JP3060808B2 - Driving method of locking member - 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 of driving a locking member such as an expansion nut for fixing a vehicle interior such as an instrument panel to a vehicle body in assembling a vehicle such as an automobile.

[0002]

2. Description of the Related Art Resin materials are frequently used for vehicle interior parts such as an instrument panel provided in a vehicle such as an automobile. In order to fix other parts to such a resin product, FIG.
As shown in FIG. 7, a pair of leg portions 92, 92 having a bent portion 93 in which an elastic member is bent in a
Expansion nut 9 as a locking member provided in A
Into the opening 80 formed in the panel 8 as a resin body interior part from the leg 92, and fitted into the opening 80 by the elasticity of the bent portion 93 formed in the leg 92, thereby attaching the expansion nut 9 to the panel. 8 while the flat plate 9
A method of fastening a not-shown component to the panel 8 by screwing a not-shown fastening member into a screw hole 91 formed through A is widely adopted.

[0003] As a method of driving the locking member of the vehicle interior component, particularly the expansion nut 9 into the panel 8, a magnet 96 is provided at the end as shown in FIGS. 18 (a) and 18 (b). The cylindrical catcher 95 is supported by a robot or the like (not shown) so as to be freely displaceable. The catcher 95 is displaced to a predetermined driving position of the expansion nut 9 and a magnet 9 provided at an end of the catcher 95.
The suction nut 6 sucks and supports an expansion nut 9 made of a magnetic material such as iron.

At this time, the expansion nut 9 is supported by the catcher 95 so that the flat plate 9A is substantially parallel to the surface of the panel 8 having the opening 80 at a position where the catcher 95 faces the opening 80. As shown in FIG. 18B, the catcher 95 is urged in a direction substantially perpendicular to the surface of the panel 8 to separate the expansion nut 9 from the magnet 96, and the bent portions 93 penetrate the panel 8. It is known that an expansion nut 9 is driven from a leg 92 into an opening 80.

[0005]

However, according to the above-described conventional driving method of the expansion nut 9, the bent portion 93, 93 formed of an elastic member is pressed into the opening 80 almost simultaneously, and the panel 8 is deformed. In addition, it is necessary not only to increase the output of the actuator that drives the catcher 95, but also to cause a driving failure where the bent portion 93 does not pass through the opening 80 and the flat plate portion 9A rises from the panel 8. In this case, since the direction in which the flat plate portion 9A floats is undefined, there is a problem that it is difficult to detect a driving failure.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a method of driving a locking member that can be driven accurately with a small amount of power and that can easily detect a defective driving. And

[0007]

Means for Solving the Problems The first invention is shown in FIGS.
6, as shown in FIGS. 11 and 12 , the driving member can be displaced by a driving member in a method of driving a locking member having a plurality of legs formed of an elastic member into an opening formed in a work. Is driven to a predetermined driving position facing the opening of the work (step S1), and the leg of the locking member is directed toward the opening and has a predetermined angle with respect to the opening. The catching member is supported by the end face of the catcher (step S2), and the catcher is driven toward the workpiece until a position where one of the plurality of legs of the catching member fits into the opening.
And stop (step S3), and prepare for the catcher.
A rod having an end surface substantially parallel to the opening.
Urged by the urging means, and
The locking member is driven in a direction perpendicular to the plane of the opening by projecting by an amount (step S4).

[0008] In the second invention, as shown in FIG.
After typing in the workpiece in the first invention, the transverse direction of the locking member to drive the catcher (step S5), and the detection value L of the distance detecting means provided in the catcher than the predetermined value L ₂ When it is smaller, it is determined that the driving is defective (steps S7 and S8).

[0009] In the third invention, as shown in FIG.
In the second invention, when it is determined that the driving failure is found, the catcher is rotated at a predetermined angle with respect to the opening of the work (step S9), and the catcher is driven to the driving position (step S10). ),
The locking member driven into the work is pressed by the end face of the catcher (step S11).

[0010] In the fourth invention, as shown in FIG.
In the second invention, when it is determined that the driving failure is found, it is determined whether the driving position is a preset concave portion (step S12). If the driving position is the concave portion, the catcher is moved to the opening of the work. The catcher is rotated to a predetermined angle (step S13), the catcher is driven to a driving position (step S14), and the catcher is extended toward the workpiece by a predetermined amount (step S15). Presses the locking member hammered into the work (step S1)
6).

[0011]

According to a first aspect of the present invention, a catcher supported to be displaceable by a driving member is driven to a predetermined driving position facing an opening of a workpiece, and a leg of the locking member is directed to the opening. The locking member is supported by an end face having a predetermined angle with respect to the locking member. Point the catcher to the work in this state
When the locking member is moved and stopped , one of the plurality of legs is fitted into the opening so that the locking member is given a predetermined angle with respect to the workpiece, and the catching member is provided in the catcher to face the opening.
And urge the rods having substantially parallel end faces by the urging means.
And project it by a predetermined amount from the end face of the catcher.
It allows viewing write hit the locking member, the locking member is mounted on the work of other leg while rotating by a combined leg fitting an opening to the shaft fitted into the opening.

According to a second aspect of the present invention, in the first aspect of the present invention, after driving the catcher in the transverse direction of the locking member after driving into the work, the detection value L of the distance detecting means provided in the catcher is set to a predetermined value. smaller than the value L _2, it determines that driving failure legs not engaged with the opening of the plurality of legs of the locking member is lifted.

According to a third aspect of the present invention, when the driving failure of the locking member is determined in the second aspect, the catcher is rotated at a predetermined angle with respect to the opening of the workpiece, and the catcher is rotated. Drive again to the driving position,
Since the end surface of the catcher presses the improperly driven locking member in a state substantially parallel to the opening by rotation of a predetermined angle, the locking member rotates while pivoting around the leg fitted with the opening. The other leg is fitted to the opening and attached to the work.

According to a fourth aspect of the present invention, when the driving failure is determined in the second aspect, it is determined whether or not the driving position is a preset concave portion. The catcher is rotated at a predetermined angle with respect to the opening of the work so that the end face of the catcher is substantially parallel to the opening, the catcher is driven to the driving position, and the catcher is extended toward the work by a predetermined amount. Therefore, the base end of the catcher does not come into contact with the concave portion of the work, and the improperly driven locking member attached to the concave portion can be pressed smoothly by the end surface of the catcher, and the locking member fits into the opening. The other leg is fitted into the opening while being pivoted about the leg thus set, and is attached to the work.

[0015]

5 to 9 show an embodiment of the present invention.

5 and 6, a device for driving an expansion nut 9 as a locking member into a panel 8 made of resin as a vehicle interior component is a driving hand 1.
Is constituted by a robot arm 20 of the robot 2 as a driving member for supporting the robot 1, a driving hand 1 and a controller 3 for controlling the robot 2.

The expansion nut 9 is the same as that of the conventional example shown in FIG.
A pair of leg portions 92, 92 having a bent portion 93 formed by bending an elastic member in a "-" shape on a flat plate portion 9A formed through
Is arranged.

The arm 20 of the robot 2 is connected to the driving hand 1 via a wrist 21. The robot arm 2 is capable of displacing the wrist 21 in the X and Y directions in the drawing and the XY plane with the wrist 21 as an axis. 1 shows an example having three degrees of freedom that can be rotated inside.

The driving hand 1 is supported by the wrist 21 of the robot 2 via a frame 10 which supports the sub-frame 11 in the direction of the panel 8 (Y direction in the figure) so that it can freely expand and contract. The catcher 12 formed of a tubular member that adsorbs and supports the panel 8
At a predetermined position of the sub-frame 11 which can face the camera.

The end face 12A of the catcher 12 has a predetermined angle θ with respect to a plane perpendicular to the axis along which the sub-frame 11 expands and contracts, and this end face 12A is formed so as to engage the flat plate portion 9A of the expansion nut 9. This end face 1
At a predetermined position near 2A, a magnet 13 for attracting and supporting the flat plate portion 9A made of a magnetic material such as iron is fixed.

A distance sensor 15 for detecting a distance is attached to the sub-frame 11 at a predetermined position parallel to the catcher 12 and opposed to the panel 8, and an output of the distance sensor 15 is sent to the controller 3. The distance sensor 15 is a non-contact type sensor, for example, an optical sensor, an ultrasonic sensor, or the like.

The sub-frame 11 is connected to the rod 50 of the approach cylinder 5 attached to the frame 10 and driven in the expansion and contraction direction. The approach cylinder 5 is supplied from the pressurized air source 4 through the valve 42 driven by the controller 3. Receive supply of pressurized air.

A rod 60 of the driving cylinder 6 as an urging means is slidably housed on the inner periphery of the catcher 12, and the rod 60 projects by a predetermined amount from the end face 12A at the maximum extension position of the driving cylinder 6. can do. The driving cylinder 6 is driven by the supply of pressurized air from a pressurized air source 4 via a valve 43 driven by the controller 3. In addition, the approach cylinder 5 and the driving cylinder 6 also constitute a driving member together with the robot 2.

The subframe 11 includes the frame 1
A stopper 14 that regulates the maximum extension position from 0 is fixedly mounted, while a stopper cylinder 7 having a rod 70 that can freely expand and contract in a direction orthogonal to the expansion and contraction direction of the subframe 11 is engaged with the stopper 14 on the frame 10. It is provided in a possible position.

When the sub-frame 11 is displaced in the extension direction from the most contracted position of the approach cylinder 5 with the rod 70 of the stopper cylinder 7 extended, the stopper 14
Are locked by the rod 70, and the displacement of the sub-frame 11 is regulated. This position is the driving position of the catcher 12 described later.

On the other hand, when the sub-frame 11 is displaced in the extension direction from the most contracted position of the approach cylinder 5 in a state where the rod 70 is contracted, the stopper 14 passes through the rod 70 and moves to the frame 10 as shown in FIG. And the maximum extension position of the sub-frame 11, that is, the maximum extension position of the catcher 12.
Displaced to A '.

The stopper cylinder 7 is driven by the supply of pressurized air from the pressurized air source 4 via a valve 41 driven by the controller 3.

The supply of the expansion nut 9 to the catcher 12 is performed by a supply device 30 that can be displaced integrally with the frame 10. When both the approach cylinder 5 and the driving cylinder 6 are at the contracted position of the catcher 12 at the most contracted position, the supply device 30 supplies the expansion nut 9 to the catcher 12 from the flat plate portion 9A side to the end face 12A and sends it to the catcher 12. The expansion nut 9 is attracted to the magnet 13 disposed near the end face 12A and is supported by the catcher 12.

A method of driving the expansion nut 9 into the opening 80 formed in the panel 8 by the driving device configured as described above will be described in detail with reference to the flowcharts of FIGS.

The controller 3 includes an approach cylinder 5,
After driving the driving cylinders 6 to the most contracted positions, the driving hand 1 is driven by the robot 2 to the preset driving position.

The arm 20 of the robot 2 is driven in the X direction in the figure to displace the driving hand 1 to a position facing the opening 80 of the panel 8 which is a predetermined driving position of the catcher 12, while the catcher 12 expands and contracts. The wrist 21 is rotated so that the axial direction and the surface of the panel 8 having the opening 80 are orthogonal to each other, and the catcher 12 and the panel 8 are rotated.
The arm 20 is driven in the Y direction such that the distance between the arm 20 and the predetermined distance, that is, the detection value of the distance sensor 15 becomes the distance L ₀ (implantation start position) shown in FIG. 6 (step S21).

[0032] Although not described in detail the positioning of the driving position, since the distance between the distance sensor 15 and the catcher 12 is known, from said position detection value of the distance sensor 15 has become larger than L ₀ Arm 2 according to the interval
0 is driven in the + X direction in FIG.

Here, assuming that the penetration direction of the paper surface in FIGS. 5 and 6 is the Z-axis direction, the driving hand 1 and the opening 80
Are set equal to each other in the Z direction.
The two-dimensional movement on the Y plane will be described.

At a predetermined driving position, the expansion nut 9 is supplied from the supply device 30 to the catcher 12 perpendicular to the opening 80 formed in the plane of the panel 8 (step S22).

The supplied expansion nut 9 is adsorbed and supported on the end face 12A by the flat plate portion 9A by the magnet 13 provided on the catcher 12, and at this time, the expansion nut 9 is attached to the panel 8 according to the inclination of the end face 12A. θ
And a pair of legs 9 as shown in FIG.
The catcher 12 is supported by the end face 12A with the reference numerals 2, 92 facing the opening 80.

Next, the pressurized air is supplied from the valve 41 to extend the stopper cylinder 7 to extend the rod 70, and then the approach cylinder 5 is similarly extended and driven by the pressurized air from the valve 42 ( Step S23, S2
4).

Since the rod 70 protrudes, the stopper 14 of the subframe 11 and the catcher 12 displaced toward the panel 8 by the extending rod 50 is locked by the rod 70, and the end face 12A does not collide with the panel 8. detection values of the distance sensor 15 is displaced to a predetermined driving position at which L _1, between the panel 8 and the end face 12A is at a position where the detected value becomes the L ₁ comprises a predetermined gap.

In this driving position, as shown in FIG. 10, the expansion nut 9 supported at an angle of θ with respect to the panel 8 in accordance with the inclination of the end face 12A is displaced toward the panel 8 together with the catcher 12. When the catcher 12 extends to the driving position from one of the legs 92 protruding into the panel 8 due to the inclination of θ degrees, and the catcher 12 extends to the driving position, the bent portion 93 formed in the legs 92 opens. Of the other leg 9
The second bent portion 93 is supported in a state of floating from the surface of the panel 8.

In this state, the driving cylinder 6 is extended and driven by the pressurized air supplied from the valve 43 to drive the expansion nut 9 into the opening 80 with the rod 60, and then the rod 60 is contracted to the most contracted position. (Step S25).

The expansion nut 9 tilted on the end face 12A of the catcher 12 has one end of the flat plate portion 9A
0, the other leg 92 is pivoted about the bent portion 93 fitted into the opening 80 as shown in FIG. 11, and the panel shown in FIG. The bent portion 93 raised from 8 is fitted into the opening 80. A bent portion 93 of the leg 92, 92 penetrating the panel 8,
93 fits into the opening 80 and the expansion nut 9
Is attached with the flat plate portion 9A in contact with the surface of the panel 8.

The urging force of the driving cylinder 6 necessary for driving the expansion nut 9 is such that one of the bent portions 93 fitted into the opening 80 serves as an axis.
Is fitted to the opening 80 while being pressed so as to rotate, so long as there is a force to elastically deform the raised bent portion 93 and fit it into the opening 80, as shown in the above conventional example. Thus, the driving can be performed with less power than when the legs 92 are fitted into the opening 80 almost simultaneously.

After the driving is completed and the driving cylinder 6 is driven to the most contracted position, the approach cylinder 6 is driven to the most contracted position to return the catcher 12 to the driving start position (step S26).

At the driving start position of the catcher 12, the value detected by the distance sensor 15 becomes a predetermined distance L _0, and the end face 12A facing the panel 8 is again moved in the X direction without coming into contact with the driven expansion nut 9. And can be displaced, as shown in FIG.
The screw hole 9 formed through the expansion nut 9 after being separated from the expansion nut 9 into which the
1 can be fastened with fastening means (not shown).

Incidentally, the panel 8 made of resin may be deformed by the urging of the driving cylinder 6 at the time of the driving, and depending on the deformation and a molding error of the opening 80, the leg 92 of the expansion nut 9 may be deformed. Figure 1
As shown in FIG. 4, a driving failure that does not completely fit into the opening 80 may occur. In order to detect and correct the driving failure, after returning the catcher 12 to the driving start position, the steps S27 to S30 are performed. Perform processing.

The catcher 12 and the distance sensor 15 are arranged at a predetermined interval. In FIG. 13, the distance sensor 15 is located at a predetermined distance from the driven expansion nut 9 to the + X side, and from this position the In order to detect whether the flat plate portion 9A of the suspension nut 9 is parallel to the panel 8, the arm 20 of the robot 2 is driven to drive the distance sensor 15 so that the distance sensor 15 traverses the expansion nut 9, and the hand 1 is moved by -X by -X. Drive in the direction (step S27).

[0046] From reading the detected value L of the distance sensor 15 in step S28, and compares the detected value L and the predetermined value L ₂ (step S29). The predetermined value L ₂ is a predetermined value obtained by subtracting the thickness of the flat portion 9A from the detected value L ₀ at the start position implantation.

[0047] As shown in FIG. 13, in the normal case that is driven to go Spansion nut 9 is parallel and in close contact with the panel 8, the value detected while crossing the microphone Spansion nut 9 is the flat plate portion from L ₀ minus the thickness of 9A only decreases to a predetermined value L _2.

Meanwhile, as shown in FIG. 14, if Ik Spansion nut 9 implantation failure, the detection value is a normal driving state of the distance sensor 15 to the flat plate portion 9A is lifted off the panel 8 L ₂ is smaller than L It becomes _n . Therefore, while the distance L that detected the microphone Spansion nut 9 transversely proceeds to correction processing step S40 it is determined that the driving failure when L ₂ is smaller than the distance L is L ₂
If so, the arm 20 is sequentially displaced by ΔX in the −X direction, and when the displacement amount of the distance sensor 15 in the −X direction becomes ΔX, the driving of the arm 20 is stopped and the driving of the expansion nut 9 is completed. (Steps S30, S3
1).

[0049] Here, if the detection value L of the distance sensor 15 is implanted defect less than L ₂ is determined in step S29, proceeds to processing in step S40, step S41 and subsequent implantation correcting process shown in FIG. 9 Is performed.

Hereinafter, the driving correction processing will be described.

In the above step S29, the driving hand 1
Has been driven in the transverse direction of the expansion nut 9, the displacement of the arm 20 is temporarily stopped in step S41.

In this driving correction processing, first, it is determined whether the driving position read in step S21 is located in a concave portion (step S42).

This determination is to determine whether or not the opening 80 is located in the concave portion 8 'formed in a concave shape from the surface of the panel 8 as shown in FIG. As shown in FIG. 7, the stopper cylinder 7 is driven to contract so that the end face 12A can be displaced to the maximum extension position 12A '(step S43). The process proceeds to step S44 while maintaining the expanded state.

In step S44, the expansion nut 9 which is improperly driven is pressed by the end face 12A of the catcher 12, so that the wrist 21 of the arm 20 is rotated by θ degrees so that the end face 12A and the panel 8 are parallel.

Next, the approach cylinder 5 is extended and driven to displace the end face 12A of the catcher 12 to a predetermined position toward the panel 8 as shown in FIG. 16 (step S).
45).

When the approach correction position is the concave portion 8 'determined in step S42 during the extension driving of the approach cylinder 5, the rod 70 is displaced to the most contracted position by the contraction of the stopper cylinder 7, so that the end face is moved. 1
2A can be displaced to 12A 'shown in FIG. 7 and can make an extra stroke of γ in the figure, and as shown in FIG.
The end face 12A can be made to approach the expansion nut 9 attached to the opening 80 of the concave portion 8 'without the inclined hand 1 being in contact with the panel 8.

On the other hand, in the opening 80 of the flat panel 8,
The displacement of the catcher 12 is restricted by the rod 70 of the stopper cylinder 7 in the same manner as the driving, and the end face 12A extends to a predetermined position that can face the expansion nut 9 for correcting the driving.

The end face 12A of the catcher 12, which is tilted by θ degrees by driving the arm 20 of the robot 2, is moved to the above-described step S.
Predetermined driving positions read in 21, i.e., positions that face the microphone Spansion nut 9 for implantation modified
It is driven again to the position (step S46).

In step S47, as shown in FIG. 16, the arm 20 is driven by a predetermined amount in the + Y direction in the figure to push the expansion nut 9 raised from the panel 8 on the end face 12A of the catcher 12 against the opening 80.

The end face 12A is displaced in a direction perpendicular to the surface of the panel 8, and firstly presses the flat plate portion 9A of the expansion nut 9 which has risen from the panel 8, and the expansion nut 9 fits into the opening 80. The other bent portion 93 is fitted into the opening 80 while rotating about the bent portion 93 of the one leg portion 92 as an axis, and the flat plate portion 9A is connected to the panel 8 by the end surface 12A supported substantially parallel to the panel 8. The raised expansion nut 9 can be accurately corrected by being closely attached in parallel with the above.

Here, the occurrence of the improper driving of the expansion nut 9 is determined by tilting the expansion nut 9 by θ degrees with respect to the panel 8 in accordance with the inclination of the end face 12A, as described in steps S22 to S25. In this state, the approach cylinder 5 is extended to fit the bent portion 93 formed on one leg 92 into the opening 80, and then the other leg 92 is fitted by the driving cylinder 6, so that the expansion nut 9 The driving failure often occurs during the driving by the driving cylinder 6 as described above.

Therefore, even if one of the legs 92 by the driving cylinder 6 is not properly fitted into the opening 80, the other one of the legs 92 is fitted into the opening 80 by the approach cylinder 5. Therefore, the inclination of the expansion nut 9 in which the driving failure occurs is always in a constant direction, that is, the flat plate portion 9A is inclined so that the leg 92 on the −X direction side in FIGS. It is not necessary to detect the direction, and the driving correction processing can be performed quickly.

After the expansion nut 9 is pressed by the end surface 12A supported substantially parallel to the panel 8 by the inclination of θ degrees, and the raised leg 92 is fitted into the opening 80, the approach cylinder 5 Is contracted to displace the catcher 12 to the most contracted position, and step S49 is performed.
Then, the contracted state of the stopper cylinder 7 is determined, and if the stopper cylinder 7 is in the contracted state, the stopper cylinder 7 is extended and driven in step S50 to set the maximum extended position of the catcher 12 with the rod 70 as shown in FIG. After the regulation, the wrist portion 21 of the arm 20 is rotated by -θ degrees to make the direction of expansion and contraction of the catcher 12 perpendicular to the panel 8, and then the driving correction processing is ended (step S51).

Steps S21-S of the above flowchart
By sequentially repeating 51, it is possible to automatically drive the expansion nut 9 into a plurality of driving positions and to automatically correct a driving failure .
It is.

In this manner, the approach nut 5 is extended in a state where the expansion nut 9 is inclined by θ degrees with respect to the panel 8 in accordance with the inclination of the end face 12 A, and the bent portion 93 formed on one leg 92 is extended. After fitting into the opening 80, the other leg portion 92 is fitted with the driving cylinder 6, so that the urging force of the driving cylinder 6 necessary for driving the expansion nut 9 causes the bent portion 93 on the floating side to move. Only the force of elastically deforming and fitting into the opening 80 is sufficient, and the legs 92, 92
Can be driven with less power than in the case of fitting into the opening 80 almost at the same time, the driving cylinder 6 can be reduced in size, and the driving hand 1 can be made smaller and lighter. Become.

Further, one of the legs 92 of the expansion nut 9 is opened by the approach cylinder 5.
14 and 16, the inclination of the expansion nut 9 in which the driving failure occurs is always in a constant direction, that is, the inclination direction of the flat plate portion 9A so that the leg 92 on the −X direction side in FIGS. Can be made constant, and the occurrence of this driving failure can be easily determined by detecting the distance between the catcher 12 and the expansion nut 9 in the transverse direction of the expansion nut 9 with the distance sensor 15. This makes it possible to make a quick decision without performing complicated processing.

Further, since the expansion nut 9 that is improperly driven always tilts in a fixed direction, the expansion nut 9 is pressed by the end face 12 A parallel to the panel 8 by tilting the catcher 12 by θ degrees and lifted from the panel 8. Since the bent portion 93 side of the expansion nut 9 is pressed and fitted into the opening 80, the correction can be reliably performed with a small amount of power.

Further, the opening 8 for performing the driving correction
15 is in the concave portion 8 'as shown in FIG. 15, the stopper cylinder 7 is contracted to move the end face 12A to the maximum extension position 1
Since the stroke is displaced to 2A 'and the stroke is extended by γ in the figure, the driving hand 1 inclined by θ degrees can be smoothly corrected even in the concave portion 8' without making contact with the panel 8.

In the above embodiment, the case where the arm 20 of the robot 2 is operated in the XY plane has been described. However, in FIGS. If it can be displaced in the Z-axis direction as an articulated type, it can be operated in three-dimensional space,
In this case, step S21 in the flowchart of FIG.
In this case, the driving of the arm 20 to the driving position may be performed also in the Z-axis direction.

In the above embodiment, the expansion nut 9 is disclosed as a locking member. Although not shown, the expansion nut 9 is provided with a plurality of legs that can be fitted into the opening 80 of the panel 8 with clips or the like. If applicable, they can be applied.

[0071]

As described above, according to the first aspect of the present invention, the catcher supported displaceably by the driving member is driven to the predetermined driving position facing the opening of the work, and the leg of the locking member is driven. To the opening, and supporting the locking member at the end face of the catcher having a predetermined angle with respect to the opening,
One of the plurality of legs of the locking member fits into the opening.
Drive the catcher toward the workpiece until it
After stopping, the catcher is provided with the opening
A rod having an end surface that is substantially parallel to the
Force to project a predetermined amount from the end face of the catcher.
The locking portion in a direction orthogonal to the plane of the opening.
The driving force of the catcher is
One of the legs of the locking member fits into the opening.
As long as there is sufficient driving force, and the urging force of the rod is
You only need to elastically deform the legs that are not fitted
Thus, the driving force of the driving member and the urging means can be reduced. Ma
The end face of the catcher having a predetermined angle with respect to the opening
With one of the legs of the locking member fitted into the opening
The rods for the catcher
Protrude from the end face by a predetermined amount, and
The locking member is driven in the direction
But smaller and lighter, driving work is quicker and more reliable
Can be done. Also, even if driving failure occurs
Even if you do, at least the leg on the fixed side of the locking member
Is pressed by the driving member and is fitted into the opening, so that the driving direction of the driving failure is constant, and the processing for detecting the driving failure can be easily and reliably performed, and the driving of the locking member can be automated. Can be promoted.

According to a second aspect of the present invention, in the first aspect, the catcher is driven in the transverse direction of the locking member driven into the workpiece, and the detection value of the distance detecting means provided in the catcher is smaller than a predetermined value. For example, among the plurality of legs of the locking member, the leg that is not fitted with the opening is determined to be a driving failure because the leg is lifted,
It is possible to easily detect a driving failure of the locking member without performing complicated detection processing, and to promote a high-speed processing.

According to a third aspect of the present invention, when the driving failure of the locking member is determined in the second aspect, the catcher is driven again to the driving position, and the catcher is moved to a predetermined position with respect to the opening of the work. And hold the end face of the catcher parallel to the workpiece.
By pressing the improperly driven locking member with this end surface, the leg of the locking member on the side floating from the work is fitted while rotating around the leg that has already been fitted to the opening as an axis. It is possible to reliably correct a driving failure with power.

According to a fourth aspect of the present invention, in the second aspect of the present invention, if the driving position where the driving failure is determined is a concave portion set in advance, the catcher is extended toward the workpiece by a predetermined amount and the catcher is moved to a predetermined position. By rotating at an angle to hold the end surface parallel to the workpiece and press the locking member, the punching correction in the recess formed in the workpiece is smoothly performed without contacting the base end of the catcher with the workpiece. This makes it possible to promote automation of driving of the locking member.

[Brief description of the drawings]

FIG. 1 is a claim correspondence diagram corresponding to the first invention.

FIG. 2 is a diagram corresponding to claims corresponding to the second invention.

FIG. 3 is a diagram corresponding to claims corresponding to the third invention.

FIG. 4 is a claim correspondence diagram corresponding to the fourth invention.

FIG. 5 is a block diagram of a driving device showing an embodiment of the present invention.

FIG. 6 is a schematic view of a driving hand.

FIG. 7 is a schematic view showing an operating state of the driving hand.

FIG. 8 is a flowchart showing the contents of control.

FIG. 9 is a flowchart showing the contents of control.

FIG. 10 is an enlarged view of a nut catcher showing a state in which an expansion nut is fitted in an opening.

FIG. 11 is an enlarged view of a nut catcher showing a driving state of the expansion nut.

FIG. 12 is an enlarged view showing a driving state of the expansion nut.

FIG. 13 is an enlarged view showing the expansion nut similarly driven in.

FIG. 14 is an enlarged view of an expansion nut showing a driving failure state.

FIG. 15 is a schematic view showing the nut catcher in the most extended state when the driving correction is performed at the hitting point of the concave portion.

FIG. 16 is an enlarged view of the expansion nut showing the setting correction.

FIG. 17 is a schematic view showing an expansion nut.

FIG. 18 is a schematic view showing a conventional driving method.

[Explanation of symbols]

 Reference Signs List 1 driving hand 5 approach cylinder 6 driving cylinder 7 stopper cylinder 8 panel 9 expansion nut 12 catcher 12A end face 15 distance sensor 20 arm 21 wrist 80 opening 92 leg 93 bending part

Claims (4)

(57) [Claims] 1. A method for driving a locking member having a plurality of legs formed of an elastic member into an opening formed in a work, wherein the catcher supported displaceably by a driving member includes a catcher. It is driven to a predetermined driving position facing the opening of the work, and the leg of the locking member is directed to the opening, and the locking member is supported by the end face of the catcher having a predetermined angle with respect to the opening. Then, the catcher is driven toward the workpiece to a position where one of the plurality of legs of the locking member fits into the opening.
After stopping Te, versus the opening provided in the catcher
And urge the rods having substantially parallel end faces by the urging means.
And project it by a predetermined amount from the end face of the catcher.
How implantation of the locking member characterized by implanting the locking member in a direction perpendicular to the plane of the opening by. 2. When the catcher is driven in a direction transverse to a locking member after driving into the work, and a detection value of a means provided in the catcher for detecting a distance from the work is smaller than a predetermined value. 2. The method of driving a locking member according to claim 1, wherein it is determined that the driving is defective. 3. When the driving failure is determined, the catcher is rotated at a predetermined angle with respect to the opening of the work, and the catcher is driven to a driving position, so that the end face of the catcher is used to move the work to the work. 3. The method for driving a locking member according to claim 2, wherein the driven locking member is pressed. 4. When the driving failure is determined, it is determined whether the driving position is a preset concave portion,
If the driving position is a concave portion, the catcher is rotated at a predetermined angle with respect to the opening of the work, and
3. The catcher according to claim 2, wherein the catcher is driven to a driving position, the catcher is driven to extend toward the workpiece by a predetermined amount, and then the locking member driven into the workpiece is pressed at the end face of the catcher. Method for driving the locking member.