JPH0313015B2 - - Google Patents
Info
- Publication number
- JPH0313015B2 JPH0313015B2 JP56039739A JP3973981A JPH0313015B2 JP H0313015 B2 JPH0313015 B2 JP H0313015B2 JP 56039739 A JP56039739 A JP 56039739A JP 3973981 A JP3973981 A JP 3973981A JP H0313015 B2 JPH0313015 B2 JP H0313015B2
- Authority
- JP
- Japan
- Prior art keywords
- press
- pressing
- pressure receiving
- receiving frame
- pressing plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 239000000463 material Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 239000013013 elastic material Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Landscapes
- Automatic Assembly (AREA)
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は、球軸受のような機械要素を歯車箱の
ような機械ケースへ圧入するのに好適な工業用組
立ロボツト装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an industrial assembly robot device suitable for press-fitting a machine element such as a ball bearing into a machine case such as a gear box.
［従来の技術］
工業ロボツトの作業腕は、その一端に溶接棒や
スプレーガンなどの作業具を有し、他端が一個或
は数個の関節を介して基台に支持され、予め設定
されたプログラムに従つて作業具を所定の位置に
移動するものである。この移動を迅速かつ正確に
行うには作業腕や関節などの慣性重量を削減する
ことが必要であり、むやみに剛性を上げることが
できない。そこで、一般の工業ロボツトは、主と
して溶接や塗装或は小径のビスの締付など軽作業
に用いられている。[Prior Art] A working arm of an industrial robot has a working tool such as a welding rod or a spray gun at one end, is supported by a base via one or several joints, and has a working arm set in advance. The tool is moved to a predetermined position according to a programmed program. In order to perform this movement quickly and accurately, it is necessary to reduce the inertial weight of the working arm, joints, etc., and the rigidity cannot be increased unnecessarily. Therefore, general industrial robots are mainly used for light work such as welding, painting, and tightening small diameter screws.
ところで、近年、組立作業の作業性をより一層
高めるなどの要請から、工業ロボツトにおいて
も、圧入作業も行えることが望まれるようになつ
てきた。 Incidentally, in recent years, due to demands for further improving the workability of assembly operations, it has become desirable for industrial robots to be able to perform press-fitting operations as well.
しかし、従来の工業ロボツトは上述したように
剛性を上げることが困難であるために、押圧反力
が作業腕に作用すると作業腕や関節が破損すると
いう問題が起きる。 However, as mentioned above, it is difficult to increase the rigidity of conventional industrial robots, so that when a pressing reaction force acts on the working arm, the working arm or joint may be damaged.
このため、圧入作業に際して生じる押圧反力が
組立ロボツトに作用するのを可及的に軽減するこ
とができるように、基台に固定された受圧枠と、
この受圧枠に固定された押圧作動装置と、この押
圧作動装置に取付けられて圧入物を押圧する押圧
ヘツドと、作業腕とを有する専用組立ロボツトが
考えられた（例えば特公昭52−16918号公報参
照）。 Therefore, in order to reduce as much as possible the pressure reaction force generated during press-fitting work on the assembly robot, a pressure receiving frame fixed to the base,
A dedicated assembly robot has been devised that has a pressing device fixed to the pressure receiving frame, a pressing head attached to the pressing device to press the press-fitted object, and a working arm (for example, Japanese Patent Publication No. 16918/1983). reference).
［発明が解決しようとする問題点］
しかしながら、前述の専用組立ロボツトにおい
ては、圧入物を被圧入物に圧入するに際して、ま
ず作業腕によつて圧入物を保持しながら押圧ヘツ
ドにより圧入物を被圧入物に部分的に圧入して仮
圧入状態とした後、作業腕を圧入物から離しその
後に前記押圧ヘツドによつて圧入物を完全に被圧
入物に圧入するという２段階の圧入工程があり、
その作業が複雑となる、という問題があつた。[Problems to be Solved by the Invention] However, in the above-mentioned dedicated assembly robot, when press-fitting a press-fit object into a press-fit object, the work arm first holds the press-fit object and the press head presses the press-fit object. There is a two-step press-fitting process: after partially press-fitting into the press-fitting object to create a temporary press-fitting state, the working arm is released from the press-fitting object, and then the pressing head completely press-fits the press-fitting object into the press-fitted object. ,
The problem was that the work was complicated.
また、押圧ヘツドにより圧入物を直接被圧入物
に圧入するため、押圧ヘツドと被圧入物との芯合
わせ等を正確に行う必要があり、被圧入物に対す
る押圧ヘツドの位置に非常に精度を要する、とい
う問題もある。 In addition, since the press head directly presses the press-fit object into the press-fit object, it is necessary to accurately align the center of the press head and the press-fit object, and the position of the press head with respect to the press-fit object requires great precision. There is also the problem of.
更に、被圧入物の設置位置は押圧ヘツドの位置
によつて決定されるため、被圧入物の設置位置が
１ケ所に限定される、という問題もある。 Furthermore, since the installation position of the press-fitted object is determined by the position of the pressing head, there is also the problem that the installation position of the press-fitted object is limited to one place.
本発明は、従来の技術の有するこのような問題
点に鑑みてなされたものであり、その目的とする
ところは、圧入工程を簡略化して圧入作業を迅速
に行い得る押圧装置に格別の精度を必要としない
汎用性のある工業用組立ロボツト装置を提供しよ
うとするものである。 The present invention has been made in view of the above-mentioned problems of the conventional technology, and its purpose is to simplify the press-fitting process and provide a pressing device that can quickly perform the press-fitting operation with exceptional accuracy. The purpose is to provide a versatile industrial assembly robot device that does not require the following.
また、複数個の被圧入物を任意に設置し、これ
らに順次圧入物を圧入できるようにした上記の工
業用組立ロボツト装置をも提供しようとするもの
である。 It is also an object of the present invention to provide the above-mentioned industrial assembly robot device in which a plurality of objects to be press-fitted can be arbitrarily installed and the objects to be press-fitted can be sequentially press-fitted into these objects.
［課題を解決するための手段］
上記目的を達成するために、本発明における工
業用組立ロボツト装置は、
被圧入物Ｗを支持する基台１と、該基台１に対
して固定された受圧枠６と、該受圧枠６に対して
固定された押圧作動装置９と、前記基台１に対向
するとともに前記押圧作動装置９によつて前記受
圧枠６に対して上下に昇降する押圧板１１と、水
平方向に移動可能な作業腕３ｄを有し前記受圧枠
６とは別体に構成された組立ロボツト３と、該組
立ロボツト３の前記作業腕３ｄに設けられ圧入物
Ｓを押圧する押圧具７とから成り、前記押圧作動
装置９は、前記押圧板１１を下降させて該押圧板
１１が前記押圧具７に接してこれに押圧力を与え
るとともにその反力を前記受圧枠６に伝達するよ
うにし、前記押圧板１１は前記押圧具７のロツド
７ｂの断面積よりも大きな断面積を有するととも
に該押圧板１１の上昇時には該押圧板１１を前記
押圧具７のロツド７ｂから隔離するように位置さ
せた、或は、
被圧入物Ｗを支持する基台１と、該基台１に対
して固定された受圧枠６と、該受圧枠６に対して
固定された押圧作動装置９と、前記基台１に対向
するとともに前記押圧作動装置９によつて前記受
圧枠６に対して上下に昇降する押圧板１１と、水
平方向に移動可能な作業腕３ｄを有し前記受圧枠
６とは別体に構成された組立ロボツト３と、該組
立ロボツト３の前記作業腕３ｄに設けられ圧入物
Ｓを押圧する押圧具７とから成り、前記押圧作動
装置９は、前記押圧板１１を下降させて該押圧板
１１が前記押圧具７に接してこれに押圧力を与え
るとともにその反力を前記受圧枠６に伝達するよ
うにし、前記押圧板１１はその端部を前記受圧枠
６の各支柱６ａに摺動自在に嵌着する広がりを有
するとともに該押圧板１１の上昇時には該押圧板
１１を前記押圧具７から隔離するように位置させ
た、ものである。[Means for Solving the Problems] In order to achieve the above object, the industrial assembly robot device of the present invention includes a base 1 that supports a press-fitted object W, and a pressure-receiving device fixed to the base 1. a frame 6, a pressing actuating device 9 fixed to the pressure receiving frame 6, and a pressing plate 11 facing the base 1 and moving up and down with respect to the pressure receiving frame 6 by the pressing actuating device 9. an assembly robot 3 having a horizontally movable working arm 3d and configured separately from the pressure receiving frame 6; and a press provided on the working arm 3d of the assembly robot 3 to press the press-fit object S. The pressing operation device 9 lowers the pressing plate 11 so that the pressing plate 11 comes into contact with the pressing tool 7 to apply a pressing force thereto, and transmits the reaction force to the pressure receiving frame 6. The pressing plate 11 has a cross-sectional area larger than that of the rod 7b of the pressing tool 7, and is designed to isolate the pressing plate 11 from the rod 7b of the pressing tool 7 when the pressing plate 11 is raised. or a base 1 supporting the press-fitted object W, a pressure receiving frame 6 fixed to the base 1, and a pressing actuating device 9 fixed to the pressure receiving frame 6. , which has a pressing plate 11 facing the base 1 and moving up and down with respect to the pressure receiving frame 6 by the pressing actuating device 9, and a working arm 3d movable in the horizontal direction. consists of an assembly robot 3 which is constructed separately, and a pressing tool 7 that is provided on the working arm 3d of the assembly robot 3 and presses the press-fitted object S, and the pressing actuating device 9 lowers the pressing plate 11. The pressing plate 11 contacts the pressing tool 7 to apply a pressing force to it and transmits the reaction force to the pressure receiving frame 6. It has a width that allows it to be slidably fitted onto the support column 6a, and is positioned so as to separate the pressing plate 11 from the pressing tool 7 when the pressing plate 11 is raised.
［作用］
押圧作動装置９は、押圧板１１を下降させて該
押圧板１１が押圧具７に接してこれに押圧力を与
えるとともにその反力を受圧枠６に伝達するよう
にし、前記押圧板１１は前記押圧具７のロツド７
ｂの断面積よりも大きな断面積を有するとともに
該押圧板１１の上昇時には該押圧板１１を前記押
圧具７のロツド７ｂから隔離するように位置させ
たので、圧入物を被圧入物に圧入するに際して、
押圧作動装置９により押圧板１１を下降させて作
業腕３ｄに設けられた押圧具７を押すことにより
圧入物を被圧入物に一気に圧入する。また、押圧
板１１は押圧具７の上部付近に位置していれば容
易に押圧具７を押すことができることから押圧装
置に格別の精度を必要としない。[Function] The pressing actuating device 9 lowers the pressing plate 11 so that the pressing plate 11 comes into contact with the pressing tool 7 and applies a pressing force thereto, and transmits the reaction force to the pressure receiving frame 6, and the pressing plate 11 11 is the rod 7 of the pressing tool 7
It has a cross-sectional area larger than the cross-sectional area of b and is positioned so as to separate the pressing plate 11 from the rod 7b of the pressing tool 7 when the pressing plate 11 is raised, so that the press-fitting object is press-fitted into the press-fitting object. On the occasion of
The pressing plate 11 is lowered by the pressing actuating device 9 and the pressing tool 7 provided on the working arm 3d is pressed, thereby pressing the press-fitting object into the press-fitting object all at once. Further, if the pressing plate 11 is located near the upper part of the pressing tool 7, it can easily press the pressing tool 7, so that the pressing device does not require particular precision.
更に第２の発明においては、押圧板１１はその
端部を受圧枠６の各支柱６ａに摺動自在に嵌着す
る広がりを有するようにしたので、上記の作用の
外に複数個の被圧入物を任意に設置し、これらに
順次圧入物を圧入することが可能となる。 Furthermore, in the second invention, the pressing plate 11 has an end portion that is wide enough to be slidably fitted to each support column 6a of the pressure receiving frame 6. It becomes possible to place objects arbitrarily and press-fit objects into them one after another.
［実施例］
以下、本発明を図面に示した一実施例に基づい
て説明する。[Example] The present invention will be described below based on an example shown in the drawings.
図中符号１は基台たるベツドであり、その上面
に被圧入物Ｗを搬送するチエンコンベア装置２が
設けられ、このチエンコンベア装置２は被圧入物
Ｗを紙面に垂直な方向へ搬送するよう構成されて
いる。３はベツド１の側面に設けられた組立ロボ
ツトで、主柱３ａとその上端に回動自在に連結さ
れた横腕３ｂおよびその横腕３ｂに関節３ｃを介
して支持された作業腕３ｄとからなつている。４
および５はパルス電動機であり、一方のパルス電
動機４は主柱３ａの下端に設けられ、前記横腕３
ｂを第２図中仮想線で示すように軸線４ａを中心
に回動させ、他のパルス電動機５は横腕３ｂに作
業腕３ｄと対称に支持され、作業腕３ｄを同様に
軸線５ａを中心に水平方向にのみ回動させるもの
である。６は被圧入物Ｗの上方に位置して設けら
れた受圧枠で、ベツド１上に立設された３本の支
柱６ａとその支柱６ａの上端に強固に支持された
平板状の受圧板６ｂとからなつている。そして、
前記作業腕３ｄはこの受圧枠６内に臨んで圧入作
業を行う。７は被圧入物Ｗへ圧入物Ｓを押圧して
圧入する押圧具であり、前記作業腕３ｄに支持さ
れている。この押圧具７はシリンダ７ａ内を貫通
して支持したロツド７ｂと、ロツド７ｂに固設さ
れシリンダａ内を摺動自在に昇降するピストン７
ｃとからなつている。ロツド７ｂはピストン７ｃ
の両面に作用する油圧によつて昇降するように構
成されているが、これに限るものではなく、後述
するパーツフイーダ８にもよるがピストン７ｃの
両面にばね７ｄ，７ｅ設けてバランスさせロツド
７ｂの頂面と後述する押圧板１１との間に隙間を
生じるようにしておくだけでもよい。ロツド７ｂ
の下端にはゴムなどの弾性体で作られた小径の係
合部７ｆが形成され、圧入物Ｓたる球軸受の軸孔
へ係脱自在に係合するようになつている。８は圧
入物Ｓを供給するパーツフイーダである。９は押
圧板１１を介して押圧具７を下降させると共にそ
の反力を受圧板６ｂ伝達させる押圧作動装置であ
る。この押圧作動装置としては従来公知のいわゆ
る油圧シリンダが使用される。すなわち、油圧シ
リンダ９はシリンダ９ａとピストン９ｂとからな
り、そのピストンロツド９ｃは下端部において押
圧板１１に螺合している。押圧板１１はブツシユ
１１ａを介して前記３本の支柱６ａに摺動可能に
嵌着されていて、油圧シリンダ９の作動に伴つて
昇降するようになつている。また該押圧板１１は
平板状を呈し、そのベツド１側にはベツド１表面
に対向し偏平でかつ広がりをもつた受圧部が形成
されている。 Reference numeral 1 in the figure is a bed serving as a base, and a chain conveyor device 2 for conveying the press-fitted material W is provided on the top surface of the bed. It is configured. Reference numeral 3 designates an assembly robot installed on the side of the bed 1, which consists of a main column 3a, a side arm 3b rotatably connected to the upper end of the main column 3a, and a working arm 3d supported by the side arm 3b via a joint 3c. It's summery. 4
and 5 are pulse motors, one pulse motor 4 is provided at the lower end of the main column 3a, and the side arm 3
b is rotated around the axis 4a as shown by the imaginary line in FIG. It rotates only in the horizontal direction. Reference numeral 6 denotes a pressure receiving frame located above the press-fitted object W, which includes three pillars 6a erected on the bed 1 and a flat pressure receiving plate 6b firmly supported by the upper ends of the pillars 6a. It is made up of. and,
The working arm 3d faces into the pressure receiving frame 6 and performs press-fitting work. Reference numeral 7 denotes a pressing tool for pressing and press-fitting the press-fitting object S into the press-fitting object W, and is supported by the working arm 3d. This pressing tool 7 includes a rod 7b that penetrates and supports the inside of the cylinder 7a, and a piston 7 that is fixedly attached to the rod 7b and moves up and down slidably inside the cylinder a.
It consists of c. Rod 7b is piston 7c
Although the piston 7c is configured to be raised and lowered by hydraulic pressure acting on both sides of the piston 7c, springs 7d and 7e are provided on both sides of the piston 7c to balance the rod 7b. It is sufficient to simply create a gap between the top surface and the pressing plate 11, which will be described later. rod 7b
A small-diameter engaging portion 7f made of an elastic material such as rubber is formed at the lower end of the engaging portion 7f, and is configured to detachably engage with the shaft hole of the ball bearing, which is the press fit S. 8 is a parts feeder that supplies the press-fitted material S. Reference numeral 9 denotes a pressing operation device that lowers the pressing tool 7 via the pressing plate 11 and transmits the reaction force to the pressure receiving plate 6b. A conventionally known so-called hydraulic cylinder is used as this pressure actuation device. That is, the hydraulic cylinder 9 consists of a cylinder 9a and a piston 9b, and the piston rod 9c is screwed into the press plate 11 at its lower end. The pressing plate 11 is slidably fitted to the three pillars 6a via bushes 11a, and is adapted to move up and down as the hydraulic cylinder 9 operates. Further, the pressing plate 11 has a flat plate shape, and on the bed 1 side thereof, a flat and wide pressure receiving part is formed facing the surface of the bed 1.
以上の実施例の作動を説明する。被圧入物Ｗが
コンベア２によつて搬送されている間に、押圧具
７は組立ロボツト３の作動によつてパーツフイー
ダ８上の圧入物Ｓの真上に移されており、ピスト
ン７ｃが油圧で下方へ移動すると、ロツド７ｂは
下端の係合部７ｆが圧入物Ｓたる球軸受の軸孔へ
弾性係合する。次いでピストン７ｃが上昇すると
横腕３ｂおよび作業腕３ｄが回動して圧入物Ｓを
被圧入物Ｗ上の所定の位置へ移動する。この間に
被圧入物Ｗが所定の位置へ到達して停止すると、
再びピストン７ｃが下降して圧入物Ｓを被圧入物
Ｗへ押圧するが、シリンダ７は押圧力が小さく圧
入はできない。また、その反力によつて関節３ｃ
が撓むこともない。ここで押圧作動装置たる油圧
シリンダ９が作動し、ロツド９ｃにより一気に押
圧板１１を下降させる。押圧板１１はロツド７ｂ
の頂面に当接するとロツド７ｂを強く下方へ押圧
して圧入物Ｓを被圧入物Ｗへ圧入する。その際、
油圧シリンダ９は受圧板６ｂに支持されているの
で、シリンダ９によつて生じる圧入力の反力は受
圧板６ｂによつて支承され、作業腕３ｄに作用す
る反力は僅かである。該圧入作業が終了すると油
圧シリンダ９の作動でロツド９ｃが戻りこれによ
り押圧板１１が上昇する。そして、この押圧板１
１はロツド７ｂから隔離される。 The operation of the above embodiment will be explained. While the press-fitted material W is being conveyed by the conveyor 2, the pressing tool 7 is moved directly above the press-fitted material S on the parts feeder 8 by the operation of the assembly robot 3, and the piston 7c is hydraulically moved. When the rod 7b moves downward, the engaging portion 7f at the lower end of the rod 7b elastically engages with the shaft hole of the ball bearing, which is the press fit material S. Next, when the piston 7c rises, the side arm 3b and the working arm 3d rotate to move the press-fitted object S to a predetermined position on the press-fitted object W. During this time, when the pressurized object W reaches a predetermined position and stops,
The piston 7c descends again to press the press-fit object S onto the press-fit object W, but the cylinder 7 has a small pressing force and cannot press-fit. Also, due to the reaction force, joint 3c
It does not bend. At this point, the hydraulic cylinder 9, which is a pressing device, is activated, and the rod 9c lowers the pressing plate 11 at once. The pressing plate 11 is the rod 7b
When it comes into contact with the top surface of the rod 7b, the rod 7b is strongly pressed downward and the press-fitting object S is press-fitted into the press-fitting object W. that time,
Since the hydraulic cylinder 9 is supported by the pressure receiving plate 6b, the reaction force of the pressing force generated by the cylinder 9 is supported by the pressure receiving plate 6b, and the reaction force acting on the working arm 3d is small. When the press-fitting operation is completed, the rod 9c is returned by the operation of the hydraulic cylinder 9, and the press plate 11 is thereby raised. And this pressing plate 1
1 is isolated from rod 7b.
したがつて、広がりを有する押圧板１１の範囲
内で基台１上に複数個の被圧入物Ｗを予め任意に
設置し、これらの上部に順次押圧具７を移動させ
て圧入物Ｓを被圧入物Ｗに順次圧入することも可
能である。 Therefore, a plurality of objects W to be press-fitted are arbitrarily installed on the base 1 within the range of the pressing plate 11 having a spread, and the press-fitted objects S are sequentially moved to the top of these objects. It is also possible to press fit into the press-fit object W one after another.
次に第３図を用いて他の実施例について説明す
る。 Next, another embodiment will be described using FIG.
この図のものは、前記複数個の被圧入物Ｗに対
して圧入物Ｓを順次圧入することを必要としない
ような場合に用いてもよいものである。したがつ
て押圧板１１の構成が前記第１図及び第２図に示
されたものと相違しその余の構成は実質的に同一
であるので、同一構成のものについては符号を付
すのみでその説明を省略する。すなわち、
一個、或は小範囲内の被圧入物Ｗに対して圧入
物Ｓを圧入する場合には、押圧板１１は前記した
実施例のように、その端部を受圧枠６の各支柱６
ａに摺動自在に嵌着する広がりを有するものを必
要としないので、該押圧板１１を押圧具７のロツ
ド７ｂの断面積よりも大きな程度の断面積とし、
各支柱６ａにも嵌着しないようにして小型化をも
図れるようにしたのである。この場合でも、押圧
板１１の範囲内では被圧入物Ｗと押圧作動装置９
のロツド９ｃの位置のずれは許容される。 The one shown in this figure may be used in a case where it is not necessary to sequentially press-fit the press-fitting objects S into the plurality of press-fitting objects W. Therefore, the structure of the pressing plate 11 is different from that shown in FIGS. 1 and 2, and the rest of the structure is substantially the same, so those with the same structure are simply given the reference numerals and will not be referred to. The explanation will be omitted. That is, when press-fitting the press-fitting object S into one press-fitting object W or within a small range, the press plate 11 connects its end to each support 6 of the pressure receiving frame 6, as in the above-mentioned embodiment.
Since there is no need for a member with a wide area that can be slidably fitted to the press plate 11, the cross-sectional area of the press plate 11 is larger than that of the rod 7b of the press tool 7,
By not fitting into each support column 6a, it is also possible to reduce the size. Even in this case, within the range of the press plate 11, the object to be pressed W and the press actuating device 9
A deviation in the position of the rod 9c is allowed.
［発明の効果］
以上詳述した本発明によれば、圧入物を被圧入
物に圧入するに際して、受圧枠６に対して固定さ
れた押圧作動装置９により押圧板１１を下降させ
て作業腕３ｄに設けられた押圧具７を押すことに
より圧入物を被圧入物に一気に圧入するので、そ
の圧入作業を迅速に行い得るとともに該作業時の
押圧反力は受圧枠６により吸収されて組立ロボツ
トの作業腕に作用することがほとんどなく、した
がつて組立ロボツトの作業腕や関節が破損するこ
ともない。[Effects of the Invention] According to the present invention described in detail above, when a press-fitting object is press-fitted into a press-fitting object, the pressing plate 11 is lowered by the pressing actuating device 9 fixed to the pressure receiving frame 6, and the working arm 3d By pressing the press tool 7 provided at the press-fitting tool 7, the press-fitting object is press-fitted into the press-fitted object at once, so the press-fitting operation can be carried out quickly, and the pressing reaction force during this operation is absorbed by the pressure-receiving frame 6, so that the assembly robot can be assembled. There is almost no action on the working arm, and therefore the working arm or joints of the assembly robot will not be damaged.
また、押圧板１１は押圧具７の上部付近に位置
していれば容易に押圧具７を押すことができるこ
とから、組立ロボツトの精度さえよければ押圧装
置に格別の精度を必要としない汎用性のある工業
用組立ロボツト装置が得られる。 In addition, since the pressing plate 11 can easily press the pressing tool 7 if it is located near the top of the pressing tool 7, it is a versatile device that does not require special precision in the pressing device as long as the assembly robot is accurate. An industrial assembly robot device is obtained.
更に特許請求の範囲第２番目の発明において
は、押圧板１１に充分な広がりをもたせたので、
上述の効果に加えて、複数個の被圧入物を任意に
設置し、これらに順次圧入物を圧入することもで
き作業能率が格段に向上する。 Furthermore, in the second aspect of the invention, since the pressing plate 11 has a sufficient width,
In addition to the above-mentioned effects, a plurality of objects to be press-fitted can be arbitrarily installed and the objects to be press-fitted can be sequentially press-fitted into these objects, thereby greatly improving work efficiency.
図面は本発明の一実施例を示し、第１図は組立
ロボツト装置の要部の断面図、第２図はその部分
平面図、第３図は他の実施例の要部の断面図を示
す。
Ｗ……被圧入物、Ｓ……圧入物、１……基台、
３……組立ロボツト、３ｄ……作業腕、６……受
圧枠、６ａ……支柱、７……押圧具、７ｂ……ロ
ツド、９……押圧作動装置、１１……押圧板。
The drawings show one embodiment of the present invention, FIG. 1 is a sectional view of the main parts of an assembly robot device, FIG. 2 is a partial plan view thereof, and FIG. 3 is a sectional view of the main parts of another embodiment. . W... Press-fitted object, S... Press-fitted object, 1... Base,
3... Assembly robot, 3d... Working arm, 6... Pressure receiving frame, 6a... Support column, 7... Pressing tool, 7b... Rod, 9... Pressing actuating device, 11... Pressing plate.
Claims (1)
対して固定された受圧枠６と、該受圧枠６に対し
て固定された押圧作動装置９と、前記基台１に対
向するとともに前記押圧作動装置９によつて前記
受圧枠６に対して上下に昇降する押圧板１１と、
水平方向に移動可能な作業腕３ｄを有し前記受圧
枠６とは別体に構成された組立ロボツト３と、該
組立ロボツト３の前記作業腕３ｄに設けられ圧入
物Ｓを押圧する押圧具７とから成り、前記押圧作
動装置９は、前記押圧板１１を下降させて該押圧
板１１が前記押圧具７に接してこれに押圧力を与
えるとともにその反力を前記受圧枠６に伝達する
ようにし、前記押圧板１１は前記押圧具７のロツ
ド７ｂの断面積よりも大きな断面積を有するとと
もに該押圧板１１の上昇時には該押圧板１１を前
記押圧具７のロツド７ｂから隔離するように位置
させたことを特徴とする工業用組立ロボツト装
置。 ２ 被圧入物Ｗを支持する基台１と、該基台１に
対して固定された受圧枠６と、該受圧枠６に対し
て固定された押圧作動装置９と、前記基台１に対
向するとともに前記押圧作動装置９によつて前記
受圧枠６に対して上下に昇降する押圧板１１と、
水平方向に移動可能な作業腕３ｄを有し前記受圧
枠６とは別体に構成された組立ロボツト３と、該
組立ロボツト３の前記作業腕３ｄに設けられ圧入
物Ｓを押圧する押圧具７とから成り、前記押圧作
動装置９は、前記押圧板１１を下降させて該押圧
板１１が前記押圧具７に接してこれに押圧力を与
えるとともにその反力を前記受圧枠６に伝達する
ようにし、前記押圧板１１はその端部を前記受圧
枠６の各支柱６ａに摺動自在に嵌着する広がりを
有するとともに該押圧板１１の上昇時には該押圧
板１１を前記押圧具７から隔離するように位置さ
せたことを特徴とする工業用組立ロボツト装置。[Scope of Claims] 1. A base 1 that supports an object W to be press-fitted, a pressure receiving frame 6 fixed to the base 1, a pressing operation device 9 fixed to the pressure receiving frame 6, a pressing plate 11 facing the base 1 and moving up and down with respect to the pressure receiving frame 6 by the pressing actuation device 9;
An assembly robot 3 having a horizontally movable working arm 3d and configured separately from the pressure receiving frame 6, and a pressing tool 7 provided on the working arm 3d of the assembly robot 3 for pressing the press-fit object S. The pressing operation device 9 lowers the pressing plate 11 so that the pressing plate 11 comes into contact with the pressing tool 7 to apply a pressing force thereto, and transmits the reaction force to the pressure receiving frame 6. The pressing plate 11 has a cross-sectional area larger than that of the rod 7b of the pressing tool 7, and is positioned so as to isolate the pressing plate 11 from the rod 7b of the pressing tool 7 when the pressing plate 11 is raised. An industrial assembly robot device characterized by: 2. A base 1 that supports the object W to be press-fitted, a pressure receiving frame 6 fixed to the base 1, a press actuating device 9 fixed to the pressure receiving frame 6, and a base 1 facing the base 1. and a press plate 11 that is moved up and down with respect to the pressure receiving frame 6 by the press actuation device 9;
An assembly robot 3 having a horizontally movable working arm 3d and configured separately from the pressure receiving frame 6, and a pressing tool 7 provided on the working arm 3d of the assembly robot 3 for pressing the press-fit object S. The pressing operation device 9 lowers the pressing plate 11 so that the pressing plate 11 comes into contact with the pressing tool 7 to apply a pressing force thereto, and transmits the reaction force to the pressure receiving frame 6. The pressing plate 11 has a width that allows its ends to be slidably fitted to each support column 6a of the pressure receiving frame 6, and also isolates the pressing plate 11 from the pressing tool 7 when the pressing plate 11 is raised. An industrial assembly robot device characterized by being positioned as follows.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56039739A JPS57156181A (en) | 1981-03-19 | 1981-03-19 | Industrial assembling robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56039739A JPS57156181A (en) | 1981-03-19 | 1981-03-19 | Industrial assembling robot device |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63305393A Division JPH01193131A (en) | 1988-12-02 | 1988-12-02 | Industrial assembling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57156181A JPS57156181A (en) | 1982-09-27 |
| JPH0313015B2 true JPH0313015B2 (en) | 1991-02-21 |
Family
ID=12561328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56039739A Granted JPS57156181A (en) | 1981-03-19 | 1981-03-19 | Industrial assembling robot device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57156181A (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS606320A (en) * | 1983-06-07 | 1985-01-14 | Shibaura Eng Works Co Ltd | Industrial robot for bolt fastening |
| JPS6025673A (en) * | 1983-07-21 | 1985-02-08 | ダイキン工業株式会社 | Robot |
| JPS6029285A (en) * | 1983-07-29 | 1985-02-14 | シ−ケ−ディ株式会社 | Assembling method by robot |
| DE3467109D1 (en) * | 1983-08-26 | 1987-12-10 | Cod Int Tech Sa | Assembly robot enabling to apply a force to a part |
| JPS60161038A (en) * | 1984-01-30 | 1985-08-22 | Pentel Kk | Assembling device employing robot |
| JPS60167629U (en) * | 1984-04-14 | 1985-11-07 | マツダ株式会社 | Press-fit device |
| JPS6112643U (en) * | 1984-06-26 | 1986-01-24 | 日東精工株式会社 | Pin press-fit unit for industrial robots |
| JPS61136740A (en) * | 1984-12-03 | 1986-06-24 | Fujitsu Ten Ltd | Press-fitting machine |
| JPH0674233U (en) * | 1993-03-30 | 1994-10-21 | 本田技研工業株式会社 | Ball press fitting device |
| JP2014087907A (en) * | 2012-10-31 | 2014-05-15 | Mitsubishi Motors Corp | Press-in device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1133964B (en) * | 1957-12-16 | 1962-07-26 | Hellmut Mueller Dipl Ing | Radial drilling machine or the like. |
| JPS5216918A (en) * | 1975-07-30 | 1977-02-08 | Matsushita Electric Ind Co Ltd | Gata pulse generating device |
| JPS5373678A (en) * | 1976-12-14 | 1978-06-30 | Nippon Electric Co | Parts working device |
| JPS5429473A (en) * | 1977-08-08 | 1979-03-05 | Yamaha Motor Co Ltd | Apparatus for receiving reaction of high output industrial robbot |
-
1981
- 1981-03-19 JP JP56039739A patent/JPS57156181A/en active Granted
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1133964B (en) * | 1957-12-16 | 1962-07-26 | Hellmut Mueller Dipl Ing | Radial drilling machine or the like. |
| JPS5216918A (en) * | 1975-07-30 | 1977-02-08 | Matsushita Electric Ind Co Ltd | Gata pulse generating device |
| JPS5373678A (en) * | 1976-12-14 | 1978-06-30 | Nippon Electric Co | Parts working device |
| JPS5429473A (en) * | 1977-08-08 | 1979-03-05 | Yamaha Motor Co Ltd | Apparatus for receiving reaction of high output industrial robbot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57156181A (en) | 1982-09-27 |
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