JPH061346Y2 - Positioning device - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention uses an automatic assembly machine used for assembling electronic devices and electronic parts, or a device between an arm and a gripper of a robot to accurately position the assembled parts. The present invention relates to a positioning device to be used in.

[Conventional technology]

Conventionally, as a positioning device of this type, as shown in FIG.
A plurality of elastic members (50) are interposed between two parallel flat plates (51), (52), and the elasticity of the elastic members (50) is used to correct the positional error between the assembled parts. It has been known.

[Problems to be solved by the device]

With this type of conventional positioning mechanism, it is possible to roughly correct horizontal and angular errors between the parts to be assembled, but the shaft (53) is used for the small holes (5
4) When the small hole has a narrow pitch, it is time-consuming to insert the shaft (53) into the small hole (54) of the assembly part, and this type of continuous workability is difficult. The problem that it becomes extremely bad, and that this device requires a plurality of elastic bodies and two parallel flat plates that support the elastic bodies as constituent parts, and it is difficult to downsize the device. Furthermore, since it can only operate in the vertical direction, and it cannot move extremely finely, the mutual relationship of the assembled parts is IC.
In the case of a small one like this, there is a problem that it is difficult to insert the parts into the predetermined position, and further, when an elastic member receives an unacceptable load, elastic work occurs, and this kind of It has various problems such as being useless as a device.

The present invention has been made in view of the above problems of the prior art, and the purpose thereof is to enable horizontal operation, further reduce the size, and have a long life. It is to provide a positioning device for an automatic assembly machine.

Another object of the present invention is to perform accurate positioning corresponding to the center error between the assembled parts even when inserting or fitting the main product into the work piece, that is, the error variation is automatically detected. The object of the present invention is to provide a positioning device which can be fixed to

Still another object of the present invention is to provide a positioning device in which slight starting correction between assembled parts is extremely easy.

[Means for Solving the Problems]

In order to achieve the above object, a positioning device according to the present invention includes a first holder fixed to an arm or the like of an automatic assembly machine or a robot, a second holder held to a gripper or the like, and a first holder. It is configured by combining a holder and an adsorbent interposed between the second holder and the adsorbent,
The first holder and the second holder are formed in a twisted positional relationship such that the base ends of the first holder and the second holder are loosely fitted, and the first holder is formed. And magnets are embedded in the respective base end portions of the second holders, and the magnets of the first holder and the second holder are respectively attached to the first loose fitting portion and the second loose fitting portion of the adsorbent. The magnet is embedded so as to face each magnet of the magnet of the holder, and the first holder, the adsorbent, and the second holder are integrally magnetically held.

An elastic cover that integrally holds the positioning device body may be provided so as to surround the outer circumference of the positioning device body.

[Operation] The positioning device is assembled by magnetically holding the first holder, the suction body, and the second holder.

When the first holder and the adsorbent are magnetically attached and move together, the second holder does not move, while the adsorbent and the second holder are magnetically attached and integrated. When moving, the first holder does not move. Thus, the center of the first holder and the center of the second holder can be eccentric. When the holder and the suction body are forcibly moved and then the force of the forced movement is released, the holder and the suction body return to their original magnetism.

The elastic cover that surrounds the outer peripheral surface of the positioning device and that is locked to each holder by the locking piece prevents each component constituting the positioning device from dropping and falling off. It absorbs excessive lateral offset of components and regulates their movement.

〔Example〕

 Examples will be described with reference to the drawings.

1 to 5, the positioning device (A) is made of, for example, a non-magnetic material such as copper, stainless steel, or aluminum, as well as a synthetic resin or ceramics, and is used for an arm or the like of an automatic assembling machine or a robot. First holder fixed
(1) and a second holder (11) held by a gripper or the like
And then, this first holder (1) and second holder
The device body is formed into a substantially cylindrical shape by combining with the adsorbent (20) interposed between (11). This first holder (1)
And the second holder (11) are formed in the same shape,
Stator (2), (12) fixed or held by an automatic assembler or robot arm, gripper is projected, and base end parts (3), (13) are attached to an adsorbent (20) described later. The upper and lower guide grooves are formed so as to be loosely fitted, and the magnets (5) and (15) are embedded.

In the embodiment, as described above, the first holder
(1) and the second holder (11) has a cylindrical stator (2),
The holder (1) and the holder (2) have a structure in which (2, 12) are respectively projected, but the main body of the holder (1), (11) and the stator (1) are not shown. Divide into 2) and (12),
It is also possible to provide a concave hole in the center of the holder body and fix the both integrally with a stator corresponding to this.

The first holder (1) is provided on the upper end surface (23) of the adsorbent (20).
First loose fitting portion into which the protruding base end portion (3) is guided and loosely fitted
(21) is formed as a guide groove. The lower end surface (24) of the adsorbent (20) has a base end portion (13) of the second holder (11).
The second loosely fitting portion (22), which is guided and loosely fitted, serves as a guide groove.
It is formed in the same shape as the first loose fitting portion (21). The first loosely fitting portion (21) and the second loosely fitting portion (22) are arranged in a twisted positional relationship orthogonal to each other. Further, the first holder (21) and the second holder (22) have the first holder.
The magnet (5) embedded in (1) and the second holder (1
Two magnets (25) and (26) that are attracted to the embedded magnet (15) are embedded in the (1).

Both ends of the magnet (5) in the first holder (1), both ends of the magnet (15) in the second holder (11), and the magnet (2 in the attracting body (20).
Spaces (40) where no magnet exists are formed at both ends of (5) and (26) to block magnetic permeability of the magnet and prevent dust iron from adsorbing.

The cover (B) is formed of a non-magnetic elastic material, and covers the cover main body (30) that surrounds the outer peripheral side surface of the assembled positioning device (A) main body, and the cover main body (30) protrudes from the cover main body (30) to be assembled. It is provided with a pair of locking pieces (31) and (32) which are sometimes bent inward and locked to the upper and lower holders (1) and (11). More specifically, the cover body (30) is provided with a notch (33) so as to be convenient for winding and mounting the cylindrical positioning device (A) body while expanding.

FIG. 8 is an explanatory view for explaining how the positioning device according to the present invention and the conventional positioning device differ from each other in terms of automatic correction of dimensional error when both are used horizontally. It is a figure.

In the conventional case, the gravity of the parts to be assembled constantly lowers the clearance to the lower limit, that is, since there is no self-holding force, the center of the assembly always waits at the position of -1 by its own weight. For example, in order to move to the point +1 on the Y-axis coordinate, it must be moved upward +2. Also, the movement in the left-right direction, that is, the movement in the X-axis direction is-
It is possible to move as 1, + 1, but it is impossible to move downward, and so-called free movement cannot be expected.

On the other hand, according to the device of the present invention, since the assembled parts are attracted by the magnet, the position does not change due to gravity, and therefore, the 0 point (center point) in FIG. 8 stands by. The center can be set as a point, and the movement can be made one by one in the vertical and horizontal directions, so that so-called free movement is possible.

[Advantages of the Invention] Since the present invention is configured as described above, it has the following effects.

In the device for positioning the billing hole 1, the conventional device constantly falls to the lower limit of the clearance due to the gravity of the assembly component, whereas in the present invention, the assembly component is attracted by the magnet. Therefore, it does not fluctuate with respect to the gravity of the assembly parts. Therefore, delicate horizontal movement can be accurately controlled, and accurate positioning can be performed according to the center error between the assembly parts. As a result, the accuracy of assembly can be increased, the yield of assembled products can be improved, and the work efficiency can be dramatically improved. Further, the number of parts is small, the assembly of the device is easy, and the device can be downsized.

In the positioning device according to the second aspect of the present invention, it is possible to form a stable magnetically held state in which each component does not drop, and even if there is an excessive lateral displacement between the components, it is possible to ensure that the components are removed from each other. Can be prevented.

[Brief description of drawings]

FIG. 1 is a central longitudinal sectional view of the positioning device, FIG. 2 is another central longitudinal sectional view different from the sectional view of FIG. 1, and FIG. 3 is an exploded perspective view showing components of the positioning device. The drawing shows the first holder, of which FIG. 4A is a sectional view thereof and FIG. 4B is a bottom view thereof. FIG. 5 is a diagram showing the adsorbent, of which FIG. 5A is a plan view thereof, FIG. 5B is a sectional view thereof, and FIG. 5C is a bottom view thereof. FIG. 6 is a perspective view showing that the positioning device can be eccentric, FIG. 7 is a perspective view showing a use state, FIG. 8 is an explanatory view for explaining dimensional error correction, and FIG. FIG. 3 is a schematic cross-sectional view showing a usage state of a conventional positioning device. (A) ... Positioning device, (B) ... elastic cover, (1) ... first holder, (11) ... second holder, (2), (21) ... stator, (5), (15) , (25), (26) ... Magnet, (20) ... Adsorbent, (30) ... Cover body.

Claims (2)

[Scope of utility model registration request] 1. A first holder (1) fixed to an arm or the like of an automatic assembly machine or a robot, a second holder (11) held to a gripper or the like, and the first holder (1). And the second
And a suction member (20) interposed between holders (11) of the first holder.
(1) and the first loosely fitting portion (21) and the second loosely fitting portion (22) in which the respective base end portions (3, 13) of the second holder (11) are loosely fitted, in a twisted position. The first holder, which is formed in a relationship
(1) and the respective base end portions (3, 3) of the second holder (11)
The magnet (5, 15) is embedded in the magnet (13), and the magnet (5) of the first holder (1) is attached to the first loose fitting portion (21) and the second loose fitting portion (22) of the adsorbent. 5) and magnets (5, 15) of the magnet (15) of the second holder (11) are embedded so as to face the magnets (25, 26), and the first holder (1) and the adsorbent ( 2
A positioning device characterized in that (0) and the second holder (11) are integrally magnetically held. 2. The positioning device according to claim 1, further comprising an elastic cover (30) for integrally holding the positioning device main body, the elastic cover (30) being provided so as to surround the outer circumference of the positioning device main body.