JP6520757B2 - Pressing jig - Google Patents

Description

  The present invention relates to a pressing jig capable of changing to a curved surface in accordance with a pressing object.

  For example, the work of attaching a sound absorbing material for blocking rain noise, external noise and the like to the ceiling of the interior of a car is performed manually by a worker. The worker performing this pasting operation sequentially presses the large-sized sound absorbing material held by the hand along the curved surface of the ceiling while facing upward. In addition, there are also cases where affixing work is performed using an industrial robot. In this case, a mold jig of a shape along the curved surface of the ceiling or a roller jig to be moved along the curved surface of the ceiling is attached to the moving tip of the industrial robot, and the mold jig or roller jig is used. Sound absorbing material is pressed to the ceiling.

  Further, for example, in the roof assembling support device of Patent Document 1, when assembling the roof panel and the roof reinforcement, the NC control is performed to make the reference NC piece, the NC support piece, and the NC suction pad face the roof panel. A material handling robot has disclosed a technology for causing roof reinforcement to face a roof panel. And, it is possible to assemble a plurality of types of roof panels having different shapes and roof reinforcement.

JP, 2009-18769, A

  However, when attaching the sound absorbing material or the like to the ceiling of the car room by the manual work of the worker, the worker needs to perform the upward work while confirming the sticking, and the burden on the worker is large. In addition, when this affixing operation is performed using an industrial robot, as the pressing position by the formwork jig or the roller jig is farther from the moving tip of the industrial robot, the industrial use of a large payload mass A robot is required and the equipment becomes larger.

  In addition, in the case of using a mold jig, an actuator having a large output is required in order to bring the entire mold jig into contact with the sound absorbing material at the same time. In addition, in the case of using a roller jig, an actuator having a large stroke is required in order to sequentially contact the roller jig with the sound absorbing material. Also in Patent Document 1, there is no device for downsizing the actuator as a power source, and there is no device for downsizing the facility.

  The present invention has been made in view of such problems, and has been obtained to provide a pressing jig which can miniaturize an actuator as a power source and can miniaturize equipment.

One aspect of the present invention is a base member,
A pressing member which is attached to the base member and which has a long pressing surface and which can form a planar state in which the pressing surface is flat and a curved surface in which the pressing surface is curved;
An elastically deformable elastic member having one end attached to the base member and the other end attached to the tip end portion of the pressing member;
A rotating link having one end rotatably attached to the elastic member and the other end movably contacting the pressing member;
A double-acting actuator having one end pivotally attached to the pivotal link and the other end pivotally attached to the base member;
The force is transmitted to the pressing member in the process of changing from the curved surface state to the planar state through the pivot link and the elastic member.

  The pressing jig includes a pressing member capable of forming a planar state and a curved surface state, and a rotating link and an elastic member capable of transmitting a force to the pressing member under the operation of the actuator. And the force by an actuator can be appropriately transmitted to the pressing member in the process of changing from a curved surface state to a plane state via a rotation link and an elastic member. Moreover, the pressing member can be supported by utilizing the rigidity of the elastic member. Therefore, even when using an actuator having a small output and a small stroke, the pressing surface of the pressing member follows the curved surface of the pressing object and is pressed against the pressing object with an appropriate force. The pressing jig can flexibly cope with various pressing objects having different curved surface shapes, and can press the pressing surface of the pressing member along the curved surfaces of various pressing objects.

Furthermore, by appropriately transmitting the force by the actuator to the pressing member, when the pressing jig is attached to the moving tip of the industrial robot and used, an industrial robot with a small payload can be used. Therefore, the equipment to which the pressing jig is attached can be miniaturized.
So, while being able to miniaturize the actuator as a motive power source, the pressing jig which can miniaturize an installation can be provided.

  The curved surface state may be a curved surface formed by intermittent planes as well as a continuous curved surface. In addition, the curved surface state does not have to be a curved surface as a whole, and a partial plane and a partial curved surface may be combined.

The perspective view which shows the pressing jig concerning embodiment. Explanatory drawing which shows the pressing jig which has a pressing member planar state concerning embodiment. Explanatory drawing which shows the pressing jig which has a pressing member in a curved-surface state concerning embodiment. Explanatory drawing which shows the pressing jig which exists in the state which presses a pressing object according to embodiment. Explanatory drawing which shows the state which the industrial robot concerning embodiment moves the pressing jig in which the sticking workpiece | work was mounted. Explanatory drawing which shows the state which the industrial robot concerning embodiment makes a pressing jig in which the sticking work was mounted is made to oppose a pressing target object. The industrial robot concerning embodiment demonstrates the state which affixes the sticking workpiece | work in a pressing jig on a pressing target object.

A preferred embodiment according to the above-described pressing jig will be described with reference to the drawings.
As shown in FIG. 1, the pressing jig 1 includes a base member 2, a pressing member 3, a leaf spring 4 as an elastic member, a pivoting link 5, and a cylinder 6 as an actuator. The pressing member 3 has one end attached to the base member 2 and has a long pressing surface 301. As shown in FIG. 2, the pressing member 3 has a flat state X1 in which the pressing surface 301 is flat along the longitudinal direction L, and as shown in FIG. 3, the pressing surface 301 extends along the longitudinal direction L It is possible to form a curved surface state X2 which is curved. The plate spring 4 is made of an elastically deformable strip-like steel material. One end of the plate spring 4 is attached to the base member 2, and the other end of the plate spring 4 is attached to the tip side portion of the pressing member 3.

  As shown in FIG. 1, one end of the pivoting link 5 is rotatably attached to the plate spring 4, and the other end is movably in contact with the pressing member 3. The cylinder 6 is capable of double-acting, one end of which is rotatably mounted on the rotation link 5 and the other end of which is rotatably mounted on the base member 2. As shown in FIG. 4, the pressing jig 1 transmits the force from the cylinder 6 to the pressing member 3 in the process of changing from the curved surface state X2 to the planar state X1 via the pivot link 5 and the plate spring 4. It is configured as follows. Further, as shown in FIGS. 6 and 7, the pressing jig 1 utilizes the rigidity of the leaf spring 4 in the process of changing the pressing member 3 from the curved surface state X2 to the planar state X1 in response to the operation of the cylinder 6. The pressing surface 301 of the pressing member 3 is configured to be pressed against the pressing object 8 along the curved surface of the pressing object 8.

Hereinafter, the pressing jig 1 of the present embodiment will be described in detail.
As shown in FIGS. 5 to 7, the pressing jig 1 is used by being attached to a moving tip 71 capable of changing the position and posture in three dimensions in the industrial robot 7. Further, the pressing jig 1 is used to affix a sound absorbing material as the pasting work 81 on a ceiling of a room of a vehicle body as the pressing object 8. A double-sided tape is provided on the back surface (upper surface) of the pasted work 81, and the pasted work 81 is pasted to the ceiling by this double-sided tape.

The ceiling of the vehicle body is formed in a curved shape toward the vehicle width direction. The curved surface of the ceiling of the vehicle body is formed to have a smaller radius of curvature as it approaches the outside in the vehicle width direction. The pressing member 3 is pressed against the curved ceiling in the process of changing from the curved state X2 to the planar state X1.
The car body can be a car such as a bus, one box, minivan, etc. The moving tip 71 of the industrial robot 7 and the pressing jig 1 are made of the car body via the windows 82 on the left and right sides of the car. It is arranged indoors. The industrial robot 7 is an articulated robot driven by a servomotor, and has a promotion axis for widening the movable range.

As shown in FIG. 1, two pressing jigs 1 are attached side by side to the frame member 11 attached to the moving tip 71 of the industrial robot 7 via the base member 2. The two pressing jigs 1 have the same configuration, and can form the planar state X1 and the curved surface state X2 of the pressing member 3 by the cylinders 6 operating at the same timing.
The cylinder 6 is an electric cylinder capable of double-acting the cylinder rod 62 with respect to the cylinder body 61. The cylinder 6 is disposed in the lateral direction close to the longitudinal direction L in which the pressing member 3 extends. The operations of the industrial robot 7 and the cylinder 6 are performed by commands from the control device. Control of the position and attitude of the movable tip 71 of the industrial robot 7 and control of the operation of the cylinder 6 are performed based on a teaching program constructed by the teaching operation by the operator.

As shown in FIG. 2, the pressing member 3 is constituted by a plurality of caterpillar parts 31 which are continuous in the longitudinal direction L via the connecting shaft 32. The pressing surface 301 of the pressing member 3 is formed by the upper surface of each caterpillar part 31. On the end face where the caterpillar parts 31 are opposite to each other, an inclined opposing surface 33 is formed in which the relative allowable rotation angle θ of the caterpillar parts 31 is set. The allowable rotation angle θ defines the range of angles at which the adjacent track components 31 can rotate relative to each other.
By forming the pressing member 3 by a plurality of caterpillar parts 31, the curved surface state X2 of the pressing member 3 can be easily formed. The pressing member 3 can also be configured by a flexible member whose deformation amount (deflection amount) is restricted.

  As the number of connection of the caterpillar part 31 increases, the allowable inclination angle of the whole caterpillar part 31 increases. Therefore, the allowable rotation angle θ set between the caterpillar parts 31 can be set smaller as the number of connection of the caterpillar parts 31 increases. The allowable rotation angle θ can be set, for example, in the range of 0.2 to 2 °.

As shown in FIG. 2, in the planar state X1 of the pressing member 3, the plurality of caterpillar parts 31 are linearly arranged in the horizontal direction. The caterpillar parts 31 can not be rotated upward with respect to the horizontal direction due to the contact of the inclined opposite surfaces 33 with each other. In the curved surface state X2 of the pressing member 3, the one positioned on the tip end side of the plurality of caterpillar parts 31 hangs down from the horizontal direction. The caterpillar parts 31 can not be rotated downward beyond the allowable rotation angle θ from the state where they are linearly arranged in the horizontal direction by the inclined opposing surfaces 33 being in contact with each other.
A sound absorbing material as a sticking work 81 can be placed on the pressing surface 301 by the plurality of caterpillar parts 31.

  A magnet such as a permanent magnet can be disposed on the tip end side portion of the pressing member 3 (one or more caterpillar parts 31 located on the tip side of the plurality of caterpillar parts 31). In this case, when the pressing member 3 is pressed against the pressing object 8, the distal end side portion of the pressing member 3 can be adsorbed to the pressing object 8 including the metal member, and the pressing force by the pressing member 3 is It can be enlarged.

  As shown in FIGS. 2 and 3, the plate spring 4 extends so as to follow the longitudinal direction L of the pressing member 3, and the surface of the plate spring 4 is the side opposite to the pressing surface 301 in the pressing member 3. Is opposed to the back surface 302 of the One end of the plate spring 4 is attached to the base member 2, and the other end of the plate spring 4 is rotatably attached to the caterpillar part 31 positioned at the tip end of the plurality of caterpillar parts 31. . The other end of the plate spring 4 in the present embodiment is rotatably attached to the caterpillar component 31 positioned second from the tip end side.

At an intermediate portion of the plate spring 4, an attachment component 41 for attaching the pivoting link 5 rotatably is provided. The flat spring 4 is bridged between the support part 42A rotatably attached to the caterpillar part 31 and the attachment part 41, and the support part 42B rotatably attached to the base member 2 and the attachment part It is bridged between 41. The attachment position of the support part 42B to the base member 2 is adjustable, and the attachment position of the support part 42B can be adjusted to adjust the elastic force acting on the leaf spring 4.
By using the plate spring 4 as an elastic member, the thrust of the cylinder 6 can be effectively transmitted to the pressing member 3. Further, by using the plate spring 4, it is possible to effectively receive the reaction force acting on the pressing member 3 from the pressing object 8.

When the rotation link 5 rotates in contact with the pressing member 3 in response to the operation of the cylinder 6, the thrust of the cylinder 6 is transmitted to the leaf spring 4 via the rotation link 5.
One end of the pivoting link 5 is pivotably attached to the mounting part 41. At the other end of the pivoting link 5, a roller 51 is provided in rolling contact with the back surface 302 of the caterpillar part 31. Further, one end of a cylinder 6 is rotatably attached to an intermediate portion of the pivot link 5. By using the roller 51, the contact resistance of the pivoting link 5 in contact with the back surface 302 of the pressing member 3 can be reduced.

  As shown in FIGS. 1 and 2, in the pressing jig 1, when the cylinder rod 62 of the cylinder 6 is at the exit position, a plurality of caterpillar parts 31 are aligned in the horizontal direction, and the planar state X1 of the pressing member 3 is obtained. Form. The planar state X1 of the pressing member 3 is formed on the pressing surface 301 by the plurality of caterpillar parts 31 such that the sound absorbing material as the pasting work 81 can be placed. In the planar state X1 of the pressing member 3, tension is applied to the leaf spring 4 by the pivoting link 5 which receives the thrust of the cylinder 6, and the pressing member 3 is supported by the pivoting link 5 and the leaf spring 4. As shown in FIG. 5, in the industrial robot 7, the pressing jig 1 attached to the moving tip portion 71 is placed in a state where the sticking work 81 is placed on the pressing surface 301 of the pressing member 3 in the planar state X1. Move it.

  As shown in FIG. 3, when the cylinder rod 62 of the cylinder 6 is in the return position, the pressing jig 1 has the caterpillar part 31 located at the tip end side of the plurality of caterpillar parts 31 hanging down, and the pressing member 3. Form a curved surface state X2. The curved surface state X2 of the pressing member 3 is formed as an initial position of the pressing jig 1 before pressing the pressing member 3 against the pressing object 8 (before bonding the pasted work 81 to the pressing object 8). In the curved surface state X2 of the pressing member 3, the tension acting on the leaf spring 4 is relaxed, the leaf spring 4 is in a wave (or bent) state, and the tip side portion of the pressing member 3 not supported by the leaf spring 4 is Droop down. As shown in FIG. 6, when the pressing jig 1 is disposed below the pressing object 8 by the industrial robot 7, the curved surface state X2 of the pressing member 3 is formed.

  As shown in FIG. 7, when the pressing member 1 receives a thrust force from the cylinder 6 and the pressing member 3 changes from the curved surface state X2 to the flat state X1, the pressing surface 301 of the pressing member 3 contacts the pressing object 8. The sticking work 81 which is pressed and placed on the pressing surface 301 is configured to be stuck to the pressing object 8. When the pressing member 3 is pressed against the pressing object 8, the distance between the pressing member 3 and the plate spring 4 is increased by the pivot link 5, and the thrust by the cylinder 6 presses the plurality of caterpillar parts 31. It is distributed to the surface 301 and transmitted. Further, when the pressing is performed, the roller 51 is in rolling contact with the back surface 302 of the caterpillar part 31 in the pressing member 3 when the rotation link 5 rotates in response to the operation of the cylinder 6.

Next, a method of attaching the sound absorbing material as the pasting work 81 to the ceiling of the vehicle body as the pressing object 8 using the pressing jig 1 will be described.
As shown in FIG. 5, the sticking work 81 is placed on the pressing surface 301 of the pressing member 3 in the planar state X1 in the pressing jig 1 outside the vehicle body. At this time, the cylinder rod 62 of the cylinder 6 is at the exit position, and the thrust of the cylinder 6 is transmitted to the plurality of caterpillar parts 31 of the pressing member 3 via the pivot link 5 and the plate spring 4. The pasting work 81 is half the size in the vehicle width direction at the ceiling of the vehicle body, and is formed into a plurality of divided sizes in the vehicle length direction at the ceiling of the vehicle body.

  Next, as shown in FIG. 6, the pressing jig 1 is inserted into the interior of the vehicle through the window 82 on the side of the vehicle by the movement of the moving front end 71 of the industrial robot 7. Then, when the pressing jig 1 is disposed below the right or left side in the vehicle width direction on the ceiling of the vehicle body, the cylinder rod 62 of the cylinder 6 changes to the return position, and the pressing member 3 changes to the curved state X2. Then, a sticking work 81 placed on the pressing member 3 of the pressing jig 1 is disposed opposite to the lower side of the ceiling of the vehicle body.

  Next, as shown in FIGS. 4 and 7, in the process of changing the cylinder rod 62 of the cylinder 6 from the return position to the exit position, the pivoting link 5 pushed by the cylinder 6 is attached to the mounting part 41 of the plate spring 4. Starting to the tip side of the pressing member 3 around the attached one end. Then, the roller 51 at the other end of the rotating link 5 in contact with the back surface 302 of the caterpillar part 31 moves toward the leading end side of the pressing member 3 while rolling the back surface 302 of the caterpillar part 31.

  Thus, the thrust of the cylinder 6 is transmitted to the plate spring 4 through the pivot link 5 and pushed by the plate spring 4 so that the tip side portion of the pressing member 3 (track part 31 positioned on the tip side) moves upward The pressing member 3 changes from the curved surface state X2 to the planar state X1. Further, in the process of moving the distal end side portion of the pressing member 3 upward, the sticking work 81 is pressed against the ceiling of the vehicle body. At this time, the thrust of the cylinder 6 is transmitted to the pressing member 3 through the plate spring 4, whereby the thrust of the cylinder 6 can be distributed to the plurality of caterpillar parts 31 as evenly as possible.

  In the pressing jig 1 of the present embodiment, the thrust by the cylinder 6 can be properly transmitted to the pressing member 3 via the pivot link 5 and the plate spring 4. Further, the pressing member 3 can be supported by utilizing the tension and the rigidity of the plate spring 4. Therefore, even when the cylinder 6 having a small output and stroke is used, the pressing surface 301 of the pressing member 3 follows the curved surface of the pressing object 8 and is pressed against the pressing object 8 with an appropriate force. Further, the pressing jig 1 can flexibly cope with various pressing objects 8 having different curved surface shapes, so that the pressing surface 301 of the pressing member 3 can be formed following the curved surfaces of the various pressing objects 8. It can be pressed.

Furthermore, by appropriately transmitting the thrust force from the cylinder 6 to the pressing member 3, the industrial robot 7 with a small portable mass can be used to move the pressing jig 1. Therefore, miniaturization of equipment for mounting the pressing jig 1 can be achieved.
So, according to the pressing jig 1 of this form, while being able to miniaturize the cylinder 6 as a motive power source, the installation with which the pressing jig 1 is mounted can be miniaturized.
The present invention is not limited to the embodiments, and it is possible to configure different embodiments without departing from the scope of the invention.

DESCRIPTION OF SYMBOLS 1 pressing jig 2 base member 3 pressing member 301 pressing surface 31 crawler part 32 connecting shaft 33 inclination opposing surface 4 leaf spring (elastic member)
5 Rotating link 51 Roller 6 Cylinder (actuator)
7 Industrial Robot 71 Moving tip 8 Object to be pressed (car body)
81 Sticking work (sound absorbing material)

Claims (5)

A base member,
A pressing member which is attached to the base member and which has a long pressing surface and which can form a planar state in which the pressing surface is flat and a curved surface in which the pressing surface is curved;
An elastically deformable elastic member having one end attached to the base member and the other end attached to the tip end portion of the pressing member;
A rotating link having one end rotatably attached to the elastic member and the other end movably contacting the pressing member;
A double-acting actuator having one end pivotally attached to the pivotal link and the other end pivotally attached to the base member;
A pressing jig, wherein a force by the actuator is transmitted to the pressing member in the process of changing from the curved surface state to the planar state through the pivot link and the elastic member. The pressing member is constituted by a plurality of caterpillar parts elongated in a row via a connecting shaft,
The pressing jig according to claim 1, wherein an inclined opposite surface in which a relative allowable rotation angle of the caterpillar parts is set is formed on an end face where the caterpillar parts oppose each other. The elastic member is constituted by a strip-shaped plate spring,
The surface of the leaf spring faces the pressing member,
The force of the actuator is transmitted to the leaf spring via the pivot link when the pivot link pivots while contacting the pressing member in response to the operation of the actuator. The pressing jig described in.   The pressing jig according to any one of claims 1 to 3, wherein the rotating link is provided with a roller in rolling contact with the back surface opposite to the pressing surface of the pressing member. The pressing surface of the pressing member is capable of mounting a sticking work to be stuck to a pressing object,
The pressing surface of the pressing member is pressed against the pressing object when the pressing member is changed from the curved surface state to the flat state by receiving a force from the actuator, and the sticking is placed on the pressing surface. The pressing jig according to any one of claims 1 to 4, wherein a work is configured to be attached to the pressing object.

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