JPH0556383U - Positioning insertion device - Google Patents

Abstract

(57) [Summary] [Purpose] Position the valve in the valve body and insert it securely. [Structure] The insertion shaft 11 that supports the valve 3 is supported by a shaft receiving portion 31. Opening 2 of valve body 2
Even when the insertion shaft 11 is tilted when it is inserted into a, the shaft receiving portion 31 pushes it back to its original state. And
The spring force of the spring 23 on the inclined side and the engaging portion 11
The engagement relationship between a and the engaged taper surface portion 16a is combined, and the insertion shaft 11 is always held in the vertical state. When the stopper 26 contacts the surface of the valve body 2, the chuck member 12 opens. The valve 3 falls into the opening 2a of the valve body 2.

Description

[Detailed description of the device]

[0001]

[Industrial application]

 The present invention relates to a positioning insertion device that inserts an insertion work into an inserted work while performing positioning.

[0002]

[Prior Art]

 For example, as described in Japanese Utility Model Laid-Open No. 60-11785, a work piece is suction-held and conveyed to a work stand having a work piece positioning receiving portion. In the cupe conveying device, an arm having a circular taper-shaped abutted portion having a gradually increasing diameter toward the upper side, and a work piece suction member at the lower side are provided. A circular taper is provided with a work piece holding body formed with a circular taper-shaped abutting portion having a diameter gradually increasing upward so as to abut the abutted portion of the arm. It is known that the work piece is inserted into the positioning receiving portion while performing positioning by the taper fitting relationship between the − shaped contacted portion and the circular taper shaped contacting portion. There is.

[0003]

[Problems to be solved by the device]

 However, in such a case, when the work piece is engaged with the work piece with the position of the work piece being out of position, the work piece is tilted and the work piece cannot be positioned accurately. It may also be damaged.

An object of the present invention is to provide a positioning / inserting device capable of performing reliable positioning.

[0005]

[Means for Solving the Problems]

 The present invention is premised on a positioning and inserting device for positioning the insertion work and inserting it into the opening of the work to be inserted.

According to a first aspect of the present invention, there is provided an insertion shaft having an engaging portion at an upper end portion thereof, the insertion shaft supporting the insertion work at a lower end portion thereof, and an engaged TE member engaging with the engaging portion of the insertion shaft. -An insertion guide having a bearing surface and having a predetermined degree of freedom in the radial direction of the insertion shaft; and an insertion guide disposed above the insertion guide to determine the position of the insertion guide and move the insertion shaft downward. The pressing robot hand is floatingly connected to the upper end of the insertion shaft, and is normally separated from the robot hand, and when the insertion work is inserted, the insertion work is locked by the inserted work. At this time, the shaft receiving portion is pressed by the robot hand and keeps the insertion shaft in a vertical state.

According to a second aspect of the present invention, a chuck for holding the insertion work is provided at a lower end portion of the insertion shaft, and when the insertion work is inserted into the chuck by a certain amount, the insertion work is automatically performed. -Integrally provided is a stopper that releases the support of the brake.

[0008]

[Action]

 According to the first aspect of the present invention, when the insertion work is inserted into the insertion work, if the opening position of the insertion work and the position of the insertion work are misaligned, -The abutment contacts the peripheral edge of the opening of the inserted work. Furthermore, when the robot hand continues the insertion lowering operation, the tip of the insertion work slides along the peripheral edge of the opening of the work to be inserted, and at the same time, the engagement between the insertion shaft and the insertion guide causes the shaft receiving part to move. The insertion shaft moves vertically to the center of the opening of the inserted work.

When the insertion work and the opening of the insertion work are positioned, the robot hand inserts the insertion work into the opening of the insertion work.

According to the second aspect of the present invention, when the insertion work and the opening of the insertion work are positioned, the robot hand inserts the insertion work into the opening of the insertion work, and the stopper is inserted. The chuck comes into contact with the work and the insertion work is dropped into the opening of the work to be inserted.

[0011]

Embodiments Embodiments of the present invention will be described below in detail with reference to the drawings.

In FIG. 1 and FIG. 2 showing the overall structure, reference numeral 1 is a positioning and inserting device, and a valve 3 which is an insertion work is arranged at an opening 2a of a valve body 2 which is an inserted work. It is inserted while making a decision.

Reference numeral 11 is an insertion shaft, and the valve 3 is detachably supported at the lower end by chuck members 12, 12. An upper end of the chuck member 12 is pivotally attached near the lower end of the insertion shaft 11, and a spring seat 13 is attached to retaining rings 14 and 14 on the insertion shaft 11 above the pivot point. Is mounted and fixed, and a spring 15 is interposed between the spring seat 13 and the upper recess 12a of the chuck member 12, and the chuck member 12 is constantly urged to elastically hold the upper portion of the valve 3. Has been done.

Further, an engaging portion 11a is formed on an upper portion of the insertion shaft 11, and the engaging portion 11a engages with an engaged taper surface portion 16a of a lower portion of the insertion guide 16 to cause the insertion shaft 11a. Has a predetermined degree of freedom in the radial direction and is supported so as to be guided in a contact engagement relationship.

The upper end of the insertion guide 16 is connected to the robot hand 18 via a base 17. The robot hand 18 determines the position of the insertion guide 16 and pushes the insertion shaft 11 downward.

The insertion shaft 11 has a small-diameter upper end shaft portion 11c continuously provided on the upper side of the engagement portion 11a via a large-diameter flange portion 11b, and a first bearing via a slide bearing 21 on the shaft portion 11c. The second plate member 24 is provided on the upper side of the first plate member 22 via the spring 23. The first and second plate members 22 and 24, the slide bearing 21 and the spring 23 are floatingly coupled to the upper end of the insertion shaft 11 and are normally separated from the base 17 of the robot hand 18. However, when the valve 3 is inserted, when the valve 3 is locked by the valve body 2, that is, when the valve 3 cannot be inserted, a shaft receiving portion 31 that is pressed by the robot hand 18 to keep the insertion shaft 11 in a vertical state is configured. An air passage 17a is formed in the base 17 so that the pressure switch 25 can detect that the second plate member 24 is in close contact with the base 17.

A stopper 26 is provided on the chuck member 12 at the lower end of the insertion shaft 11, and when the valve 3 is inserted by a certain amount, the stopper 26 contacts the upper surface of the valve body 2 to open the chuck member 12 ( (See Fig. 3), the support of the valve 3 is automatically released.

With the above configuration, as shown in FIG. 1, the valve 3 gripped by the chuck member 12 is conveyed by the robot hand 18 to the position where the opening 2a of the valve body 2 is located.

When the valve 3 is inserted into the valve body 2 by the robot hand 18, and the position of the opening 2 a of the valve body 2 and the position of the valve 3 are misaligned, the valve 3 is It contacts the peripheral chamfer 2b of the opening 2a.

In this state, when the robot hand 18 further performs the inserting and lowering operation, the tip of the valve 3 slides on the peripheral chamfered portion 2b of the opening 2a of the valve body 2 and, at the same time, the engaging portion 11a of the insertion shaft 11 moves. Is separated from the insertion guide 16 by the pressing force from the engaged tapered surface portion 16a for centering the insertion guide 16 and further moved by the slide bearing 21 toward the center of the opening 2a of the valve body 2. Become . At this time, even if the insertion shaft 11 is tilted, it is pushed back to its original state by the spring force of the spring 23 on the tilted side, and the engagement relationship between the engaging portion 11a and the engaged taper surface portion 16a is brought about. Together, the insertion shaft 11 is always held in a substantially vertical state.

At this time, the air pressure in the air passage 17a is an air pressure that overcomes the spring force of the spring 23, and the pressure switch 25 is OFF.

Further, as shown in FIG. 2, when the tip of the valve 3 is caught by the peripheral chamfered portion 2b of the opening 2a of the valve body 2 and the robot hand 18 presses in that state, the insertion shaft 11 is moved to the first position. Since the second plate 24 is pushed up, the degree of contact between the second plate member 24 and the base 17 increases, and the pressure switch 25 is turned on to detect an abnormality.

When the valve 3 and the opening 2 a of the valve body 2 are positioned, the robot hand 18 inserts the valve 3 into the opening 2 a of the valve body 2. At this time, as shown in FIG. 3, when the stopper 26 comes into contact with the surface of the valve body 2, the chuck members 12, 12 are opened, and the valve 3 is dropped into the opening 2a of the valve body 2.

When the insertion of the valve 3 is completed, the robot hand 18 moves up, and the insertion shaft 11 is engaged with the engagement portion 11a and the engaged taper surface portion 16a so that the insertion guide 11 has a central position. Is set by its own weight.

[0025]

[Effect of the device]

 According to the first aspect of the present invention, as described above, the upper part of the insertion shaft is floating-coupled and separated from the robot hand during normal operation. Since the shaft receiving part that keeps the insertion shaft in the upright state by being pressed by the robot hand when it is locked by is held by the insertion hand, the insertion shaft can be kept in the vertical direction for reliable positioning. The work can be performed and damage to the work can be prevented.

According to the second aspect of the present invention, the chuck is provided with a stopper which automatically releases the support of the insertion work when the insertion work is inserted in a certain amount. Can be automatically released with a simple configuration.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a positioning insertion device.

FIG. 2 is an explanatory diagram of an inserting operation by the positioning inserting device.

FIG. 3 is an explanatory diagram of the operation of the stopper.

[Explanation of symbols]

 1 Insert Positioning Device 2 Valve Body (Inserted Work) 2a Opening 3 Valve (Insertion Work) 11 Insert Shaft 11a Engagement Part 12 Chuck Member (Chuck) 16 Insertion Guide 16a Engaged Taper Surface Part 18 Robot hand 26 Stopper 31 Shaft receiving part

Claims (2)

[Scope of utility model registration request] 1. A positioning insertion device for inserting an insertion work into an opening of an inserted work while positioning the insertion work, the engagement work being provided at an upper end of the insertion work at a lower end thereof. An insertion guide for supporting the insertion shaft, an engaged taper surface portion that engages with an engagement portion of the insertion shaft, and an insertion guide having a predetermined degree of freedom in the radial direction of the insertion shaft; A robot hand that is disposed on the upper side of the insertion shaft, determines the position of the insertion guide, and presses the insertion shaft downward;
Normally, when the insertion work is inserted, it is separated from the robot hand, and when the insertion work is locked by the inserted work, it is pressed by the robot hand and keeps the insertion shaft vertical. A positioning / inserting device comprising: 2. A chuck for holding an insertion work is provided at the lower end of the insertion shaft, and the insertion work is automatically supported when a certain amount of the insertion work is inserted into the chuck. The positioning / inserting device according to claim 1, wherein a stopper for releasing is integrally provided.