JP2947406B2 - Work positioning device for assembly robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wire for an assembling robot.
More particularly, the present invention relates to a work positioning device for an assembling robot which is attached to a desktop robot or the like and is used when assembling small parts to a work such as an electric device.

[0002]

2. Description of the Related Art FIG. 5 is a perspective view schematically showing a conventional work positioning device for an assembling robot of this type, which is attached to a desktop robot. In the drawing, reference numeral 51 denotes a base plate. A Y-axis table 511 driven in the Y-axis direction and an operation unit 512 for controlling and operating the operations of the Y-axis table 511, the X-axis plate 531 and the tool driving means 532 are arranged at a predetermined position on the base plate 51. Has been established. A frame 53 is horizontally laid above a rear portion of the base plate 51 via a column 52, and an X-axis plate 531 driven in the X-axis direction is provided on the front surface of the frame 53. Is provided with tool driving means 532. The tool driving means 532 rotates in the direction of the arrow in the figure and is driven in the Z-axis direction.
A tool 533 for, for example, grease application, gear assembling, cut washer assembling, screw fastening, or the like is attached to the lower portion. These base plate 51, Y-axis table 511, operation unit 512, support column 52, frame 53, X-axis plate 531, tool driving means 532, tool 533
The desktop robot 50 is configured to include the above.

On the other hand, at a predetermined position on the Y-axis table 511, a substantially hollow rectangular parallelepiped housing 61 is detachably attached. An opening 62 into which a work 70 such as a radio is inserted is formed on the front side of the housing 61.
Air cylinders 63 and 64 are attached to predetermined positions on the upper part 611 side and the side part 615 side, respectively.
The work positioning device 60 for the assembling robot includes the housing 61, the air cylinders 63 and 64, and the like.

A work 70 is set using the work positioning device 60 configured as described above, and the tabletop robot 5 is set.
When an assembling operation is performed on a predetermined portion of the work 70, for example, on the upper portion 71 and the front portion 73 side, the Y-axis table 511, the X-axis plate 531 and the tool driving means 532
Is set to the initial position, the work 70 is inserted into the housing 11 through the opening 62 from the direction of the arrow in the figure. Next, FIG.
When the air cylinder 64 is driven, the side surface portion 75 of the work 70 is pressed leftward through the piston 642 and the pressing portion 643 as shown in FIG.
The work side surface 76 side is in contact with 6a, and the left and right direction of the work 70 is positioned and fixed. Next, when the air cylinder 63 is driven, the upper portion 71 of the work 70 is pressed downward via the piston 632 and the pressing portion 633, and the work lower portion 72 contacts the reference surface 612a of the housing lower portion 612, and the work 70 is moved.
Is positioned and fixed in the vertical direction. Next, the operation unit 512
, The Y-axis table 511, the X-axis plate 531 and the tool driving means 5
32 are driven, and a tool 533 performs assembly work such as application of small components such as grease application, gears and cut washers, or fastening of screws (both not shown) at predetermined positions on the upper portion 71 of the work. And return to the initial position. Next, the housing 61 is manually rotated, and the rear portion 6 of the housing is rotated.
It is attached to a predetermined location on the Y-axis table 511 with the 14 side down. Next, when a key is input to the operation unit 512, the Y-axis table 511, the X-axis plate 531 and the tool driving unit 532 are driven according to the control program, respectively.
After the assembling operation is performed at a predetermined position on the front portion 73 side of the work 70 by the tool 533, the work 70 returns to the initial position.

[0005]

In the above-described conventional work positioning device 60 for an assembling robot, the work 70 is positioned on the orthogonal reference planes 612a and 616a, and the work 70 is limited to a substantially rectangular parallelepiped shape. Is done. When the lower housing 612 side is attached to the Y-axis table 511, the assembling work is performed on the upper surface 71 of the work 70. To perform the assembling work on the front portion 73, the housing 61 is manually rotated. It is necessary to change the mounting, and it is easy to take much labor and time, and the manufacturing cost is high. Further, the pressing portions 633 and 643 and the reference surface 612
The workpiece 70 is fixed by the frictional force at the points a and 616a, and when the casing 61 is rotated, if the vibration is applied thereto, the position of the workpiece 70 may be shifted. Further, it is difficult to adjust or change the mounting height of the work 70, and it is difficult to set the positions of the upper surface 71 and the front surface 73 near the lower part of the tool 533, and the tool driving means 532
However, there is a problem that the driving distance (Z direction) from the initial position tends to be long, and the efficiency is reduced.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and can reliably position and fix works having different shapes such as a rectangular parallelepiped, a polygonal column, and a cylinder, and can easily reduce the height of the work. By adjusting and changing the robot, the work efficiency of the robot can be increased, and the work can be mechanically rotated to reduce the labor. At the same time, the assembly work can be performed at many places of the work with one installation. It is an object of the present invention to provide a work positioning device for an assembling robot that can reduce manufacturing costs.

[0007]

In order to achieve the above object, a work positioning device (1) for an assembly robot according to the present invention accommodates a work inserted from an opening.
Work positioning device for an assembly robot with a housing
And enters the housing from one side surface of the housing.
And one side surface of the work housed in the housing.
Pressing into a first reference hole provided in advance,
1st position which presses a workpiece | work on the other side surface part in the said housing | casing
A fixing / fixing means, and the casing from the other side surface of the casing.
Into the inside of the work, and is provided in advance on the other side of the work.
The work is fitted in the second reference hole and
A second positioning / fixing means for positioning at a fixed position is provided.
It is characterized by that example.

According to the work positioning device (1) for an assembling robot, the inside of the housing is moved from one side of the housing.
And one side of the work housed in the housing
Pressing into a first reference hole provided in advance on the surface,
A first pressing the work against the other side surface in the housing;
Positioning and fixing means, from the other side of the housing
Penetrates into the housing and is set in advance on the other side of the work.
The workpiece is fitted into the second reference hole
Positioning / fixing means for positioning at a predetermined position in the inside
So that the other side surface of the housing is a reference surface.
Perform positioning in the pressing axis direction on the work
And the first and second positioning / fixing.
With the pressing axis of the workpiece based on the
Positioning and fixing in the intersecting direction can be performed. Also
Based on the pressing force of the first positioning / fixing means,
1 positioning and fixing means and one side of the work
And the other side surface in the housing and the work
The frictional force generated between the
Can be fixed inside the housing. These conclusions
As a result, the shape of the work may be a rectangular parallelepiped, a polygonal prism, a cylinder, or the like.
Even if they are different from each other,
It can be securely positioned and fixed at a predetermined location in the body.
When the robot is driven after the housing is attached to a predetermined location of the robot, the assembling work can be reliably performed at the predetermined location of the work.

In the work positioning device (2) for an assembly robot according to the present invention, in the work positioning device (1) for an assembly robot, the first positioning / fixing means is formed at a pressing portion and a tip portion thereof. pin portion having a predetermined outer diameter (hereinafter referred to as the first pin portion) is constituted by a, the second positioning and fixing means and a tapered shape
It is characterized by comprising a pin portion (hereinafter, referred to as a second pin portion) in which the outer diameter of the root portion is set larger than the second reference hole .

According to the work positioning device (2) for an assembling robot, the first positioning / fixing means is pressed.
And a first pin portion, wherein the second positioning
The fixing means is constituted by the second pin portion.
In, formed in advance the one said in the predetermined portion of the side surface portion of the first pin in the shape similar to the first reference bore of the workpiece, press the first positioning and fixing means to said workpiece side
Then, push in the second positioning / fixing means.
The first pin portion is fitted in the first reference hole.
After that, the work is brought into contact with the housing at the end face of the pressing portion.
While being able to press against the other side, the second
Of the second reference hole is a tapered shape.
Even if the position is shifted, the second reference hole
The second pin part can be inserted and fitted securely.
You.

Further work positioning device for assembling robot according to the present invention (3), in a the assembling robot work positioning device (1), the center side of the first positioning and locking means between the pressing portion and the housing in biased tapered shape
A pin portion (hereinafter referred to as a third pin portion) having an outer diameter of a root portion set to be larger than the first reference hole , wherein the second positioning / fixing means has a tapered shape. And
The outer diameter of the root portion is set larger than the second reference hole.
A pin portion (hereinafter, referred to as a second pin portion)
It is characterized in that there.

According to the work positioning device for an assembling robot (3), the first positioning / fixing means is pressed.
Part and a third pin urged toward the center of the housing.
Wherein the second positioning / fixing means is the second positioning / fixing means.
The first positioning.
By pushing the fixing means into the work side,
The second reference hole is not affected by the accuracy of the first reference hole.
After securely fitting the third pin portion into the first reference hole,
At the end face of the pressing portion, the work is placed on the other side of the housing.
Part can be pressed .

The work positioning device (4) for an assembling robot according to the present invention is the work positioning device (1) to (3) for an assembling robot according to any of the above (1) to (3), wherein a rotation angle detecting unit is provided at a predetermined position of the housing. A rotating means configured to include is connected, and the rotating means is supported by a supporting means.

According to the work positioning device (4) for an assembling robot , a rotation angle detector is provided at a predetermined position of the housing.
Rotating means configured to include the rotating means,
Because it is supported by the lifting means, said rotating means, said through housing work rotating mechanical and can be rotated to any angle ,, said housing and to reduce the labor required for mounting replacement be able to. Further, when the supporting means is attached to a predetermined position of the robot and the robot is driven, the assembling work can be reliably performed on each surface of the work by one attachment. As a result of these,
The working time can be shortened, and the manufacturing cost can be reduced.

[0015] The assembly robot for work positioning device (5) is any one for the assembling robot work positioning device (1) to (5), the first plate in a predetermined position of the housing or the supporting means Is attached, a second platen is provided below the first platen, and the second platen and the first platen are connected using a plurality of bolts, A plurality of rings are interposed in these bolts.

According to the work positioning device (5) for an assembling robot, the predetermined position of the housing or the support means can be improved.
A first platen is attached to a location, and below the first platen.
A second surface plate is disposed on the second surface plate and the first surface plate.
It is connected to the board using a plurality of bolts,
Since a plurality of ring Luo bolt is interposed, remove the interposed by said ring for each of these bolts by the same number, or by interposing add the ring by identical number, the housing body, or it can easily adjust the height of the workpiece through the casing and the support means. As a result, it is possible to set a short distance between the workpiece and the robot tool, the robot
It is possible to speed up the assembly work that.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a work positioning device for an assembly robot according to the present invention will be described below with reference to the drawings. Note that components having the same functions as those of the conventional example are denoted by the same reference numerals. FIGS. 1A and 1B are diagrams schematically showing a work positioning device for an assembly robot according to a first embodiment, wherein FIG. 1A is a front view, and FIG.
-A line sectional view, (c) shows a side view. An opening 12 into which the work 70 is inserted is formed in the front portion 113 of the substantially hollow rectangular parallelepiped housing 11, and a robot tool 533 (FIG. 5) is inserted into the upper portion 111 of the housing 11 during assembly work. A notch 13 is formed. Housing 1
At predetermined positions of the bottom 112 and the rear part 114 of the first mounting hole 112, mounting holes 112a and 114a having a pitch of P and a distance of L, and mounting holes 1 having a radius of R set at every 90 ° on a circumference.
12b and 114b are formed respectively. For example, twin rod cylinders 14a, 17a and piston rods 14b, 17
The driving means 14 and 17 including b are disposed so as to face each other. When air is supplied to the twin rod cylinders 14a and 17a, the piston rods 14b and 17b are driven in the left and right directions, respectively. I have. On the other hand, holes 115 are provided at predetermined locations on the side portions 115 and 116 of the housing 11.
a and 116a are formed two by two, respectively.
Positioning / fixing means 16 and 18 are slidably disposed at a and 116a, respectively.
Is connected to the driving means 1 through a substantially plate-shaped connecting means 15.
4, 17 are connected to the ends of the piston rods 14b, 17b, respectively. The positioning / fixing means 16 comprises a substantially cylindrical pressing portion 161 and a pin portion 162 formed at the distal end thereof. The outer diameter of the pin portion 162 is smaller than the pressing portion 161 and Side part 75 of
Are set in the same manner as the reference hole 75a formed in the second hole. On the other hand, the positioning / fixing means 18 comprises a pressing portion 181 and a tapered pin portion 182 extending from the tip thereof, and the outer diameter of the pressing portion 181 is formed on the side surface portion 76 of the work 70. The reference hole 76a is set larger than the reference hole 76a. A work positioning device 10 for an assembling robot according to the first embodiment includes the housing 11, the driving means 14, 17, the connecting means 15, and the positioning / fixing means 16, 18. Also, this work positioning device 10
For example, the bottom 112 side of the housing 11 is set downward, and is attached to a predetermined location of the Y-axis table 511 of the desktop robot 50 shown in FIG.

When the work 70 is set on the work positioning apparatus 10 having the above-described configuration, and the table-top robot 50 is used to assemble the work 70 at a predetermined position, for example, on the upper part 71 and the front part 73, first, Y axis table 51
1. After setting the X-axis plate 531 and the tool driving means 532 to the initial positions, the work 70 is moved from the opening 12 to the housing 1
Insert into 1. Next, after the pin portion 162 is inserted into the reference hole 75a of the work 70, when the driving means 14 is driven, the work side surface portion 75 is pressed rightward by the end surface of the pressing portion 161 and the work side surface portion 116 is pressed against the work side surface portion 116. The left and right sides of the work 70 are positioned and fixed by the contact of the side surfaces 76. Next, when the driving means 17 is driven, the reference hole 76 in the work side surface portion 76 is formed.
The pin portion 182 is pushed into a, and the work 70 is positioned and fixed in the front-rear direction. Next, when a key is input to the operation unit 512, as in the case shown in FIG. Is performed at a predetermined position on the upper portion 71 of the work, and then returns to the initial position. Next, the housing 11 is manually rotated to set the housing rear portion 114 side downward, and attached to a predetermined position of the Y-axis table 511 of the desktop robot 50 via the attachment hole 114a. Next, when a key is input to the operation unit 512, the tool 533 performs an assembling operation at a predetermined position on the work front part 73 side, and then returns to the initial position.

As is apparent from the above description, in the work positioning apparatus 10 for an assembly robot according to the first embodiment,
After inserting the work 70 through the opening 12, the driving unit 1
When the members 4 and 17 are driven, the work 70 can be positioned and fixed in the housing 11 via the connection means 15 and the positioning and fixing means 16 and 18. After the housing 11 is attached to the Y-axis table 511 of the desktop robot 50, when the desktop robot 50 is driven, the assembling work can be reliably performed at a predetermined position of the work 70.

In the work positioning apparatus 10 for an assembling robot according to the first embodiment, the reference hole 7 having a shape similar to that of the pin 162 is previously formed at a predetermined position on the side surface 75 of the work 70.
5a, a reference hole 76a having a shape smaller than the maximum diameter of the pin portion 182 is formed in the side surface portion 76 of the work 70, and the pin portion 162 is inserted into the reference hole 75a to drive the driving means 14, 17. Then, the pressing portion 161 causes a warp.
The lock 70 is pressed and pressed against the side surface 116 of the housing 11 and the pin 1
82 is pushed in, and the substantially rectangular parallelepiped workpiece 70 is
Can be reliably positioned and fixed at a predetermined position in the inside.

In the first embodiment, the case in which the substantially rectangular parallelepiped work 70 is positioned and fixed has been described. In another embodiment, the work has a polygonal prism shape.
It may be a column or the like.

FIG. 2 is an enlarged sectional view showing the vicinity of the positioning / fixing means of the work positioning apparatus for an assembling robot according to the second embodiment. In FIG. 2, 115a is the same as that shown in FIG. The hole formed in the housing side part 115 is shown. A substantially cylindrical pressing portion main body 211 is slidably disposed in the hole 115a, and a concave portion 211a and a through hole 211b extending from this end portion are formed in the pressing portion main body 211, A substantially T
A letter-shaped support 212 is attached. The pressing portion 21 is constituted by the pressing portion main body 211 and the support body 212. A substantially T-shaped pin portion 22 is slidably disposed in the concave portion 211a and the through hole 211b, and the tip of the pin portion 22 is set in a tapered shape. Further, a coil spring 23 is interposed between the pin portion 22 and the support body 212 so that the pin portion 22 is constantly urged rightward. The positioning / fixing means 20 is configured to include the pressing portion 21, the pin portion 22, the coil spring 23, and the like. The positioning / fixing means 20 is the same as that shown in FIG. It is connected to connection means 15. The other configuration is the same as that shown in FIG. 1, and a detailed description of the configuration will be omitted here. These positioning and fixing means 20, 18,
A work positioning device for an assembling robot according to the second embodiment includes the housing 11, the driving means 14, 17, the connecting means 15, and the like.

When using the device configured as described above,
A reference hole 75a having a shape smaller than the maximum diameter of the pin portion 22 is previously formed at a predetermined position on the side surface portion 75 of the work 70,
When the driving means 14 is driven, the pin portion 22 is first pushed in until it is fitted into the reference hole 75a, and then this state is maintained by the urging force of the coil spring 23. Subsequently, the pressing portion 2
1 comes into contact with the side surface portion 75 of the work, and
The press 70 is pressed and pressed against the side surface 116 (FIG. 1) of the housing 11. Next, when the driving means 17 is driven, the pin portion 182 is pushed in until it is fitted in the reference hole 76a, and the work 70 is positioned and fixed at a predetermined position in the housing 11 (both in FIG. 1).

As is apparent from the above description, in the work positioning device for an assembling robot according to the second embodiment, a reference hole having a shape smaller than the outer diameter of the pin portion 22 is previously formed at a predetermined position on the side surface portion 75 of the work. Drive means 1 with 75a formed
When the pins 4 and 17 are driven, the pin portion 22 is pushed in until it is fitted in the reference hole 75a, and this state is maintained by the urging force of the coil spring 23. Subsequently, after the pressing portion 21 comes into contact with the work side surface portion 75, the work 70 is pressed by the pressing portion 21 and pressed against the housing side surface portion 116, and the pin is fitted until it is fitted into the reference hole 76a. The portion 182 is pushed into the housing 1 without being restricted by the shape of the reference hole 75a.
The work 70 can be reliably positioned and fixed at a predetermined position in the work 1.

FIG. 3 is a diagram schematically showing a work positioning device for an assembling robot according to a third embodiment.
Is a partial cross-sectional side view, and (b) is a front view of the rotating means and the supporting means. One end of a coupling 311 is connected to a bottom 112 of the housing 11 formed in the same manner as that shown in FIG. 1 via a mounting hole 112b (FIG. 1).
The other end of the coupling 311 is connected to one end of a coupling 313 via an intermediate shaft 312, and the other end of the coupling 313 is connected to a rotary shaft 314a of a rotary actuator 314 driven by air. ing. This rotary actuator 314 supports the support plate 32
1 while the intermediate shaft 312 is
It is rotatably attached to the support plate 322 via 12a. When the rotary actuator 314 is driven, the housing 11 rotates via the rotation shaft 314a, the coupling 313, the intermediate shaft 312, and the coupling 311. A substantially L-shaped dog 315a is attached to a predetermined portion of the coupling 313, and a photomicrosensor 315 is disposed on the support plate 322 facing the dog 315a, for example, at an angle of about 90 ° in front view. When the photomicrosensor 315 detects that the dog 315a rotates and reaches the front, the drive of the rotary actuator 314 is stopped. These couplings 311, 31
3, intermediate shaft 312, rotary actuator 314,
The rotation unit 31 includes the photomicrosensor 315 and the like. A support 323 orthogonal to these is formed below the support plates 321 and 322, and the support means 32 is configured by the support plates 321 and 322 and the support 323. The housing 11 is provided with connecting means 15, driving means 14, 17 (FIG. 1), and positioning / fixing means 16, 18 (FIG. 1) in the same manner as shown in FIG. The work positioning device 30 for an assembly robot according to the third embodiment includes the means 31 and the support means 32. The work positioning device 30 is directly mounted on a predetermined position of the Y-axis table 511 of the desktop robot 50 shown in FIG.

In the case of using the apparatus 30 constructed as described above, when the rotating means 31 is set at the initial position, the assembling work is performed on the front portion 73 of the work 70, and the rotating means 31 is moved to 90. When rotated, the side portions 75 and 7 of the work 70 are rotated.
At 6 the assembling work is performed.

As is apparent from the above description, in the work positioning apparatus 30 for an assembly robot according to the third embodiment,
The work 70 can be mechanically rotated via the rotating means 31 and the housing 11, and the labor required for rotating the housing 11 and replacing the housing can be reduced. Support means 3
2 is mounted on the Y-axis table 511 of the table-top robot 50, and when the robot 50 is driven, the assembling work is reliably performed on each surface of the front portion 73 and the side portions 75 and 76 of the work 70 by one mounting. Can be. As a result of these,
The working time can be shortened, and the manufacturing cost can be reduced.

In the third embodiment, the rotating means 31 is attached to the bottom 112 of the housing 11 through the mounting hole 112b.
Has been described, but in another embodiment, the mounting hole 1 is formed in the rear portion 114 of the housing 11.
The rotating means 31 may be connected via 14b.

In the third embodiment, the positioning and
Although the case of the fixing means 16 has been described, the positioning / fixing means 20 may be used in another embodiment.

FIG. 4 is a diagram schematically showing a work positioning device for an assembling robot according to a fourth embodiment.
Shows a plan view, and (b) shows a partial cross-sectional side view. FIG.
The bottom 112 of the housing 11 formed in the same manner as shown in FIG.
A platen 41 is attached via a mounting hole 112a (FIG. 1), and a platen 42 is disposed below the platen 41. The platens 41 and 42 are connected by using studs 43. ing. A plurality of rings 44 having the same shape are interposed in the stud 43, respectively. The housing 11 has a connecting means 15, driving means 14, 17 (FIG. 1), positioning / fixing means 16, similar to those shown in FIG.
18 (FIG. 1) are provided, and
2. A work positioning device 40 for an assembling robot according to the fourth embodiment includes the stud bolt 43 and the ring 44. Also, this work positioning device 40
Y-axis table 511 of tabletop robot 50 shown in FIG.
At a predetermined location via a surface plate 42.

When the apparatus 40 having the above-described configuration is used, an assembling operation is performed on the upper portion 71 of the work 70. Also, a ring 44 interposed in each stud 43
Is changed, the height of the upper portion 71 of the work 70 is adjusted.

As is clear from the above description, in the work positioning device 40 for an assembly robot according to the fourth embodiment,
Ring 44 interposed for each of these studs 43
The height of the work 70 can be easily adjusted via the housing 11 by removing the same number of pieces or by adding the same number of rings 44. As a result,
The distance between the work 70 and the tool 533 (FIG. 5) of the desktop robot 50 can be set short, and the assembly work of the desktop robot 50 can be accelerated.

In the fourth embodiment, the case where the surface plate 41 is attached to the bottom 112 of the housing 11 through the mounting hole 112a has been described. Mounting hole 1 in the rear 114
The platen 41 may be attached via the base 14a.

In the fourth embodiment, the positioning and
Although the case of the fixing means 16 has been described, the positioning / fixing means 20 may be used in another embodiment.

In the fourth embodiment, the case where the surface plate 41 is attached to the housing 11 has been described. In another embodiment, the support base of the support means 32 shown in FIG. The surface plate 41 may be attached to the H.323.

In the above-described embodiment, the case where two positioning / fixing means 16, 18, and 20 are provided in each case has been described. 16, 18, and 20 may be provided one by one or three or more.

In each of the above embodiments, the reference holes 75a, 76a are formed in the side surfaces 75, 76 of the work 70.
However, when tap holes, shaft holes and the like are formed at predetermined positions of the work 70, these may be used instead of the reference holes 75a and 76a.

In the above-described embodiment, the case where no opening is formed in the rear portion 114 and the side portions 115 and 116 of the housing 11 has been described. An opening may be formed.

Further, in the above-described embodiment, the case where the air-driven twin rod cylinders 14a and 17a are used for the driving means 14 and 17 has been described. However, the present invention is not limited to this, and it is not limited to this. It may be an air cylinder, a hydraulic cylinder, or a motor.

In the above embodiment, the case where the driving means 14 and 17 are disposed on the bottom 112 of the housing 11 has been described.
5, 116.

[Brief description of the drawings]

FIG. 1 is a view schematically showing a first embodiment of a work positioning device for an assembly robot according to the present invention, wherein (a) is a front view and (b) is a line AA in (a). Sectional view,
(C) shows a side view.

FIG. 2 is an enlarged sectional view showing the vicinity of a positioning / fixing means of a work positioning device for an assembly robot according to a second embodiment.

3A and 3B are diagrams schematically showing a work positioning device for an assembling robot according to a third embodiment, wherein FIG. 3A is a partial cross-sectional side view, and FIG. 3B is a front view of a rotating means and a supporting means. Is shown.

FIG. 4 is a diagram schematically showing a work positioning device for an assembly robot according to a fourth embodiment, where (a) is a plan view,
(B) shows a partial sectional side view.

FIG. 5 is a perspective view schematically showing a conventional work positioning device for a seed assembly robot attached to a desktop robot.

FIG. 6 is an enlarged sectional view of a conventional work positioning device for an assembly robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Work positioning device for assembly robot 11 Housing 115, 116 Side part 12 Opening 14, 17 Driving means 15 Connection means 16, 18 Positioning / fixing means 70 Work

Continuation of the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B23P 19/00 304 B23Q 3/18 B25J 19/00

Claims (5)

(57) [Claims] 1. A work inserted from an opening is stored.
In a work positioning device for an assembly robot with a housing
To enter the housing from one side surface of the housing,
Pre-installed on one side of the work housed in the housing
And press the work into the first reference hole.
First positioning and pressing against the other side surface in the housing;
Fixing means, and penetrating into the housing from the other side surface of the housing.
And a second side provided in advance on the other side of the work.
A predetermined position in the housing by fitting the work
And a second positioning / fixing means for positioning the workpiece on the assembly robot. 2. The first positioning / fixing means is constituted by a pressing portion and a pin having a predetermined outer diameter formed at an end of the pressing portion, and the second positioning / fixing means has a tapered shape . The outer diameter of the root is larger than the second reference hole
2. The work positioning device for an assembly robot according to claim 1, wherein the work positioning device comprises a well-set pin portion. Wherein said first positioning and locking means between the pressing section center side and a biased tapered at the base of the housing
The outside diameter of the parts is constituted by a first reference hole larger than the set pin portion, the second positioning and fixing means
Tapered and the outer diameter of the root portion is greater than the second reference hole
2. The work positioning device for an assembly robot according to claim 1 , wherein the work positioning device is constituted by a large set pin portion . 4. A rotation angle detection unit is provided at a predetermined position of the housing.
A rotating means connected to the supporting means, and the rotating means is supported by a supporting means.
Item 3. The work positioning device for an assembly robot according to any one of Items 3. 5. The first plate is attached to a predetermined portion of said housing or said support means, a second surface plate disposed below the first surface plate, the surface plate of the second And the first surface plate is connected with a plurality of bolts, and a plurality of rings are interposed in these bolts. A work positioning device for an assembling robot according to the above.