JPH047856Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial field of application] This invention relates to an improvement of an alignment mechanism that uses a guide pin and a guide hole to minimize the increase in pressing force applied through the guide pin. This allows for alignment.

[Conventional technology]

In assembly operations performed using robots, manipulators, etc., the parts to be attached are moved to predetermined positions and then tightened.

In order to align and align parts during such assembly work, etc., the simplest alignment mechanism is to use a guide pin and a guide hole with a small diameter tip that guides the pin and gradually brings it into a predetermined position. There are also many.

[Problem that the invention attempts to solve]

Conventionally used guide pins and guide holes usually have a rod-like shape with a pointed tip, and the guide hole has a continuous shape with an inverted conical slope and a fitting part with approximately the same diameter as the guide pin. A pressing force in the axial direction is applied to the guide pin, and the force in the direction perpendicular to the axis generated by the guide hole gradually guides the guide pin to the fitting portion of the guide hole and aligns the guide pin.

However, the force applied to the guide pin in the direction perpendicular to the axis from the guide hole varies depending on the angle of the inverted conical slope of the guide hole and the coefficient of friction between the guide pin and the guide hole, and when the guide pin and guide hole are made of the same material, However, since it is proportional to the angle of the slope of the guide hole, if the amount of eccentricity increases, the pressing force applied to the guide pin must be increased, and there is a problem that smooth alignment cannot be achieved.

This invention was made in view of the problems of the prior art, and is intended to provide an alignment mechanism that allows smooth alignment without increasing the pressing force as much as possible.

[Means for solving problems]

In order to solve the above-mentioned problems, this invention has been developed to adjust the angle of the guide surface with respect to the direction perpendicular to the pressing direction of the guide pin in the alignment mechanism that presses the guide pin against the guide surface of the guide hole and aligns it to a predetermined position. It is characterized in that it gradually increases toward the tip, increasing the component force in the alignment direction.

[Effect]

The guide surface of the guide hole against which the guide pin is pressed is formed into a curved surface whose angle gradually increases toward the tip, so that the force in the alignment direction increases without increasing the pressing force applied to the guide pin, resulting in a smooth I try to be able to adjust my mind.

〔Example〕

Hereinafter, one embodiment of this invention will be described in detail based on the drawings.

FIGS. 1 and 2 are a schematic configuration diagram and a schematic diagram of the operation of an embodiment of the alignment mechanism of this invention.

This alignment mechanism 10 moves the body 11 to be aligned to the fixed part 1.
A centering frame 13 is arranged outside the body 11 to be aligned, and a plurality of springs 1 are installed between the body 11 to be aligned and this alignment frame 13.
4 is interposed.

Therefore, the spring 14 holds the aligned body 11 in a fixed position relative to the alignment frame 13, and
They are now able to move relative to each other.

Two guide pins 15 are attached to the alignment frame 13 so as to protrude downward so as to be aligned to a predetermined position on the upper surface (on a plane) of the fixed part 12.

On the other hand, two guide holes 16 are formed in the fixed portion 12 in correspondence with the positions of the guide pins 15 of the body 11 to be aligned.

This guide hole 16 has a large diameter on the upper surface side of the fixing part 12 and becomes smaller as it goes downward, and the angle α of the slope with respect to the horizontal direction (direction perpendicular to the pushing direction) becomes downward (tip in the pushing direction). A guide surface 17 that gradually becomes larger and a fitting portion 1 that has approximately the same diameter as the guide pin 15 that is continuous with this guide surface 17.
It consists of 8.

The correction force W generated when trying to align the guide pin 15 while pressing it in the axial direction changes depending on the angle α of the slope of the guide surface 17 of the guide hole 16. If the angle α of the slope is selected so as to satisfy the relationship (1), smooth alignment can be achieved while keeping the pressing force P constant.

W=tanα−μ/1+μ・tanα・P=kx ……(1) Here, each symbol is (see Figure 2) α: inclination angle of guide hole 16, k: spring constant of spring 14, x: alignment distance of guide pin 15, μ: friction coefficient, P: pressing force, W: Correction force (reaction force due to misalignment) respectively.

The alignment by the alignment mechanism 10 configured as above is as follows:
It is done as follows.

First, the body 11 to be aligned is gripped by a manipulator (not shown) and transported along with the alignment frame 13 to the position where the fixing part 12 is to be aligned and fixed, so that the tip of the guide pin 15 is aligned as shown in FIG. 2a. Bring it into contact with any of the guide surfaces 17 of the guide hole 16.

In this state, the springs 14 interposed between the aligning frame 13 and the aligned body 11 are in a state where there is no displacement.

Furthermore, the positioning accuracy of the manipulator used for alignment by the alignment mechanism 10 may be within a range that allows the guide pin 15 to come into contact with any of the guide surfaces 17 of the guide hole 16; Guide hole 16 according to positioning accuracy
It may also be the diameter of the large diameter part.

With the guide pin 15 in contact with the guide surface 17 of the guide hole 16, the aligned body 11 is pressed in the axial direction of the guide pin 15 with a pressing force P, as shown in FIG. 2b.

Then, a correction force W acts on the alignment frame 13 as a reaction force from the guide hole 16 to the body 13 fixed by the manipulator, and the alignment frame 13 resists the spring 14 to change the alignment distance. Move by x and approach the predetermined position.

At this time, as the alignment frame 13 moves toward the center on the guide surface 17, its inclination angle α increases, so the correction force W increases in proportion to the increase in force kx by the spring 14. The centering is achieved without increasing the pressing force P from .

In this way, the alignment frame 1 is inserted into the guide hole 16 of the fixed part 12.
When the guide pins 15 of No. 3 are completely fitted, the alignment frame 13 is aligned with the fixed part 12, and at the same time, the spring 14 is charged with energy corresponding to the alignment distance x of the alignment frame 13. is accumulated.

Therefore, when the manipulator releases the grip of the body 11 to be aligned, the energy stored in the spring 14 causes the body 1 to be aligned relative to the alignment frame 13.
1 is moved to the balanced position of the spring 14, and the aligned body 11 is aligned.

In this way, by using the guide hole 16 that satisfies the relationship of the above equation (1), alignment can be achieved without increasing the pressing force applied via the guide pin 15, but the tip of the guide pin 15 in the pressing direction By gradually increasing the angle α of the guide surface 17 toward , smooth alignment can be achieved by suppressing the increase in pressing force as much as possible.

In the above embodiment, the guide pins are provided via the alignment frame and the spring, but they may also be provided directly on the body to be aligned, and the number of guide pins is not limited to two.

[Effect of idea]

As described above in detail with one embodiment, according to the alignment mechanism of this invention, the guide pin is pressed against the guide surface of the guide hole and aligned at a predetermined position, so that the alignment mechanism is perpendicular to the direction in which the guide pin is pressed. Since the angle of the guide surface with respect to the direction is gradually increased toward the tip in the pressing direction, the component force in the alignment direction can be increased, and a large alignment force can be obtained without increasing the pressing force as much as possible, resulting in smooth alignment. I can do it.

[Brief explanation of drawings]

FIGS. 1 and 2 are a schematic configuration diagram and a schematic diagram of the operation of an embodiment of the alignment mechanism of this invention. 10... Aligning mechanism, 11... Aligned body, 12...
... Fixed part, 13 ... Aligning frame, 14 ... Spring, 15
... Guide pin, 16 ... Guide hole, 17 ... Guide surface, 18 ... Fitting portion, α ... Angle of guide surface, P ... Pressing force.

Claims (1)

[Scope of utility model registration request] In an alignment mechanism that presses a guide pin against the guide surface of a guide hole and aligns it to a predetermined position, the angle of the guide surface with respect to the direction perpendicular to the direction in which the guide pin is pressed is gradually increased toward the tip of the pressing direction in the direction of alignment. A centering mechanism characterized by a large component force.