JPH04129625A - Insertion position correcting device for work - Google Patents

Abstract

PURPOSE:To prevent a high reaction force from being exerted on a position correcting device by providing a work inclining device to press a work holding means in a direction crossing the insertion direction of a work. CONSTITUTION:When a shaft S is brought into contact with a guide surface F, a lock means 23 disengages a protrusion part 42 from a hole 35 and a chuck 32 is made movable toward a housing 21. The claw of the chuck 32 is slightly unfolded to reduce a chucking force for the shaft S. As a result, the shaft S is moved within the chuck 32 through press of a piston 60, and a tip is pressed against a guide surface F of a hole H. Meanwhile, each air cylinder 50 of a work inclining means 25 presses the rear end of a support body 36 of the chuck 32 in a direction crossing the insertion direction of the shaft S, the rear end side of the shaft S is moved and inclined in various directions. At a point of time when the axis of the shaft S coincides with the center of the hole H, the shaft S is slipped in the hole H through the press force of a work moving means 24.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention provides a method for adjusting the position of the workpiece to the position of the mating member when the relative positions of the workpiece held by the robot and the mating member into which the workpiece is inserted are misaligned. The present invention relates to a workpiece insertion position correction device (hereinafter simply referred to as "position correction device J") for inserting the workpiece into a mating member while correcting the workpiece.

Conventional technology and its problems Conventionally, when using a robot to perform assembly work such as inserting a shaft (workpiece) into a hole in a mating member, if the relative positions of the hole and shaft are misaligned, the shaft cannot be inserted into the hole. cannot be inserted into. For this reason, the sixth
As shown in the figure, a position correction device 10 in which a spring 12 is provided between the pair of plate-shaped members 11 and 11 is provided between the robot arm 13 and the robot hand 14, and the position can be corrected by the amount of the deviation. That's what I do.

While descending, the robot hand 14 utilizes the deformation of the spring 12 to slide the shaft S along the conical guide surface F at the entrance of the hole H, so that it can be inserted into the hole H. There is.

However, since the position correction device 10 includes the spring 12, it has the following problems.

(2) If the relative positional deviation between the hole H and the shaft S is large, a large reaction force is applied to the position correction device itself.

(2) Even if the deviation in the relative position is slight, if the insertion distance of the shaft S into the hole H is long, the amount of displacement of the shaft S will become large as a result, and a large reaction force will be applied to the position correction device itself.

- The shaft S and the position correction device fRJO must be coaxial, and the degree of freedom in mounting the position correction device 10 is low.

(2) When inserting the shaft S into a horizontal hole H, as shown in FIG. 6, the shaft S tilts to the imaginary line position due to its own weight, making it difficult to insert the shaft S.

Means for Solving the Problems The present invention provides a housing, a work holding means that is tiltably and movably provided in the housing and holds a work;
The above-mentioned problem is solved by a device having a workpiece tilting means for pressing the workpiece holding means in a direction crossing the insertion direction of the workpiece, and a workpiece moving means for moving the workpiece in a projecting direction from the workpiece holding means. It is.

Operation With the workpiece (for example, shaft) held by the workpiece holding means, the entire position correction device is brought close to, for example, a hole in the mating member.

When the position of the shaft and the position of the hole match, the shaft is inserted into the hole as is.

If the relative positions are misaligned, the tip of the shaft will first contact the guide surface at the entrance of the hole. Thereafter, the workpiece moving means presses the tip of the shaft against the guide surface.

Further, the workpiece tilting means presses the workpiece holding means from the side. By the operation of these two means, the shaft has its tip pressed against the guide surface, and its rear end moves up and down, left and right, and
9 The shaft, which is moved and tilted in various directions such as diagonally up and down, is slid into the hole by the pressing force of the workpiece moving means when the fine point of the shaft coincides with the center of the hole while being moved. Ru. While being slid into the hole,
The shaft is moved together with the work holding means by the amount of the relative position shift.

As a result, the shaft is inserted into the hole to a predetermined depth.

Example Embodiments of the present invention will be described below based on the drawings.

The workpiece insertion position correcting device (hereinafter simply referred to as "position correcting device") 20 includes a housing 21, a workpiece holding means 22, a locking means 23, a workpiece moving means 24, and a workpiece tilting means 25. are doing.

The housing 21 is a part where the entire position correction device 20 is attached to the tip of the robot arm 70.

The workpiece holding means 22 includes a movable plate 31 provided in the housing 21 so as to be able to move in a plane by a plurality of balls 30, a chuck 32 for chucking a workpiece, for example, a shaft S, and a chuck for chucking the movable plate 31. 32
It has a knuckle joint 33 which connects the two in a freely tiltable manner. The chuck 32 includes claws (not shown) that are automatically opened and closed by a control circuit.

The locking means 23 includes at least three air cylinders 40 contained in the end surface 26 of the housing 21, a protrusion 42 provided on the piston 41 of the air cylinder 40, and a hole 35 in which the protrusion 42 engages. has been done. The hole 35 is bored in the collar 34 on the support 36 of the chuck 32.

The workpiece moving means 24 is constituted by a piston 60 provided within the support 36 of the chuck 32.

The work tilting means 25 includes a plurality of air cylinders 50 each having a piston 51 projecting into the hole 27 of the housing 21.
It is made up of. Each air cylinder 5o has a second
As shown in the figure, they are provided at positions facing each other with the support body 36 of the chuck 32 in between.

Next, the operation will be explained. .

First, a case where the relative positions of the shaft S and the hole H are deviated will be described.

Initially, the locking means 23 engages the protrusion 42 with the hole 35 and positions the chuck 32 in a predetermined position relative to the housing 21. Next, the chuck 32 holds the shaft (work) S, and the zero position correction device 1120 moves the robot arm 70 to a set position under the control of a control circuit (not shown). It will be done. As a result, the tip of the shaft S faces the hole H, but since the relative positions of the shirt I-S and the hole H are shifted, the shaft S comes into contact with the guide surface F at the entrance of the hole H.

When the shaft S contacts the guide surface F, the locking means 23 removes the protrusion 42 from the hole 35 and locks the chuck 32 into the housing 2.
Make it freely movable relative to 1.

Further, the claws (not shown) of the chuck 32 are slightly opened to weaken the chucking force of the shaft S. As a result, shaft S
is caused by the pressure of the piston 60 of the workpiece moving means 24,
It moves inside the chuck 32. Then, the tip of the shaft S is pressed against the guide surface F of the hole H.

Meanwhile, each air cylinder 50 of the workpiece tilting means 25 is operated, and as shown in FIG.
Press the rear end of the shaft S in a direction intersecting with the direction in which the shaft S is inserted. As a result, the shirt L-S is moved in various directions such as up and down, left and right, diagonally up and down, etc., with its leading end pressed against the guide surface F, by the operation of these two means.
Can be tilted. During this time, when the axis of the shaft S and the center of the hole H coincide, the shaft S is moved to the workpiece moving means 24.
It is slid into the hole H by the pressing force of.

While being slid into the hole H, the shaft S is moved together with the workpiece holding means 22 by the amount of the relative position shift.

This deviation is absorbed by the far protrusion of each piston 51. The approach distance of the shaft S is set by a sensor (not shown) that detects the moving distance of the piston 60 of the workpiece moving means 24.

In addition, while the shirt L-S is inserted into the hole H in the state shown in FIG. The force is set.

After the shaft S has been inserted a predetermined distance into the hole H, the position correction device 20 leaves the shaft S in the hole H and leaves the hole H.

Next, when the position of the shaft S and the position of the hole H match, the tip of the shaft S is inserted into the hole H without almost contacting the guide surface F.

In this case, the rear end of the support 36 of the chuck 32 is pushed from the side by the piston 51 of the workpiece tilting means 25, but the shaft S is regulated by the hole H, its rotational movement is prevented, and the shaft S is forced into the hole H. .

Note that these series of operations are performed based on a program stored in the control circuit.

Next, an example of use of the above position correction device will be explained.

FIG. 5 shows an automatic drilling machine 80, in which a position correction device 120 is provided at the tip of a bending arm 82 on a self-propelled cart 81.

The position correction device 120 in this case includes a drill device (not shown) for drilling holes in the support described above. or,
Instead of the aforementioned shaft, a hollow shaft 83 is held in the chuck so as not to fall out. The hollow shaft 83 is for passing a drill through and guiding the drill.

Next, the operation will be explained.

The automatic drilling machine 80 first locates a bush hole 85 in a plate-shaped jig 84 that has been attached to a workpiece W (for example, an aircraft wing) using a visual device (not shown) using a laser. Next, the hollow shaft 83 is inserted into the bushing hole 85. At that time, if there is a deviation in the relative position between the hollow shaft 83 and the bushing hole 85, the position correction device 120 is activated, and the hollow shaft 83 is surely inserted into the bushing hole 85. lastly,
A drill drills a hole in the workpiece W using the hollow shaft 83 as a guide.

Effects of the Invention The position correction device of the present invention has the workpiece holding means, workpiece tilting means, and workpiece moving means perform the role of the spring of the conventional positional correction device, and therefore has the following effects. .

(2) Even if the relative position of the workpiece and the mating member deviates, the position of the workpiece can be automatically corrected by operating each means, so the force applied to the position correction device itself can be reduced.

■Since the workpiece position can be automatically corrected,
The workpiece and the position correction device do not necessarily have to be coaxial, and the attachment of the position correction device can increase the degree of freedom in position.

■The position correction device does not deform due to its own weight, and can insert the workpiece into the mating member in any posture.

■When inserting a workpiece, so-called "kinking" does not occur, so it is especially easy to insert a long and thin shaft.

[Brief explanation of drawings]

FIG. 1 is a sectional view taken along the shaft of the position correction device of the present invention, FIG. 2 is a sectional view taken along arrow 2-2 in FIG. 1, FIGS.
Figure 5 is a perspective view of the automatic drilling machine. FIG. 6 is a schematic external view of a conventional position correction device. S... Shaft (work) 20.120... Position correction device 21... Housing 22... Work holding means 24 - Work moving means 25... Work tilting means Figure 2 Figure 3 Factor 3 Figure 4

Claims (1)

[Claims] a housing, a work holding means that is tiltably and movably provided in the housing and holds a work; a work tilting means that presses the work holding means in a direction crossing the insertion direction of the work; and a work holding means that holds the work. A workpiece insertion position correcting device comprising a workpiece moving means for moving the workpiece in a projecting direction from the workpiece.