JPH06114644A - C-type press gun device for robot - Google Patents

Abstract

PURPOSE:To provide a C-type press gun device for robot, in which a die button and a head are installed directly in an arm, which is equipped with fine adjustablity for the arm relative to a piston rod and allows easy alignment of a plunger with the die button, and wherein the arm is given an approx. uniform rigidity so that the stresses in different parts on the arm become uniform substantially. CONSTITUTION:A press gun device for installing a pierce nut on a panel 37 includes a robot hand 1, to which a press gun 3 is mounted through an equalizer 2, and an arm 7 coupled with a pressurizing cylinder 4 is installed at the periphery of a piston rod 5 in such a way as capable of fine adjustment. Reinforcing members 30 stretching radially are installed in the curved part of the arm 7, and ribs 31 are srranged alongside the inner edge of this curved part, and a die button 8 is installed in the tip of the arm 7 and locked, and a plunger is coupled with the piston rod 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a press gun device for mounting a pierce nut or a pierce form stud on a panel.

[0002]

2. Description of the Related Art In the past, it was common to use a rigid progressive press, transfer press or tandem type press process to assemble a pierce nut or pierce form stud to a panel. However, as a trend of recent times, due to diversification of required specifications of users from mass production by press machines, there has been a tendency to perform specification switching in an assembly department or a welding process.

The above-mentioned assembly department or welding process is also progressing from a dedicated line for its parts to a general-purpose mixed flow line, and robots and servo motors are attached so that only the required number of nuts and bolts can be attached. Using the storage device used, unnecessary work costs are saved.

By the way, when the product design of the parts is carried out, in the above-mentioned conventional method of assembling the pierce nut or pierce form stud, since the pressing process is used, in principle, it can be driven only at a right angle to the surface of the panel. For example, it is difficult to use for a large and complicated shape such as a car body. Therefore, it is conceivable to dispose the plunger and the die button at the location where the electrode of the robot C-type welding gun is attached. According to this, although the size of the gun is limited, the driving angle of the nuts and bolts to the panel is completely relaxed and the input to the memory of the robot allows the necessary clinch of nuts and bolts for each panel. Therefore, it can be inferred that it is possible to adapt to the diversification of the above specifications.

[0005]

By the way, in the case of using the robot C-type welding gun as described above, a plurality of members are provided between the arm and the die button, or between the arm and the head.
For example, it is difficult to align the plunger and the die button because things such as a shank and electrode holder in a welding gun are connected in series, and the arm is distorted when pressure is applied for the clinch, and the die button and the plunger are pressed. There is a problem that a difference in the facing angle occurs, an appropriate clinch cannot be performed, and the weight becomes heavy.

The present invention has been made in view of the above problems of the prior art, and an object of the present invention is to use a robot and an equalizer to provide an appropriate pressing force and an appropriate pressing force for a press gun. Although it is a C-type press gun device that can secure the position and can attach the pierce nut or pierce form stud to the panel extremely accurately and easily from any angle, it can attach the die button and head directly to the arm. It can be assembled and the arm can be finely adjusted with respect to the piston rod to allow easy alignment of the plunger and die button.Also, the arm has a substantially uniform rigidity to reduce stress on each part of the arm during clinching. An object of the present invention is to provide a C-type press gun device for a robot that is substantially uniform.

[0007]

In order to achieve the above object, a robot C-type press gun device according to the present invention is
A press gun is attached to the wrist of the robot via an equalizer, and a head composed of a plunger, a holding body and a mounting material is connected to the tip of a piston rod from the pressurizing cylinder of the press gun, and the holding body is slidable by the plunger. A C-shaped arm, which is movable and has a hole for holding a nut or bolt supplied by an automatic supply device, is movably arranged on the mounting member and is connected to the pressurizing cylinder. It is arranged on the outer periphery so that it can be finely adjusted and
A radial reinforcing material is arranged on the curved portion of the arm and ribs along the inner edge of the curved portion are arranged to make the stress in each part of the arm substantially uniform, and a die button is incorporated at the tip of the arm. A nut or bolt that is locked and supplied and held in the hole in front of the plunger is pressed into the panel placed in contact with the die button by the plunger, and a pierce nut or pierce form stud is assembled to the panel. It is characterized by being attached.

[0008]

Since the C-type press gun device for a robot having the above-described structure is used, the press gun is moved to the vicinity of the panel by the robot, and the die button is attached to the pierce nut or pierce form stud of the panel. Applied. Next, the nut or bolt is supplied and held in front of the plunger, and the pressure cylinder is operated to move the nut or bolt toward the panel by the plunger. Then, the nut or bolt comes into contact with the panel, and further pressing causes the front small diameter portion of the nut or bolt to make a hole in the panel in cooperation with the die button. Then, by continuing the pressing, the peripheral edge of the hole further bites into the recess of the nut or bolt with the cooperation of the tip of the holding body, and the pierce nut or pierce form stud is assembled to the panel. Then, the pressing force is maintained at an appropriate pressure by the equalizer, and the positional relationship between the panel and the gun is also maintained appropriately. Moreover, since the supplied nuts or bolts are securely held in the holes of the holding body, the C-type press gun can freely change the direction with respect to the surface of the panel. The piercing nut or piercing form stud can be attached to the panel accurately and easily in any direction.

The curved portion of the C-shaped arm is provided with a radial reinforcing material and ribs are provided along the inner edge of the curved portion, so that the arm itself is made of a thin plate. However, since the rigidity is high and the rigidity is substantially uniform, the stress in each part of the arm during clinching is substantially uniform and the weight can be reduced.

Further, since a die button is directly incorporated and locked at the tip of the C-arm having high rigidity, and the arm is arranged on the outer circumference of the piston rod so that it can be finely adjusted, the die button or the head can be replaced. For example, the die button and the plunger can be easily aligned when assembled.

[0011]

Embodiments of the present invention will be described with reference to the accompanying drawings. In the figure, 1 is a wrist of the robot, and 2 is an equalizer fixed to the wrist 1 of the robot. A press gun 3 is movably attached to the equalizer-2. In addition, the pressurizing cylinder 4 of the press gun 3
A head 6 is connected to the tip of the piston rod 5 from. Further, 7 is a C-shaped arm, one end of the arm 7 is connected to the pressure cylinder 4, the other end is attached with a die button 8, and the equalizer 2 is connected to the arm. -It is connected to M7.

The C-shaped arm 7 is connected to the pressurizing cylinder 4 through a rotation stopping key 9 (see FIG. 4). The hole 10 formed in the C-shaped arm 7 Is a sleeve in which the piston rod 5 is fitted in the inner circumference and the outer circumference is eccentric.
The sleeve 11 (see FIG. 5) is fitted into the sleeve 1.
A tooth mold 12 is formed at the tip of the tooth 1. Reference numeral 13 is a whirl-stop member having teeth that mesh with the tooth mold 12 of the sleeve 11, and 14 is a fixing bolt thereof. Therefore,
When the sleeve 11 is rotated with the fixing bolt 14 loosened and the piston rod 5 fitted in the inner circumference, the C-shaped arm 7 is moved in accordance with the eccentricity of the outer circumference of the sleeve 11. It moves up and down and its position is finely adjusted. When the fine adjustment is completed, the fixing bolt 14 may be tightened to fix the sleeve 11.

The head 6 comprises a plunger 15, a holder 16 and a mounting member 17 (see FIG. 3), and the plunger 15 is connected to the piston rod 5 via a connecting member 18. In addition, a hole 20 for passing a nut or bolt from an automatic feeder 19 for the nut or bolt formed of an air cassette or a flexible shoe is formed near the tip of the holder 16, and the outer periphery is slid. The moving groove 21 is formed, the stopper pin 22 is inserted in the sliding groove 21, and the plunger 15 is slidably arranged on the inner circumference. Further mounting material 17
The holding body 16 biased forward by a spring 23 is movably attached to the. The head 6 including the plunger 15, the holder 16 and the mounting member 17 is fixed to the rotation preventing member 25 of the piston rod 5 with a bolt 26 via a spacer 24. The holder 16 has a nut or bolt sensor 27 arranged at a position facing the automatic feeder 19, and the hole 20 has two ball joints 28 for holding the nut or bolt. Has been. Further, 29 is a rod for preventing the rotation of the rotation stopping member 25 of the piston rod 5.

The C-arm 7 is made of a thin plate, and the curved portion thereof is provided with reinforcing members 30 extending in the radial direction, and a series of ribs 31 is arranged at the inner edge of the curved portion. The arm 7 has a high rigidity and a substantially uniform rigidity. Further, the die button 8 is directly incorporated and locked at the tip of the arm 7 (see FIGS. 3 and 6).
reference). That is, the die button 8 has a plurality of bolt mounting holes 3 for mounting the die button 8 on the arm 7.
2, 32 ... Are formed, and a convex portion 34 is formed in the vicinity of the center of the surface of the holding body 16 facing the tip 33, and a square hole 35 is formed in the center. . Reference numeral 36 is a lock cam for locking the die button 8 at a prescribed position.

In the C-type press gun apparatus for a robot having the above-described structure, the press wrist 3 is moved by the robot wrist 1 to the vicinity of the panel 37 to which the pierce nut or pierce form stud is to be attached, and the die button 8 is attached. The mounting portion of the pierce nut or the pierce form stud of the panel 37 is applied to the convex portion 34. Next, a nut or bolt is supplied to the front of the plunger 15 from the automatic supply device 19 by using air through the hole 38,
It is held in the hole 20 by a ball joint 28, and the pressure cylinder 4 is operated to move the nut or bolt together with the head 6 by the piston rod 5 toward the panel 37. Then, the tip 33 of the holding body 16 comes into contact with the panel 37 and is further pressed by the piston rod 5, so that the holding body 16 slides in the sliding groove 21, and the plunger 15
Moves forward while sliding on the inner circumference of the holding body 16, and a nut or bolt that moves forward while being pressed by the plunger 15 contacts the panel 37. And then the plunger 15
When the nut advances, the nut 40 or the front small diameter portion 38 of the bolt
Cooperates with the hole 35 of the die button 8 to make a hole in the panel 37. Then, by continuing the pressing still further, the peripheral edge of the hole further cooperates with the tip 33 of the holding body and the nut 4
The pierce nut or pierce form stud is installed in the panel by biting into the recess 39 of the 0 or bolt.

The pressing force by the pressure cylinder 4 is maintained at an appropriate pressure by the equalizer 2 and the positional relationship between the panel 37 and the gun 3 is also maintained appropriately. That is, when the pressing force of the pressurizing cylinder 4 becomes larger than a predetermined value, a force for retracting the pressurizing cylinder 4 acts by the equalizer 2 to keep the pressing force at a predetermined value. When the panel 37 is punched out, the pressure may temporarily drop and try to give an impact to the gun, but in this case as well, the impact force is absorbed by the equalizer 2, so punching out is smooth. Done. In this way, the pressing force of the pressurizing cylinder 4 is maintained at an appropriate pressure by the equalizer 2, so that the panel 37 is punched out.
It is possible to make it evenly, accurately and easily.

Moreover, since the supplied nuts or bolts are securely held in the holes 20 of the holder 16, the C-type press gun 3 can freely change its direction with respect to the surface of the panel 37. Because it is possible, panel 3
The pierce nut or pierce form stud can be assembled to the panel accurately and easily regardless of the direction of the surface of 7.

When the assembly of the pierce nut or the pierce form stud to the panel 37 is completed, the pressurizing cylinder 4 is operated and the piston rod 5 is retracted.
The head 6 including the mounting member 17, the holder 16 and the plunger 15 returns to the state shown in FIG.

Further, since the radial reinforcing member 30 is arranged on the curved portion of the C-shaped arm 7 as described above and the rib 31 is arranged along the inner edge of the curved portion, the arm is formed. Even if the arm 7 itself is made of a thin plate, its rigidity is high and its rigidity is substantially uniform, so that the stress of each part of the arm 7 at the time of clinch becomes substantially uniform.

Further, the die button 8 is surely directly mounted and locked at the specified position at the tip of the C-arm 7 having high rigidity, and the arm 7 is finely adjustable on the outer circumference of the piston rod 5. Since they are arranged, when the die button 8 and the head 6 are replaced, the die button 8 and the plunger 15 can be easily aligned when assembled.

Although the pierce nut or pierce form stud has a square base cross section in the above embodiment, the present invention has the holes 20 and 35.
If the cross section is circular, the pierce nut or pierce form stud with a round base cross section is also applicable.

[0022]

EFFECTS OF THE INVENTION Since the present invention is constructed as described above, a proper pressing force and a proper position of the gun can be secured by using the robot and the equalizer, and the nut and the bolt can be supplied and securely held. Therefore, even in a general-purpose mixed flow line in the assembly department or welding process, even a large and complicated shape such as an automobile body does not require special labor, and it is extremely accurate and easy at all angles. Pierced nut or pierced fore
It can be assembled to the Mustard panel. And
The proper pressing force at the time of assembling makes it possible to smooth the punching work and obtain a uniform clinch force. Further, since it is a general-purpose C-type press gun device using a robot, the depreciation cost of the device is remarkably lower than that of the conventional press-dedicated machine, and the cost can be reduced.

Further, since a radial reinforcing member is arranged at the curved portion where maximum stress is generated in the C-shaped arm and ribs are arranged along the inner edge of the curved portion, the arm is formed. Even if it consists of a thin plate, its rigidity is high and its rigidity is almost uniform, so the stress on each part of the arm during clinch becomes almost uniform, and the distortion of the plunger facing the die button is minimized. It is possible to achieve accurate clinch and to reduce the weight of the device.

Further, a die button is securely implanted and locked at a specified position at the tip of the C-arm having high rigidity, and the arm is arranged on the outer circumference of the piston rod for fine adjustment. The accuracy of the clinch is further improved because the die button and the plunger can be easily aligned when the die button and the head are replaced.

[Brief description of drawings]

FIG. 1 is a side view of a C-type press gun device for a robot according to the present invention.

FIG. 2 is a plan view thereof.

FIG. 3 is a detailed layout diagram of a head and a die button according to the present invention.

FIG. 4 is a detailed view of mounting the piston rod and the C-shaped arm according to the present invention.

FIG. 5 is a detailed view of a fine adjustment device for a C-arm according to the present invention.

FIG. 6 is a detailed plan view of the lock of the die button according to the present invention.

FIG. 7 is an explanatory view of assembling the pierce nut to the panel according to the present invention.

[Explanation of symbols]

 1 Robot's wrist 2 Equalizer 3 Press gun 4 Pressurizing cylinder 5 Piston rod 6 Head 7 C type arm 8 Die button 11, 12, 13, 14 Fine adjustment device 15 Plunger 16 Holder 17 Mounting material 19 Automatic feeding device 20 holes 30 radial reinforcement 31 rib 36 lock cam 37 panel

Front Page Continuation (72) Inventor Toshihiro Nishiwaki 4-30-3 Nishirokugo, Ota-ku, Tokyo Ohara Stock Company

Claims (1)

[Claims] 1. A pierce nut or pierce fork on the panel
In the press gun device for assembling the Mustard,
A press gun is attached to the wrist of the robot via an equalizer, and a head composed of a plunger, a holding body and a mounting material is connected to the tip of a piston rod from the pressurizing cylinder of the press gun, and the holding body is slidable by the plunger. A C-shaped arm, which is movable and has a hole for holding a nut or bolt supplied by an automatic supply device, is movably arranged on the mounting member and is connected to the pressurizing cylinder. It is arranged on the outer periphery so that it can be finely adjusted and
A radial reinforcing material is arranged on the curved portion of the arm and ribs along the inner edge of the curved portion are arranged to make the stress in each part of the arm substantially uniform, and a die button is incorporated at the tip of the arm. A nut or bolt that is locked and supplied and held in the hole in front of the plunger is pressed into the panel placed in contact with the die button by the plunger, and a pierce nut or pierce form stud is assembled to the panel. A C-type press gun device for robots characterized by being attached.