JPH01234192A - Auxiliary inserting device for assembling robot - Google Patents

Abstract

PURPOSE:To make it possible to easily insert a work into a fixed hole by making fluid pressure function to cause a spherical plate of a hand side member to freely float from or pressedly attach to a spherical seat of an arm side member. CONSTITUTION:A hand side member is engaged with an arm side member through a spherical seat sandwichedly held by a spherical plate provided in one body with the hand side member and a spherical plate provided in the arm side member. In this state, fluid pressure is made to function between the spherical seat and the spherical plates to float the spherical plate from the spherical seat for giving the degree of freedom to the hand side member. Thus an angular error or a positioning error in inserting a work into a fixed hole can be freely corrected under a light load, resulting in the easy insertion of the work.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention relates to an insertion assisting device for an assembly robot, and more specifically, when inserting a cylindrical workpiece into a hole, the position, Alternatively, the present invention relates to an insertion assisting device for an assembly robot that freely corrects deviations in angle, position, and both angles and facilitates insertion.

(Prior technology) Conventionally, when a cylindrical workpiece or measurement plug is automatically inserted into a predetermined hole by an assembly robot, for example, errors in the positioning accuracy of the robot or automatic machine or misalignment between the insertion axis and the center axis of the hole occur. etc. occur.

Inserting the workpiece in this state may damage the measurement plug, cause the workpiece to "gauge," or cause the workpiece to "clip."
There was an inconvenience that a phenomenon occurred.

In order to solve this inconvenience, RCC (Remote Center Couliance)
) has been adopted.

This V& This is a device that automatically corrects angle errors and torsional errors.

By providing this K1ff, it is possible to
This prevents damage to machines and workpieces.

(Problem to be solved by the invention) However, with the RCC device, it is not possible to insert a workpiece when the insertion load is small, and spring constants with different spring constants have to be used depending on the conditions, which improves workability. The problem was that it was bad.

Therefore, an object of the present invention was devised in view of the above-mentioned problems, and the object of the present invention is to enable insertion even with a minute load due to positioning error, angular error, or both.
Another object of the present invention is to provide an insertion assisting device for an assembly robot in which the holding rigidity of the system is variable.

[Structure of the Invention] (Means for Solving the Problem II) In order to achieve the above object, the present invention provides an insertion assisting device provided between an arm and a hand of an assembly robot, and a hand side attached to the hand. The hand-side member is engaged with the arm-side member through a spherical plate integrally provided on the member and a spherical seat provided in the arm-side member attached to the arm that clamps the spherical plate, and the An insertion assisting device for an assembly robot was constructed in which a spherical plate can be floated or crimped from a spherical seat.

Further, in the above configuration, the spherical seat may be made to float or be pressed against the arm-side member within the arm-side member by fluid pressure operation, or may be operated independently.

(Function) With the above-described configuration, the insertion assisting device provided between the arm and hand of the assembly robot includes a spherical plate integrally provided on the hand side member and a spherical seat sandwiching the spherical plate provided within the arm side member. By applying fluid pressure between the spherical plate and the spherical seat to levitate the spherical plate and giving the hand member a degree of freedom, it is possible to freely correct angular errors during insertion.

Further, by applying fluid pressure between the spherical seat and the arm side member to levitate the spherical seat and giving a degree of freedom to the hand member side, positioning errors during insertion can be freely corrected. Furthermore, angular errors or positioning errors during insertion can be corrected individually.

Note that by operating the fluid pressure from one direction, the spherical plate or the spherical seat can be kept in the locked state.

(Example) Hereinafter, an example of the present invention will be described in detail based on the drawings.

FIG. 1 conceptually illustrates the overall configuration of an insertion assisting VFJ for an assembly robot.

In FIG. 1, an insertion assisting device 1 is provided between an arm 3 and a hand 5 for an assembly robot, or a measurement plug, etc. Furthermore, the arm-side member 7 attached to the arm 3 includes a spherical plate 11 that engages with the hand-side member 9 attached to the hand 5, and a spherical seat 13.

A rod 1 is attached to the lower surface of the hand side member 9 (lower side in FIG. 1).
5 is provided, and a robot hand 5 is attached to the robot hand 15. Also, measurement plugs etc. can be attached freely.

A spherical plate 11 is integrally erected on the rod 15 provided on the hand side member 9, and the spherical plate 11 engages with a spherical surface 913 clamping in the vertical direction with a slight gap. The spherical seat 13 is divided into an upper spherical seat 13a and a lower spherical seat 13b, and the upper and lower spherical seats 13a113
b are connected by a locking portion 17.

The spherical seat 13 has a storage chamber 19 provided in the arm side member 7.
It is stored inside with a slight gap in the vertical and horizontal directions.

The upper surface of the arm-side member 7 is integrally attached to the arm 3, and the arm-side member 7 and the hand-side member 9 are arranged such that a bottle 21 is provided on the arm-side member 7 to restrict rotation, and this bottle 21 is attached to the hand side member 7. It is mounted in a groove 23 provided in the side member 9 with a slight gap.

Furthermore, the arm side member 7 includes a flow path 25a for applying fluid pressure, such as air pressure, to the upper spherical seat 13a;
A flow path 25b is bored through which the lower spherical seat 13b acts. Further, a flow path 27a for applying fluid pressure to the spherical plate 11 is provided in the upper spherical seat 13a.
b are bored in the lower spherical seat 13b, respectively, and are connected to a fluid pressure generation source (not shown).

Note that the shape of the spherical seat 13 may be cylindrical or rectangular, and the spherical plate 11 is concave in this embodiment, but it goes without saying that it may be convex or spherical.

With the above structure, the function is that by sending fluid pressure into the flow channels 2'5a and 25b provided in the arm side member 7, the upper and lower spherical seats 13a and 13b float in the storage chamber 19, and the left and right, front and back ( A degree of freedom can be obtained in the direction (perpendicular to the figure).

Therefore, even if there is a positioning accuracy error of a robot or automatic machine or a misalignment between the insertion axis and the center axis of the hole, it can be freely corrected with a low load and insertion can be performed easily.

In addition, by feeding fluid pressure into the flow channels 27a and 27b provided in the upper and lower spherical seats 13a and 13b of the spherical seat 13 that clamps the spherical plate 11 provided on the arm side member 7, the spherical plate 11 floats and angles θ. Freedom in direction is obtained.

Therefore, even if there is an angular error during positioning by the robot, it can be freely corrected with a low load and inserted easily.

In addition, by controlling the supply pressure and flow rate of fluid pressure,
The correction force when inserting the part into the hole can be adjusted.
Furthermore, flow channels 25a and 25b provided above and below each member: 2
By supplying fluid pressure from either 7a or 27b, the spherical seat 13 or the spherical plate 11 can be locked, which can be selected depending on the conditions of use.

Therefore, when inserting the workpiece into the hole, it is possible to insert the workpiece with a small load, and it is possible to improve workability without damaging the workpiece.

It goes without saying that the present invention is not limited to the embodiments described above, and that various changes can be made without departing from the gist of the present invention. For example, in this embodiment, the insertion assisting device 1 has been described as being able to freely adjust the deviation in the angular direction and the positional direction, but it is also possible to adjust the deviation in the angular direction or the positional direction independently.

[Effects of the Invention] As can be understood from the description of the embodiments, the present invention provides an insertion assisting device provided between an arm and a hand of an assembly robot, which is integrally attached to a hand-side member attached to the hand. The hand side member is engaged with the arm side member through a spherical seat that clamps the spherical plate provided in the arm and the spherical plate provided in the arm side member attached to the arm, and the casting spherical plate is moved by fluid pressure operation. By being able to levitate or press freely from the spherical seat, it is possible to freely correct angle errors that occur when an assembly robot or the like inserts, for example, a cylindrical workpiece or measurement plug into a predetermined hole, with a low load. Insertion can be facilitated.

In addition, because the spherical seat can be floated or crimped from the arm-side member within the arm-side member using fluid pressure differential, an assembly robot or the like can insert, for example, a cylindrical workpiece or a measurement plug into a predetermined hole. Positional errors that occur during insertion can be freely corrected with a low load to facilitate insertion.

Furthermore, by simultaneously operating both of the above configurations, it is possible to freely correct angular errors and positioning errors with a low load and facilitate insertion. By extension,
This invention can improve workability.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram conceptually showing the overall structure of an insertion assisting device for an assembly robot showing an embodiment of the present invention. 1... Insertion assisting device 3... Arm 5... Hand 7... Arm side member 9... Hand side member 11... Spherical plate 13... Spherical seat agent Patent attorney Tamotsu Miyoshi Man 1... Insertion assistance 1il 3... 7-mu 5...
Hand 7... Arm side member 9... Hand side part $111... Spherical plate 13... Spherical seat 7b 5b 1■! 5a / Kei N Hayako

Claims (3)

[Claims] (1) An insertion assisting device installed between the arm and hand of an assembly robot, which includes a spherical plate integrally provided on the hand-side member attached to the hand and the spherical plate provided inside the arm-side member attached to the arm. An insertion assisting device for an assembly robot, characterized in that a hand side member is engaged with an arm side member via a spherical seat to be held, and the spherical plate can be floated or pressed from the spherical seat by fluid pressure operation. (2) The insertion assisting device for an assembly robot according to claim 1, characterized in that the spherical seat can be floated or crimped from the arm-side member within the arm-side member by fluid pressure operation. (3) An insertion assisting device installed between the arm and hand of an assembly robot, which includes a spherical plate integrally provided on the hand side member attached to the hand and the spherical plate provided inside the arm side member attached to the arm. The hand-side member is engaged with the arm-side member via the spherical seat to be held, and the spherical seat can be floated or pressed from the arm-side member within the arm-side member by fluid pressure operation. Insertion assist device for assembly robots.