JPH04289092A - Chucking head for member - Google Patents

Abstract

PURPOSE:To improve productivity in chucking heads for members in a robot, an automatic machine, or the like, by easily compensating the positional or angular displacement of a delivery member to an installed object to carry out smooth assembly work. CONSTITUTION:The chucking head of a member which is installed at the top end of a delivery arm which delivers members accommodated in a stocker to a prescribed position individually is constituted by installing a chuck 2 provided with a hand with two fingers 3 which carries out chucking of a member 5 by opening/closing in a single direction, at the top end of the delivery arm 1 through a chuck oscillation mechanism part 14 provided with a means which floats the chuck 2 to the delivery arm 1 or releases floating for fixing.

Description

[Detailed description of the invention]

0001

[Field of Industrial Application] The present invention relates to the configuration of a chucking head for parts in robots, automatic machines, etc., and in particular, it facilitates smooth assembly by easily correcting positional and angular misalignment of conveying members with respect to objects to be mounted. This invention relates to a chucking head for members that improves productivity by performing operations.

For example, when assembly work is performed using a robot or automatic machine, there may be a positional or angular misalignment between the member chucked by the hand of the robot or automatic machine and the mounting position of the object to which the member is mounted. If this occurs, assembly errors and damage to machines and components may occur, so a solution is desired.

0003

2. Description of the Related Art FIG. 2, which takes the case of a robot as an example, is a conceptual diagram illustrating the structure of a conventional chuck, and FIG. 3 is a diagram illustrating problems.

[0004] In each of the figures, the chuck for chucking the member is located near the mounting position of the object to be mounted. In FIG. 2, a chuck 2 fixed to a robot arm 1 engaged with a robot main body (not shown) has a chuck 2 consisting of two hands that opens and closes in one direction, for example, in the direction of arrow a, in response to a signal from a robot control unit (not shown). A finger hand 3 is attached, and the two-finger hand 3
It is configured such that a member 5 to be inserted into a hole 4a formed at a predetermined position of the object to be mounted 4 can be held at the free end side tip.

[0005] Therefore, with the two-finger hand 3 opened as shown by the broken line b, the chuck 2 is positioned at the position of the member 5 housed in a stocker (not shown), and the two-finger hand 3 is closed. After holding the member 5, the robot arm 1 is moved in the direction of arrow c to convey the member 5, the member 5 is inserted into the hole 4a of the object 4, and the two-finger hand 3 is opened. 5 is attached to the object 4 to be attached.

[0006] In order to facilitate the insertion of the member 5 into the hole 4a, a chamfer 5' is provided at the insertion end of the member 5, and a chamfer 4a' is provided around the opening of the hole 4a. ing. Therefore, vibrations, positional deviations, inclinations, etc. during the movement of the robot arm 1 are so small that they can be ignored with respect to the fitting accuracy between the member 5 and the object 4 to be mounted, and the object 4 to be mounted is in a predetermined position. If set correctly, the member 5 can be effectively handled by the chuck 2.

However, since the robot arm 1 and the two-finger hand 3 are integrated, if there is a slight inclination or misalignment between the axis of the robot arm 1 and the axis of the hole 4a of the object 4, the assembly will fail. It has the disadvantage of causing mistakes and damage to machines, parts, etc.

Furthermore, the recent miniaturization of various devices,
As weight reduction progresses, for example, the fitting precision between the member 5 and the attached object 4 becomes more strictly controlled than before.
It is no longer possible to ignore vibrations, positional deviations, inclinations, etc. during the movement of the robot arm 1, which were previously allowed.

FIG. 3 shows the problem in this case, and for ease of understanding, the inclination and positional deviation of the robot arm 1 with respect to the object to be mounted 4 are exaggerated. In Figure 3, (1) indicates the inclination, and (2) indicates the positional shift.

(1) The axis d1 of the hole 4a of the object 4 is
An inclination of an angle α occurs between the axis d2 of the robot arm 1 and the axis d2 of the robot arm 1. In this case, the chamfer 4a' explained in FIG.
and 5', this inclination α cannot be absorbed, and the member 5 hits the hole 4a unevenly, making it impossible to achieve smooth mounting.

In the case of (2), there is a positional deviation of δ between the axis d3 of the hole 4a of the object 4 and the axis d4 of the robot arm 1, which may result in assembly errors or machine errors.・Damage of parts, etc. may occur.

Therefore, for example, a commercially available angle/position correction unit using rubber or a spring may be attached to the chuck, or
In particular, measures such as using a highly accurate robot and strictly setting the setting position of the object 4 are taken.

However, in the former case, the load on the parts during correction is large, making it unsuitable for assembly work of parts that are sensitive to load, and in the latter case, the robot is specialized, so it is difficult to improve productivity. There are drawbacks such as not being able to meet expectations.

[0014]

[Problems to be Solved by the Invention] A chuck having a conventional structure cannot be applied to chucking work of members that require fitting or mounting accuracy without taking the above-mentioned special measures. There was a problem in that it could lead to mistakes and damage to machines, parts, etc.

[0015]

[Means for Solving the Problems] The above object is a chucking head of a member that is attached to the tip of a transport arm that individually transports members stored in a stocker to a predetermined position. A chuck equipped with a two-finger hand for chucking is attached to the tip of the transfer arm via a chuck swinging mechanism that has means for floating the chuck relative to the transfer arm or releasing the floating and fixing the chuck. This is achieved by means of a chucking head of the component that is mounted and constructed.

[0016]

[Function] When the chucking head is configured so that when the chucked member is attached to the object, the member can move along the attachment point of the object, and the member is smoothly attached to the object. It is possible to aim for

In the present invention, an air-operated floating mechanism is attached to the conventional chuck, and the chucked member is made free by the floating mechanism so that it can be inserted into or attached to the attachment point of the object. ing.

[0018] This means that the inclination or positional deviation of the member relative to the object to be mounted is corrected by imitating the object to be mounted. Therefore, it is possible to realize a chucking head that can smoothly attach a member to an object to be attached without using a commercially available angle/position correction unit or a high-precision robot.

[0019]

[Embodiment] Taking the case of a robot as an example, FIG. 1 is a configuration diagram showing an example of a chucking head according to the present invention.
-1) indicates the state at the time of chucking, and (1-2)
is a diagram showing a state when floating.

Note that, like FIG. 2, the chucking head is located near the mounting position of the object to be mounted.
The same objects are indicated with the same symbols. In (1-1) of FIG. 1, the chucking head 11 includes a chuck swing mechanism section 14 consisting of an actuator 12 fixed to the robot arm 1 and a float mechanism section 13 fixed to the actuator 12, and the float mechanism. Part 13
The chuck 2 shown in FIG. 2 is fixed to a floating piece 131 located inside the chuck 2.

The actuator 12 constituting the chuck swinging mechanism 14 is provided with a movable pin 121 that moves up and down in the axial direction in response to a signal from a robot control unit (not shown), and the tip of the movable pin 121 It is located inside a float mechanism section 13 that penetrates the bottom surface 12a of the actuator 12 and is fixed to the outer surface of the bottom surface 12a by means of screws or the like.

Furthermore, the float mechanism 13 that engages with the actuator 12 is arranged inside the box-shaped housing 132 so as to come into close contact with the bottom surface 132a of the housing 132 or to separate from the bottom surface 132a of the housing 132. Floating piece 1 that can float
31 and a plurality of (two in the figure) intake ports 133 attached to the bottom surface 132a of the housing 132, and the floating piece 131 has a shaft 131a that passes through the bottom surface 132a with a margin. is the float mechanism section 1
It is formed to protrude from 3.

Two guide poles 134, which are erected on the bottom surface 132a of the housing 132 and penetrating the floating piece 131, restrict the floating range of the floating piece 131. When the movable pin 121 of the actuator 12 is lowered to the lowest point, that is, when it is located at the lowest point in the figure, the tip of the movable shaft 121 presses the upper surface of the floating piece 131 to move the floating piece 131 to the housing 13.
It is configured to be closely fixed to the bottom surface 132a of 2.

Further, the chuck 2 described in FIG. 2 is fixed to the tip of the shaft 131a of the floating piece 131. Therefore, when the movable pin 121 of the actuator 12 is lowered to the lowest point as shown in the figure with the chuck 2 fixed to the tip of the shaft 131a, the floating piece 131 comes into close contact with the float mechanism 13, resulting in the chuck 2 to the float mechanism section 13, that is, the chuck swing mechanism section 1
4, and a movable pin 12
1 is raised and air is injected into the above-mentioned intake port 133 from the control section (not shown). The air pushes up the lower surface of the floating piece 131, so as shown in (1-2), the floating piece 131 is moved up to the float mechanism section 13, that is, as shown in (1-2). It can be placed in a floating state with respect to the chuck swinging mechanism section 14.

Therefore, the timing of the vertical movement of the movable pin 121 of the actuator 12 constituting the chuck swinging mechanism section 14 and the timing of air injection into the intake port 133 are set in advance in a robot control section (not shown) and executed. The chuck 2 explained in 2 is attached to the robot arm 1.
It can be fixed or floating.

Note that the operation of the chuck 2 is as explained with reference to FIG. Therefore, the movable pin 12 of the actuator 12
1 is lowered and the floating piece 131 is fixed, the two-finger hand 3 of the chuck 2 clamps the member 5 housed in the stocker (not shown) as explained in FIG. 1 to position the member 5 near the hole 4a of the object to be mounted 4, and at the same time raise the movable pin 121 of the chuck swinging mechanism 14, air is injected from the intake port 133 to move the floating piece 131. When the member 5 is inserted into the hole 4a with the chuck 2 in a floating state, (1) or (2) in FIG.
Even if there is an inclination α or a positional deviation δ as explained in , the member 5 is inserted following the hole 4a, so the two-finger hand 3
By opening and returning robot arm 1 to its initial position,
Part 5 can be assembled without using particularly precise robots and without causing assembly errors or damage to machinery or parts.
can be attached to the hole 4a.

[0027]

Effects of the Invention As described above, the present invention provides a component chuck that improves productivity by easily correcting the positional and angular misalignment of the conveying member with respect to the object to be mounted, thereby facilitating smooth assembly work. King head can be provided.

Although the present invention has been explained in the case of a robot, the same effect can be obtained even in the case of an automatic machine by attaching a chucking head made of a similar member to the tip of the transfer arm.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram showing an example of a chucking head according to the present invention.

FIG. 2 is a conceptual diagram illustrating the configuration of a conventional chuck.

[Figure 3] Diagram showing problems.

[Explanation of symbols]

1 Robot arm
2 Chuck 3 Two finger hand
4 Mounted object 4a Hole
5 Member 11 Chucking head 12 Actuator 12a Bottom surface
121 Movable pin 13 Float mechanism section 131 Floating piece
131a Axis 132 Housing
1
32a Bottom surface 133 Intake port
134 Guide pole 14 Chuck swing mechanism section

Claims (2)

[Claims] 1. A chucking head for a member that is attached to the tip of a transport arm that individually transports members stored in a stocker to a predetermined position, the chucking head for a member being attached to the tip of a transport arm that individually transports members stored in a stocker to a predetermined position.
5) A chuck (2) equipped with a two-finger hand (3) for chucking the chuck (2), comprising a means for floating the chuck (2) with respect to the transfer arm (1) or releasing the floating and fixing the chuck (2). A chucking head of a member, characterized in that it is attached to the tip of the transfer arm (1) via a chuck swinging mechanism (14). 2. The means for floating the chuck with respect to the transfer arm or releasing the floating and fixing the chuck is integrated with the chuck (2) and includes a chuck swinging mechanism (14).
The floating piece (131) located in the float mechanism part (13) of
) from the bottom surface of the float mechanism section (13) by pressing the floating piece (131) from the bottom surface side with injected air; The chucking head for a member according to claim 1, further comprising means for closely fixing the member to the bottom surface (132a) of the member (13).