JP3938788B2

JP3938788B2 - Work assembly apparatus and work assembly method

Info

Publication number: JP3938788B2
Application number: JP29336798A
Authority: JP
Inventors: 進福島
Original assignee: Kyoho Machine Works Ltd
Current assignee: Kyoho Machine Works Ltd
Priority date: 1998-10-15
Filing date: 1998-10-15
Publication date: 2007-06-27
Anticipated expiration: 2018-10-15
Also published as: JP2000117561A

Description

【０００１】
【発明の属する技術分野】
本発明はワーク組付装置およびワーク組付方法に係り、特に、ワークと嵌合部との芯ずれが比較的大きい場合でも両者を良好に嵌合させることができるとともに、径寸法が異なる複数種類のワークに対応できるワーク組付装置およびワーク組付方法に関するものである。
【０００２】
【従来の技術】
(a) ヘッド中心線に対して直角な押圧面を有する押圧治具、およびその押圧治具の前方において、嵌合円筒面を有するワークの軸心が前記ヘッド中心線と略同心になる姿勢でそのワークを保持する位置決め保持装置を備えている押圧ヘッドと、(b) 前記ワークが嵌合される嵌合部を有するとともにその嵌合部が前記ヘッド中心線と略同心になるように配設されたワーク組付部材と、前記押圧ヘッドとを相対的に接近させる接近駆動装置とを有し、(c) 前記押圧治具の押圧面で前記ワークを前記嵌合部に対して相対的に押圧することにより、その嵌合部およびワークの少なくとも一方に設けられた面取りに案内されつつそのワークの前記嵌合円筒面が嵌合部に密着するように嵌合するワーク組付装置が、各種製品の生産現場等で多用されている。
【０００３】
図８の圧入装置はその一例で、圧入ヘッド（押圧ヘッド）１０にはヘッド中心線Ｓ₁と同心に位置決めピン１２が設けられ、外周面が嵌合円筒面である円筒形状のワーク１４の内周面と係合させられることにより、そのワーク１４をヘッド中心線Ｓ₁と略同心に位置決めするとともに、磁力或いは負圧などで吸着する図示しない吸着装置によりヘッド先端面（押圧面）１６にワーク１４が密着するように吸着して保持するようになっている。圧入ヘッド１０は鉛直方向の下向きに配設されているとともに、図示しない油圧シリンダ等の圧入アクチュエータ（接近駆動装置）によって下方へ直線往復移動させられるようになっている一方、その圧入ヘッド１０の下方には図示しないテーブル上にワーク組付部材１８が配設されている。ワーク組付部材１８には、ワーク１４を圧入（締まり嵌合）すべき取付穴（嵌合部）２０が設けられており、圧入ヘッド１０は、ヘッド中心線Ｓ₁が取付穴２０の穴中心線Ｓ₂と略一致する位置において圧入アクチュエータにより下降させられる。これにより、ワーク１４はヘッド先端面１６により取付穴２０内に圧入されるが、ワーク１４と位置決めピン１２との間には遊びｂ（径方向の両側の合計では２ｂ）が設けられるとともに、取付穴２０の開口周縁部には面取り幅ｃで面取り２２が施され、ヘッド中心線Ｓ₁と穴中心線Ｓ₂との間に僅かな芯ずれａが存在しても、面取り２２によってワーク１４を取付穴２０内に案内して圧入できるようになっている。圧入ヘッド１０は、例えばロボットハンド等によりワーク受取位置などへ移動させられるとともに、ヘッド中心線Ｓ₁と穴中心線Ｓ₂とが略一致する圧入位置に位置決めされる。
【０００４】
【発明が解決しようとする課題】
ところで、上記芯ずれ量ａは、図８の(b) に示す圧入開始時の条件から次式(1) を満足するとともに、図８の(c) に示す圧入完了時の条件から次式(2) を満足する必要があり、遊び寸法ｂの大きさによって異なるが最大でもｃ／２であり、高い位置決め精度が必要で必ずしも十分に満足できるものではなかった。また、遊びｂがｃ／２より大きくなると、それに伴って許容芯ずれ量ａは小さくなり、遊びｂが面取り幅ｃより大きくなると圧入不可になるため、ワーク１４の大きさに応じて複数種類の位置決めピン１２を用意して自動交換などを行う必要があり、装置が大掛かりになるとともに高価になるという問題があった。
ａ＜ｃ−ｂ・・・(1)
ａ≦ｂ・・・(2)
【０００５】
本発明は以上の事情を背景として為されたもので、その目的とするところは、ワークと嵌合部との芯ずれ量が比較的大きい場合でも良好に嵌合させることができるとともに、径寸法が異なる複数種類のワークに対応できるワーク組付装置およびワーク組付方法を提供することにある。
【０００６】
【課題を解決するための手段】
かかる目的を達成するために、第１発明は、(a) ヘッド中心線に対して直角な押圧面を有する押圧治具、およびその押圧治具の前方において、嵌合円筒面を有するワークの軸心が前記ヘッド中心線と略同心になる姿勢でそのワークを保持する位置決め保持装置を備えている押圧ヘッドと、(b) 前記ワークが嵌合される嵌合部を有するとともにその嵌合部が前記ヘッド中心線と略同心になるように配設されたワーク組付部材と、前記押圧ヘッドとを相対的に接近させる接近駆動装置とを有し、(c) 前記押圧治具の押圧面で前記ワークを前記嵌合部に対して相対的に押圧することにより、その嵌合部およびワークの少なくとも一方に設けられた面取りに案内されつつそのワークの前記嵌合円筒面がその嵌合部に密着するように嵌合するワーク組付装置であって、(d) 前記位置決め保持装置は、(d-1) 前記押圧治具の押圧面よりも前方へ突き出すように配設されるとともに、互いに同期して前記ヘッド中心線に対して接近離間させられる複数の係合爪を有し、(d-2) その複数の係合爪が前記ワークの係合円筒面に係合させられることにより、そのワークをそのヘッド中心線と略同心に位置決めして保持する一方、(d-3) 前記押圧治具によりそのワークを前記嵌合部に対して相対的に押圧して嵌合するのに先立って、その複数の係合爪をそのワークから離間させてそのワークの位置決めを解除するもので、 (e) 前記押圧治具は、前記ヘッド中心線まわりに複数配設されるとともに、それぞれそのヘッド中心線に対して接近離間する方向に移動可能とされた複数の押圧片にて構成されており、 (f) その複数の押圧片を互いに同期してそのヘッド中心線に対して接近離間させることにより、前記ワークを相対的に押圧する際のその押圧片の径方向位置を前記係合爪の径方向位置に対して独立に調整できる位置調整装置を備えていることを特徴とする。
【０００７】
第２発明は、第１発明のワーク組付装置において、(a) 前記位置決め保持装置は、前記ヘッド中心線を中心とする一円周上にそのヘッド中心線と平行に配設された複数の爪用回転軸を有するとともに、その複数の爪用回転軸は、そのヘッド中心線上に軸心まわりの回転可能に配設された単一の同期用回転軸に固定された第１歯車と噛み合わされ、互いに同期して回転させられるようになっており、その爪用回転軸の回転に伴って前記複数の係合爪は互いに同期してそのヘッド中心線に対して接近離間させられる一方、 (b) 前記位置調整装置は、前記ヘッド中心線を中心とする一円周上にそのヘッド中心線と平行に配設されるとともに、それぞれ前記同期用回転軸に固定された第２歯車と噛み合わされて互いに同期して回転させられる複数の位置調整用回転軸を有し、その位置調整用回転軸の回転に伴って前記複数の押圧片は互いに同期してそのヘッド中心線に対して接近離間させられるようになっており、且つ、 (c) 前記同期用回転軸の１回転に対する前記爪用回転軸および前記位置調整用回転軸の回転数が互いに相違するように歯数比が定められていることを特徴とする。
【０００８】
第３発明は、第１発明のワーク組付装置において、(a) 前記複数の係合爪は、(a-1) 前記ヘッド中心線を中心とする一円周上にそのヘッド中心線と平行に配設された複数の爪用回転軸の先端に偏心して取り付けられた偏心ピンで、(a-2) その複数の爪用回転軸は、そのヘッド中心線上に軸心まわりの回転可能に配設された単一の同期用回転軸に固定された第１歯車と噛み合わされ、互いに同期して回転させられるようになっており、(a-3) その爪用回転軸の回転に伴ってその偏心ピンはそのヘッド中心線に対して接近離間させられるものであり、(b) 前記位置調整装置は、(b-1) 前記ヘッド中心線を中心とする一円周上にそのヘッド中心線と平行に配設されるとともに、それぞれ前記同期用回転軸に固定された第２歯車と噛み合わされて互いに同期して回転させられる複数の位置調整用回転軸と、(b-2) その複数の位置調整用回転軸の先端にそれぞれ偏心して取り付けられるとともに前記押圧片と係合させられ、その位置調整用回転軸の回転に伴ってその押圧片をそのヘッド中心線に対して接近離間させる偏心係合部材とを有するものであり、(c) 且つ、前記同期用回転軸の１回転に対する前記爪用回転軸および前記位置調整用回転軸の回転数が互いに相違するように歯数比が定められていることを特徴とする。
【０００９】
第４発明は、第１発明〜第３発明の何れかのワーク組付装置を用いて、前記ワークを前記ワーク組付部材の嵌合部に嵌合するワーク組付方法であって、(a) 前記位置決め保持装置の前記複数の係合爪を前記係合円筒面に係合させて前記ワークを前記ヘッド中心線と略同心に位置決めして保持する位置決め保持工程と、(b) 前記複数の押圧片により前記ワークを前記嵌合部に対して相対的に押圧して嵌合するのに先立って、前記複数の係合爪をそのワークから離間させてそのワークの位置決めを解除する爪退避工程と、(c) その爪退避工程の後に、前記位置調整装置により前記ワークの径寸法に応じて径方向位置が調整された前記複数の押圧片を介して、前記接近駆動装置により前記ワークを前記嵌合部に対して相対的に押圧することにより、前記面取りに案内されつつそのワークを前記ヘッド中心線と直角な方向へ移動させながらその嵌合部に嵌合する嵌合工程とを有することを特徴とする。
【００１０】
【発明の効果】
本発明のワーク組付装置によれば、例えば第４発明のワーク組付方法に従ってワークを嵌合部に嵌合することができる。その場合に、位置決め保持装置は前記遊びｂを有することなくワークをヘッド中心線Ｓ₁と略同心に位置決めするとともに、接近駆動装置によりワークを嵌合部に対して相対的に押圧して嵌合するのに先立って複数の係合爪はワークから退避させられ、嵌合時にはその退避寸法ｄ（図７参照）だけワークはヘッド中心線Ｓ₁と直角な方向へ移動できるため、ヘッド中心線Ｓ₁と嵌合部の中心線Ｓ₂との芯ずれ量ａ′は最大で面取り幅ｃまで許容される。すなわち、許容芯ずれ量ａ′は図８に示す従来の許容芯ずれ量ａに比較して２倍になり、その分だけ押圧ヘッドとワーク組付部材との位置決め精度が緩和されるのである。位置決め精度が同じであれば、芯ずれによる組付不良や装置の破損などが防止され、或いは面取り幅ｃを小さくすることができる。
【００１１】
また、位置決め保持装置は、複数の係合爪をヘッド中心線Ｓ₁に対して接近または離間させることによりワークを位置決め保持するため、ワークの径寸法が異なる場合でも良好に位置決め保持して嵌合部に嵌合することが可能となり、従来のように複数種類の位置決めピンを用意して自動交換する場合に比較して装置がコンパクトで且つ安価に構成される。複数の係合爪をワークに係合させて位置決め保持するため、従来のように磁力や負圧などでワークを吸着する吸着装置が必ずしも必要でなく、この点でも装置が簡単且つ安価に構成され得る。
【００１２】
また、ワークを押圧する押圧治具が複数の押圧片にて構成され、それ等の押圧片が位置調整装置によりヘッド中心線Ｓ₁に対して接近離間させられることにより、ワークの径寸法に応じて押圧片の位置を調整できるため、径寸法が異なる複数種類のワークを取り扱う場合でも、押圧片を交換することなくワーク端面の略全域に押圧面を当接させて押圧することが可能で、局部的な押圧によるワークの変形などを防止できる。これは、例えばワークを嵌合穴（嵌合部）の内部まで圧入するなど、ワークの軸方向長さより深く嵌合する場合、すなわち全てのワークに対応する大きな押圧治具を用いた時には嵌合部と干渉してしまう場合などに有効である。
【００１３】
第３発明では、単一の同期用回転軸の周囲に爪用回転軸および位置調整用回転軸がそれぞれヘッド中心線と平行に複数本配設され、それ等の爪用回転軸および位置調整用回転軸がそれぞれ互いに同期して回転させられることにより、係合爪としての偏心ピンおよび押圧片がそれぞれヘッド中心線に対して同期して接近離間させられるようになっているため、装置がコンパクトに構成される。なお、同期用回転軸の１回転に対する爪用回転軸および位置調整用回転軸の回転数が互いに相違するため、ワークを押圧する時の偏心ピンの径方向位置、例えば最大径或いは最小径となる位置に対して、ワークを押圧する押圧片の径方向位置を独立に調整することが可能で、ワークの径寸法に応じて押圧片の径方向位置を調整できる。
第２発明も、実質的に第３発明と同様の効果が得られる。
【００１４】
第４発明は、実質的に第１発明と同様の効果が得られる。
【００１５】
【発明の実施の形態】
ここで、前記ワークとしては円柱形状或いは円筒形状のものが好適に用いられ、円柱形状の場合は外周面が嵌合円筒面で且つ係合円筒面となり、嵌合部としての嵌合穴（取付穴）内に嵌合される。円筒形状の場合は、例えば外周面が嵌合円筒面で内周面が係合円筒面で、嵌合部としての嵌合穴内に嵌合されるが、内周面が嵌合円筒面で外周面が係合円筒面で、嵌合部としての円柱状突部の外周側に嵌合されるようになっていても良い。また、外周面および内周面の何れか一方が嵌合円筒面および係合円筒面を兼ねている場合であっても良く、この場合は反対側の周面は必ずしも円筒面である必要はない。
【００１６】
接近駆動装置は、例えば押圧ヘッドをワーク組付部材に対して接近離間させるように配設されるが、押圧ヘッドに対してワーク組付部材を接近離間させるものでも良い。接近離間方向は、一般には上下方向（鉛直方向）であることが望ましいが、鉛直方向から傾斜していても良いし、水平方向であっても良い。
【００１７】
位置決め保持装置の複数の係合爪は、例えば第３発明の偏心ピンのように構成されるが、ヘッド中心線と直交する方向へ直線往復移動させるなど、種々の態様で実施できる。押圧治具の複数の押圧片についても、例えばガイド部材によってヘッド中心線と直交する方向へ直線移動するように案内されるなど、移動形態は適宜設定される。これ等の係合爪、押圧片は、例えばヘッド中心線を挟んで対称的な２位置に一対配設するだけでも良いが、ヘッド中心線まわりに等角度間隔でそれぞれ３個以上配設することが望ましい。また、係合爪、押圧片の材質は、例えば金属材料にて構成することが望ましいが、ワークの材質などに応じて適宜設定される。
【００１８】
位置決め保持装置は、係合爪をワークに係合させて位置決め保持するため、磁力や負圧などでワークを吸着する吸着装置は必ずしも必要でないが、押圧治具によりワークを嵌合部に対して相対的に押圧して嵌合するのに先立って係合爪をワークから離間させる際にワークが位置ずれすることを防止するため、必要に応じて永久磁石等の吸着装置を設けることができる。吸着装置は、例えば押圧治具の押圧面に永久磁石を埋設したり、押圧治具にエア通路を設けて押圧面に設けられた吸引穴からエアを吸引したりするように構成される。なお、位置決め保持装置によってワークを位置決め保持したままワーク組付部材の嵌合部にワークを押圧し、その状態で係合爪をワークから離間させる場合など、係合爪の退避時にワークの位置ずれが発生しない場合や、嵌合部側へ位置ずれする場合には、上記吸着装置は不要である。
【００１９】
第２発明および第３発明では、位置決め保持装置の係合爪（偏心ピン）および押圧治具の押圧片が、同期用回転軸を介して互いに連動して移動させられるが、第１発明ではそれ等をそれぞれ独立した駆動機構で別々に移動させるように構成することもできる。第２発明および第３発明では、同期用回転軸を回転駆動して係合爪（偏心ピン）や押圧片を移動させることが望ましいが、爪用回転軸や位置調整用回転軸を回転駆動してそれ等を移動させるようにしても良い。第１歯車および第２歯車は、歯数が異なる（径寸法が異なる）別個の歯車でも良いが、共通の単一の歯車であっても良い。共通の単一の歯車を用いた場合、爪用回転軸および位置調整用回転軸の配設位置を異なる円周上に設定すれば、両者の歯数比を異ならせることができる。歯数比の相違が小さい程、押圧片の径方向位置を極め細かく調整することができる。
【００２０】
第３発明の偏心ピンや偏心係合部材は、爪用回転軸、位置調整用回転軸の先端に一体的に固設しても良いが、軸心まわりの回転可能に配設することもできる。また、それ等の偏心ピンや偏心係合部材は、円柱形状など円筒外周面を有することが望ましいが、楕円など異形断面の部材を用いることもできる。
【００２１】
位置決め保持装置や位置調整装置は、シリンダや電動モータなどの駆動源によって自動的に或いはスイッチ操作などで作動させられるものでも良いが、作業者の手動操作で作動させられるように構成することも可能である。
【００２２】
以下、本発明の実施例を図面を参照しつつ詳細に説明する。なお、以下の説明では前記ワーク組付部材１８の取付穴２０内にワーク１４を圧入する圧入装置について説明する。
【００２３】
図１は、圧入装置３０の全体構成を説明する図で、ワーク１４を位置決めして保持する圧入ヘッド３２と、ワーク組付部材１８を予め定められた組付位置に位置決めしてクランプするテーブル３４と、圧入ヘッド３２を下方へ直線往復移動させることによりワーク１４をワーク組付部材１８の取付穴２０内に圧入する圧入用アクチュエータ３６とを備えている。圧入用アクチュエータ３６は、油圧シリンダやエアシリンダ、或いは送りねじおよび電動モータからなる送り装置などで、圧入ヘッド３２と共に図示しない移動装置（ロボットハンドなど）に配設され、ワーク受取位置などへ移動させられるとともに、ヘッド中心線Ｓ₁と穴中心線Ｓ₂とが略一致する圧入位置に位置決めされるようになっている。圧入装置３０はワーク組付装置に相当し、圧入ヘッド３２は押圧ヘッドに相当し、圧入用アクチュエータ３６は接近駆動装置に相当する。なお、移動装置によりテーブル３４を圧入ヘッド３２に対して相対移動させることもできる。
【００２４】
図２は上記圧入ヘッド３２の具体的構成を示す縦断面図で、図３、図４、図５はそれぞれ図２における III− III断面図、IV−IV断面図、Ｖ−Ｖ断面図であり、図６は圧入ヘッド３２を先端（下端）側から見た端面図である。圧入ヘッド３２の本体ハウジング４０内には、ヘッド中心線Ｓ₁と同心に駆動シャフト４２が配設されているとともに、この駆動シャフト４２はベアリングを介して軸心まわりの回転可能に支持され、回転駆動源としてのＡＣサーボモータ４４によりウォーム４６およびウォームホイール４８を介して回転駆動されるようになっている。本体ハウジング４０の先端側にはフランジ部材５０およびギヤハウジング５２が一体的に固設され、それ等のフランジ部材５０およびギヤハウジング５２内に同期用回転軸５４がヘッド中心線Ｓ₁と同心に且つ軸心まわりの回転可能に配設されている。同期用回転軸５４は、連結装置５６を介して上記駆動シャフト４２に相対回転不能に連結されているとともに、第１歯車および第２歯車として共通の軸方向長さが長い長歯車５８が相対回転不能に取り付けられている。
【００２５】
上記ギヤハウジング５２内には、図４から明らかなように同期用回転軸５４の周囲であってヘッド中心線Ｓ₁を中心とする一円周上に３本の爪用回転軸６０が等角度間隔（１２０°間隔）でヘッド中心線Ｓ₁と平行に且つ軸心まわりの回転可能に配設されているとともに、それぞれ爪用歯車６２が相対回転不能に取り付けられて前記長歯車５８の上端部に噛み合わされている。これ等の爪用歯車６２および長歯車５８の歯数は２１歯ずつで互いに等しく、同期用回転軸５４の１回転で３本の爪用回転軸６０はそれぞれ１回転させられる。ギヤハウジング５２内には更に、同期用回転軸５４の周囲であってヘッド中心線Ｓ₁を中心とする一円周上に３本の位置調整用回転軸６４が等角度間隔（１２０°間隔）でヘッド中心線Ｓ₁と平行に且つ軸心まわりの回転可能に配設されているとともに、それぞれ位置調整用歯車６６が相対回転不能に取り付けられて前記長歯車５８の下端部に噛み合わされている。これ等の位置調整用歯車６６および長歯車５８の歯数は僅かに相違し、本実施例では歯数比が２０：２１で同期用回転軸５４の１回転で３本の位置調整用回転軸６４はそれぞれ２１／２０回転させられる。すなわち、ヘッド中心線Ｓ₁を中心とする位置調整用回転軸６４の配設円周は、爪用回転軸６０の配設円周よりも僅かに小径とされているのである。なお、位置調整用回転軸６４は、ヘッド中心線Ｓ₁まわりにおいて爪用回転軸６０の中間（６０°間隔）に位置するように配設されている。
【００２６】
前記ギヤハウジング５２の先端側には、図６から明らかなように３本のガイド突起７０がヘッド中心線Ｓ₁を中心として１２０°間隔で放射状に突き出しているガイド部材７２がボルト７４によって一体的に固設されており、それ等のガイド突起７０には、押圧治具を構成している３個の金属材料製の押圧片７６が配設されている。ガイド部材７２は、３本のガイド突起７０がヘッド中心線Ｓ₁まわりにおいて前記位置調整用回転軸６４と略一致する状態で固設されている。また、押圧片７６にはガイド突起７０の断面形状と略等しい断面の貫通穴７８（図２参照）が設けられているとともに、その貫通穴７８内にガイド突起７０が摺動可能に嵌合されており、押圧片７６はガイド突起７０に案内されつつヘッド中心線Ｓ₁と直交する方向へ直線移動可能に支持されている。
【００２７】
３個の押圧片７６は、図５、図６から明らかなようにヘッド中心線Ｓ₁まわりにおいて等角度間隔（１２０°間隔）で分割された扇形状を成しているとともに、下端面である押圧面８０はヘッド中心線Ｓ₁に対して直角な平坦面で、圧入すべきワーク１４の一方の端面１４ａ（図７(c) 参照）に面接触させられるようになっている。押圧片７６の上端面には、図５から明らかなように押圧片７６の移動可能な方向と直角な方向、すなわちガイド突起７０と直角な方向に長い長円形の長穴８２が設けられ、前記位置調整用回転軸６４の先端に偏心して設けられた偏心係合部材８４と係合させられている。偏心係合部材８４は円柱形状の係合ピンで、位置調整用回転軸６４の先端面に一体的に固設されており、位置調整用回転軸６４の回転に伴ってその軸心まわりに偏心係合部材８４が公転（偏心回転）させられることにより、押圧片７６はガイド突起７０に案内されつつヘッド中心線Ｓ₁と直交する径方向へ直線移動させられる。
【００２８】
３本の位置調整用回転軸６４は、図５から明らかなようにヘッド中心線Ｓ₁に対する偏心係合部材８４の位置が一致するように、言い換えれば３つの押圧片７６が互いに同期してヘッド中心線Ｓ₁に対して接近離間させられるように、各位置調整用歯車６６と長歯車５８との噛合い位置が定められている。また、位置調整用回転軸６４の軸心に対する偏心係合部材８４の偏心寸法は、取り扱う複数種類のワーク１４の外径寸法の最大差の１／４に設定されているとともに、図２、図５、図６に示すように押圧片７６がヘッド中心線Ｓ₁に最接近させられた最小径の状態において、外径が最も小さいワーク１４の外周縁と押圧片７６の外周縁とが略一致するように、各押圧片７６の配設位置は定められている。したがって、取り扱うワーク１４の外径寸法に応じて位置調整用回転軸６４の回転位相を変更し、ヘッド中心線Ｓ₁と直交する径方向へ押圧片７６を移動させることにより、何れのワーク１４についてもその外周縁と押圧片７６の外周縁とが略一致する状態で圧入作業を行うことができる。長穴８２の幅寸法は偏心係合部材８４の径寸法と略同じで、長さ寸法は偏心係合部材８４の偏心回転を許容する寸法、言い換えれば押圧片７６の移動ストローク（ワーク１４の外径寸法の最大差の１／２）より大きめの寸法に設定されている。なお、３つの押圧片７６の内の任意の２つには、図６から明らかなように押圧面８０に永久磁石８８が埋設され、磁力で吸着される鉄等の磁性材料製のワーク１４を吸着するようになっている。
【００２９】
上記位置調整用回転軸６４、偏心係合部材８４、同期用回転軸５４、および同期用回転軸５４を回転させるＡＣサーボモータ４４などを含んで、３つの押圧片７６を互いに同期してヘッド中心線Ｓ₁に対して接近離間させる位置調整装置８６が構成されている。
【００３０】
前記爪用回転軸６０の先端部（下端部）はギヤハウジング５２から下方へ突き出し、上記３つの押圧片７６の境界部分に位置させられているとともに、その先端には円柱形状の偏心ピン９０が偏心して一体的に固設され、押圧面８０の下方まで突き出している。押圧片７６には、爪用回転軸６０や偏心ピン９０との干渉を避けるために切欠９２が形成されている。爪用回転軸６０の先端位置は、押圧片７６の押圧面８０より手前（上方）で、偏心ピン９０の押圧面８０からの突出寸法は、ワーク１４の長さ寸法より小さい。そして、爪用回転軸６０が回転駆動されると、その軸心まわりに偏心ピン９０が公転（偏心回転）させられ、ヘッド中心線Ｓ₁に対して接近離間させられる。
【００３１】
３本の爪用回転軸６０は、図６から明らかなようにヘッド中心線Ｓ₁に対する偏心ピン９０の位置が一致するように、言い換えれば３本の偏心ピン９０が互いに同期してヘッド中心線Ｓ₁に対して接近離間させられるように、各爪用歯車６２と長歯車５８との噛合い位置が定められており、３本の偏心ピン９０がそれぞれヘッド中心線Ｓ₁から離間させられる際にワーク１４の内周面１４ｂと係合させられることにより、そのワーク１４をヘッド中心線Ｓ₁と略同心に位置決めして保持する。また、爪用回転軸６０の軸心に対する偏心ピン９０の偏心寸法は、取り扱う複数種類のワーク１４の内径寸法の最大差の１／４に所定値αを加算した寸法に設定されているとともに、偏心ピン９０がヘッド中心線Ｓ₁から最も離間した最大径となる直前に、内径が最も大きいワーク１４の内周面１４ｂと係合させられるように、各爪用回転軸６０の配設位置は定められている。所定値αは、内径が最も小さいワーク１４を取り扱う場合でも、そのワーク１４の位置決め状態から偏心ピン９０をヘッド中心線Ｓ₁に最も接近する最小径位置まで移動させることにより、所定の最低退避寸法ｄ（図７参照；α≒ｄ／２）を確保するためのもので、圧入ヘッド３２の位置決め精度すなわち芯ずれ量ａ′に対して次式(3) を満足するように設定される。
ｄ≧ａ′ ・・・(3)
【００３２】
上記爪用回転軸６０、偏心ピン９０、同期用回転軸５４、および同期用回転軸５４を回転させるＡＣサーボモータ４４などを含んで位置決め保持装置９４が構成されており、偏心ピン９０は係合爪に相当する。また、偏心ピン９０が係合させられるワーク１４の内周面１４ｂは係合円筒面で、外周面１４ｃ（図１参照）は、取付穴２０の内周面に密着させられる嵌合円筒面である。
【００３３】
このような圧入装置３０は図示しない制御装置により自動的に作動させられ、図７に示す手順に従って圧入作業が行われる。図７の各断面図は、３本の偏心ピン９０のうちの２本を一平面内に示した展開図である。
【００３４】
図７の(a) は、ＡＣサーボモータ４４により同期用回転軸５４、更には爪用回転軸６０を回転駆動することにより、３本の偏心ピン９０をそれぞれ最小径位置から離間させてワーク１４の内周面１４ｂに係合させ、ワーク１４をヘッド中心線Ｓ₁と略同心に位置決めして保持した状態で、圧入ヘッド３２はロボットハンド等の移動装置によりワーク組付部材１８の略真上となる圧入位置に位置決めされている。その状態で、圧入用アクチュエータ３６により圧入ヘッド３２は下降させられ、図７の(b) に示すようにワーク１４の下端面１４ｄがワーク組付部材１８の上面１８ａと略一致する位置、或いはワーク１４の下端外周縁部が面取り２２と接触する位置で、圧入ヘッド３２の下降が一旦停止させられる。この下降停止位置は、移動量センサで圧入ヘッド３２の下降量が所定値に達したことを検出したり、リミットスイッチで圧入ヘッド３２が所定位置に達したことを検出したりすることによって制御される。図７の(a) および(b) は位置決め保持工程である。
【００３５】
その後、ＡＣサーボモータ４４により同期用回転軸５４、更には爪用回転軸６０を逆回転させることにより、図７の(c) に示すように偏心ピン９０を最小径位置まで退避させる。これにより、ヘッド中心線Ｓ₁を中心とする径方向においてワーク１４の内周面１４ｂと偏心ピン９０との間に、少なくとも最低退避寸法ｄより大きい隙間が設けられる。ワーク１４の下端外周縁部が面取り２２に接している場合は、押圧面８０との間で挟圧されるとともに前記永久磁石８８に吸着されることにより、ワーク１４はヘッド中心線Ｓ₁と略同心に保持される。但し、押圧面８０による押圧で、ワーク１４が取付穴２２側へ位置ずれすることは差し支えない。また、ワーク１４がワーク取付部材１８と接していない場合には、押圧面８０に埋設された永久磁石８８に吸着されることにより、ワーク１４はヘッド中心線Ｓ₁と略同心に保持される。なお、(a) の段階など、ワーク１４を一旦ヘッド中心線Ｓ₁と略同心に位置決めした後であれば、偏心ピン９０を最小径位置まで退避させるタイミングは適宜定められる。図７の(c) は爪退避工程で、例えばＡＣサーボモータ４４の回転数や回転位置をロータリエンコーダなどで検出することによって制御される。
【００３６】
そして、その状態で圧入用アクチュエータ３６により圧入ヘッド３２を下方へ押圧すると、ワーク１４は面取り２２に案内されつつ取付穴２０の中心線Ｓ₂と同心になる方向へ移動させられ、図７の(d) に示すように取付穴２０内に圧入（締まり嵌合）される。図７の(d) は嵌合工程である。
【００３７】
ここで、本実施例における許容芯ずれ量ａ′は、図７の(b) に示す圧入開始時の条件から次式(4) を満足するとともに、図７の(d) に示す圧入完了時の条件から前記(3) 式を満足する必要がある。したがって、最低退避寸法ｄ≧ｃに設定すれば、どのワーク１４に対しても芯ずれ量ａ′は面取り幅ｃまで許容され、図７に示す従来装置に比較して２倍になる。
ａ′＜ｃ・・・(4)
【００３８】
一方、前記押圧片７６の位置調整は、一連の圧入作業に先立って行われる。本実施例では図７の(c) および(d) から明らかなように、偏心ピン９０を最小径位置まで退避させた状態でワーク１４を圧入するため、偏心ピン９０が最小径位置になる時を基準として押圧片７６の径方向位置を調整する。すなわち、偏心ピン９０は、同期用回転軸５４や爪用回転軸６０の一回転毎に最小径位置に位置させられる一方、押圧片７６を駆動する位置調整用回転軸６４は、同期用回転軸５４の１回転で２１／２０回転させられるため、押圧片７６の径方向位置は同期用回転軸５４の１回転毎に変化し、同期用回転軸５４の２０回転で１往復させられるのである。言い換えれば、偏心ピン９０を最小径位置に維持しながら押圧片７６の径方向位置を１０段階で調整できるのであり、ワーク１４の外径寸法に応じてＡＣサーボモータ４４により同期用回転軸５４を所定の回転数だけ回転駆動すれば、偏心ピン９０を最小径位置に維持しながら押圧片７６の外周縁がワーク１４の外周縁と略一致するように、押圧片７６の径方向位置を調整できる。押圧片７６の径方向位置と同期用回転軸５４の回転数、更にはＡＣサーボモータ４４の回転数との関係は予め設定されており、ワーク１４の種類や外径寸法を入力するだけで押圧片７６の径方向位置は自動的に調整される。
【００３９】
なお、本実施例では歯数比の差が１／２０であるため、押圧片７６の径方向位置を１０段階で調整できるが、歯数比の差を１／４０にすれば２０段階で調整できるなど、歯数比の差が小さい程極め細かく調整できる。
【００４０】
このように、本実施例の圧入装置３０によれば、ヘッド中心線Ｓ₁と穴中心線Ｓ₂との芯ずれ量ａ′が面取り幅ｃまで許容され、図８に示す従来の許容芯ずれ量ａに比較して２倍になるため、その分だけ移動装置による圧入ヘッド３２のワーク組付部材１８に対する位置決め精度が緩和される。位置決め精度が同じであれば、芯ずれによる組付不良や装置の破損などが防止され、或いは面取り幅ｃを小さくすることができる。
【００４１】
また、位置決め保持装置９４は、３本の偏心ピン９０をヘッド中心線Ｓ₁から離間させてワーク１４の内周面１４ｂに係合させることにより、ワーク１４をヘッド中心線Ｓ₁と略同心に位置決めして保持するため、ワーク１４の内径寸法が異なる場合でも良好に位置決め保持して圧入作業を行うことが可能であり、従来のように複数種類の位置決めピンを用意して自動交換する場合に比較して装置がコンパクトで且つ安価に構成される。
【００４２】
また、ワーク１４を圧入する押圧治具が３つの押圧片７６にて構成され、それ等の押圧片７６が位置調整装置８６によりヘッド中心線Ｓ₁に対して接近離間させられることにより、ワーク１４の径寸法に応じて押圧片７６の位置を調整できるため、外径寸法が異なる複数種類のワーク１４を取り扱う場合でも、押圧片７６を交換することなくワーク端面１４ａの略全域に押圧面８０を当接させて圧入することが可能で、局部的な押圧によるワーク１４の変形などを防止できる。これは、例えば取付穴２０が深くてワーク１４を取付穴２０の内部まで圧入する場合、すなわち全てのワーク１４に対応する大きな押圧治具を用いた時にはワーク取付部材１８の上面１８ａに干渉してしまう場合などに、特に有効である。
【００４３】
また、ヘッド中心線Ｓ₁上に同期用回転軸５４が配設されるとともに、その周囲に爪用回転軸６０および位置調整用回転軸６４がそれぞれ３本ずつヘッド中心線Ｓ₁と平行に配設され、それ等の爪用回転軸６０および位置調整用回転軸６４がそれぞれ互いに同期して回転させられることにより、係合爪としての偏心ピン９０および押圧片７６がそれぞれヘッド中心線Ｓ₁に対して同期して接近離間させられるようになっているため、装置がコンパクトに構成される。
【００４４】
以上、本発明の実施例を図面に基づいて詳細に説明したが、これはあくまでも一実施形態であり、本発明は当業者の知識に基づいて種々の変更，改良を加えた態様で実施することができる。
【図面の簡単な説明】
【図１】本発明の一実施例である圧入装置の主要部の概略構成を説明する図である。
【図２】図１の圧入装置の圧入ヘッドの縦断面図である。
【図３】図２における III− III断面図である。
【図４】図２におけるIV−IV断面図である。
【図５】図２におけるＶ−Ｖ断面図である。
【図６】図２の圧入ヘッドを先端（下端）側から見た端面図である。
【図７】図１の圧入装置によってワークをワーク組付部材に圧入する際の手順を説明する図である。
【図８】従来の圧入装置を説明する図である。
【符号の説明】
１４：ワーク
１４ｂ：内周面（係合円筒面）
１４ｃ：外周面（嵌合円筒面）
１８：ワーク組付部材
２０：取付穴（嵌合部）
２２：面取り
３０：圧入装置（ワーク組付装置）
３２：圧入ヘッド（押圧ヘッド）
３６：圧入用アクチュエータ（接近駆動装置）
４４：ＡＣサーボモータ
５４：同期用回転軸
５８：長歯車（第１歯車、第２歯車）
６０：爪用回転軸
６４：位置調整用回転軸
７６：押圧片（押圧治具）
８０：押圧面
８４：偏心係合部材
８６：位置調整装置
９０：偏心ピン（係合爪）
９４：位置決め保持装置
Ｓ₁：ヘッド中心線
Ｓ₂：穴中心線（嵌合部の中心線）[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a workpiece assembling apparatus and a workpiece assembling method, and in particular, even when the misalignment between the workpiece and the fitting portion is relatively large, the two can be satisfactorily fitted, and a plurality of types having different diameter dimensions The present invention relates to a work assembling apparatus and a work assembling method that can cope with a workpiece.
[0002]
[Prior art]
(a) A pressing jig having a pressing surface perpendicular to the head center line, and a posture in which the axis of the workpiece having the fitting cylindrical surface is substantially concentric with the head center line in front of the pressing jig. A pressing head provided with a positioning and holding device for holding the workpiece; and (b) a fitting portion to which the workpiece is fitted, and the fitting portion being arranged so as to be substantially concentric with the head center line. An approach drive device for relatively approaching the workpiece assembly member and the pressing head, and (c) the workpiece relative to the fitting portion on the pressing surface of the pressing jig. Various work assembling devices that are fitted so that the fitting cylindrical surface of the workpiece is in close contact with the fitting portion while being guided by chamfering provided in at least one of the fitting portion and the workpiece by pressing. Widely used in production sites for products.
[0003]
The press-fitting device in FIG. 8 is an example, and the press-fitting head (pressing head) 10 has a head center line S.₁The positioning pin 12 is provided concentrically with the inner peripheral surface of the cylindrical workpiece 14 whose outer peripheral surface is a fitting cylindrical surface.₁The workpiece 14 is attracted and held so as to be in close contact with the head tip surface (pressing surface) 16 by a suction device (not shown) that is attracted by magnetic force or negative pressure. The press-fitting head 10 is arranged downward in the vertical direction, and is linearly reciprocated downward by a press-fitting actuator (approaching drive device) such as a hydraulic cylinder (not shown). A work assembly member 18 is arranged on a table (not shown). The workpiece assembly member 18 is provided with a mounting hole (fitting portion) 20 into which the workpiece 14 is press-fitted (tightly fitted).₁Is the hole center line S of the mounting hole 20₂Is lowered by a press-fitting actuator at a position substantially coinciding with. As a result, the work 14 is press-fitted into the mounting hole 20 by the head front end face 16, but play b (2b in total in the radial direction on both sides) is provided between the work 14 and the positioning pin 12. A chamfering 22 with a chamfering width c is applied to the peripheral edge of the opening of the hole 20, and the head centerline S₁And hole center line S₂Even if there is a slight misalignment a, the workpiece 14 can be guided and press-fitted into the mounting hole 20 by the chamfer 22. The press-fitting head 10 is moved to a workpiece receiving position by a robot hand or the like, for example, and the head center line S₁And hole center line S₂Are positioned at the press-fitting position where they substantially coincide with each other.
[0004]
[Problems to be solved by the invention]
By the way, the above-mentioned misalignment amount a satisfies the following expression (1) from the condition at the start of press-fitting shown in FIG. 8B, and also satisfies the following expression from the condition at the completion of press-fitting shown in FIG. 2) must be satisfied, and although it varies depending on the size of the play dimension b, it is c / 2 at the maximum, and high positioning accuracy is required and is not always satisfactory. Further, when the play b becomes larger than c / 2, the allowable misalignment amount a becomes small accordingly, and when the play b becomes larger than the chamfering width c, press-fitting becomes impossible. There is a problem that it is necessary to prepare the positioning pin 12 and perform automatic replacement or the like, which increases the size and cost of the apparatus.
a <c−b (1)
a ≦ b (2)
[0005]
The present invention has been made in the background of the above circumstances, and the object of the present invention is that it can be fitted well even when the misalignment amount between the workpiece and the fitting portion is relatively large, and the diameter dimension. It is an object to provide a work assembling apparatus and a work assembling method capable of dealing with a plurality of types of works different in the number.
[0006]
[Means for Solving the Problems]
  In order to achieve such an object, the first invention provides (a) a pressing jig having a pressing surface perpendicular to the head center line, and a workpiece shaft having a fitting cylindrical surface in front of the pressing jig. A pressing head having a positioning and holding device for holding the workpiece in a posture in which the center is substantially concentric with the head center line; and (b) a fitting portion to which the workpiece is fitted and the fitting portion is A workpiece assembly member disposed so as to be substantially concentric with the head center line, and an approach drive device for relatively approaching the pressing head, and (c) a pressing surface of the pressing jig By pressing the workpiece relative to the fitting portion, the fitting cylindrical surface of the workpiece is guided to the fitting portion while being guided by a chamfer provided on at least one of the fitting portion and the workpiece. Work assembling device that fits closely (D) The positioning and holding device is (d-1) disposed so as to protrude forward from the pressing surface of the pressing jig, and is moved closer to and away from the head center line in synchronization with each other. (D-2) The plurality of engaging claws are engaged with the engaging cylindrical surface of the workpiece, thereby positioning the workpiece substantially concentrically with the head center line. (D-3) Prior to pressing and fitting the workpiece relative to the fitting portion with the pressing jig, the plurality of engaging claws are removed from the workpiece. To release the workpiece positioningso, (e) The pressing jig is composed of a plurality of pressing pieces arranged around the head center line and movable in directions approaching and separating from the head center line, (f) The plurality of pressing pieces are moved closer to and away from the head center line in synchronization with each other, so that the radial position of the pressing piece when the workpiece is pressed relatively to the radial position of the engaging claw. Equipped with a position adjustment device that can be adjusted independentlyIt is characterized by that.
[0007]
  2nd invention is the workpiece | work assembly apparatus of 1st invention,(a) The positioning and holding device has a plurality of claw rotating shafts arranged in parallel with the head center line on a circumference around the head center line, and the plurality of claw rotating shafts are The claw is meshed with a first gear fixed to a single synchronous rotation shaft rotatably arranged around the axis on the head center line, and can be rotated in synchronization with each other. As the shaft rotates, the plurality of engaging claws are moved closer to and away from the head center line in synchronization with each other. (b) The position adjusting device is arranged on a circumference around the head center line in parallel with the head center line, and meshed with a second gear fixed to the synchronizing rotation shaft, respectively. A plurality of position adjusting rotation shafts that are rotated in synchronization with each other, and the plurality of pressing pieces are moved closer to and away from the head center line in synchronization with rotation of the position adjusting rotation shaft. And (c) The gear ratio is determined so that the number of rotations of the claw rotation shaft and the position adjustment rotation shaft with respect to one rotation of the synchronization rotation shaft are different from each other.It is characterized by that.
[0008]
  The third invention is the1In the work assembling apparatus according to the invention, (a) the plurality of engaging claws are (a-1) a plurality of pieces arranged in parallel with the head center line on a circumference around the head center line. An eccentric pin attached eccentrically to the tip of the claw rotation shaft. (A-2) The plurality of claw rotation shafts are arranged in a single synchronous manner on the head center line so as to be rotatable around the axis. Meshed with the first gear fixed to the rotary shaft for rotation, and rotated in synchronism with each other. (A-3) The eccentric pin rotates along the center line of the head as the rotary shaft for claw rotates. And (b) the position adjusting device is (b-1) disposed on a circumference around the head center line in parallel with the head center line. And a plurality of gears meshed with the second gear fixed to the synchronizing rotation shaft and rotated in synchronization with each other. (B-2) are eccentrically attached to the tip ends of the plurality of position adjusting rotary shafts and engaged with the pressing pieces, and with the rotation of the position adjusting rotary shaft, An eccentric engaging member that moves the pressing piece toward and away from the center line of the head, and (c) the claw rotating shaft and the position adjusting rotation with respect to one rotation of the synchronizing rotating shaft. The gear ratio is determined so that the rotational speeds of the shafts are different from each other.
[0009]
  4th invention is the workpiece | work assembly method which fits the said workpiece | work to the fitting part of the said workpiece | work assembly member using the workpiece | work assembly apparatus in any one of 1st invention-3rd invention, A positioning and holding step of engaging the plurality of engaging claws of the positioning and holding device with the engaging cylindrical surface to position and hold the workpiece substantially concentrically with the head center line; and (b)The plurality of pressing piecesA claw retreating step of releasing the positioning of the work by separating the plurality of engaging claws from the work prior to pressing the work relative to the fitting portion and fitting them. (c) After the nail evacuation process,Through the plurality of pressing pieces whose radial position is adjusted according to the diameter of the workpiece by the position adjusting device,By the approach drive deviceBeforeA fitting step of fitting the fitting portion into the fitting portion while moving the workpiece in a direction perpendicular to the head center line while being guided by the chamfering by pressing the workpiece relative to the fitting portion. It is characterized by having.
[0010]
【The invention's effect】
According to the work assembling apparatus of the present invention, for example, the work can be fitted into the fitting portion according to the work assembling method of the fourth invention. In that case, the positioning and holding device can move the workpiece to the head center line S without having the play b.₁The plurality of engaging claws are retracted from the work prior to the work being relatively pressed against the fitting portion by the approaching drive device, and then retracted from the work. Only the dimension d (see FIG. 7) is the head center line S₁Head center line S₁And the center line S of the fitting part₂The maximum misalignment amount a 'is allowed up to the chamfer width c. That is, the allowable misalignment amount a ′ is twice as large as the conventional allowable misalignment amount a shown in FIG. 8, and the positioning accuracy between the pressing head and the work assembly member is reduced accordingly. If the positioning accuracy is the same, assembly failure due to misalignment, damage to the apparatus, and the like can be prevented, or the chamfer width c can be reduced.
[0011]
In addition, the positioning and holding device has a plurality of engaging claws connected to the head center line S.₁Since the workpiece is positioned and held by moving it closer to or away from the workpiece, even if the workpiece diameter is different, it is possible to position and hold well and fit into the fitting part. Compared to the case where pins are prepared and automatically exchanged, the device is compact and inexpensive. Since the plurality of engaging claws are engaged with the workpiece and held in position, an attracting device that attracts the workpiece with a magnetic force or negative pressure is not necessarily required as in the prior art. In this respect, the device is configured simply and inexpensively. obtain.
[0012]
  Also,A pressing jig for pressing the workpiece is composed of a plurality of pressing pieces, and these pressing pieces are moved to the head center line S by the position adjusting device.₁Since the position of the pressing piece can be adjusted in accordance with the workpiece's radial dimension by being moved closer to and away from the workpiece, even when handling multiple types of workpieces with different diameter dimensions, the workpiece end surface can be approximated without replacing the pressing piece. It is possible to press the pressing surface in contact with the entire area, and deformation of the workpiece due to local pressing can be prevented. This is because, for example, when a workpiece is press-fitted into the fitting hole (fitting part) and fitted deeper than the axial length of the workpiece, that is, when a large pressing jig corresponding to all the workpieces is used. It is effective when it interferes with the part.
[0013]
  In the third invention, a plurality of claw rotating shafts and position adjusting rotating shafts are arranged around the single synchronizing rotating shaft in parallel with the head center line, and the claw rotating shaft and position adjusting shaft are arranged. By rotating the rotating shafts in synchronization with each other, the eccentric pins and the pressing pieces as the engaging claws can be moved closer to and away from the head center line in synchronization with each other. Composed. Since the rotation speeds of the claw rotation shaft and the position adjustment rotation shaft for one rotation of the synchronization rotation shaft are different from each other, the radial position of the eccentric pin when pressing the workpiece, for example, the maximum diameter or the minimum diameter The radial position of the pressing piece that presses the workpiece can be adjusted independently of the position, and the radial position of the pressing piece can be adjusted according to the radial dimension of the workpiece.
  The second invention can also obtain substantially the same effect as the third invention.
[0014]
According to the fourth aspect, substantially the same effect as the first aspect can be obtained.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Here, a columnar or cylindrical workpiece is preferably used as the workpiece, and in the case of a columnar shape, the outer peripheral surface is a fitting cylindrical surface and an engaging cylindrical surface, and a fitting hole (attachment as a fitting portion) is attached. Is fitted in the hole). In the case of a cylindrical shape, for example, the outer peripheral surface is a fitting cylindrical surface, the inner peripheral surface is an engaging cylindrical surface, and is fitted into a fitting hole as a fitting portion. The surface may be an engagement cylindrical surface and may be fitted to the outer peripheral side of a columnar protrusion as a fitting portion. Further, either the outer peripheral surface or the inner peripheral surface may serve as the fitting cylindrical surface and the engaging cylindrical surface. In this case, the opposite peripheral surface does not necessarily need to be a cylindrical surface. .
[0016]
For example, the approach driving device is arranged so that the pressing head is moved closer to and away from the work assembling member. However, the approach driving device may be moved closer to and away from the pressing head. In general, the approaching / separating direction is desirably the vertical direction (vertical direction), but may be inclined from the vertical direction or may be the horizontal direction.
[0017]
The plurality of engaging claws of the positioning and holding device are configured, for example, as the eccentric pin of the third invention, but can be implemented in various modes such as linearly reciprocating in a direction orthogonal to the head center line. The movement forms of the plurality of pressing pieces of the pressing jig are also set as appropriate, such as being guided by the guide member so as to linearly move in a direction orthogonal to the head center line. For example, a pair of these engaging claws and pressing pieces may be disposed at two symmetrical positions across the head center line, but three or more of them are disposed at equiangular intervals around the head center line. Is desirable. Further, the material of the engaging claws and the pressing piece is preferably made of, for example, a metal material, but is appropriately set according to the material of the workpiece.
[0018]
Since the positioning and holding device engages the engaging claw with the workpiece and holds it, an adsorption device that adsorbs the workpiece with magnetic force or negative pressure is not necessarily required. In order to prevent the workpiece from being displaced when the engaging claw is moved away from the workpiece prior to being relatively pressed and fitted, an adsorption device such as a permanent magnet can be provided as necessary. For example, the suction device is configured to embed a permanent magnet in the pressing surface of the pressing jig, or to provide air passages in the pressing jig and suck air from suction holes provided in the pressing surface. In addition, when the workpiece is pressed against the fitting part of the workpiece assembly member while the workpiece is positioned and held by the positioning and holding device, and the engagement claw is separated from the workpiece in that state, the workpiece is displaced when the engagement claw is retracted. The above suction device is not necessary when no occurrence occurs or when the position is displaced toward the fitting portion.
[0019]
  Second invention andIn the third invention, the engaging claw (eccentric pin) of the positioning and holding device and the pressing piece of the pressing jig are moved in conjunction with each other via the synchronizing rotation shaft.FirstIn the present invention, they may be configured to be moved separately by independent drive mechanisms.Second invention andIn the third invention, the rotation shaft for synchronization is rotationally driven.Engaging claw (eccentric pin)It is desirable to move the pressing piece, but the claw rotating shaft and the position adjusting rotating shaft may be rotationally driven to move them. The first gear and the second gear may be separate gears having different numbers of teeth (different diameter dimensions), or may be a single common gear. When a common single gear is used, if the arrangement positions of the claw rotating shaft and the position adjusting rotating shaft are set on different circumferences, the gear ratios of the two can be made different. The smaller the difference in the tooth number ratio, the finer the position in the radial direction of the pressing piece can be adjusted.
[0020]
The eccentric pin and the eccentric engaging member according to the third aspect of the invention may be integrally fixed to the tips of the claw rotating shaft and the position adjusting rotating shaft, but may also be arranged to be rotatable around the shaft center. . In addition, the eccentric pin and the eccentric engagement member preferably have a cylindrical outer peripheral surface such as a columnar shape, but a member having an irregular cross section such as an ellipse can also be used.
[0021]
The positioning and holding device and the position adjusting device may be operated automatically by a driving source such as a cylinder or an electric motor or by a switch operation, but may be configured to be operated manually by an operator. It is.
[0022]
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description, a press-fitting device for press-fitting the workpiece 14 into the mounting hole 20 of the workpiece assembly member 18 will be described.
[0023]
FIG. 1 is a diagram for explaining the overall configuration of the press-fitting device 30. A press-fitting head 32 for positioning and holding the work 14 and a table 34 for positioning and clamping the work assembling member 18 at a predetermined assembling position. And a press-fitting actuator 36 for press-fitting the work 14 into the mounting hole 20 of the work assembly member 18 by reciprocating the press-fitting head 32 downward. The press-fit actuator 36 is a feed device such as a hydraulic cylinder, an air cylinder, or a feed screw and an electric motor. Head center line S₁And hole center line S₂Are positioned at the press-fitting position where they substantially coincide with each other. The press-fitting device 30 corresponds to a work assembling device, the press-fitting head 32 corresponds to a pressing head, and the press-fitting actuator 36 corresponds to an approach driving device. The table 34 can also be moved relative to the press-fitting head 32 by a moving device.
[0024]
FIG. 2 is a longitudinal sectional view showing a specific configuration of the press-fitting head 32. FIGS. 3, 4, and 5 are sectional views taken along lines III-III, IV-IV, and VV in FIG. 2, respectively. 6 is an end view of the press-fitting head 32 as viewed from the tip (lower end) side. In the body housing 40 of the press-fitting head 32, the head center line S₁A drive shaft 42 is disposed concentrically with the shaft. The drive shaft 42 is rotatably supported around a shaft center via a bearing, and a worm 46 and a worm wheel 48 are connected by an AC servo motor 44 as a rotational drive source. And is driven to rotate. A flange member 50 and a gear housing 52 are integrally fixed to the front end side of the main body housing 40, and a synchronizing rotation shaft 54 is arranged in the head center line S in the flange member 50 and the gear housing 52.₁And rotatably arranged around the axis. The synchronizing rotation shaft 54 is connected to the drive shaft 42 through the connecting device 56 so as not to be relatively rotatable, and a long gear 58 having a long common axial length as the first gear and the second gear is relatively rotated. It is attached impossible.
[0025]
As is apparent from FIG. 4, the gear housing 52 has a head center line S around the rotating shaft 54 for synchronization.₁The three claw rotating shafts 60 are arranged at equal angular intervals (120 ° intervals) on a circumference around the head center line S.₁The claw gears 62 are attached so as not to rotate relative to each other and meshed with the upper end portion of the long gear 58. The number of teeth of the claw gear 62 and the long gear 58 is equal to each other with 21 teeth, and each of the three claw rotation shafts 60 is rotated once by one rotation of the synchronization rotation shaft 54. The gear housing 52 further includes a head center line S around the synchronizing rotary shaft 54.₁The three center-of-position rotating shafts 64 are arranged at an equiangular interval (120 ° interval) on a circle around the head.₁The position adjusting gears 66 are attached so as not to rotate relative to each other and meshed with the lower end portion of the long gear 58. The number of teeth of the position adjusting gear 66 and the long gear 58 is slightly different. In this embodiment, the number of teeth ratio is 20:21, and the rotation of the synchronizing rotating shaft 54 makes three rotation adjusting shafts. Each 64 is rotated 21/20. That is, the head center line S₁The arrangement circumference of the rotation shaft 64 for position adjustment centered at the center is slightly smaller than the circumference of the arrangement axis of the rotation shaft 60 for claws. The position adjusting rotary shaft 64 is connected to the head center line S.₁It is arrange | positioned so that it may be located in the middle (60 degree space | interval) of the rotating shaft 60 for claws around.
[0026]
As is apparent from FIG. 6, three guide projections 70 are formed on the front end side of the gear housing 52.₁The guide members 72 projecting radially at 120 ° intervals around the center are integrally fixed by bolts 74, and the guide protrusions 70 are provided with three metal materials constituting a pressing jig. A pressing piece 76 made of metal is disposed. The guide member 72 has three guide protrusions 70 each having a head center line S.₁It is fixed in a state of substantially coinciding with the position adjusting rotary shaft 64 around. The pressing piece 76 is provided with a through hole 78 (see FIG. 2) having a cross section substantially equal to the cross sectional shape of the guide protrusion 70, and the guide protrusion 70 is slidably fitted in the through hole 78. The pressing piece 76 is guided by the guide protrusion 70 while being centered on the head center line S.₁Is supported so as to be linearly movable in a direction perpendicular to the axis.
[0027]
As shown in FIGS. 5 and 6, the three pressing pieces 76 have a head center line S.₁The pressure surface 80, which is the lower end surface, has a fan shape that is divided at equal angular intervals (120 ° intervals) around the head center line S.₁Is a flat surface perpendicular to the surface, and is brought into surface contact with one end surface 14a of the work 14 to be press-fitted (see FIG. 7C). As is clear from FIG. 5, the upper end surface of the pressing piece 76 is provided with a long oval long hole 82 in a direction perpendicular to the movable direction of the pressing piece 76, that is, in a direction perpendicular to the guide protrusion 70. It is engaged with an eccentric engaging member 84 provided eccentrically at the tip of the position adjusting rotary shaft 64. The eccentric engaging member 84 is a cylindrical engaging pin, and is integrally fixed to the front end surface of the position adjusting rotary shaft 64. The eccentric engaging member 84 is eccentric about the axis as the position adjusting rotary shaft 64 rotates. When the engaging member 84 is revolved (eccentrically rotated), the pressing piece 76 is guided by the guide protrusion 70 and the head center line S.₁Can be linearly moved in the radial direction perpendicular to.
[0028]
As shown in FIG. 5, the three position adjusting rotary shafts 64 have a head center line S.₁In other words, the three pressing pieces 76 are synchronized with each other so that the positions of the eccentric engaging members 84 with respect to the head center line S are synchronized with each other.₁The meshing positions of the position adjusting gears 66 and the long gears 58 are determined so as to approach and separate from each other. Further, the eccentric dimension of the eccentric engaging member 84 with respect to the axis of the position adjusting rotary shaft 64 is set to 1/4 of the maximum difference in the outer diameter of the plural types of workpieces 14 to be handled. 5 and 6, as shown in FIG.₁The position where each pressing piece 76 is arranged is determined so that the outer peripheral edge of the work 14 having the smallest outer diameter and the outer peripheral edge of the pressing piece 76 substantially coincide with each other in the state of the minimum diameter that is closest to the outer periphery. . Accordingly, the rotational phase of the position adjusting rotary shaft 64 is changed according to the outer diameter size of the work 14 to be handled, and the head center line S is changed.₁By moving the pressing piece 76 in the radial direction orthogonal to the workpiece 14, the press-fitting operation can be performed in a state where the outer peripheral edge of the workpiece 14 and the outer peripheral edge of the pressing piece 76 substantially coincide with each other. The width dimension of the elongated hole 82 is substantially the same as the diameter dimension of the eccentric engagement member 84, and the length dimension is a dimension that allows the eccentric engagement member 84 to rotate eccentrically, in other words, the movement stroke of the pressing piece 76 (outside the workpiece 14. The dimension is set to be larger than 1/2) of the maximum difference in diameter dimension. As is apparent from FIG. 6, in any two of the three pressing pieces 76, a permanent magnet 88 is embedded in the pressing surface 80, and a work 14 made of a magnetic material such as iron that is attracted by magnetic force is provided. It comes to adsorb.
[0029]
Including the position adjusting rotating shaft 64, the eccentric engaging member 84, the synchronizing rotating shaft 54, the AC servo motor 44 for rotating the synchronizing rotating shaft 54, etc. Line S₁A position adjusting device 86 is configured to approach and separate.
[0030]
A tip end (lower end) of the claw rotating shaft 60 protrudes downward from the gear housing 52 and is positioned at a boundary portion of the three pressing pieces 76, and a cylindrical eccentric pin 90 is provided at the tip thereof. It is eccentrically fixed integrally and protrudes to the lower side of the pressing surface 80. The pressing piece 76 is formed with a notch 92 to avoid interference with the claw rotating shaft 60 and the eccentric pin 90. The tip position of the claw rotating shaft 60 is in front (above) the pressing surface 80 of the pressing piece 76, and the protruding dimension of the eccentric pin 90 from the pressing surface 80 is smaller than the length dimension of the workpiece 14. When the claw rotating shaft 60 is driven to rotate, the eccentric pin 90 is revolved (eccentrically rotated) around the axis thereof, and the head center line S₁Are moved closer to and away from each other.
[0031]
As is apparent from FIG. 6, the three claw rotating shafts 60 have a head center line S.₁In other words, the three eccentric pins 90 are synchronized with each other so that the positions of the eccentric pins 90 with respect to the head center line S are synchronized with each other.₁The engagement positions of the respective claw gears 62 and the long gears 58 are determined so that they can be moved closer to and away from each other, and the three eccentric pins 90 are respectively connected to the head center line S.₁By being engaged with the inner peripheral surface 14b of the work 14 when being separated from the head 14, the work 14 is moved to the head center line S.₁Position and hold approximately concentrically. The eccentric dimension of the eccentric pin 90 with respect to the axis of the claw rotating shaft 60 is set to a dimension obtained by adding a predetermined value α to ¼ of the maximum difference in the inner diameter dimension of a plurality of types of workpieces 14 to be handled. The eccentric pin 90 is the head center line S₁Immediately before reaching the maximum diameter that is most distant from the center, the disposition position of each claw rotating shaft 60 is determined so that it can be engaged with the inner peripheral surface 14b of the workpiece 14 having the largest inner diameter. Even when the workpiece 14 having the smallest inner diameter is handled, the predetermined value α is determined by moving the eccentric pin 90 from the positioning state of the workpiece 14 to the head center line S.₁In order to ensure a predetermined minimum retraction dimension d (see FIG. 7; α≈d / 2) by moving to the minimum diameter position that is closest to the position, the positioning accuracy of the press-fitting head 32, that is, the misalignment amount a ′ Is set to satisfy the following equation (3).
d ≧ a ′ (3)
[0032]
The positioning and holding device 94 includes the claw rotating shaft 60, the eccentric pin 90, the synchronizing rotating shaft 54, the AC servo motor 44 for rotating the synchronizing rotating shaft 54, and the eccentric pin 90 is engaged. It corresponds to a nail. Further, the inner peripheral surface 14b of the work 14 with which the eccentric pin 90 is engaged is an engaging cylindrical surface, and the outer peripheral surface 14c (see FIG. 1) is a fitting cylindrical surface that is brought into close contact with the inner peripheral surface of the mounting hole 20. is there.
[0033]
Such a press-fitting device 30 is automatically operated by a control device (not shown), and a press-fitting operation is performed according to the procedure shown in FIG. Each sectional view of FIG. 7 is a developed view showing two of the three eccentric pins 90 in one plane.
[0034]
In FIG. 7A, the AC rotating shaft 54 and further the claw rotating shaft 60 are driven to rotate by the AC servo motor 44, thereby separating the three eccentric pins 90 from the minimum diameter position. The workpiece 14 is engaged with the inner peripheral surface 14b of the head center line S.₁The press-fitting head 32 is positioned at a press-fitting position almost directly above the workpiece assembly member 18 by a moving device such as a robot hand. In this state, the press-fitting head 32 is lowered by the press-fitting actuator 36, and the lower end surface 14d of the work 14 is substantially aligned with the upper surface 18a of the work assembling member 18 as shown in FIG. The lowering of the press-fitting head 32 is temporarily stopped at the position where the outer peripheral edge of the lower end of 14 is in contact with the chamfer 22. This lowering stop position is controlled by detecting that the lowering amount of the press-fitting head 32 has reached a predetermined value with a movement amount sensor, or detecting that the press-fitting head 32 has reached a predetermined position with a limit switch. The FIGS. 7A and 7B show the positioning and holding step.
[0035]
After that, the AC rotating shaft 54 and further the claw rotating shaft 60 are reversely rotated by the AC servo motor 44, thereby retracting the eccentric pin 90 to the minimum diameter position as shown in FIG. As a result, the head center line S₁A gap larger than at least the minimum retraction dimension d is provided between the inner peripheral surface 14b of the workpiece 14 and the eccentric pin 90 in the radial direction centered at. When the outer peripheral edge of the lower end of the workpiece 14 is in contact with the chamfer 22, the workpiece 14 is clamped between the pressing surface 80 and attracted to the permanent magnet 88, so that the workpiece 14 is aligned with the head center line S.₁And held almost concentric. However, the workpiece 14 may be displaced toward the mounting hole 22 by the pressing by the pressing surface 80. When the workpiece 14 is not in contact with the workpiece mounting member 18, the workpiece 14 is attracted to the permanent magnet 88 embedded in the pressing surface 80, so that the workpiece 14 is aligned with the head center line S.₁And held almost concentric. It should be noted that the workpiece 14 is temporarily moved to the head center line S in the stage (a).₁And the timing for retracting the eccentric pin 90 to the minimum diameter position is appropriately determined. FIG. 7C shows a claw retracting process, which is controlled, for example, by detecting the rotational speed and rotational position of the AC servo motor 44 with a rotary encoder or the like.
[0036]
In this state, when the press-fitting head 32 is pressed downward by the press-fitting actuator 36, the workpiece 14 is guided by the chamfer 22 and the center line S of the mounting hole 20.₂And is press-fitted (tightened) into the mounting hole 20 as shown in FIG. 7 (d). FIG. 7D shows a fitting process.
[0037]
Here, the allowable misalignment amount a ′ in this embodiment satisfies the following expression (4) from the conditions at the start of press-fitting shown in (b) of FIG. 7 and at the time of completion of press-fitting shown in (d) of FIG. From the above condition, it is necessary to satisfy the expression (3). Therefore, if the minimum retraction dimension d ≧ c is set, the misalignment amount a ′ is allowed up to the chamfering width c for any workpiece 14 and is doubled as compared with the conventional apparatus shown in FIG.
a ′ <c (4)
[0038]
On the other hand, the position adjustment of the pressing piece 76 is performed prior to a series of press-fitting operations. In this embodiment, as is apparent from FIGS. 7C and 7D, the workpiece 14 is press-fitted with the eccentric pin 90 retracted to the minimum diameter position, so that the eccentric pin 90 is at the minimum diameter position. Is used as a reference to adjust the radial position of the pressing piece 76. That is, the eccentric pin 90 is positioned at the minimum diameter position for each rotation of the synchronization rotating shaft 54 and the claw rotating shaft 60, while the position adjusting rotation shaft 64 that drives the pressing piece 76 is the synchronization rotating shaft. Therefore, the radial position of the pressing piece 76 is changed every rotation of the synchronization rotating shaft 54 and is reciprocated once by 20 rotations of the synchronizing rotation shaft 54. In other words, the radial position of the pressing piece 76 can be adjusted in 10 steps while maintaining the eccentric pin 90 at the minimum diameter position. When rotationally driven by a predetermined number of rotations, the radial position of the pressing piece 76 can be adjusted so that the outer peripheral edge of the pressing piece 76 substantially coincides with the outer peripheral edge of the workpiece 14 while maintaining the eccentric pin 90 at the minimum diameter position. . The relationship between the radial position of the pressing piece 76 and the rotational speed of the synchronizing rotating shaft 54 and further the rotational speed of the AC servo motor 44 is set in advance. The radial position of the piece 76 is automatically adjusted.
[0039]
In this embodiment, since the difference in the number of teeth ratio is 1/20, the radial position of the pressing piece 76 can be adjusted in 10 steps. However, if the difference in the number of teeth ratio is 1/40, it is adjusted in 20 steps. It can be adjusted more finely as the difference in the tooth number ratio is smaller.
[0040]
Thus, according to the press-fitting device 30 of the present embodiment, the head center line S₁And hole center line S₂8 is allowed up to the chamfering width c, and is twice as large as the conventional allowable misalignment amount a shown in FIG. 8, so that the work assembly member of the press-fitting head 32 by the moving device is correspondingly increased. The positioning accuracy with respect to 18 is relaxed. If the positioning accuracy is the same, assembly failure due to misalignment, damage to the apparatus, and the like can be prevented, or the chamfer width c can be reduced.
[0041]
Further, the positioning / holding device 94 connects the three eccentric pins 90 to the head center line S.₁The workpiece 14 is moved from the head center line S by being engaged with the inner peripheral surface 14b of the workpiece 14 while being separated from the head center line S.₁Since the workpiece 14 is positioned and held substantially concentrically, it is possible to perform press-fitting work with good positioning and holding even when the inner diameter of the workpiece 14 is different. The apparatus is more compact and less expensive than the case of replacement.
[0042]
The pressing jig for press-fitting the workpiece 14 is constituted by three pressing pieces 76, and these pressing pieces 76 are moved by the position adjusting device 86 to the head center line S.₁Since the position of the pressing piece 76 can be adjusted according to the diameter size of the workpiece 14 by being moved closer to and away from the workpiece, the pressing piece 76 can be replaced even when handling a plurality of types of workpieces 14 having different outer diameter sizes. The press surface 80 can be brought into contact with almost the entire area of the work end surface 14a and press-fitted, and deformation of the work 14 due to local press can be prevented. This is because, for example, when the mounting hole 20 is deep and the workpiece 14 is press-fitted into the mounting hole 20, that is, when a large pressing jig corresponding to all the workpieces 14 is used, it interferes with the upper surface 18a of the workpiece mounting member 18. This is particularly effective in cases such as
[0043]
The head center line S₁A synchronizing rotation shaft 54 is disposed on the head, and three claw rotation shafts 60 and three position adjustment rotation shafts 64 are provided around the head rotation center line S.₁The claw rotating shaft 60 and the position adjusting rotating shaft 64 are rotated in synchronization with each other so that the eccentric pin 90 and the pressing piece 76 as the engaging claw are respectively centered on the head. Line S₁Therefore, the apparatus can be made compact.
[0044]
As mentioned above, although the Example of this invention was described in detail based on drawing, this is an embodiment to the last, and this invention implements in the aspect which added various change and improvement based on the knowledge of those skilled in the art. Can do.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a schematic configuration of a main part of a press-fitting device according to an embodiment of the present invention.
FIG. 2 is a longitudinal sectional view of a press-fitting head of the press-fitting device of FIG.
3 is a cross-sectional view taken along line III-III in FIG.
4 is a cross-sectional view taken along line IV-IV in FIG.
FIG. 5 is a cross-sectional view taken along the line VV in FIG.
6 is an end view of the press-fitting head of FIG. 2 viewed from the tip (lower end) side.
7 is a diagram illustrating a procedure when a workpiece is press-fitted into a workpiece assembling member by the press-fitting device of FIG. 1. FIG.
FIG. 8 is a diagram illustrating a conventional press-fitting device.
[Explanation of symbols]
14: Work
14b: inner peripheral surface (engagement cylindrical surface)
14c: outer peripheral surface (fitting cylindrical surface)
18: Workpiece assembly member
20: Mounting hole (fitting part)
22: Chamfer
30: Press-fitting device (work assembly device)
32: Press-fit head (pressing head)
36: Press-fit actuator (proximity drive)
44: AC servo motor
54: Rotating shaft for synchronization
58: Long gear (first gear, second gear)
60: Rotating shaft for nails
64: Rotating shaft for position adjustment
76: Pressing piece (pressing jig)
80: Press surface
84: Eccentric engagement member
86: Position adjustment device
90: Eccentric pin (engaging claw)
94: Positioning and holding device
S₁: Head center line
S₂: Hole center line (center line of fitting part)

Claims

A pressing jig having a pressing surface perpendicular to the head center line, and the workpiece in a posture where the axis of the workpiece having a fitting cylindrical surface is substantially concentric with the head center line in front of the pressing jig. A pressing head comprising a positioning and holding device for holding;
A work assembly member having a fitting part to which the work is fitted and the work assembling member arranged so that the fitting part is substantially concentric with the center line of the head, and an approach for relatively approaching the pressing head And a guide to a chamfer provided on at least one of the fitting portion and the workpiece by pressing the workpiece relative to the fitting portion with the pressing surface of the pressing jig. A work assembling apparatus for fitting so that the fitting cylindrical surface of the work is in close contact with the fitting portion,
The positioning holding device, while being arranged to protrude forward from the pressing surface before Symbol pressing tool has a plurality of engaging claws which are moved close and away from the said head center line in synchronism with each other The plurality of engaging claws are engaged with the engaging cylindrical surface of the workpiece to position and hold the workpiece substantially concentrically with the head center line, while the pressing jig holds the workpiece. Prior to fitting by pressing relative to the fitting portion, the plurality of engaging claws are separated from the workpiece and the positioning of the workpiece is released .
The pressing jig is composed of a plurality of pressing pieces arranged around the head center line and movable in a direction approaching and separating from the head center line,
By causing the plurality of pressing pieces to approach and separate from the head center line in synchronization with each other, the radial position of the pressing piece when relatively pressing the workpiece is set to the radial position of the engaging claw. A work assembling apparatus comprising a position adjusting device that can be independently adjusted .

The positioning and holding device has a plurality of claw rotating shafts arranged in parallel with the head center line on a circumference around the head center line, and the plurality of claw rotating shafts are The claw is engaged with a first gear fixed to a single synchronous rotation shaft rotatably arranged around the axis on the head center line, and is rotated in synchronization with each other. As the shaft rotates, the plurality of engaging claws are moved toward and away from the head center line in synchronization with each other.
The position adjusting device is disposed on a circumference around the head center line in parallel with the head center line, and meshed with a second gear fixed to the synchronizing rotation shaft, respectively. A plurality of position adjusting rotation shafts that are rotated in synchronization; and with the rotation of the position adjustment rotation shaft, the plurality of pressing pieces are moved toward and away from the head center line in synchronization with each other; And
The tooth ratio is determined so that the number of rotations of the claw rotation shaft and the position adjustment rotation shaft with respect to one rotation of the synchronization rotation shaft is different from each other. Work assembly equipment.

The plurality of engaging claws are eccentric pins attached eccentrically to the tips of a plurality of claw rotating shafts arranged in parallel with the head center line on a circumference around the head center line, The plurality of claw rotating shafts are meshed with a first gear fixed to a single synchronizing rotating shaft that is rotatably arranged around the axis on the head center line, and are rotated in synchronization with each other. The eccentric pin is moved closer to and away from the center line of the head as the claw rotation shaft rotates.
The position adjusting device is disposed on a circumference around the head center line in parallel with the head center line, and meshed with a second gear fixed to the synchronizing rotation shaft, respectively. A plurality of position adjusting rotary shafts that are rotated in synchronization with each other, and are eccentrically attached to the tips of the plurality of position adjusting rotary shafts and are engaged with the pressing pieces to rotate the position adjusting rotary shafts. And an eccentric engaging member that moves the pressing piece toward and away from the head center line.
And, according to claim 1, characterized in that gear ratio are determined such that the rotational speed of the pawl rotary shaft and the position adjusting rotary shaft for one rotation of the synchronous rotary axes are different from each other Work assembly equipment.

A work assembling method for fitting the work to a fitting portion of the work assembling member using the work assembling apparatus according to claim 1,
A positioning and holding step of engaging the plurality of engaging claws of the positioning and holding device with the engaging cylindrical surface to position and hold the workpiece substantially concentrically with the head center line;
Prior to pressing and fitting the workpiece relative to the fitting portion with the plurality of pressing pieces, the plurality of engaging claws are separated from the workpiece and the positioning of the workpiece is released. Nail evacuation process,
After the nail evacuation step, through the plurality of pressing pieces radial position is adjusted depending on the diameter of the workpiece by the positioning device, the fitting pre Symbol workpiece Ri by the approaching driving device A fitting step of fitting the fitting portion into the fitting portion while moving the workpiece in a direction perpendicular to the head center line while being guided by the chamfering by being pressed relatively to the portion. The work assembly method.