JPH0575532B2 - - Google Patents
Info
- Publication number
- JPH0575532B2 JPH0575532B2 JP25823086A JP25823086A JPH0575532B2 JP H0575532 B2 JPH0575532 B2 JP H0575532B2 JP 25823086 A JP25823086 A JP 25823086A JP 25823086 A JP25823086 A JP 25823086A JP H0575532 B2 JPH0575532 B2 JP H0575532B2
- Authority
- JP
- Japan
- Prior art keywords
- parts
- assembled
- force
- static pressure
- gripping device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000003068 static effect Effects 0.000 claims description 10
- 238000007599 discharging Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/12—Alignment of parts for insertion into bores
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は部品把持装置に把持されて搬送位置さ
れる組立部品を被組立部品に組付ける際の相対位
置ずれを受動的に修正する位置ならい装置に関す
る。[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a positioning method for passively correcting relative positional deviation when assembling an assembly part held by a part gripping device and transported to a to-be-assembled part. Regarding equipment.
従来、二つの部品の組立作業は一方をベース上
に固定しておき、他の一方をロボツト等の組立装
置で把持し、これを搬送位置決めし、組立部品を
被組立部品の上方より装入することが多い。この
作業において、ロボツト等のアームに取付けたハ
ンドにより部品を把持し装入する場合、ロボツト
等のアームの停止位置のバラツキ、部品の寸法の
バラツキ、被組立部品の固定位置のバラツキ等か
ら二つの部品の組立位置がずれるためこれを修正
する必要があつた。このため、従来の装置は特開
昭58−77484号に記載のように、一対の平行バネ
を互いに直交する配置に設けた二対の平行バネ機
構の位置ならい装置がある。いわゆる、相対位置
ずれ量を装入方向の力に比例した水平方向の反力
によつて弾性部材を変形させてずれを吸収しなら
わせるものである。つまり、組立部品と被組立部
品間の相対位置ずれを装入方向の力を利用して受
動的にずれを修正し位置をならわすものである。
Conventionally, when assembling two parts, one is fixed on a base, the other is gripped by an assembly device such as a robot, this is transported and positioned, and the assembled part is loaded from above the part to be assembled. There are many things. In this work, when parts are gripped and loaded using a hand attached to the arm of a robot, etc., there are two problems due to variations in the stopping position of the arm of the robot, variations in the dimensions of the parts, and variations in the fixing position of the assembled parts. It was necessary to correct this because the assembly position of the parts was shifted. For this reason, a conventional device, as described in JP-A-58-77484, is a position tracing device using two pairs of parallel spring mechanisms in which a pair of parallel springs are arranged orthogonally to each other. This is to absorb the so-called relative positional deviation by deforming the elastic member by a horizontal reaction force proportional to the force in the loading direction. In other words, the relative positional deviation between the assembled parts and the assembled parts is passively corrected and aligned using force in the loading direction.
前記従来技術は、部品間の位置ずれに伴う装入
方向の力による部品相互に与える影響について配
慮がされておらず、装入方向の力によつて部品に
損傷を与える場合があるという問題があつた。
The above-mentioned conventional technology does not take into account the influence of the force in the charging direction on each other due to positional deviation between the parts, and there is a problem that the force in the charging direction may damage the parts. It was hot.
本発明の目的は、部品間の相対位置ずれで装入
方向の力によつて生じる水平方向の分力がわずか
であつても位置ずれを吸収し、ならわせるように
し、かつ該位置ずれを吸収し、ならわせるに必要
な力を容易に調整できるようにする位置ならい装
置を提供することにある。 An object of the present invention is to absorb and equalize the positional deviation even if the horizontal component force caused by the force in the charging direction due to the relative positional deviation between parts is small, and to correct the positional deviation. The object of the present invention is to provide a locating device that allows easy adjustment of the force required for absorption and locating.
前記問題点は組立部品を把持し、これを被組立
部品に装入する部品把持装置を、３次元方向に移
動可能に静圧支持すると共に、前記部品把持装置
を静圧支持する媒体を絞りを介して搬出する排出
部を設けてなる位置ならい装置により解決され
る。
The problem is that the component gripping device that grips the assembly parts and inserts them into the parts to be assembled is supported by static pressure so as to be movable in three dimensions, and the medium that supports the component gripping device by static pressure is compressed. This problem is solved by a position tracing device which is provided with a discharge section through which the problem is carried out.
被組立部品とほぼ対する位置に部品把持装置に
把持された組立部品を位置決めし、これを装入す
る。この場合両者に位置ずれがあつても３次元方
向の静圧支持機能により部品把持装置が前記位置
ずれを矯正する方向に円滑に移動する。これによ
り組立部品の位置ずれが吸収され、円滑な装入が
行われる。また前記静圧支持力は静圧支持する媒
体を絞り弁を介して適宜量だけ排出制御すること
により可変に調整される。
The assembly part held by the part holding device is positioned at a position substantially opposite to the part to be assembled, and the assembly part is loaded. In this case, even if there is a misalignment between the two, the component gripping device smoothly moves in the direction to correct the misalignment due to the static pressure support function in the three-dimensional direction. This absorbs misalignment of the assembled parts and ensures smooth loading. Further, the static pressure supporting force is variably adjusted by controlling the discharge of a suitable amount of the static pressure supporting medium via a throttle valve.
以下、本発明の一実施例を第１図、第２図によ
り説明する。本装置は、第１図に示すようにロボ
ツトアーム１１のフランジ１２の部品把持装置１
の間に取付けるもので、ロボツトアーム１１のフ
ランジ１２に取付けるスラツトチヤンバ２の中に
エアポケツト３を設け、このエアポケツト３には
スラストプレート４を設けてこの下端には部品把
持装置１が取付けられている。エアチヤンバ２に
は、スラストプレート４の上下両面に対して静圧
媒体たる加圧した気体を供給するエアノズル５が
設けられている。このエアノズル５にはチユーブ
６を介して加圧した気体が供給される。さらにエ
アチヤンバ２には、前記エアノズル５から供給さ
れた加圧した気体をエアポケツト３から排出する
前記排出部たるエアポート７が設けられており、
このエアポート７から排出される流量を調整する
ための絞り８が取付けられている。この絞り８は
エアポート７の大きさ、つまり絞り径をボルト９
でエアポート７の口径を調整可能な構造とし、ナ
ツト１０でボルト９を固定する構成からなる。ま
た、組立部品１３の被組立部品１４はベース１５
には固定されている。
An embodiment of the present invention will be described below with reference to FIGS. 1 and 2. As shown in FIG.
An air pocket 3 is provided in a slat chamber 2 attached to a flange 12 of a robot arm 11, a thrust plate 4 is provided in the air pocket 3, and a component gripping device 1 is attached to the lower end of the thrust plate 4. The air chamber 2 is provided with an air nozzle 5 that supplies pressurized gas as a static pressure medium to both the upper and lower surfaces of the thrust plate 4 . Pressurized gas is supplied to this air nozzle 5 via a tube 6. Furthermore, the air chamber 2 is provided with an air port 7, which is the discharge section for discharging the pressurized gas supplied from the air nozzle 5 from the air pocket 3.
A throttle 8 is attached to adjust the flow rate discharged from the air port 7. This aperture 8 is determined by the size of the air port 7, that is, the aperture diameter by the bolt 9.
It has a structure in which the diameter of the air port 7 can be adjusted, and a bolt 9 is fixed with a nut 10. Furthermore, the to-be-assembled part 14 of the assembly part 13 is the base 15.
is fixed.
次に以上の構成に基づく本実施例のならい動作
を説明する。本装置は組立部品１３を装入組付け
する場合には、まずチユーブ６から加圧した気体
をノズル５を介してエアチヤンバ２のエアポケツ
ト３へ供給する。すると加圧した気体の静圧力に
よつてスラストプレート４が浮上する。よつて、
水平方向の外力に対して滑らかに動きうるように
なる。このため第１図に示すように、装入すべき
把持している組立部品１３と被組立部品１４間に
位置のずれがある場合、組立部品１３の下降によ
り生ずる面取り部での部品間の反力がわずかでも
作用すると、第２図に示すように組立部品１３を
被組立部品１４とかん合する様にならわせること
ができる。ここで、位置ずれを吸収するようにな
らわせるに必要な水平方向の力は、絞り８のエア
ポート７から排出される流量によつて左右され
る。よつて、組立部品１３と被組立部品１４の関
係より決まる部品間で損傷を与えないような範囲
で、ならわせるに要する力（静圧力）を予め絞り
８のボルト９とナツト１０によつてエアポート７
の絞り径を決定することが容易にできる。 Next, the tracing operation of this embodiment based on the above configuration will be explained. When this device charges and assembles the assembly parts 13, pressurized gas is first supplied from the tube 6 to the air pocket 3 of the air chamber 2 through the nozzle 5. Then, the thrust plate 4 floats due to the static pressure of the pressurized gas. Then,
Be able to move smoothly against external forces in the horizontal direction. Therefore, as shown in FIG. 1, if there is a misalignment between the gripped assembly part 13 to be loaded and the to-be-assembled part 14, there will be a reaction between the parts at the chamfered part caused by the lowering of the assembly part 13. The application of even a slight force can cause the assembled part 13 to align into engagement with the assembled part 14, as shown in FIG. Here, the horizontal force required to align to absorb the positional deviation depends on the flow rate discharged from the air port 7 of the throttle 8. Therefore, the force (static pressure) required to align the parts determined by the relationship between the assembled parts 13 and the to-be-assembled parts 14 within a range that does not cause damage is applied in advance by the bolts 9 and nuts 10 of the throttle 8. airport 7
It is easy to determine the diameter of the aperture.
また、前記の実施例では、水平方向の移動に要
する力は絞り８の調整で行つたが、絞り８を固定
した状態で、供給する気体の加圧力を調整するこ
とによつても同様の効果が生まれる。よつて、絞
り８と供給する気体の加圧力の両者を調整するこ
とにすれば、より幅広く水平方向の移動に要する
力の調整が可能となる。 Further, in the above embodiment, the force required for horizontal movement was achieved by adjusting the throttle 8, but the same effect can be obtained by adjusting the pressurizing force of the supplied gas with the throttle 8 fixed. is born. Therefore, by adjusting both the throttle 8 and the pressurizing force of the gas to be supplied, it becomes possible to adjust the force required for horizontal movement over a wider range.
以上説明したように、本発明によれば、組立部
品を被組立部品に装入組付けを行う場合、相互の
位置ずれをわずかな装入方向の力で、受動的に水
平方向に位置ずれを吸収し、ならわせることがで
きる。またならわせるに必要な力は絞りを調整す
ることによつて容易に変更できる。よつて部品装
入時に発生する部品間の衝突等による損傷を防止
することが可能となり、非常に変形しやすい部品
あるいはもろい部品等の装入組付けには有効とな
る。
As explained above, according to the present invention, when inserting and assembling assembled parts into parts to be assembled, mutual positional misalignment is passively corrected in the horizontal direction using a slight force in the inserting direction. It can be absorbed and adjusted. Also, the force required for alignment can be easily changed by adjusting the aperture. Therefore, it is possible to prevent damage caused by collisions between parts that occur during part charging, and this is effective for charging and assembling parts that are extremely easily deformed or fragile.
第１図は、本発明の一実施例の位置ならい装置
の断面図で部品装入直前を示す説明図、第２図は
本発明の実施例の位置ならい動作を示す説明図で
ある。
１……部品把持装置、２……スラストチヤン
バ、３……エアポケツト、４……スラストプレー
ト、５……エアノズル、６……チユーブ、７……
エアポート、８……絞り。
FIG. 1 is a sectional view of a position tracing device according to an embodiment of the present invention, and is an explanatory diagram showing immediately before component loading, and FIG. 2 is an explanatory diagram showing a position tracing operation according to an embodiment of the present invention. DESCRIPTION OF SYMBOLS 1... Part gripping device, 2... Thrust chamber, 3... Air pocket, 4... Thrust plate, 5... Air nozzle, 6... Tube, 7...
Airport, 8...Aperture.
Claims (1)
付部品に組付ける位置ならい装置において、前記
部品把持装置を３次元方向に移動可能に静圧支持
すると共に、前記部品把持装置を静圧支持する媒
体を絞りを介して排出する排出部を設けることを
特徴とする位置ならい装置。1. In a position tracing device that grips an assembly part with a component gripping device and assembles it to a to-be-assembled component, the component gripping device is supported by static pressure so as to be movable in three-dimensional directions, and the component gripping device is supported by static pressure. A position tracing device characterized by being provided with a discharge section for discharging a medium through a constrictor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25823086A JPS63114831A (en) | 1986-10-31 | 1986-10-31 | Position tracer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25823086A JPS63114831A (en) | 1986-10-31 | 1986-10-31 | Position tracer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63114831A JPS63114831A (en) | 1988-05-19 |
| JPH0575532B2 true JPH0575532B2 (en) | 1993-10-20 |
Family
ID=17317323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25823086A Granted JPS63114831A (en) | 1986-10-31 | 1986-10-31 | Position tracer |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63114831A (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2585417B2 (en) * | 1989-02-08 | 1997-02-26 | 株式会社日立製作所 | Positioning apparatus and manufacturing method thereof |
| JP2003019686A (en) * | 2001-07-03 | 2003-01-21 | Ckd Corp | Micro-opening and closing hand and micro-parallel chuck device |
| JP6268961B2 (en) * | 2013-11-15 | 2018-01-31 | ブラザー工業株式会社 | Machine Tools |
| JP7150649B2 (en) * | 2019-03-20 | 2022-10-11 | 株式会社クボタ | Shaft member assembly device |
-
1986
- 1986-10-31 JP JP25823086A patent/JPS63114831A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS63114831A (en) | 1988-05-19 |
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