the finger,
The suction pad for sucking the shaft component is rotatable, and
The position of the shaft component is provided so as to be eccentrically sucked with respect to the rotation axis of the suction pad by the suction pad, and the control means is replaced with the rotation driving means,
The one that moves the shaft component in the guide hole by rotating the suction pad of the finger, and the pin protruding means for sequentially protruding a large number of pins from the inner surface of the guide hole toward the center of the guide member, The control means may include a plurality of pins sequentially projected by the pin projecting means to move the shaft component in the guide hole, instead of the rotation driving means.

[0023]

According to the first aspect of the present invention having the above-described structure, the member is provided above the fitting hole having a small chamfer formed in the member.
The guide member supported movably on a plane perpendicular to the insertion direction of the shaft component, a large chamfered, minutely inserted into a guide hole having substantially the same diameter as the diameter of the fitting hole. The guide member is fixed at this position by a fixing means at this position after the pin having substantially the same diameter as the shaft part of the chamfer amount and having a large chamfer is inserted through the pin while penetrating. As a result, the fitting hole having a small chamfer amount is in the same state as the hole having a large chamfer amount. Next, the pin is pulled out with the guide member fixed, and instead, the shaft component is inserted into the fitting hole while penetrating the guide member.

According to the second aspect of the present invention, the shaft can be slightly moved on a plane perpendicular to the insertion direction of the shaft component, which is located above the small chamfered fitting hole formed in the member. And a suction port formed on one side surface of the guide hole such that a pressing force is applied in one direction in the moving surface and a suction force is applied in a direction opposite to the pressing force. In the guide member having a large chamfer, the guide hole having a diameter substantially the same as the diameter of the fitting hole is substantially the same diameter as the shaft diameter of the shaft part having a small chamfer amount actually inserted, and is large. After the chamfered pin is inserted into the fitting hole while penetrating, if a negative pressure is supplied to the suction port on one side of the guide hole at this position, the pin is suctioned on one side of the guide member.

In this state, the guide member is fixed by the fixing means. As a result, the fitting hole having a small chamfer amount is in the same state as the hole having a large chamfer amount. Next, the pin is pulled out while the guide member is fixed, and instead, the shaft component is moved to just before the fitting hole while penetrating the guide member. A pressure is supplied to attract the shaft component to one side surface of the guide member. This allows
If the shaft part is tilted in the guide hole due to the influence of assembly accuracy, etc., the posture of the shaft part is corrected straight, so even if the chamfer amount is minute or no chamfer, When the suction force is released, the shaft component falls by its own weight and is inserted into the fitting hole.

According to the third aspect of the invention, the shaft component is supported so as to be slightly movable on a plane perpendicular to the insertion direction of the shaft component, and a pushing force is applied in one direction in the moving surface. The first guide member having a suction port formed on one side surface of the guide hole so as to apply a suction force in a direction opposite to the pressing force; A guide hole having substantially the same diameter as that of the above-mentioned member is provided above a small chamfered fitting hole formed in the member.

Further, the shaft component is supported so as to be slightly movable on a plane perpendicular to the insertion direction of the shaft component, and a pushing force is applied in one direction in the moving surface, and the pushing force is applied in a direction opposite to the pushing force. One end of a second guide member having a suction port formed in a concave surface of the guide portion so as to exert a suction force, one end of which has a semicircular concave shape having substantially the same diameter as the diameter of the fitting hole. Then, a guide part whose one end surface is largely chamfered is set in the fitting hole through the communication hole of the member.

Then, a pin having substantially the same diameter as the shaft part of the minutely chamfered shaft component to be actually inserted and having a large chamfered work is passed through the first and second guide members to the fitting hole. insert. Next, a negative pressure is supplied to the suction hole of the guide hole and the guide portion, and the pin is brought into close contact with the guide hole and the guide portion. In this state, the first and second guide members are fixed by the fixing means. I do. This allows
The fitting hole is similar to a hole with a large chamfer.

Next, with the first and second guide members fixed, the pin is pulled out, and instead, a shaft component is passed through the guide hole and the guide portion, and immediately before fitting into the fitting hole. After the movement, a negative pressure is supplied to each suction port of the guide hole and the guide portion, and the shaft component is sucked by the guide hole and the guide portion. As a result, when the shaft component is tilted in the guide hole due to the influence of the mounting accuracy, etc., the posture of the shaft component is corrected straight, especially when the chamfer amount is minute or there is no chamfer. In this case, when the suction force is released, the shaft component falls by its own weight and fits into the fitting hole.

According to the fourth aspect of the present invention having the above-described structure, it is possible to slightly move on a plane perpendicular to the insertion direction of the shaft component, which is installed above the small chamfered fitting hole formed in the member. In the supported guide member, a large chamfered, approximately the same diameter as the shaft diameter of the shaft part of the minute chamfer amount to be actually inserted into the guide hole having a diameter substantially the same as the diameter of the fitting hole, and being large. After inserting the chamfered pin into the fitting hole while penetrating, the guide member is fixed at this position by the fixing means. As a result, the fitting hole having a small chamfer amount is in the same state as the hole having a large chamfer amount. Next, the pin is pulled out while the guide member is fixed, and instead, the shaft component is moved to the state of being inserted into the fitting hole while penetrating the shaft member through the guide member,
In this state, if the shaft center (center) of the shaft component matches the hole center (center) of the fitting hole, the shaft component is inserted into the fitting hole.

However, especially when the chamfer amount is very small, the amount of misalignment due to the gap between the guide hole of the guide member and the shaft component cannot be absorbed, and the shaft component is not fitted even if it is moved to the inserted state into the fitting hole. Then, the movement stops halfway in the guide hole. When the finger is rotated by the rotation drive means as a means for moving the shaft component in the guide hole in a state where the pin is pressed downward, the pin is provided eccentrically with respect to the center of the finger, so that the centrifugal force is reduced. Moves outward due to the effect.
Then, the shaft component rotates while contacting the inner surface of the guide hole, and when the shaft component coincides with the fitting hole, a few millimeters are inserted by a downward pressing force. Next, when the shaft part is released, the shaft part falls by its own weight and is fitted in the fitting hole.

[0032]

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

(First Embodiment) FIG. 1 is a view showing an apparatus for carrying out a first embodiment of a method of inserting and guiding a shaft component according to the present invention, and FIG. 2 is a diagram showing a shaft component shown in FIG. FIG. 3 is an exploded perspective view of the guide mechanism, and FIG. 3 is a schematic cross-sectional view for explaining the operation of the shaft component insertion guide device shown in FIG.

As shown in FIG. 1, a plurality of holes are formed in the guide pin holder 1, and each of the holes has substantially the same diameter as the shaft diameter of the shaft component 7 and a large end surface is chamfered. The guide pin 2 is housed vertically. Similarly, the shaft components 7 are accommodated in the shaft component mounting table 6 installed separately from the guide pin mounting table 1 at predetermined intervals in the vertical direction.

An abutment plate 8a, which is one end of the mounting bracket 8 fixed at a predetermined position, has a cylinder block 11b of a shaft component guiding mechanism 11 described later.
(See FIG. 2) is fixed, and a fitting hole component 9 as a member is provided below the shaft component guiding mechanism 11 as a fitting hole 9a.
(Not shown) facing upward.

Further, an assembling robot 3 is provided for inserting the guide pin 2 and the shaft part 7 into the fitting holes, and the head 10 of the assembling robot 3 is provided so as to be movable in the XY directions. I have. Shaft head 10 of head section 10
a is provided so as to be extendable and contractible in the Z direction (vertical direction), and its shaft head 10a has a floating mechanism capable of slightly swinging on a plane (XY plane) perpendicular to the axial direction of the fitting hole of the fitting hole component 9. 4, a finger 5 for holding the guide pin 2 and the shaft component 7 is provided. The assembling robot 3 is controlled based on control means (not shown).

Here, the shaft part guiding mechanism 11 is shown in FIG.
This will be described with reference to FIG.

The shaft part guide mechanism 11 has a small gap between the shaft part 7 (see FIG. 1) and the guide pin 2 (see FIG. 1), and has a guide hole 11g in which the end face of the insertion opening is largely chamfered. The formed guide member 11a and the guide member 11
and a plurality of cylinder blocks 11b each having a hole 11h slightly larger than the outer peripheral shape for accommodating the guide member 11a in a small clearance between the guide member 11a and the cylinder block 11b. And a retainer 11d provided with the plurality of hard spheres 11e. The guide member 11 is provided on the cylinder block 11b.
a rod of a locking piston 11c as a fixing means for fixing the air supply port 11f.
The lock piston 11c pushes up the guide member 11a by the air pressure from the guide member 11a, and the guide member 11a is fixed.

Next, a method of inserting a shaft part into a fitting hole, that is, a procedure will be described with reference to FIGS.

First, the head unit 1 is moved by the assembling robot 3.
0 is moved to the designated guide pin 2 of the guide pin holder 1, the shaft head 10a is extended, and the upper end of the guide pin is gripped by the finger 5. Then, the shaft head 10a is contracted to pull out the guide pin 2 from the guide pin placing table 1.

Next, the head part 10 is connected to the shaft part guiding mechanism 11.
And guide pin 2 is positioned above guide hole 11g. Then, as shown in FIG. 3A, the shaft head 10a is extended to lower the finger 5, and the guide pin 2 is inserted into the guide hole 11g of the shaft component guide mechanism 11. At this time, the guide pin 2 and the guide hole 11g are chamfered, and the guide member 11a is movable within the gap with respect to the cylinder block 11b. Even if the axis is shifted, the guide pin 2 can be easily inserted into the guide hole 11g. When the finger 5 is further lowered, the guide pin 2 penetrates the guide hole 11g and is inserted into the fitting hole 9a. Here, the chamfering of the guide pin, the movement of the guide member 11a, and the The floating mechanism 4 allows the guide pin 2 to be easily inserted into the fitting hole 9a even if the axis of the guide pin 2 and the fitting hole 9a are misaligned. In this state,
The axes of the guide hole 11g and the fitting hole 9a are aligned. Thereafter, the guide pin 2 is inserted into the fitting hole 9a by several millimeters,
At this position, the lowering of the guide pin 2 is stopped. In this state, air is supplied from the air supply port 11f, and the rod of the locking piston 11c is moved upward, whereby the guide member 11a is pressed against the guide butting plate 8a, and the position of the guide member 11a is fixed. When the guide member 11a is fixed, the guide pin 2 is pulled out from the fitting hole 9a and the guide hole 11g by the assembling robot 3 and returned to the original position of the guide pin holder 1.

Next, instead of the guide pins 2, the shaft components 7 housed in the shaft component placing table 6 are assembled and gripped by the fingers 5 of the robot 3. Then, the shaft component 7 is moved above the shaft component guide mechanism 11, the shaft head 10a is extended as shown in FIG. 3B, and the shaft component 7 held by the finger 5 is lowered. Even if the axis line between the shaft component 7 and the guide hole 11g is slightly displaced due to the variation in the positioning accuracy, the shaft component 7 can be easily inserted by chamfering the guide hole 11g and the floating mechanism 4 of the robot. When the finger 5 is further lowered, the axis of the guide hole 11g and the axis of the fitting hole 9a coincide with each other, so that the shaft component 7 is inserted into the fitting hole 9a as it is through the guide hole 11g. At a position where the shaft component 7 is inserted into the fitting hole 9a by several millimeters, the lowering of the shaft component 7 is stopped.
When the gripping of the shaft component 7 is released, the shaft component 7 falls freely and is completely inserted into the fitting hole 9a.

When the above-described shaft part guiding method is performed, it may be considered that the shaft part cannot be inserted due to the assembling accuracy of the parts. For this reason, it is preferable to design the guide pin 2, the shaft component 7, the fitting hole component 9, and the guide member 11a in advance so as to satisfy the following conditional expression.

FIGS. 4 and 5 show conditions for preventing the shaft component 7 from being unable to be inserted into the fitting hole 9a.
Ask for.

FIGS. 4 and 5 show that the shaft part 7 has the fitting hole 9a.
FIG. 9 is a diagram for explaining a conditional expression for preventing the insertion into the.

In order for the shaft part to enter the fitting hole, the maximum deviation between the shaft center (center) of the shaft part and the hole center (center) of the fitting hole depends on the chamfer amount, the fitting hole and the shaft part. The condition is that it is smaller than the sum of the gap and the gap.

First, the maximum displacement P between the guide hole and the fitting hole when the position of the guide hole is fixed to the position of the fitting hole by the guide pin is determined.

This is due to the amount of displacement due to the inclination of the guide pin,
It is the sum of the amount of displacement due to the gap between the guide pin and the fitting hole,

[0049]

[Number 1] _{P = (D G -d G)} / 2 × (l 1/2 + l 2) / l 1/2 + (D wmax -d G) / 2 = 1/2 {(D G -d G) × (1 + 2l ₂ / l ₁ ) + (D _wmax −d _G )｝ Next, when the shaft component is inserted into the fitting hole through the guide hole of the guide member, the amount of displacement Q due to the gap between the guide hole and the shaft component is determined. Q = (D _G −d _wmin ) / 2 × (1 + 2l ₂ / l ₁ ) From the above, the amount of deviation between the shaft center (center) of the shaft part and the hole center (center) of the fitting hole is fitted to the shaft part. The maximum deviation of the hole is

[0050]

[Number 2] = P + Q = 1/2 {(D G -d G) × (1 + 2l 2 / l 1) + (D wmax -d G)} + (D G -d wmin) / 2 × (1 + 2l 2 / l ₁ ) The clearance S between the fitting hole and the shaft part is: S = (D _wmin −d _wmax ) / 2 In order for the shaft part to enter the fitting hole, P + Q <C ₁ + C ₂ + S

[0051]

３ (D _G −d _G ) × (1 + 2 l ₂ / l ₁ ) + (D _wmax −d _G )} + (D _G −d _{wm in} ) / 2 × (1 + 2 l ₂ / l ₁₎ ) <C ₁ + C ₂ + (D _wmin −d _wmax ) / 2 (1).

Next, the condition for preventing the shaft component from being caught halfway and becoming unable to be inserted due to the inclination of the hole of the fitting hole component is a variation T of the inclination angle of the fitting hole with respect to the guide hole.
Is smaller than the inclination angle R of the fitting hole into which the shaft component can be inserted into the guide hole. That is, R>
T.

When the center of the guide hole and the center of the fitting hole are maximally displaced, the inclination angle θ ₁ of the shaft component that can be inserted is θ ₁ = tan ⁻¹ ｄ (d _G −d _wmax ) / (l ₁ + l ₂ + C ₂₎ )｝ The inclination θ ₂ due to the gap between the shaft part and the fitting hole is

[0054]

[ _Equation 4] θ ₂ = tan ⁻¹ {(D _wmin −d _wmax ) / L− (l ₁ + l ₂ + C ₂ )} R = θ ₁ + θ ₂ = tan ⁻¹ {(d _G −d _wmax ) / ( l ₁ + l ₂ + C ₂ ) {+ tan ^-1 {(D _wmin −d _wmax ) / L− (l ₁ + l ₂ + C ₂ )}> T (2)

As described above, in order that the shaft part can be inserted into the fitting hole, it is preferable to design each part so as to satisfy the conditional expressions (1) and (2).

(Second Embodiment) FIG. 6 is a view showing an apparatus for carrying out a second embodiment of the method of inserting and guiding a shaft part according to the present invention, and FIG. 7 is a shaft part shown in FIG. FIG. 4 is a schematic sectional view for explaining the operation of the insertion guide device of FIG.

As shown in FIG. 6, a guide pin 26 whose lower end surface is largely chamfered is provided on an L-shaped stay at the support portion of the finger 25 of the assembling robot 23 having the same configuration as that of the first embodiment. It is fixed vertically downward.
The shaft component 22 having a shaft diameter substantially equal to the shaft diameter of the guide pin 26
Are vertically accommodated in the shaft component holder 21.

On the other hand, a shaft part guide mechanism 29 having the same structure as that of the first embodiment is fixed to an abutment plate 27a which is one end of the mounting bracket 27 fixed at a predetermined position. Below the guide mechanism 29, a fitting hole component 28 is installed with its fitting hole (not shown) facing upward. The mounting bracket 27 is fixed at a position perpendicular to the longitudinal direction of the fitting hole component 28.

The procedure for inserting the shaft part in this embodiment is as follows.
7A, the guide pin 26 is passed through the guide hole 29g of the guide member 29 in a state where the shaft component 22 is gripped by the finger 25 as shown in FIG.
When a few millimeters are inserted into a, the guide member 29a is fixed. Thereafter, the guide pin 26 is pulled out of the fitting hole.

Next, as shown in FIG.
2 is inserted into the fitting hole 28a of the fitting hole part 28 while penetrating the guide hole 29g of the guide member 29a, and then the shaft part 22 is released and completely inserted into the fitting hole by free fall.

Also in this embodiment, in consideration of the case where the shaft component cannot be inserted due to the assembling accuracy of the components, the guide pin, the shaft component, the fitting hole component and the guide member are firstly mounted. It is preferable to design so as to satisfy the conditional expressions described in the examples.

(Third Embodiment) FIG. 8 is a view showing an apparatus for carrying out a third embodiment of the method of inserting and guiding a shaft component according to the present invention, and FIG. 9 is a diagram showing a shaft component shown in FIG. FIG. 4 is a schematic sectional view for explaining the operation of the insertion guide device of FIG.

As shown in FIG. 8, a guide pin insertion unit 36 is installed at a predetermined position instead of the guide pin holder 1 of the first embodiment. Guide pin insertion unit 36
Is provided with a head portion 36a which can be extended and contracted in the horizontal direction. Also, a guide pin 37 fixed via a guide pin floating mechanism 36b that can slightly swing in a plane perpendicular to the axis of the fitting hole of the fitting hole component 39 can move vertically downward on the head portion 36a. Is provided. The other configuration is the same as that of the first embodiment, and the description is omitted.

The procedure for inserting the shaft part in this embodiment is basically the same as the procedure described in the first and second embodiments. First, as shown in FIG. The guide pin 37 attached to the head portion 36a is extended so that the guide pin 37 is positioned above the shaft component guide mechanism 40 having the same configuration as that of the first embodiment. Next, the guide pin 37 is lowered and inserted into the guide hole 40 g of the shaft component guide mechanism 40. The subsequent operation is performed in the same manner as in the first and second embodiments described above, whereby the shaft component 32 is inserted.

Also in this embodiment, in consideration of the case where the shaft component cannot be inserted due to the assembling accuracy of the components, the guide pin, the shaft component, the fitting hole component and the guide member are firstly mounted. It is preferable to design so as to satisfy the conditional expressions described in the examples.

(Fourth Embodiment) FIG. 10 is a view showing an apparatus for carrying out a fourth embodiment of the method of inserting and guiding a shaft part according to the present invention, and FIG. 11 is a shaft part shown in FIG. FIG. 12 is an exploded perspective view of the guide mechanism, and FIGS. 12 and 13 are schematic cross-sectional views for explaining the operation of the shaft component insertion guide device shown in FIG. FIG. 12 shows a state in which the tip of the guide pin is inserted into the fitting hole of the fitting hole part.
Indicates a state in which the shaft component passes through the guide hole of the guide member.

As shown in FIG. 10, the assembling robot 43 of this embodiment has an X-axis arm 41a extending in the X-direction as in the above-described embodiment, and is supported by the X-axis arm 41a so as to be movable in the X-axis direction. A Y-axis arm 41b which is reciprocated in the X-axis direction by an X-axis driving means (not shown), and which is supported by the Y-axis arm 41b so as to be movable in the Y-axis direction and which is driven by a Y-axis driving means (not shown) And a head unit 50 that reciprocates in the direction. The shaft head 50a of the head unit 50 is provided so as to be extendable and contractible in the arrow Z direction (vertical direction), and is rotatable 360 degrees as shown by the arrow θ.
The shaft head 50a has a fitting hole 49 of the fitting hole component 49.
A finger 45 for gripping a shaft component 47 is provided via a floating mechanism 44 that can slightly swing on a plane (XY plane) perpendicular to the axis direction of a (see FIG. 12). A vertically downward guide pin 42 is fixed to the support portion 45a of the finger 45 via an L-shaped stay. The lower end surface of the guide pin 42 is largely chamfered, and is formed to have substantially the same diameter as the shaft diameter of the shaft component 47. The assembling robot 43 is controlled based on control means (not shown).

On the other hand, a mounting bracket 48 having one end bent at a right angle is fixed near the position where the fitting hole component 49 is fixed. A shaft component guide mechanism 51 described below is fixed to the lower surface of the butting plate 48a of the mounting bracket 48. Then, the shaft component guiding mechanism 5
One end of the guide member 51a provided in the
9 is opposed to one end surface of the fitting hole component 4.
The shaft component 47 can be inserted and guided into the 9 fitting holes 49a (see FIG. 12).

Here, the shaft component guiding mechanism 51 will be described with reference to FIGS.

The shaft part guide mechanism 51 is provided with a shaft part 47 (FIG. 1).
0) and a guide pin 51 (see FIG. 10) having a diameter with a small clearance margin and a guide hole 51g formed with a chamfered one end surface.
And a cylinder block 51b formed with a hole 51j slightly larger than the outer peripheral shape for accommodating the guide member 51a and a piston insertion hole 53, and a guide placed in a minute gap between the guide member 51a and the cylinder block 51b. In order to facilitate the movement of the member 51a, a plurality of hard spheres 5
1e provided with a retainer 51d. The cylinder block 51b is fixed to an abutment plate 48a (see FIG. 10) of the mounting bracket 48 (see FIG. 10).

In the piston insertion hole 53 of the cylinder block 51b, a locking piston 51c as a means for fixing the guide member 51a is slidably incorporated. A bottom plate 55 is connected to a lower end of the cylinder block 51b with a plurality of screws (not shown), and a locking piston 51c pushes up the guide member 51a by air pressure from an air supply port 51f formed in the bottom plate 55, and the guide member 51a is raised. 51a is configured to be fixed. A seal member 54 is fitted in an annular groove provided on the outer peripheral surface of the locking piston 51c. In addition, a suction port 51i for making the guide pin 42 and the shaft component 47 adhere to each other is provided on the inner diameter surface of the guide hole 51g. The hole 51j of the cylinder block 51b is provided with a hole for receiving a compression spring 52 that applies a pressing force to the guide member 51a in a direction opposite to the suction force of the suction port 51i.

Next, a method of inserting a shaft part into a fitting hole, that is, a procedure will be described with reference to FIGS.

First, the head unit 5 is moved by the assembling robot 43.
0 is moved onto the shaft component holder 46, and the shaft head 50a is extended, so that one finger 47
The shaft head 50 a holding the upper end of the shaft part 50 is contracted, and the shaft part 47 is pulled out from the shaft part holder 46.

Next, the head part 50 is connected to the shaft part guiding mechanism 51.
To guide the pin 42 above the guide hole 51g. Then, the shaft head 50a is extended to lower the finger 45, and the guide pin 42 is inserted into the guide hole 51g of the shaft component guide mechanism 51 as shown in FIG. At this time, the guide pin 42 and the guide hole 51g are chamfered, and the guide member 51a is formed.
Is movable in the gap with respect to the cylinder block 51b, so that the guide pin 42 and the guide hole 51g
The guide pin 42 is inserted into the guide hole 51 even if the axis of
g can be easily inserted. When the finger 45 is further lowered, the guide pin 42 is
1g, and is inserted into the fitting hole 49a. Here, chamfering of the guide pin 42, movement of the guide member 51a,
In addition, the guide pin 42 can be easily inserted into the fitting hole 49a even if the axis of the guide pin 42 and the fitting hole 49a are misaligned by the floating mechanism 44 of the assembly robot 43. In this state, the guide hole 51g and the fitting hole 49
The axis with a is coincident. Thereafter, the guide pin 42 is inserted into the fitting hole 49a by about several mm, and the lowering is stopped at that position. When a negative pressure is supplied to the negative pressure supply port 51h in this state, the guide pin 42 and the guide member 51a come into close contact.

Next, the guide member 51a is pressed against the butting plate 48a of the mounting bracket 48 by supplying air from the air supply port 51f and moving the locking piston 51c upward, whereby the guide member 51a is pressed. Is fixed. When the guide member 51a is fixed, the guide pin 42 is pulled out from the fitting hole 49a and the guide hole 51g by the assembly robot 43.

Next, the shaft head 50a of the head portion 50 is rotated by a predetermined angle, and the shaft component 47 is moved to the shaft component guiding mechanism 51.
13, the shaft head 50a is extended, and the shaft component 47 gripped by the finger 45 is lowered, as shown in FIG. And guide hole 51g
Even if the axis is shifted, the shaft component 47 can be easily inserted by the chamfering of the guide hole 51g and the floating mechanism 44 of the assembly robot 43. Then, the finger 45 is further lowered, and the shaft component 47 is stopped immediately before the fitting hole 49a. Next, when the grip of the shaft component 47 by the finger 45 is released, the shaft component 47 comes into close contact with one side surface of the guide hole 51g of the guide member 51a due to the negative pressure from the suction hole 51i. Accordingly, when the shaft component 47 is tilted in the guide hole 51g under the influence of the assembling accuracy and the like, the posture of the shaft component 47 can be corrected straight, and particularly when the chamfer amount is minute or there is no chamfer. However, when the negative pressure is released next, the shaft component 47 falls due to its own weight, and the fitting hole 49 a
Is inserted into.

Also in this embodiment, in consideration of the case where the shaft component cannot be inserted due to the assembling accuracy of the components, the guide pin, the shaft component, the fitting hole component and the guide member are firstly mounted. It is preferable to design so as to satisfy the conditional expressions described in the examples.

(Fifth Embodiment) FIG. 14 is a view showing an apparatus for carrying out a fifth embodiment of the method of inserting and guiding a shaft part according to the present invention.

In this embodiment, the shaft part, the fitting hole part and the guide member are not designed in advance so as to satisfy the conditional expressions described in the first embodiment, that is, the assembling accuracy of each part. It can be applied without considering the case where the shaft parts cannot be inserted due to the like, and the chamfer amounts C ₁ and C ₂
This is a particularly effective method when is zero.

In this embodiment, an assembly robot 63 similar to that of the fourth embodiment is used. That is, the assembling robot 63 includes an X-axis arm 61a extending in the X direction, a Y-axis supported by the X-axis arm 61a so as to be movable in the X-axis direction, and reciprocated in the X-axis direction by X-axis driving means (not shown). An arm 61b and a head unit 70 supported by the Y-axis arm 61b so as to be movable in the Y-axis direction and reciprocated in the Y-axis direction by a Y-axis driving unit (not shown). The head section 70 has an axis head 70a, which is provided to be extendable and contractible in the Z direction (vertical direction), and is rotatable 360 degrees in the θ direction about the axis.
The shaft component 67 is attached to the shaft head 70a via a floating mechanism 64 which can slightly swing on a plane (XY plane) perpendicular to the axial direction of a fitting hole (not shown) of the fitting hole component 69.
Is provided. Finger 6
A vertically downward guide pin 62 is fixed to the fifth support portion 65a via an L-shaped stay. The lower end surface of the guide pin 62 is largely chamfered so that the shaft diameter of the shaft component 67 is substantially equal to the shaft diameter. The assembling robot 63 is controlled based on control means (not shown).

The shaft component 67 is housed vertically in the shaft component mounting table 66, and has a diameter of the end portion to be gripped by the finger 65 and a fitting hole (not shown) of the fitting hole component 69. The diameters of the inserted ends are different from each other. Also,
The fitting hole component 69 is formed with a communication hole communicating with the fitting hole substantially perpendicularly to the hole direction (see FIG. 17).

On the other hand, fitting hole parts 69 are fixed at other predetermined positions by any fixing means (not shown) such as bolts or clampers. In the vicinity of the position where the fitting hole component 69 is fixed, a mounting bracket 68 whose one end is bent at a right angle is fixed, and two abutting plates 68a are respectively formed on the side surface at a right angle to the fixing surface in the same direction. They are provided in parallel. Each butting plate 6
8a, a first shaft component guiding mechanism 7 described below is provided.
The first and second shaft component guide mechanisms 72 are fixed respectively. One end of the first guide member 73 provided in the first shaft component guide mechanism 71 is disposed to face one end surface of the fitting hole component 69, and the first guide member 73 is provided in the second shaft component guide mechanism 72. One end of the second guide member 74 is disposed in a communication hole of the fitting hole component 69. As a result, the fitting hole component 69
The shaft component 67 can be inserted and guided in a fitting hole (not shown).

Here, the first and second component guiding mechanisms will be described with reference to FIGS. 15 and 16, respectively.

FIG. 15 is an exploded perspective view for explaining a detailed configuration of the first shaft component guide mechanism shown in FIG.
FIG. 16 is an exploded perspective view for explaining a detailed configuration of the second shaft component guiding mechanism shown in FIG.

The first shaft part guiding mechanism 71 shown in FIG.
As shown in FIG. 15, the first guide member 73, the retainer 75, the cylinder block 76, the locking piston 7
7 and a bottom plate 78.

The first guide member 73 has a rectangular shape at one end and a circular shape at the other end, and the shaft component 67 or the guide pin 62 (see FIG. 14) is inserted into one end thereof. A guide hole 73a is formed. The guide hole 73a has a chamfered end face of the insertion opening, and has a small gap between the maximum shaft diameter of the shaft component 67 or the guide pin 62. A suction port 73b for suctioning the shaft component 67 or the guide pin 62 is formed on the inner surface of the guide hole 73a, and a negative pressure is supplied to the upper surface of the first guide member 73 so as to communicate with the suction port 73b. An opening 73c is formed.

The retainer 75 has a donut shape, and includes a plurality of rigid spheres 75a for facilitating the movement of the first guide member 73.

The cylinder block 76 is partially cut away on the upper surface to accommodate the first guide member 73 and the retainer 75 so that one end of the first guide member 73 can be accommodated. A fitting hole slightly larger than the outer periphery of the other end of the guide member 73 is formed, and a convex piston insertion hole 76b is formed in the lower surface from the lower surface side. A compression spring 76a for urging the first guide member 73 in a direction opposite to the suction force of the suction port 73b is attached to the inner peripheral surface of the fitting hole formed on the upper surface.

The locking piston 77 is formed so as to engage with the piston insertion hole 76b.
6b is built in the peripheral surface via a sealing member 77a.

The bottom plate 78 is a disk having the same diameter as the cylinder block 76 and is attached to the lower surface of the cylinder block 76 with screws or the like. An air supply port 78a for supplying air into the cylinder block 76 is formed in the bottom plate 78, and the locking piston 77 is raised by the air pressure from the air supply port 78a, so that the first guide member 7
Push up 3. As a result, the first guide member 73 comes into contact with the butting plate 68a shown in FIG. 14 and is fixed.

Next, the structure of the second shaft part guide mechanism 72 shown in FIG. 14 will be described. Since the second shaft part guide mechanism 72 differs only in the guide member, only the guide member will be described here.

The second guide member 74 shown in FIG.
As in the case of the guide member 73, one end is square and the other end is circular, and a semicircular concave surface having the same diameter as the shaft component 67 or the guide pin 62 is formed in the square portion,
Further, a chamfered guide portion 74a is formed, and a suction port 74b is provided on the concave surface of the guide portion 74a for bringing the guide pin 62 and the shaft component 67 into close contact with each other. A negative pressure supply port 74c is provided on the upper surface of the second guide member 74 so as to communicate with the suction port 74b.

Next, with reference to FIGS. 14, 17 and 18, a method of inserting a shaft part into a fitting hole, that is, a procedure will be described.

FIGS. 17 and 18 are schematic cross-sectional views for explaining the operation of the shaft component insertion guide device shown in FIG. FIG. 17 shows a state in which the guide pin is inserted through the guide hole of the guide member and is inserted into the fitting hole of the fitting hole part, and FIG. 18 shows a state in which the shaft part is inserted through the guide hole of the guide member. The state where it is inserted just before the fitting part of the mating hole part is shown.

First, the assembling robot 63 shown in FIG.
As a result, the head 70 is moved to the shaft component placing table 66, the shaft head 70 a is extended, and the upper end of the shaft component 67 is gripped by the finger 65. Next, the shaft head 70
Then, the shaft component 67 is pulled out from the shaft component mounting base 66 by contracting a.

Next, the head 70a is moved directly above the first shaft component guide mechanism 71, and the guide pin 62 is positioned above the guide hole 73a provided in the first guide member 73. Then, as shown in FIG. 17, the shaft head 70a is extended in the Z direction to lower the finger 65, and the guide pin 62
Into the guide hole 73a of the first guide member 73. At this time, the guide pin 62, the guide hole 73a, the guide portion 7
4a is chamfered, and the first guide member 73 and the second guide member 74 are movable within the gaps with respect to the respective cylinder blocks 76. Guide hole 73a
The guide pin 62 can be easily inserted into the guide hole 73a and the guide portion 74a even if the guide pin 62 is shifted from the center line of the guide portion 74a.

When the finger 65 is further lowered, the guide pin 62 is brought into the guide hole 73a and the guide portion 74a.
Through which the guide pins 62 are chamfered, the first guide member 73 and the second guide member 74 are moved, and the guide pins 62 are moved by the floating mechanism 64 of the assembly robot 63. The guide pin 62 can be easily inserted into the fitting holes 69a and 69b even if the axis of the guide hole 62 is shifted from the center line of the fitting holes 69a and 69b. And in this state, the guide hole 7
The center lines of 3a, the guide portion 74a and the fitting holes 69a and 69b are coincident. Then, the fitting hole 69
A few millimeters of the tip of the guide pin 62 is inserted into a, and the lowering of the guide pin 62 is stopped at that position. When a negative pressure is supplied to the negative pressure supply ports 73c and 74c in this state, the guide pins 6
The second guide member 73 and the second guide member 74 are in close contact with each other.

Next, the first guide member 73 and the second guide member 74 are pressed against the guide abutting plate 78a by supplying air from the air supply port 78a and moving the rod of the locking piston 77 upward. Then, the positions of the first guide member 73 and the second guide member 74 are fixed. When the first guide member 73 and the second guide member 74 are fixed, the assembling robot 63 allows the fitting holes 69a, 6
The guide pin 62 is pulled out from the guide pin 9b, the guide hole 73a, and the guide portion 74a.

Next, the fingers 65 of the assembly robot 63
The shaft component 67 gripped by is moved above the guide hole 73a, and the shaft head 70a is extended in the Z direction to lower the shaft component 67 as shown in FIG.
Even if the center line of the guide hole 73a and the guide portion 74a is displaced from the axis of the shaft component 67 due to the variation in the positioning accuracy of The part 67 is easily inserted. Then, the finger 65 is further lowered to stop the shaft component 67 immediately before the fitting hole 69a. Next, the shaft component 67 by the finger 65
When the gripping is released, the shaft component 67 is moved to the suction ports 73b and 74.
Due to the negative pressure from b, it comes into close contact with the inner peripheral surface of the guide hole 73a and one end surface of the guide portion 74a. Thereby, when the shaft component 67 is tilted under the influence of the assembling accuracy and the like, the posture of the shaft component 67 can be corrected straight, so that even if the chamfer amount is minute or there is no chamfer, next, When the negative pressure is released, the shaft component 67 is freely dropped into the fitting hole 69a and inserted.

In the apparatus according to the present embodiment, the guide pins 62 are attached to the support portions 65a of the fingers 65. However, the present invention is not limited to this. After inserting by hand, it may be replaced with a shaft part.

(Sixth Embodiment) FIG. 19 is a view showing an apparatus for carrying out a sixth embodiment of the shaft part insertion guiding method of the present invention, and FIG. 20 is a shaft part shown in FIG. FIG. 21 is an exploded perspective view of the guide mechanism, and FIGS. 21 and 22 are schematic cross-sectional views for explaining the operation of the shaft component insertion guide device shown in FIG. FIG. 21 shows a state in which the distal end of the guide pin is inserted into the fitting hole of the fitting hole part.
Indicates a state in which the shaft component passes through the guide hole of the guide member.

In this embodiment, the shaft part, the fitting hole part, and the guide member are not designed in advance so as to satisfy the conditional expressions described in the first embodiment, that is, the assembling accuracy of each part. It can be applied without considering the case where the shaft parts cannot be inserted due to the like, and the chamfer amounts C ₁ and C ₂
This is a particularly effective method when is zero.

The assembling robot 83 in this embodiment is
Since the configuration is almost the same as the configuration described in the fourth embodiment, only a different configuration will be described in the present embodiment.

That is, the assembly robot 8 shown in FIG.
3, the rotatable shaft head 90a has a fitting hole component 89.
There is provided a floating mechanism 84 which can slightly swing on a plane (XY) perpendicular to the axial direction of the fitting hole, and a finger 85 for sucking the shaft component 87 via a slide mechanism 92 which can move up and down. Have been. That is, the finger 85 can swing slightly, and can be moved up and down by the slide mechanism 92 independently of the shaft head 90a.
The assembling robot 83 is controlled based on control means (not shown).

The shaft component guide mechanism 91 has the same configuration as that described in the fourth embodiment except that the negative pressure supply port and the compression spring are not provided. For this reason,
The description of the configuration of the shaft component guiding mechanism 91 is omitted.

Next, with reference to FIGS. 19 to 22, a method of inserting a shaft part into a fitting hole, that is, a procedure will be described.

First, the assembling robot 83 shown in FIG.
As a result, the head unit 90 is moved to the shaft component holder 86, the shaft head 90 a is extended, and the upper end of one shaft component 87 is sucked and held by the finger 85. Next, the shaft head 90a is contracted, and the shaft component 87 is pulled out from the shaft component mounting table 86.

Next, the head part 90 is connected to the shaft part guiding mechanism 91.
And guide pin 82 is positioned above guide hole 94a. Then, the shaft head 90a is extended to lower the finger 85, and the guide pin 82 is inserted into the guide hole 94a of the shaft component guide mechanism 91 as shown in FIG. At this time, the guide pin 82 and the guide hole 94a are chamfered, and the guide member 94 is movable within the gap with respect to the cylinder block 92. Even if the axis is shifted, the guide pin 82 can be easily inserted into the guide hole 94a. And finger 85
Is further lowered, the guide pin 82 is
, And is inserted into the fitting hole 89a. Here also, the axis of the guide pin 82 and the fitting hole 89a is adjusted by the chamfering of the guide pin 82, the movement of the guide member 94, and the floating mechanism 84 of the assembly robot 83. Even if it is shifted, the guide pin 82 can be easily inserted into the fitting hole 89a. In this state, the axes of the guide hole 94a and the fitting hole 89a are aligned. Thereafter, the guide pin 82 is inserted into the fitting hole 89a by about several mm, and the lowering is stopped at that position.

Next, the guide member 94 is pressed against the butting plate 88a of the mounting bracket 88 by supplying air from the air supply port 96a and moving the locking piston 95 upward. Is fixed. When the guide member 94 is fixed, the guide pin 82 is pulled out from the fitting hole 89a and the guide hole 94a by the assembly robot 83.

Next, the shaft part 87 is moved above the guide hole 94a of the shaft part guide mechanism 91, and as shown in FIG.
The movable part of the slide mechanism 92 is lowered, the shaft head 90a is further extended, and the shaft component 8 sucked by the finger 85 is moved.
7 is lowered. At this time, even if the axis of the shaft component 87 and the guide hole 94a is slightly displaced due to the variation of the positioning accuracy of the finger 85, the shaft component 8 is chamfered by the guide hole 94a and the floating mechanism 84 of the assembly robot 83.
7 is easily inserted.

Then, the finger 85 is further lowered, and the lowering is stopped at a position where the shaft component 87 is fitted into the fitting hole 89a by several millimeters. In this case, since the shaft component 87 and the fitting hole 89a coincide, the shaft component 87 can be inserted into the fitting hole 89a.

However, if the amount of misalignment between the fitting hole 89a and the shaft component 87 is larger than the sum of the chamfer amounts of the fitting hole 89a and the shaft component 87 and the total clearance between the fitting hole 89a and the shaft component 87, The shaft component 87 cannot be inserted into the mating hole 89a, and the fit between the shaft component 87 and the guide hole 94a is absorbed by the movable portion of the slide mechanism 92 stopping halfway through the stroke. That is, the movement of the movable part of the slide mechanism 92 is stopped in the middle of the stroke as the shaft part 87 is inclined and hits the inner surface of the guide hole 94a under the influence of the assembling accuracy of the parts. Insert this shaft part 87 into the fitting hole 89
When the shaft head 90a of the assembling robot 83 is rotated in a state where the shaft head 90a is pressed downward by the slide mechanism 92 so as to be inserted into the floating mechanism 84, the lower portion of the floating mechanism 84 is rotated by the guide pin 82 which is a rotating shaft. Head 90
Since it is mounted eccentrically with respect to a, it moves outward in rotation due to the effect of centrifugal force. Thus, the shaft part 8
7 rotates while being pressed against the inner surface of the guide hole 94a, and is fitted when the shaft component 87 moves to a position where it is fitted into the fitting hole 89a.

When the suction of the shaft component 87 is released after the fitting of the shaft component 87, the shaft component 87 falls by its own weight, and the insertion is completed.

In such a method, even if the shaft component 87 cannot be inserted due to the assembling accuracy of each component, the shaft component 87 is positively moved in the guide hole 94a to be inserted into the fitting hole 89a. The insertion is possible by moving the fitting position.

(Seventh Embodiment) In this embodiment, only means for moving the shaft component in the guide hole when the shaft component cannot be inserted, which is different from the configuration of the sixth embodiment, will be described. The description of the same parts as in the sixth embodiment is omitted.

FIG. 23 is a perspective view showing a modification of the guide member of the shaft component guide mechanism shown in FIG.

The guide member 97 shown in FIG. 23 has a large chamfered guide hole 97a as in the sixth embodiment, and supplies air to the inner peripheral surface of the guide hole 97a. Air supply ports 97b are formed.

When the shaft member is inserted into the fitting hole through the guide hole instead of the guide pin, similarly to the sixth embodiment, using the guide member 97, the fitting hole and the shaft If the amount of misalignment is larger than the sum of the chamfer amount of the fitting hole and the shaft part and the total of the clearance between the fitting hole and the shaft part, the shaft part cannot be inserted into the fitting hole and the fitting between the shaft part and the guide hole is not possible. The margin is absorbed when the movable part of the slide mechanism stops in the middle of the stroke. That is, the movement of the movable part of the slide mechanism is stopped in the middle of the stroke because the shaft part is inclined and hits the inner surface of the guide hole under the influence of the assembling accuracy of the parts.

Next, in a state where the suction of the shaft component is released and the shaft component is pressed downward by the slide mechanism, the air of positive pressure or negative pressure is sequentially supplied from a number of air supply ports 97b formed in the inner peripheral surface of the guide hole 97a. When the shaft component is supplied, the shaft component moves in the range of the clearance of the guide hole 97a by the air of the positive pressure or the negative pressure, and is fitted when the shaft component moves to a position where it fits into the fitting hole, and is inserted by its own weight. Is completed.

Even in such a method, even if the shaft part cannot be inserted due to the assembling accuracy of the parts, the shaft part is positively moved in the guide hole and the position at which the shaft part is fitted into the fitting hole. Can be inserted.

(Eighth Embodiment) In this embodiment, only the means for moving the shaft component in the guide hole when the shaft component cannot be inserted, which is different from the configuration of the sixth embodiment, will be described. ,
The description of the same parts as in the sixth embodiment is omitted.

FIG. 24 is a perspective view showing a modification of the finger shown in FIG.

As shown in FIG. 24, the suction pad 98 of the finger of this embodiment is provided eccentrically with respect to a rotation axis 99 of a rotation driving device (not shown).

When the shaft component is inserted through the guide hole instead of the guide pin using the suction pad 98 in the same manner as in the sixth embodiment, the fitting hole and the shaft If the amount of misalignment is larger than the sum of the chamfer amount of the fitting hole and the shaft part and the total of the clearance between the fitting hole and the shaft part, the shaft part cannot be inserted into the fitting hole and the fitting between the shaft part and the guide hole is not possible. The margin is absorbed when the movable part of the slide mechanism 92 stops in the middle of the stroke. In other words, the shaft component is inclined and hits the inner surface of the guide hole under the influence of the assembly accuracy of each component,
The movement of the movable part of the slide mechanism 92 is stopped during the stroke.

When the suction pad 98 is rotated by a rotary driving device (not shown) in a state where the suction pad 98 is pressed downward by the slide mechanism 92, the shaft component is fitted when it is moved to a position where it is fitted into the fitting hole. I do. Next, when the suction of the shaft component is released, the shaft component falls by its own weight and the fitting is completed.

Even in such a method, even if the shaft part cannot be inserted due to the assembling accuracy of the parts, the shaft part is positively moved in the guide hole and the position at which the shaft part is fitted into the fitting hole. Can be inserted.

(Ninth Embodiment) In this embodiment, only means for moving the shaft component in the guide hole when the shaft component cannot be inserted, which is different from the configuration of the sixth embodiment, will be described. ,
The description of the same parts as in the sixth embodiment is omitted.

FIG. 25 is a view showing a modification of the guide member of the shaft part guide mechanism shown in FIG. 20, (a) is a plan view,
(B) is a longitudinal sectional view of (a).

The guide member 100 shown in FIG. 25 has a large chamfered guide hole 100a similarly to the sixth embodiment.
When the ring gear 101 is rotated by the motor 102, a mechanism is provided in which the elastic pin 105 sequentially protrudes into the inner surface of the guide hole 100a by one ball plunger 104 screwed into the ring gear 101. In addition, the ball plunger 104 has a compression ball spring inside the ball plunger 104 while freely holding the ball at one end, and the compression spring urges the ball toward one end.

When the guide member 100 is used to insert the shaft component into the fitting hole through the guide hole instead of the guide pin, similarly to the sixth embodiment, the fitting hole and the core of the shaft component are used. If the deviation is larger than the sum of the chamfer amount of the fitting hole and the shaft part and the total of the clearance between the fitting hole and the shaft part, the shaft part cannot be inserted into the fitting hole and the fitting between the shaft part and the guide hole The margin is absorbed when the movable part of the slide mechanism stops in the middle of the stroke. That is, the movement of the movable part of the slide mechanism is stopped in the middle of the stroke because the shaft part is inclined and hits the inner surface of the guide hole under the influence of the assembling accuracy of the parts.

Next, the ring gear 101 is rotated by the motor 102 while the suction of the shaft parts is released and the ring gear 101 is pressed downward by the slide mechanism.
The elastic pin 105 sequentially protrudes from the inner surface of the guide hole 100a by the ball plunger 104 screwed into one position.
Due to the projecting action of the elastic pin 105, the shaft component is in the guide hole 1.
When the shaft part moves to the position where it fits into the fitting hole, the fitting is completed, and the insertion is completed by its own weight.

Even in such a method, even if the shaft part cannot be inserted due to the assembling accuracy of each part, the shaft part is positively moved in the guide hole and the position at which the shaft part is fitted into the fitting hole. Can be inserted.

[0133]

Since the present invention is configured as described above, the following effects can be obtained.

According to the first aspect of the present invention, when fitting a shaft component having a small clearance margin and a small amount of chamfer with a fitting hole, a guide hole having a large amount of chamfer is slightly formed above the fitting hole. It is installed movably and inserted into the fitting hole while penetrating a pin with the same shaft diameter as the shaft part to be actually inserted into this guide hole. This is the same state as when the fitting hole is a hole with a large chamfer amount, and the shaft component can be easily inserted into the fitting hole. For this reason, even if the stop accuracy and the reproduction accuracy of the assembly robot are poor, it is easy to insert the finger using a finger that can slightly swing on a plane perpendicular to the insertion direction of the shaft component.

In addition, compared to automatic insertion using a strain gauge, the fitting hole having a small chamfer amount becomes a hole in the same state as the hole having a large chamfer amount, so that the insertion guide is extremely easy. Therefore, the insertion time can be reduced.

The device according to claim 2 can easily carry out the above-mentioned method, is simple in structure, and is inexpensive. When fitting a shaft component with a small margin and chamfering amount to a fitting hole, by installing a guide hole of a guide member above the fitting hole, the fitting hole with a small chamfering amount makes a large chamfering amount. The shaft component can be inserted into the fitting hole in the same state as a certain hole. In addition, if the shaft component is temporarily absorbed to one side surface of the guide member immediately before the fitting, and the shaft component is tilted in the guide hole due to the influence of assembly accuracy, etc., the posture of the shaft component is straightened. Can be corrected.

For this reason, even if the stopping accuracy and the reproducibility of the assembling robot are poor, it is easy to insert the finger using a finger which can slightly swing on a plane perpendicular to the inserting direction of the shaft part.
Also, compared to automatic insertion using a strain gauge, the fitting hole having a small chamfer amount becomes a hole in the same state as a hole having a large chamfer amount, so that the insertion guide is extremely easy. Therefore, the insertion time can be reduced.

The device according to claim 4 can easily carry out the above method, has a simple structure and is inexpensive.

The method according to the fifth aspect is similar to the method according to the first aspect, in that when fitting a shaft part having a small gap and chamfering amount to a fitting hole, the fitting part is located above the fitting hole. The guide hole of the second guide member is provided in the fitting hole through the communication hole of the member, and the guide hole of the second guide member is provided through the communication hole of the member. The shaft component can be inserted into the fitting hole in the same state as the hole with the hole. In addition, if the shaft component is once absorbed by the first and second guide members immediately before the fitting, and the shaft component is tilted in the hole under the influence of assembly accuracy, the posture of the shaft component is changed. It can be corrected straight.

For this reason, even if the stopping accuracy and the reproducibility of the assembling robot are poor, it is easy to insert the finger using a finger that can slightly swing on a plane perpendicular to the inserting direction of the shaft part.
Also, compared to automatic insertion using a strain gauge, the fitting hole having a small chamfer amount becomes a hole in the same state as a hole having a large chamfer amount, so that the insertion guide is extremely easy. Therefore, the insertion time can be reduced.

The apparatus according to claim 6 can easily carry out the above method, has a simple structure and is inexpensive.

According to a seventh aspect of the present invention, when a shaft component having particularly small clearance and chamfering amount is fitted to the fitting hole, the guide hole of the guide member is provided above the fitting hole. Thereby, the shaft component can be inserted into the fitting hole in the same state as the fitting hole having the small chamfer amount as the hole having the large chamfer amount. Furthermore, by rotating the finger, the shaft part rotates while contacting the inner surface of the guide hole, thereby correcting the amount of misalignment due to the gap between the guide hole and the shaft part. As a result, a shaft part having a particularly small chamfer amount can be reliably inserted into the fitting hole.

Therefore, even if the stopping accuracy and the reproducibility of the assembling robot are poor, the insertion can be easily performed by using a floating mechanism which can slightly swing on a plane perpendicular to the axial direction of the fitting hole of the fitting hole component. it can.

The device according to any one of claims 8 to 11 is
The above method can be easily implemented, the structure is simple, and the cost is low.

[Brief description of the drawings]

FIG. 1 is a view showing an apparatus for carrying out a first embodiment of a method for guiding insertion of a shaft part according to the present invention.

FIG. 2 is an exploded perspective view of the shaft component guide mechanism shown in FIG.

FIG. 3 is a schematic sectional view for explaining the operation of the shaft component insertion guide device shown in FIG. 1;

FIG. 4 is a diagram for explaining a conditional expression for preventing a shaft component from being unable to be inserted into a fitting hole.

FIG. 5 is a diagram for explaining a conditional expression for preventing a shaft component from being unable to be inserted into a fitting hole.

FIG. 6 is a view showing an apparatus for carrying out a second embodiment of the shaft component insertion guiding method of the present invention.

FIG. 7 is a schematic sectional view for explaining the operation of the shaft component insertion guide device shown in FIG. 6;

FIG. 8 is a view showing an apparatus for carrying out a third embodiment of the method of guiding insertion of a shaft part according to the present invention.

FIG. 9 is a schematic sectional view for explaining the operation of the shaft component insertion guide device shown in FIG. 8;

FIG. 10 is a view showing an apparatus for carrying out a fourth embodiment of the method of guiding insertion of a shaft part according to the present invention.

FIG. 11 is an exploded perspective view of the shaft component guiding mechanism shown in FIG.

12 is a schematic cross-sectional view for explaining the operation of the shaft component insertion guide device shown in FIG. 10 and shows a state in which the distal end of the guide pin is inserted into the fitting hole of the fitting hole component. ing.

13 is a schematic cross-sectional view for explaining the operation of the shaft component insertion guide device shown in FIG. 10, and shows a state where the shaft component passes through a guide hole of the guide bush.

FIG. 14 is a view showing an apparatus for carrying out a fifth embodiment of the method of guiding insertion of a shaft part according to the present invention.

15 is an exploded perspective view for explaining a detailed configuration of the first shaft component guiding mechanism shown in FIG.

FIG. 16 is an exploded perspective view for explaining a detailed configuration of a second shaft component guiding mechanism shown in FIG. 14;

17 is a schematic cross-sectional view for explaining the operation of the shaft component insertion guide device shown in FIG. 14, wherein a guide pin passes through a guide hole of the guide bush and is inserted into the fitting hole of the fitting hole component. It shows the state that is being done.

18 is a schematic cross-sectional view for explaining the operation of the shaft component insertion / guiding device shown in FIG. 14, and shows a state where the shaft component passes through a guide hole of the guide bush.

FIG. 19 is a view showing an apparatus for carrying out a sixth embodiment of the method of guiding insertion of a shaft part according to the present invention.

20 is an exploded perspective view of the shaft component guide mechanism shown in FIG.

21 is a schematic cross-sectional view for explaining the operation of the shaft component insertion guide device shown in FIG. 19, and shows a state in which the tip end of a guide pin is inserted into a fitting hole of a fitting hole component. ing.

FIG. 22 is a schematic cross-sectional view for explaining the operation of the shaft component insertion guide device shown in FIG. 19, and shows a state in which the shaft component passes through a guide hole of the guide member.

FIG. 23 is a perspective view showing a modification of the guide member of the shaft component guide mechanism shown in FIG.

FIG. 24 is a perspective view showing a modification of the finger shown in FIG. 19;

25A and 25B are diagrams showing a modification of the guide member of the shaft component guide mechanism shown in FIG. 19, wherein FIG. 25A is a plan view and FIG. 25B is a longitudinal sectional view of FIG.

FIG. 26 is a front view of a shaft component guide insertion device using a conventional compliance mechanism.

FIG. 27 is a front view of a conventional guide insertion device for a shaft component using a strain gauge.

[Explanation of symbols]

1 Guide pin holder 2, 26, 37, 42, 62, 82 Guide pins 3, 23, 33, 43, 63, 83 Assembly robots 41a, 61a, 81a X-axis arms 41b, 61b, 81b Y-axis arms 4, 24, 34, 44, 64, 84 Floating mechanism 5, 25, 35, 45, 65, 85 Finger 65a Supporting part 6, 21, 31, 46, 66, 86 Shaft component holder 7, 22, 32, 47, 67, 87 Shaft part 8, 27, 38, 48, 68, 88 Mounting bracket 8a, 27a, 38a, 48a, 68a, 88a Butt plate 9, 28, 39, 49, 69, 89 Fitting hole part 9a , 28a, 39a, 49a, 69a, 69b, 89
a Fitting hole 10, 23a, 33a, 36a, 50, 70, 90
Head part 10a, 23b, 33b, 50a, 70a, 90a
Shaft head 36 Guide pin insertion unit 36b Guide pin floating mechanism 11, 29, 40, 51, 91 Shaft component guide mechanism 71 First shaft component guide mechanism 72 Second shaft component guide mechanism 11a, 29a, 40a, 51a , 94,97,100
Guide member 73 First guide member 74 Second guide member 11b, 29b, 40b, 51b, 76, 92 Cylinder block 11c, 29c, 40c, 51c, 77, 95 Locking piston 11d, 51d, 75, 93 Retainer 11e , 51e, 75a, 93a Hard spheres 11f, 51f, 78a, 96a, 97b Air supply ports 11g, 29g, 40g, 51g, 73a, 94a, 9
7a, 100a Guide hole 74a Guide portion 51h, 73c, 74c Negative pressure supply port 51i, 73b, 74b Suction port 11h, 51j, 92a hole 52, 76a Compression spring 53, 76b, 92b Piston insertion hole 54, 77a, 95a Seal member 55, 78, 96 Bottom plate 92 Slide mechanism 98 Suction pad 99 Rotation axis 101 Ring gear 102 Motor 103 Driving gear 104 Ball plunger 105 Elastic pin 106 Pressing ring

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Osamu Yasui 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (56) References JP-A-64-16336 (JP, A) JP-A-60 -76976 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B23P 19/02 B25J 17/02

Claims (11)

(57) [Claims] 1. A method for guiding a shaft component to be inserted into a fitting hole formed in a member, wherein the guide hole having a substantially chamfered diameter substantially equal to the diameter of the fitting hole is provided. A guide member formed and supported so as to be slightly movable on a plane orthogonal to the insertion direction of the shaft component,
A fixing means for disabling the guide member; and a shaft component guide mechanism having: a guide hole of the guide member provided above the fitting hole of the member; Inserting the pin, which has been chamfered to a large extent, through the guide hole into the fitting hole; fixing the guide member immovably with respect to the member; A step of inserting the shaft component into the fitting hole through the guide hole after being pulled out from the hole and the guide hole, and a step of releasing the fixation of the guide member to the member. The method of guiding the insertion of shaft parts. 2. A shaft component insertion guide device for inserting a shaft component into a fitting hole formed in a member, wherein the guide hole having a substantially chamfered diameter substantially the same as the diameter of the fitting hole. A guide member formed and supported so as to be slightly movable on a plane orthogonal to the insertion direction of the shaft component,
A shaft part guide mechanism comprising: fixing means for making the guide member immovable; and a guide hole of the guide member provided above a fitting hole of the member. And a finger having a large chamfered pin or a finger capable of gripping the shaft component in place of the pin, and a finger capable of slightly swinging on a plane orthogonal to the insertion direction of the shaft component. The pin is inserted into the fitting hole by passing the pin through the guide hole of the guide member by a robot, and then the guide member is fixed to the member by the fixing means.
After pulling out the pin from the fitting hole and the guide hole, the robot replaces the pin with the shaft component, inserts the shaft component through the guide hole of the guide member, and inserts the shaft component into the fitting hole. Control means for releasing the fixation of the guide member by means of the above. 3. A method for guiding the insertion of a shaft component into a fitting hole formed in a member, the guide hole having a substantially chamfered diameter substantially the same as the diameter of the fitting hole. It is formed, and is supported so as to be slightly movable on a plane orthogonal to the insertion direction of the shaft component, and a pressing force is added in one direction in the moving surface, and
A shaft having a guide member having a suction port formed on one side surface of the guide hole so as to apply a suction force in a direction opposite to the pushing force, and a fixing means for making the guide member immovable. In a state where the guide hole of the guide member is provided above the fitting hole of the member using a component guide mechanism, a pin having substantially the same diameter as that of the shaft component and having a large chamfer is inserted into the guide hole of the guide member And inserting the pin into one side surface of the guide hole by applying a negative pressure to the suction port of the guide hole, and fixing the guide member immovably. And after the pin is pulled out of the fitting hole and the guide hole, the shaft component is moved through the guide hole of the guide member to the fitting hole immediately before fitting, and Parts are placed on one side of the guide hole by negative pressure from the suction port. Releasing the negative pressure of the suction port, dropping the shaft component by its own weight and inserting it into the fitting hole, and releasing the fixing of the guide member to the member. A method for guiding the insertion of a shaft component, comprising: 4. A shaft component insertion guide device for inserting a shaft component into a fitting hole formed in a member, wherein the guide hole having a substantially chamfered diameter substantially the same as the diameter of the fitting hole is provided. It is formed, and is supported so as to be slightly movable on a plane orthogonal to the insertion direction of the shaft component, and a pressing force is added in one direction in the moving surface, and
A guide member having a suction port formed on one side surface of the guide hole so as to apply a suction force in a direction opposite to the pressing force, and a fixing means for making the guide member immovable, A shaft component guide mechanism, in which a guide hole of the guide member is provided above a fitting hole of the member, a pin having substantially the same diameter as the shaft component and being largely chamfered, is provided. A robot having a finger that can be grasped and that can swing slightly on a plane perpendicular to the insertion direction of the shaft component; and the robot penetrates the pin through the guide hole of the guide member and fits the pin. Inserted into the hole, then supply a negative pressure to the suction port of the guide hole, suction the pin to one side of the guide hole, and then fixed the guide member immovably by the fixing means, The pin into the fitting hole and the plan After being pulled out from the hole, the robot replaces the pin with the pin, moves the shaft component through the guide hole of the guide member, and moves the shaft component into the fitting hole immediately before fitting, and moves the shaft component into the suction port. After the suction is performed on one side surface of the guide hole by the negative pressure from the finger, the shaft component is released from the finger, and then, the negative pressure of the suction port is released, and the shaft component is dropped by its own weight. Control means for inserting the guide member into the fitting hole and releasing the fixing of the guide member by the fixing means. 5. A method for guiding a shaft component to be inserted into a fitting hole formed in a member, wherein the member has a communication hole that communicates substantially vertically with the fitting hole. A guide hole having substantially the same diameter as the diameter of the fitting hole, which is largely chamfered, is formed, and is supported so as to be slightly movable on a plane orthogonal to the insertion direction of the shaft component. A pressing force is applied in one direction in the moving plane, and
A first guide member having a suction port formed on one side surface of the guide hole so as to apply a suction force in a direction opposite to the pushing force, and a fixing means for making the first guide member immovable; And a first shaft component guiding mechanism comprising: a first end portion formed in a semicircular concave guide portion having substantially the same diameter as the diameter of the fitting hole, and one end surface of the guide portion being largely chamfered; Processed, and supported so as to be slightly movable on a plane perpendicular to the insertion direction of the shaft component,
A second guide having a suction port formed in a concave surface of the guide portion, such that a pressing force is applied in one direction in the moving surface and a suction force is applied in a direction opposite to the pressing force. A second shaft component guide mechanism including a member and fixing means for making the second guide member immovable, guiding the first guide member above a fitting hole of the member. In the state where the hole is installed, and the guide portion of the second guide member is installed in the fitting hole through the communication hole of the member, a pin having substantially the same diameter as the shaft component and having a large chamfered portion is formed.
Inserted into the fitting hole through the guide hole and the guide portion,
Next, a step of supplying a negative pressure to each of the suction holes of the guide hole and the guide portion to cause the pin to be sucked on one side surface of the guide hole and the concave surface of the guide portion; And fixing the second guide member immovably; and after withdrawing the pin from the fitting hole, the guide portion and the guide hole, fitting the shaft component through the guide hole and the guide portion. Move to the hole just before mating,
By the negative pressure from each suction port of the guide hole and the guide portion,
Adsorbing the shaft component on one side surface of the guide hole and the concave surface of the guide portion, releasing the negative pressure of the suction hole of the guide hole and the guide portion, and dropping the shaft component by its own weight. A method of inserting and guiding a shaft component, comprising: a step of inserting the guide member into the fitting hole; and a step of releasing fixing of the first and second guide members to the member. 6. A shaft component insertion guide device for inserting a shaft component into a fitting hole formed in a member, wherein the member has a communication hole that communicates substantially vertically with the fitting hole. A guide hole having substantially the same diameter as the diameter of the fitting hole, which is largely chamfered, is formed, and is supported so as to be slightly movable on a plane orthogonal to the insertion direction of the shaft component. A pressing force is applied in one direction in the moving plane, and
A first guide member having a suction port formed on one side surface of the guide hole so as to apply a suction force in a direction opposite to the pushing force, and a fixing means for making the first guide member immovable; A first shaft component guide mechanism comprising a guide hole of the first guide member provided above a fitting hole of the member, one end of which is substantially equal to the diameter of the fitting hole. It is formed in a semicircular concave guide portion of the same diameter, and one end surface of the guide portion is largely chamfered, and is supported so as to be slightly movable on a plane orthogonal to the insertion direction of the shaft component. As well as
A second guide having a suction port formed in a concave surface of the guide portion, such that a pressing force is applied in one direction in the moving surface and a suction force is applied in a direction opposite to the pressing force. A second guide member, comprising: a member; and fixing means for making the second guide member immovable, wherein a guide portion of the second guide member is provided in the fitting hole through a communication hole of the member. A shaft component guiding mechanism, and a pin having substantially the same diameter as the shaft component and having a large chamfered portion, capable of gripping the shaft component and slightly shaking on a plane orthogonal to the insertion direction of the shaft component. A robot having movable fingers, and the robot inserts the pin into the fitting hole through the guide hole and the guide portion, and then supplies a negative pressure to each suction port of the guide hole and the guide portion, respectively. And one side surface of the guide hole and the The pin is attracted to the concave surface inside, and then the first and second guide members are immovably fixed to the member by the fixing means, and the pin is fixed to the fitting hole and the guide. After being pulled out of the guide hole and the guide hole, the robot replaces the pin with the pin and moves the shaft component through the guide hole and the guide portion to the fitting hole immediately before fitting, thereby removing the guide hole and the guide portion. After the shaft component is attracted to one side surface of the guide hole and the concave surface of the guide portion by the negative pressure from each suction port, the shaft component is released from the finger, and then the guide hole and the guide are released. Releasing the negative pressure of each suction port of the unit, dropping the shaft component by its own weight, inserting the shaft component into the fitting hole, and releasing the fixing of the first and second guide members by the fixing means. Means and An insertion guide device for a shaft part. 7. A method of inserting a shaft part into a fitting hole formed in a member, the method comprising: inserting a shaft part into a fitting hole formed in a member; A guide member formed and supported so as to be slightly movable on a plane orthogonal to the insertion direction of the shaft component,
A fixing means for disabling the guide member; and a shaft component guide mechanism having: a guide hole of the guide member provided above the fitting hole of the member; Inserting a pin that has been chamfered into the fitting hole through the guide hole of the guide member, and fixing the guide member immovably; and After being pulled out from the guide hole, the shaft component is moved through the guide hole to a position where it can be slightly fitted into the fitting hole, and the shaft component is moved in the guide hole, whereby the shaft component is moved. After aligning the shaft component with the fitting hole, the method includes a step of dropping the shaft component by its own weight and inserting the shaft component into the fitting hole, and a step of releasing the fixing of the guide member to the member. Characterized by the method of guiding the insertion of shaft parts. 8. A shaft component insertion guide device for inserting a shaft component into a fitting hole formed in a member, wherein the guide hole having a substantially chamfered diameter substantially equal to the diameter of the fitting hole is provided. A guide member formed and supported so as to be slightly movable on a plane orthogonal to the insertion direction of the shaft component,
A shaft part guide mechanism comprising: fixing means for making the guide member immovable; and a guide hole of the guide member provided above a fitting hole of the member. And a finger that can slightly swing on a plane perpendicular to the insertion direction of the shaft component,
A robot comprising: a rotation drive unit configured to support the center of the finger and rotate the finger; and a pin provided eccentrically to the finger and having a substantially same diameter as the shaft component and a large chamfered process. The pin is inserted into the fitting hole through the guide hole of the guide member by a robot, and the guide member is immovably fixed by the fixing means, and the pin is fixed to the fitting hole and the guide hole. After being pulled out of the guide hole, the shaft component is moved to a position where the shaft component can be slightly fitted into the fitting hole by passing through the guide hole in place of the pin, and the finger is rotated by the rotation driving means to guide the shaft component. By moving the shaft part in the hole, the shaft part and the fitting hole are aligned, and then the shaft part is released from the finger, and the shaft part is dropped by its own weight. Control means for inserting the guide member into the fitting hole and releasing the fixing of the guide member by the fixing means. 9. The insertion guide device for a shaft component according to claim 8, wherein a large number of through holes are formed in an inner surface of the guide hole of the guide member, and the control means is replaced with the rotation drive means. A positive or negative pressure air is sequentially supplied to the through-hole to move the shaft component in the guide hole, whereby the shaft component insertion guide device is provided. 10. The insertion guide device for a shaft component according to claim 8, wherein a suction pad of the finger for suctioning the shaft component is rotatable, and the position of the shaft component is suctioned by the suction pad. The control means is provided so as to be eccentrically sucked with respect to the rotation axis of the pad, and the control means rotates the suction pad of the finger in place of the rotation driving means, and thereby the shaft component in the guide hole. A shaft component insertion guide device, characterized by moving 11. The shaft component insertion guide device according to claim 8, wherein the guide member is provided with pin projecting means for sequentially projecting a large number of pins from the inner surface of the guide hole toward the center. Wherein the control means moves the shaft part in the guide hole by sequentially protruding a large number of pins by the pin protruding means instead of the rotation driving means, wherein the shaft part insertion guide device is provided. .