JPH05162032A - Registration mechanism - Google Patents

Abstract

PURPOSE:To provide a registration mechanism having flexibility to adjust itself even if the mechanism has some positional deviation from an object to be locat ed for registration. CONSTITUTION:A registration mechanism is composed of a fixed member 1 having the rear end face fixed to a robot 4 effecting linear motion and rotary motion, the front end face having a spherical projection 1a in the center part and a plurality of screw holes and drilled holes on the peripheral part, a movable member 2 having a projection 2a in the center part of the front end face, a movable pin 2c energized forward by a spring 2b on the peripheral edge part and drilled holes and screw holes corresponding respectively to the screw holes and drilled holes in the fixed member 1 in the rear end face to rotate an object 5 to be located for registration and a plate-like spring member 3 having through holes corresponding to the screw holes and drilled holes and interposed between the fixed member 1 and movable member 2 to have the through hole fixed by screws.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning mechanism, and more particularly to a positioning mechanism capable of self-adjusting a slight positional deviation with respect to an object to be positioned by making the mechanism rigid in a rotating direction and soft in a front-back direction.

In recent years, automatic assembly of various devices and equipment using a handling robot has become popular. Among them, for example, the work of aligning the members and the holes of the members and screwing them together is one of the important and frequently performed assembly works.

In the automatic assembly work, it is important how accurately and efficiently the positions of the members are aligned.

[0004]

2. Description of the Related Art When performing an assembly work, the alignment of the respective members is an important work. There are various control methods for alignment in the assembly work, but basically, it is performed by fixing one member and moving the other member to a predetermined position.

A mechanism for moving and aligning such members is attached to, for example, a robot, and is performed by moving the members by combining linear movements in the XYZ directions, rotary movements, and turning movements. Further, in order to perform the alignment accurately, the alignment mechanism is composed of a rigid body.

FIG. 4 is a perspective view of an example of a conventional positioning mechanism. In the figure, 2a is a protrusion, 2b is a spring, 2c is a movable pin, 4 is a robot, 5 is an object to be positioned, 5a is a central hole,
5b is a positioning hole, 5c is a fool hole, 6 is a support member, 6a is a screw hole, and 10 is a positioning mechanism.

The alignment mechanism 10 exemplified here is for aligning the screw holes by rotational movement. For example, in order to screw the disk (object 5 to be positioned) to the container (support member 6), The object 5 to be positioned is rotated and aligned with the support member 6.

That is, the support member 6 has a plurality of screw holes.
6a is provided, and the object to be positioned 5 which is screwed to the support member 6 faces the screw hole 6a, and a burrow hole 5c.
Is provided. A hole is formed in the center of the object 5 to be positioned.
5a is provided.

On the other hand, the positioning mechanism 10 is provided at the tip of the robot 4 so as to move forward / backward or rotate according to the movement of the robot 4. A protrusion 2a projects from the central portion and a movable pin 2c biased by the spring 2b to spring out at the peripheral portion. This movable pin 2b
When the projection 2a is inserted into the center 5a of the object 5 to be positioned, it is inserted into the positioning hole 5b.

Now, the position of the screw hole 6a of the support member 6 is read in advance by a position detecting means (not shown). Then, when the object 5 to be positioned is appropriately fitted into the support member 6 with its outer diameter as an opposition, the burred hole 5c of the object 5 to be positioned does not always match the screw hole 6a of the support member 6.

Therefore, the position of the fool hole 5c of the object to be positioned 5 is read by a position detecting means (not shown), and the screw hole is read.
The relative positional relationship between 6a and the fool hole 5c is measured. Then
The positioning mechanism 10 is rotated so that the movable pin 2b fits into the positioning hole 5b, and then brought closer to the object 5 to be positioned. Then, when the protrusion 2a is inserted into the hole 5a, the movable pin 2b is fitted into the positioning hole 5b, and the positioning mechanism 10 is rotated, the object to be positioned 5 is rotated with the outer diameter being abutted to rotate the fool hole 5c into a screw hole. Can be adjusted to 6a

[0012]

However, the positioning mechanism 10 is inserted into the object 5 to be moved by directly abutting against it. Therefore, if the positioning mechanism 10 is rigidly configured by a rigid body, an excessive load is applied to the joints of the robot 4 for assembling work and the support member 6 of the opponent of the object 5 to be positioned when there is some displacement. Things happen occasionally. In addition, in order to prevent such a load from being applied, troublesome control is required.

Therefore, according to the present invention, a movable member having flexibility through a spring member is provided on the front end surface of the fixing member of the positioning mechanism so that even if there is a slight positional deviation with respect to the object to be positioned. It is an object of the present invention to provide a positioning mechanism that can perform positioning without applying a load.

[0014]

Means for Solving the Problems The above-mentioned problem has a fixed member, a movable member, and a spring member, and the fixed member is fixed to a robot whose rear end face makes a linear motion and a rotary motion. And a plurality of first screw holes and a plurality of first fool holes are alternately provided on a peripheral portion of the front end surface of the front end surface, and the movable member is a positioning object. To rotate and align the
It has a protrusion in the center and a movable pin urged forward by a spring in the peripheral portion, and has a second end hole corresponding to the first screw hole on the rear end surface and the first end hole. A second screw hole corresponding to, the spring member has a plate-like shape and has a through hole corresponding to the screw hole and the fool hole, and between the fixed member and the movable member. It is solved by an alignment mechanism configured such that the through hole is screwed with the interposition of.

[0015]

Since the conventional positioning mechanism is made of a rigid body, a slight positional deviation with respect to the object to be positioned is not allowed when performing the positioning, but according to the present invention, the object to be directly positioned is positioned. The member that abuts against is moved via the spring member.

That is, the movable member is alternately screwed to the fixed member supported by the robot via the spring member so that the movable member swings around the spherical projection provided at the center of the fixed member. ing. The tip end portion of the alignment mechanism that abuts the object to be positioned has rigidity with respect to movement in the rotational direction and has flexibility with respect to movement in the front-rear direction.

With this configuration, when the alignment mechanism is brought into contact with the object to be positioned, even if there is some positional deviation, it is self-adjusted. Therefore, it is possible to prevent the mechanical portion from colliding with the object to be positioned and applying an excessive load.

[0018]

FIG. 1 is a partially cutaway perspective view of an embodiment of the present invention,
2 is a sectional view taken along line XX of FIG. 1, and FIG. 3 is a sectional view taken along line YY of FIG. In the figure, 1 is a fixing member, 1a is a spherical protrusion, and 1b.
Is a first screw hole, 1c is a first fool hole, 2 is a movable member, 2a
Is a protrusion, 2b is a spring, 2c is a movable pin, 2d is a second fool hole,
2e is a second screw hole, 3 is a spring member, 3a is a through hole, 4 is a robot, 5 is an object to be positioned, 5a is a central hole 5a5b is a positioning hole 5b5c is a fool hole 5c10 is a positioning mechanism.

1 to 3, although not shown, the alignment mechanism 10 exemplified here is provided on a supporting member provided with three equally-divided screw holes at the peripheral edge portion, and also at the peripheral edge portion.
An equally divided fool hole 5c is provided and a positioning hole 5b.
The object to be positioned 5 provided with is fitted and aligned.

That is, the fixed member 1 is fixed to the tip of the robot 4 which moves forward / backward and rotates. Then, a spherical projection 1a having a rounded tip projects in the center of the front end face, and two first screw holes 1b and two first fool holes 1c are diagonally opposed to each other at the peripheral edge. It is provided.

The movable member 2 has an object 5 to be positioned on its front end surface.
Is provided with a projection 2a that fits into a central hole 5a provided in the center of the object, and a movable pin 2c that fits into a positioning hole 5b provided in the peripheral edge of the object 5 to be positioned is provided on the peripheral edge. Has been. The movable pin 2c is biased by the spring 2b so as to jump forward. In addition, the rear end surface of the movable member 2 is provided with a second boss hole 2d corresponding to the first screw hole 1b and a second screw hole 2e corresponding to the first boss hole 1c.

The spring member 3 has a plate shape made of a spring material,
A through hole 3a corresponding to each of the first screw hole 1b or the second screw hole 2d and the first screw hole 1c or the second screw hole 2e is provided. The spring member 3 is interposed between the fixed member 1 and the movable member 2 and has one through hole 3a.
Is screwed to the fixed member 1 and the other through hole 3a is screwed to the movable member 2.

In the position adjusting mechanism 10 assembled in this way, the movable member 2 is fixed in the rotational direction.
It shows rigidity without any deviation. However, with respect to the forward / backward directions, as shown by the one-dot broken line in FIGS. 2 and 3, it is possible to provide the flexibility of swinging about the spherical protrusion 1a so as to swing. Further, since the movable pin 2c is also urged forward by the spring 2b, it has flexibility even when it moves forward and collides with the object 5 to be positioned.

Therefore, when the positioning mechanism 10 collides with the object 5 to be positioned for alignment, self-adjustment is performed even if there is a slight misalignment, and the joints of the robot 4 and the object 5 to be positioned are It is possible to prevent an excessive load from being applied to the support member that is aligned.

As for the flexibility of the movable member 2, it is preferable that the plate thickness of the spring member 3 is smaller because it is softer. Further, the fixed member 1 and the movable member 2 can be stably supported by screwing at least two screws each with four screws, but if a strong rotational force is applied, the number of screws may be increased.
Further, although it does not alternate in the case of four pieces, it is sufficient to screw at least six pieces in the case of alternately arranging them equally, and various modifications are possible.

[0026]

The alignment mechanism according to the present invention has a double structure of a fixed member and a movable member. Although the movable member is rigid and rigid in the rotating direction, it does not move in the forward and backward directions. It has the flexibility to swing. Then, even if the mechanism causes a slight displacement with respect to the object to be positioned, it is self-adjusted.

As a result, the present invention greatly contributes to the efficiency improvement of the assembly work for rotating and aligning the object to be positioned, as the automation of the assembly work progresses in the future.

[Brief description of drawings]

FIG. 1 is a partially cutaway perspective view of an embodiment of the present invention.

FIG. 2 is a sectional view taken along line XX of FIG.

3 is a cross-sectional view taken along line YY of FIG.

FIG. 4 is a perspective view of an example of a conventional alignment mechanism.

[Explanation of symbols]

1 Fixing member 1a Spherical protrusion 1b
First screw hole 1c First fool hole 2 Movable member 2a Protrusion 2b
Spring 2c Movable pin 2d Second fool hole 2e
Second screw hole 3 Spring member 3a Through hole 4 Robot 5 Positioned object 5a Center hole 5b
Positioning hole 5c Fool hole 10 Positioning mechanism

Claims (1)

[Claims] 1. A robot (4) having a fixed member (1), a movable member (2), and a spring member (3), wherein the fixed member (1) has a rear end surface that performs linear movement and rotational movement. Which are fixed to the front end face, a spherical projection (1a) in the center, and a plurality of first screw holes (1b) and first fool holes (1c) alternately in the peripheral part. The movable member (2) is for rotating and aligning the object (5) to be positioned, and has a protrusion (2
a) and a movable pin (2c) urged forward by a spring (2b) on the peripheral portion, and the first screw hole (1a) on the rear end face.
Corresponding to the second fool hole (2d), and the first fool hole (1b)
Which has a second screw hole (2e) corresponding to, the spring member (3) is a plate-like through hole (3a) corresponding to the screw hole (1a) and the fool hole (1b) And a through hole (3a) screwed between the fixed member (1) and the movable member (2).