JPH0657545U - Component gripping or mounting detection device - Google Patents

Abstract

(57) [Summary] [Purpose] To automatically detect whether or not a gear has been accurately gripped and mounted when assembling a magnetic tape reproducing device. [Structure] The holding means 7 is lowered so that the detection piece 19 is inserted into the shaft hole 61 of the gear 8. The lower end portion 13a of the grip member 13 is brought into contact with the upper surface 8a of the gear 8. The passage 14 is connected to a vacuum source 16 via a pipe 17, and the upper surface 8 of the gear 8 is connected to the vacuum source 16.
Vacuum suction of a and hold. With the gear 8 held, the holding means 7 is lowered to insert the shaft to be mounted into the shaft hole 61 of the gear 8. As the gripping means 7 descends, the head portion 20 of the detection piece 19 rises, and the light emitting element 47 and the light receiving element 4
The light path formed by 8 and 8 is blocked. In this way, it can be detected that the teeth 36 of the gear 8 are in a state of being meshed with each other.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention provides a component gripping or mounting detection device for confirming gripping of a component such as a gear and confirming mounting of the gripped component to a chassis in an assembly process of a magnetic tape reproducing device, for example. Hereinafter, it may be abbreviated as "detection device").

[0002]

[Prior art]

 Conventionally, parts such as gears are manually mounted and assembled by a manufacturer on the chassis of a magnetic tape reproducing apparatus. Since such prior art obviously requires labor, attempts have been made to automate the gripping and mounting of parts such as gears.

In automating the gripping and mounting of the parts, if the gripping or mounting of the parts is inaccurate, the work is interrupted and the productivity is lowered.

[0004]

[Problems to be solved by the device]

 The purpose of the present invention is to grasp whether a component such as a gear is accurately grasped when it is attached to a chassis of a magnetic tape reproducing device, and whether the grasped component is correctly attached. An object of the present invention is to provide a device for detecting or mounting a component that can detect whether or not the component is mounted.

[0005]

[Means for Solving the Problems]

 The present invention includes means for gripping a component, a detection piece that is displaceable by contacting the component gripped by the gripping means, and means for detecting the displacement of the detection piece. Or it is a mounting detection device.

Further, the present invention is characterized in that the component is a gear, and includes means for vertically displaceably supporting the gripping means and elastically supporting the gripping means downward, and means for rotationally driving the gripping means. Characterize.

Further, in the present invention, the gripping means has a structure for vacuum-sucking an upper surface of the gear, and the detection piece is inserted into a shaft hole of the gear and is vertically moved relative to the gripping means. Is provided so as to be displaceable in any direction, and the detection means includes a pair of a light emitting element and a light receiving element that form an optical path in a direction intersecting with the vertical direction, and whether the optical path is blocked by the detection piece. Is detected.

[0008]

[Action]

 According to the present invention, the component is gripped by the gripping means, and the displacement of the detection piece that is displaceable in contact with the gripped component is detected by the detecting means, so that the displacement of the component can be accurately detected. Therefore, the gripping or mounting of the component can be accurately detected.

Further, preferably, since the gears which are the parts are gripped by the gripping means and elastically supported downward to be rotationally driven, it is possible to prevent the gear teeth meshing with each other from overlapping with each other, such as when gear teeth are vertically overlapped. Even in this case, the detection unit detects this mounting failure, and the gear held by the holding unit is rotationally driven as described above, so that the teeth are in mesh with each other, and the mounting of the gear can be automated.

Further preferably, the upper surface of the gear is gripped by vacuum suction, and a detection piece is inserted into the shaft hole of the gripped gear, and a pair of optical paths forming an optical path in a direction intersecting with the vertical direction is formed. Detecting a relative vertical displacement between the detection piece and the gripping means by detecting whether or not the light path is blocked by the detection piece, by the detection means including the light emitting element and the light receiving element. You can Therefore, for example, when the teeth of the gears that should mesh with each other when the gears are mounted are vertically overlapped, the position of the detection piece deviates upward or downward from the position at the time of normal mounting, so the detection piece does not pass through the optical path. It is possible to block the path and detect that the gears are not in mesh.

[0011]

【Example】

 1 is a sectional view of a detecting device 80 according to an embodiment of the present invention as seen from the front, and FIG. 2 is a partial sectional view of a gear mounting machine body 1 using the detecting device 80 as seen from the side. 3 is a front view of the gear mounting machine main body 1. As shown in FIG.

As shown in FIG. 4, such a gear mounting machine main body 1 is attached to an up-and-down moving body 2 and extends in the Y direction (direction perpendicular to the plane of FIG. 4) by the Y-direction moving body 3. The Y-direction rail 4 is movable along the Y-direction rail 4, and the Y-direction rail 4 is moved along the X-direction rail 6 in the direction perpendicular to the paper surface of FIG. 4 by the X-direction moving body 5 as shown in FIG. Can be moved to.

As shown in FIG. 1, the gear 8 is vacuum-sucked and gripped by the gripping means 7 of the mounting detection device 80, and provided on the machine body 9 of the gear mounting machine body 1 as shown in FIGS. 4 and 5. The trays 10 are sequentially taken out one by one from the trays 10 and sequentially mounted on the works 12 conveyed by the conveyor 11. The conveyor 11 conveys the work 12 in the direction perpendicular to the paper surface of FIG. 4, that is, in the Y direction. The work 12 is, for example, a chassis of a magnetic tape reproducing device.

In the gripping means 7, a passage 14 is formed in the gripping member 13, which passage 14 is connected by a pipe joint 15 to a vacuum source 16 via a flexible pipe 17, so that the lower end of the gripping member 13 is At the portion 13a, the upper surface 8a of the gear 8 is vacuum-sucked and gripped. A guide hole 18 is also formed in the grip member 13, and a detection piece 19 is inserted in the guide hole 18 so as to be vertically displaceable. The head 20 of the detection piece 19 is elastically urged downward by a spring 22 provided in a storage hole 21 formed in the grip member 13. The fitting portion 23 protruding above the grip member 13 is detachably and replaceably fitted into a fitting hole 25 formed in the holding member 24 of the gear mounting machine body 1 shown in FIG. Fixed. A holding body 27 is fitted in the holding member 24, and is attached by a connecting rod 28 extending perpendicularly to the axial lines of the holding body 27 so as not to separate the holding body 27 and the holding member 24 in the axial direction thereof. . Rolling bodies 32 and 33 are interposed between the shoulder 29 of the holding member 24, the head 30 of the holding body 27, and the displacement body 31, respectively.

FIG. 6 is a cross-sectional view showing the rolling element 32, and FIG. 7 is a plan view of the rolling element 32. A plurality of rolling elements 32 are arranged at intervals in the circumferential direction as shown in FIG. 7, and these rolling elements 32 are rotated by a retaining ring 34 which prevents displacement of the retaining ring 34 in the circumferential direction. Freedom. The other rolling element 33 has the same structure.

FIG. 8 is a cross-sectional view perpendicular to the axis of the holder 27. The holding body 27 and the holding member 24 are gently fitted into the guide hole 35 formed in the displacement body 31 with a gap d1 and can be displaced in a direction perpendicular to the axial direction of the holding member 24 and the holding body 27. Is. As a result, the gripping means 7 can be slightly displaced two-dimensionally in the horizontal XY plane. Therefore, it becomes easy to mesh the teeth of the gear 8 with the teeth of another gear not shown.

The displacement body 31 is fixed to a displacement member 37, and a shaft 39 of the displacement member 37 is provided with a pin 39 in a protruding manner. A long hole 41 is formed in the shaft joint 40 along the axial direction of the shaft joint 40, and a pin 39 is fitted into the long hole 41. In this way, the displacement member 37 can be displaced with respect to the shaft coupling 40 up and down in FIG. 2 against the spring force of the spring 42. The spring 42 is interposed between the displacement member 37 and the mounting member 43. Since the spring constant of the spring 42 is larger than the spring constant of the spring 22, an upward force is applied to the front end portion 19a of the detection piece 19. When actuated, spring 42 does not shorten, but spring 22 does. The lower end of the spring 42 and the upper surface of the displacing member 37 can be displaced in the circumferential direction relative to each other, so that the displacing member 37 can be angularly displaced about its axis. The shaft coupling 40 is fixed to the mounting member 43, and thus to the output shaft 46 of the motor 45 fixed to the mounting body 44. The motor 45 is a pulse motor.

The gripping member 13 of the gripping means 7 is formed with an elongated transmission hole 46 a that extends vertically to face the storage hole 21. Light from the light emitting element 47 shown in FIG. 1 is guided to the transmission hole 46 a, and this light can be received by the light receiving element 48. When the head 20 of the detection piece 19 blocks the light from the light emitting element 47, the light is not received by the light receiving element 48, and thus a large relative displacement between the detection piece 19 and the gripping member 13 is detected. It is possible to

FIG. 9 is a cross-sectional view near the head 20 of the detection piece 19. Since the outer diameter d81 of the light path 81 formed by the light emission of the light emitting element 47 is selected to be larger than the outer diameter d82 of the element wire 82 of the spring 22, a part of the light path 81 is formed in the element wire 82 of the spring 22. Even when the light is blocked by the light receiving element 48, the light receiving element 48 can receive the light from the light emitting element 47. On the other hand, since the outer diameter d201 and the axial height d202 of the head 20 of the detection piece 19 are selected to be larger than the outer diameter d81 of the light path 81, the head 20 of the detection piece 19 causes the light path 81. Can be completely shut off. The criterion of whether or not the light from the light emitting element 47 is received can be changed by adjusting the detection level of the level discrimination circuit of the light receiving element 48.

The light emitting element 47 and the light receiving element 48 are fixed to the holding member 24 by attachment pieces 49 and 50 whose displacement can be adjusted in the vertical direction. Thus, the vertical positions of the light emitting element 47 and the light receiving element 48 are adjusted, The detectable relative displacement between the detection piece 19 and the grip member 13 can be adjusted and set. The long hole 46a through which light is transmitted is vertically elongated, and as described above, the light path 81 between the light emitting element 47 and the light receiving element 48 can be adjusted up and down.

The attachment member 43 and the attachment body 44 fixed to the attachment member 43 are fixed to the attachment piece 51 shown in FIG. 3, and the attachment piece 51 is connected to the piston rod 53 of the double-acting cylinder 52. To be done. The cylinder 52 is fixed to a fixed piece 55 by a mounting piece 54. A rail 56 extending vertically is laid on the fixed piece 55, and the guide member 57 can be displaced vertically along the rail 56 by the vertical expansion and contraction of the piston rod 53. The guide member 57 is fixed to the mounting body 44.

FIG. 10 is a block diagram showing an electrical configuration of the embodiment shown in FIGS. 1 to 9. The motor 58 for driving the Y-direction moving body 3 and the motor 59 for driving the X-direction moving body 5 are controlled by the processing circuit 60 realized by a central processing unit or the like together with the cylinder 52 and the motor 45. . Further, the light receiving element 48 is connected to the processing circuit 60, and the processing circuit 60 determines whether or not the light receiving element 48 receives the light from the light emitting element 47.

FIG. 11 is a flow chart for explaining the operation of the processing circuit 60. By moving from step n1 to step n2 and extending the piston rod 53 of the cylinder 52, as shown in FIG. 12, the gripping means 7 is held until the lower end portion 13a of the gripping member 13 contacts the upper surface 83a of the gear 83. To lower. As a result, the detection piece 19 is inserted into the shaft hole 61 of the gear 83 and guided.

Next, the process proceeds from step n2 to step n3, and it is judged whether or not the light from the light emitting element 47 is received by the light receiving element 48 via the transmission hole 46a. If the light is received, that is, the detection piece is detected. If the head portion 20 of 19 does not block the light path of the light emitting element 47, the process proceeds to step n4.

At step n3, as shown in FIG. 13, for example, since the position of the gear 83 is slightly deviated, the lower end portion of the detection piece 19 comes into contact with the shaft hole top portion 83b of the gear 83, and the head of the detection piece 19 is contacted. When the portion 20 moves up to block the light path from the light emitting element 47 and the light receiving element 48 cannot receive light, the process moves to step n5, and the gripping means 7 is moved up to correct the position of the gear 83. Then, the process again moves to step n3, and the gripping means 7 is lowered.

From step n3 to step n4, the gear 8 is vacuum-sucked and gripped by the gripping means 7, and the piston rod 53 of the cylinder 52 is shortened so that the gear 8 is provided on the machine body 9 of the gear mounting machine main body 1. The gears stored in the tray 10 are gripped. With the work 12 conveyed to a predetermined position by the conveyor 11 and stopped, the gear mounting machine body 1 is driven by the Y-direction motor 58 and the X-direction motor 59 to be displaced to the gear mounting position of the work 12. To do.

From step n4 to step n6, as shown in FIG. 14, the gear 8 is held so that the shaft 84 of the magnetic tape reproducing device to which the gear 8 is mounted is inserted into the shaft hole 61 of the gear 8. In this state, the grip means 7 is lowered.

From step n6 to step n7, as shown in FIG. 15, the teeth 36 of the gear 83 are meshed with the teeth 63 of the adjacent gear 62, and when the gear 83 is mounted, it is determined in advance. The shaft 84 is inserted into the shaft hole 61 of the gear 8 by the height d84 of the shaft 84, and the tip 84a of the shaft 84 is in contact with the tip 19a of the detection piece 19, and the height of the shaft 84 is d84. Since 19 rises, the detection piece 19 blocks the optical path from the light emitting element 47. As a result, the process moves from step n7 to step n9, and the series of mounting operations of the gear 83 is completed.

In step n7, when the head 20 of the detection piece 19 does not block the light from the light emitting element 47 and the light is detected by the light receiving element 48, the process proceeds to step n8, and the motor 45 drives the angular displacement. Then, the gripping means 7 is rotationally driven, and the gear 83 is rotated. Therefore, the teeth 36 of the gear 83 and the teeth 63 of the other gear 62 can mesh with each other. In this way, when the teeth 36 and 63 are in mesh with each other, the optical path of the head 20 of the detection piece 19 is blocked, and the process proceeds from step n3 to step n5 to end the gear mounting operation.

FIG. 16 is a partial cross-sectional view of another embodiment of the present invention. Although this embodiment is similar to the previous embodiment, it should be noted that the shaft 38 of the displacement member 37 is provided with a positioning member 66, the head 67 of which is spring biased upward by a spring 68. . Compressed air is supplied from the pipe joint 69 to the air chamber 70 via the opening / closing control valve 71. The tip 72 of the positioning member 66 is sharp and can be fitted into the recess 73 of the holder 27. When the compressed air is not supplied to the air chamber 70, the positioning protrusion 66 is displaced upward by the spring force of the spring 68, which allows the holding body 27 to be angularly displaced about its axis by the rolling elements 32 and 33. is there. When the gear mounting machine main body 1 moves in the X and Y directions, the opening / closing valve 71 is opened to supply compressed air to the air chamber 70, and the projection 66 resists the spring force of the spring 68 and the tip portion 72 thereof is It is pressed against the recess 73 of the holder 27. As a result, the head portion 30 of the holding body 27 is pressed against the displacement body 31 via the rolling body 33, so that an undesired displacement or vibration of the holding body 27 and hence the gripping means 7 is prevented.

FIG. 17 is a partial cross-sectional view of still another embodiment of the present invention. The gripping means 7a in this embodiment is similar to the above-mentioned embodiment, and corresponding parts bear the same reference numerals. In this embodiment, the passage 14 is evacuated, and not only the small gear 74 shown in FIG. 17 (a) but also the large gear 75 shown in FIG. 17 (b) can be sucked. Other configurations are the same as those in the above-mentioned embodiment. The passage 14 is formed in an annular shape concentric with the axis of the detection piece 19.

In the above embodiments, only the gear has been described as a component, but other components that need to be accurately grasped or accurately attached should also have a component gripping or attachment detection device according to the present invention. Can be suitably adopted.

[0033]

[Effect of device]

 As described above, according to the present invention, the component is gripped by the gripping means for gripping the component, and the displacement which is the displaceable detection piece is detected by the detecting means by contacting the gripped component. Therefore, the displacement of the component can be accurately detected, and the gripping or mounting of the component can be accurately detected.

Further, preferably, since the gears which are the parts are gripped by the gripping means and are elastically supported downward to be rotationally driven, it is possible to prevent the gear teeth which are meshed with each other from overlapping with each other, such as when the gear teeth are vertically overlapped. Even in this case, the detection unit detects this mounting failure, and the gear held by the holding unit is rotationally driven as described above, so that the teeth are in mesh with each other, and the mounting of the gear can be automated.

Still more preferably, the upper surface of the gear is gripped by vacuum suction, and a detection piece is inserted into the shaft hole of the gripped gear, and a pair of optical paths forming a light path in a direction intersecting with the vertical direction is formed. Detecting a relative vertical displacement between the detection piece and the gripping means by detecting whether or not the light path is blocked by the detection piece, by the detection means including the light emitting element and the light receiving element. You can Therefore, for example, when the teeth of the gears that should mesh with each other when the gears are mounted are vertically overlapped, the position of the detection piece deviates upward or downward from the position at the time of normal mounting, so the detection piece does not pass through the optical path. It is possible to block the path and detect that the gears are not in mesh.

[Brief description of drawings]

FIG. 1 is a front sectional view of a detection device 80 according to an embodiment of the present invention.

FIG. 2 is a gear mounting machine main body 1 using the detection device 80 of FIG.
It is the fragmentary sectional view which looked at from the side.

FIG. 3 is a front view of the gear mounting machine body 1.

FIG. 4 is a side view of the entire gear mounting machine.

5 is a front view of the entire gear mounting machine shown in FIG. 4. FIG.

FIG. 6 is a cross-sectional view showing the structure of a rolling element 32.

7 is a plan view showing a rolling element 32 and a holding ring 34. FIG.

FIG. 8 is a horizontal sectional view of a holder 27 and its vicinity.

9 is a cross-sectional view near the head 20 of the detection piece 19. FIG.

FIG. 10 is a block diagram showing an electrical configuration of the embodiment shown in FIGS.

FIG. 11 is a flowchart for explaining a part of the operation of the processing circuit 60.

FIG. 12 is a detection device 8 showing a normal grip state of a gear 83.
It is sectional drawing of 0.

FIG. 13 is a detection device 80 showing a poor grip state of the gear 83.
FIG.

14 is a sectional view of the detection device 80 showing a state before the gear 83 is attached to the shaft 84. FIG.

15 is a sectional view of the detection device 80 showing a state after the gear 83 is mounted on the shaft 84. FIG.

FIG. 16 is a partial cross-sectional view of another embodiment of the present invention.

FIG. 17 is a sectional view of a gripping means 7a according to another embodiment of the present invention.

[Explanation of symbols]

 7, 7a Gripping means 8, 62, 74, 75, 83 Gear 19 Detecting piece 24 Holding member 27 Holding body 31 Displacement body 32, 33 Rolling body 37 Displacement member 40 Shaft coupling 45 Motor 47 Light emitting element 48 Light receiving element 61 Shaft hole 80 Detector

Claims (3)

[Scope of utility model registration request] 1. A component comprising: a component for gripping the component; a detection piece that is displaceable by contacting the component gripped by the gripping means; and a unit that detects displacement of the detection piece. Grip or attachment detection device. 2. The component is a gear, and includes means for vertically displacing the gripping means and elastically supporting the gripping means downward, and means for rotationally driving the gripping means. The device for detecting or mounting a component according to claim 1. 3. The grip means has a structure for vacuum-sucking an upper surface of the gear, and the detection piece is inserted into a shaft hole of the gear and is vertically displaceable relative to the grip means. The detection means is provided with a pair of a light emitting element and a light receiving element that form an optical path in a direction intersecting with the vertical direction, and detects whether or not the optical path is blocked by the detection piece. The component gripping or mounting detection device according to claim 2.