JP3502289B2 - Mounting device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mounting apparatus for fitting a small component or the like into a shaft or a hole. 2. Description of the Related Art Conventionally, as a hand used in this type of mounting apparatus (industrial robot), a pair of claws are opened and closed to grip a small work (for example, a shaft end fixed part: a push nut). An arc opening / closing hand is generally known. [0003] The operation of the hand will be described with reference to an example of a method of fixing a shaft of a push nut. First, a push nut transport device is driven to transport one push nut.
Next, the manipulator is driven to move the hand toward the push nut. Subsequently, the push nut is gripped by the claws of the hand, and the hand is further moved to a position facing the axis. Thereafter, the hand is moved toward the tip of the shaft, and the shaft is inserted into the push nut. Thereby, the shaft fixing of the push nut is completed. However, the hand structure of the conventional mounting apparatus has a structure in which the push nut is gripped by a plurality of claws, so that the structure is complicated and the number of parts is large. And heavy, making it somewhat unsuitable for high-speed operation. Further, since the push nut is held by the claws from right and left, there is no problem in moving the hand in the horizontal direction. However, when moving the hand in the vertical direction, that is, when inserting the shaft into the push nut, Since the grip force in the vertical direction is somewhat weak, it is not suitable for a device requiring a large insertion force. Further, when the shaft is inserted into the push nut, accurate positioning is required so that they are opposed to each other. However, the positioning is not always accurate due to an installation error of the apparatus or an installation error of the shaft. Absent. Even in such a case, in order to securely mount the push nut, a structure that absorbs this error is necessary. However, this error cannot be easily absorbed by an arc opening / closing type hand. An object of the present invention is to provide a mounting apparatus which has a simple structure, can easily absorb an installation error, and can mount a workpiece at high speed and accurately. According to the present invention, there is provided a mounting apparatus for mounting a workpiece by sucking the workpiece with a hand and moving the hand to a mounting object side to mount the workpiece. And a head for holding at least up and down
The operating rod to which the driving force is transmitted in the direction, the upper surface of the head and the lower surface of the operating rod are opposed to each other in a state where the upper surface of the head and the lower surface of the operating rod are surrounded from the periphery of the head and the operating rod. A plurality of width shifting pieces to be connected, and an elastic ring wound around the circumferential side face of each width shifting piece and biasing each width shifting piece toward the circumferential side face of the head and the operating rod, the head includes a permanent magnet, From the side of the permanent magnet
Extends toward the outside and blocks the permanent magnet field in and out
A blocking cylinder and one of the permanent magnets disposed outside the blocking cylinder
The pole body acts on the head body and the
A support cylinder on which the other magnetic pole of the permanent magnet acts;
The main body and the lower end of the support cylinder are configured to adsorb the work . According to the present invention, since the head and the operating rod are vertically opposed to each other and connected by the width shifting piece, the downward driving force of the operating rod is directly transmitted to the head, so that the head is mounted on a large size. Power can be given. [0010] The width shift piece is divided into a plurality of pieces.
Since each width shift piece is held by an elastic ring and the head can be moved in the horizontal direction, the structure allows the eccentricity between the operating rod and the head. That is, when the head is mounted toward the mounted body, when the axes of the workpiece and the mounted body that are attracted to the head are displaced from each other, the axial center shift causes the elastic ring to resist the urging force. The head and some width shifting pieces are shifted in the horizontal direction. Thereby, the axes of the workpiece and the mounted body coincide with each other, and the workpiece is mounted. When the mounting of the work is completed and the head returns to the standby position, the head returns to the original position by the elastic force of the elastic ring. 1 to 3 show an embodiment of a mounting apparatus according to the present invention. FIG. 1 is a perspective view showing a method of mounting a push nut, and FIG. 2 is an exploded view of a hand. Perspective view,
FIG. 3 is a sectional view showing a mounting method of the push nut. As shown in FIG. 1, the mounting device includes a driving device 1, a manipulator 2 which operates vertically and horizontally by the driving device 1, a hand 3 which is operated by the manipulator 2, and a work (this embodiment) And a push nut supplying device 4 for supplying a push nut A). Since the driving device 1 and the manipulator 2 have the same structure as a known mounting device, the description thereof is omitted. The hand 3 has an operating rod 31 which is moved up and down and left and right by the manipulator 2. The operating rod 31 has a pushing part 31 whose lower part is formed in a disk shape.
a. The hand 3 has a head 32 vertically facing the operating rod 31. The head 32 supports a head body 32b made of an iron-based material having a disk-shaped receiving portion 32a that receives a pressing force of the operating rod 31, a permanent magnet 32c embedded in the receiving portion 32a, and the permanent magnet 32c. A support cylinder 32d made of an iron-based material, and the N pole of a permanent magnet 32c is excited in the head main body 32b.
For d, the S pole of the permanent magnet 32c is excited. Further, a shielding cylinder 32e made of brass or the like for interrupting a magnetic field is interposed between the peripheral surfaces of the supporting cylinder 32d and the permanent magnet 32c and the head body 32b, and is pushed at the lower ends of the supporting cylinder 32d and the head body 32b. The nut A is attracted. Further, a recess 32f of the lower surface opening is provided inside the support cylinder 32d.
And a shaft 52 to be described later is attached to the sucked push nut A.
Is inserted, the upper portion of the shaft 52 enters into the recess 32f. The hand 3 is a pushing portion 31a of the operating rod 31.
And a width shifting piece 33 for connecting the receiving portion 32a of the head 32
Having. The width shift piece 33 is divided into three parts as shown in FIG. 2, and has an arc shape as a whole. The inner surface of each width shift piece 33 has an inner groove 33a in the circumferential direction, and is fitted into the groove 33a so as to surround the pressing portion 31a and the receiving portion 32a. On the other hand, an outer groove 33b having a semicircular cross section is formed on the outer surface of each width shift piece 33 in the circumferential direction. The hand 3 has an elastic ring (for example, a rubber ring) 34 for holding the respective pieces 33. The elastic ring 33 is fitted in the outer groove 33b of each width shift piece 33, and the elastic force pushes each width shift piece 33 to the pressing portion 31.
a and the receiving portion 32a. On the other hand, the push nut supply device 4 has a horizontally long substrate 41, a component cylinder 42 in which push nuts A are stacked, and a slider 43. The upper surface of the substrate 41 has a component conveying groove 41a along the longitudinal direction. have. The component cylinder 42 is disposed on the component conveying groove 41a, and the lowest push nut A of the component cylinder 42 is attached to the component conveying groove 41a.
It is placed on. On the other hand, the slider 43
1a, the pushing plate 43a is fitted in the component carrying groove 41a, and when the pushing plate 43a is slid forward, the lowermost push nut A is positioned in front of the component carrying groove 41a. Conveyed. The mounting process of the mounting apparatus configured as described above will be described with reference to FIGS.
In this mounting process, a pair of upper and lower side plates 51 is used.
A mounting step of fixing a large number of shafts 52 penetrated by the push nut A will be described. In this mounting device, the slider 43 is driven by the push nut supply device 4, and the lowest push nut A
From the component cylinder 42 to the tip end side of the component transport groove 41a. Next, the driving device 1 is driven to move the hand 3 horizontally to the push nut supply device 4 side, and the push nut A is attracted to the lower end of the head 32 by the attraction force of the permanent magnet 32c. Thereafter, the hand 3 is returned to the original position, and the hand 3 is further moved downward. As a result, the shaft 52 is inserted into the push nut A, and the shaft 52 is
Fixed to. Such operation is operated for each axis 52,
The mounting of the push nut A is performed. In the above-described mounting process, when the hand 3 is moved downward, as shown in FIG. 3, the downward moving force of the pushing portion 31a is directly transmitted to the receiving portion 32a of the head 32. Therefore, even when the insertion friction generated between the push nut A and the shaft 52 is large, the push nut A can be easily mounted, and the driving force of the driving device 1 can be small. The width shift piece 33 is divided into three parts.
Each width shift piece 33 is held by an elastic ring 34 and is movable in the horizontal direction, so that the eccentricity between the operating rod 31 and the head 32 is allowed. That is, the push nut A sucked to the head 32 is
When the push nut A sucked by the head 32 and the shaft 52 are misaligned, the head 32 and a part of the piece 33 are shifted in the horizontal direction due to the misalignment. As a result, the axes of the push nut A and the shaft 52 match, and the push nut A is mounted. As described above, even when the axes of the push nut A and the shaft 52 are misaligned, the push nut A can be securely mounted on the shaft 52. Each time the mounting of each push nut A is completed, the head 32 returns to the original position by the urging force of the elastic ring 34. Therefore, the robot stands by in a state where the axes of the operating rod 31 and the head 32 always coincide with each other. Further, in the conventional structure in which the work is gripped by a plurality of claws, the weight of the hand increases due to the complicated operation mechanism of each claw and the increase in the number of parts. Has a simple and light structure, so that mounting work can be performed at high speed. In the above embodiment, a rubber ring is used as the elastic ring 34, but it may be made of resin or metal as long as it is an elastic body. In addition, although the three divided pieces 33 are used by dividing into three pieces, the pieces may be divided into more than three pieces and four or more pieces may be used. As described above, according to the present invention,
When the hand 3 is moved downward, the downward moving force of the operating rod is directly transmitted to the head, so that the work can be easily mounted, and the driving force at the time of mounting can be small. Further, since the width shifting pieces are divided into a plurality of pieces and each width shifting piece is held by an elastic ring,
Even when the axis of the workpiece sucked by the head and the axis of the mounted body are misaligned, the workpiece can be reliably mounted on the mounted body. Further, since the hand according to the present invention has a simple structure and is light, the mounting operation can be performed at high speed.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a mounting method of a push nut according to the present invention. FIG. 2 is an exploded perspective view of a hand according to the present invention. FIG. 3 is a mounting method of a push nut according to the present invention. [Description of reference numerals] 1 ... drive device, 2 ... manipulator, 3 ... hand, 4 ... push nut supply device, 31 ... operating rod, 32 ... head, 33 ... width adjustment piece, 34 ... elastic ring, 52 … Axis, A
... push nut.

Continuation of the front page (56) References JP-A-1-121194 (JP, A) JP-A-2-48134 (JP, A) JP-A-7-246528 (JP, A) JP-A-59-19644 (JP) , A) Japanese Utility Model Hei 1-175189 (JP, U) Japanese Utility Model 62-117094 (JP, U) Japanese Utility Model Utility Model 5-5389 (JP, U) (58) Fields surveyed (Int. Cl. ⁷ , DB Name) B23P 19/00-21/00 B25J 15/06

Claims (1)

(57) [Claim 1] In a mounting apparatus for sucking a work with a hand and moving the hand to the mounted body side to mount the work, the hand holds the work by suction. Head and small
An operating rod to which the driving force is transmitted in the vertical direction at least ,
A plurality of width shifters which oppose the upper surface of the head and the lower surface of the operating rod, surround the head and the operating rod from each other, and connect the upper surface of the head and the lower surface of the operating rod to each other in surface contact. A piece, and an elastic ring wound around the peripheral side face of each width approaching piece to bias each width approaching piece toward the peripheral side face of the head and the operating rod, wherein the head includes a permanent magnet, Down from the side of the permanent magnet
Extending toward the outside and blocking the magnetic field of the permanent magnet in and out
A blocking cylinder and one of the permanent magnets disposed outside the blocking cylinder
Head body on which the magnetic poles act, and placed inside the shut-off cylinder
And a support cylinder on which the other magnetic pole of the permanent magnet acts.
Then, the work is sucked by the lower end of the head body and the support cylinder.
A mounting device characterized by being formed to be attached.