JPH0671525A - Centering deviation correcting device - Google Patents

Abstract

PURPOSE:To provide a centering deviation correcting device where the constitution is simple, the assembly can be easily executed, and the operation is stopped in a case of centering deviation. CONSTITUTION:A centering deviation correcting device 10 is provided with an upper part plate 11 which can be mounted on the lower end of a rod or the like which is movable in the Z axis direction, and a lower part plate 12 where a chuck to hold the parts can be mounted. This lower part plate is supported so as to be movable in the prescribed space from the lower position to the upper position in the vertical direction relative to the upper part plate, and this lower part plate is supported in a fixed manner so as not to be deviated in the transverse direction at this lower position, while this lower part plate is set so as to be deviated in the transverse direction at this upper position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a misalignment correction device used when, for example, an XY robot inserts a part such as a pin into a predetermined hole.

[0002]

2. Description of the Related Art Conventionally, for example, when a part such as a pin is inserted into a predetermined hole to which it is to be attached, FIG.
As shown in FIG. 3, this part is inserted by using an XY robot. In FIG. 4, XY
The robot 1 is provided with a rod 2 that is movable in the Z-axis direction at the tip of its arm 1a. A chuck 4 is attached to the lower end of the rod 2 via a misalignment correction device 3.

The XY robot 1 having the above structure is
The parts arranged in the parts supply unit 5, such as pins 6,
After being grasped by the chuck 4 attached to the lower end of the rod 2 and lifted up, the rod 2 is moved in the XY direction, for example, at a position facing the insertion hole 7a provided on the upper surface of the jig pallet 7 in the XY direction. Of the insertion hole 7a by stopping the movement of the rod 2 and lowering the rod 2.
It is designed to be inserted inside.

In this case, this rod 2 is accurately inserted into the insertion hole 7
Even when the pin 6 is not aligned with a, the misalignment correction device 3 is provided so that the pin 6 can be inserted into the insertion hole 7a.
It is provided. This misalignment correction device 3 is shown in FIG.
As shown in FIG. 2, two upper and lower flat discs 3a and 3b are connected by three support members 3c arranged at equal angular intervals, and the lower end is fixed to the center of the lower disc 3b.
Further, the upper end is provided with an overload preventing shaft 3d which penetrates the upper disc 3a and expands. Each support member 3c
In each of the above cases, a small diameter metal disk is laminated, and the periphery is surrounded by elastic rubber.

Therefore, when the rod 2 of the XY robot 1 is lowered while being displaced from the insertion hole 7a, the lower end of the pin 6 held by the chuck 4 comes into contact with the peripheral edge of the insertion hole 7a. Then, the support member 3c of the misalignment correction device 3 elastically deforms, so that the lower disk 3b moves in the horizontal direction. As a result, the lower end of the pin 6 held by the chuck 4 can be inserted into the insertion hole 7a.

[0006]

However, in the misalignment correcting device 3 having such a structure, the supporting member 3c is used.
However, since it is formed by stacking metal discs and surrounding it with elastic rubber, the number of parts is large, the structure is complicated, the assembly is troublesome and time-consuming, and the assembly accuracy is high. There was a problem that was relatively low. Further, since the support member 3c is configured to be elastically deformable, even when the rod 2 of the XY robot 1 is aligned with the insertion hole 7a, the support member 3c is It may be elastically deformed due to shaking or the like. Therefore, when the rod 2 is lowered,
The pin 6 or the like held by the chuck 4 is inserted into the insertion hole 7
There is a problem in that the operation may be unstable because it may come into contact with the peripheral edge of a.

In view of the above points, the present invention provides a misalignment correction device which has a simple structure, can be easily assembled, and is not operated when there is no misalignment. Has an aim.

[0008]

According to the present invention, the above object is to provide an upper plate that can be attached to an attachment member that is movable in a certain direction, and a lower plate that can be attached to a chuck for gripping a part. The lower plate is supported so as to be movable with respect to the upper plate in the vertical direction from a lower position to an upper position by a predetermined distance, and the lower plate is supported in the lower position. , Is fixedly supported so as not to shift laterally, but in this upper position,
This is achieved by a misalignment correction device that is configured to be capable of lateral displacement.

In the misalignment correcting device according to the present invention, preferably, a hollow housing is attached to the upper plate,
A movable member is inserted into the hollow portion of the hollow housing, the movable member penetrates the lower end of the hollow housing and is fixed to the lower plate, and the lower surface of the movable member has at least three or more. A spherical body, which is provided with a conical concave portion and is fixedly arranged in the concave portion provided on the lower surface of the hollow portion at the lower position, is fitted into the conical concave portion, so that the movable member is laterally moved. Another sphere is fixedly arranged in the recess provided on the upper surface of the movable member so as not to move, and at the upper position, the sphere is slightly provided on the upper surface of the hollow portion. It is configured so that it can move laterally in a wide recess.

Further, the misalignment correction device according to the present invention is
Preferably, the movable member is held in the lower position by the tension of the spring.

Further, in the misalignment correction device according to the present invention, the movable member is preferably held with respect to the housing so as not to rotate about the central axis.

[0012]

According to the above construction, normally, that is, when the upward force is applied to the lower plate, the lower plate is located at the lower position with respect to the upper plate.
Therefore, the lower plate is held so as not to move laterally with respect to the upper plate. Therefore, for example, an upper plate is attached to the lower end of a rod (mounting member) that can move in the Z-axis direction at the tip of an XY robot arm, and
If a chuck for gripping parts such as pins is attached to the lower plate, and the rod is aligned with the insertion hole where the pin should be inserted, the pin will be inserted even if the rod is lowered. It will be inserted into this insertion hole without abutting on the peripheral edge of the hole. Then, since the lower plate is not lifted with respect to the upper plate and is still held at the lower position, misalignment correction is not performed, and this pin is
It can be smoothly inserted into the insertion hole. Also, when the rod is not aligned with the insertion hole into which the pin is to be inserted, when the rod is lowered, this pin
By contacting the peripheral edge of the insertion hole, the lower plate is lifted with respect to the upper plate. Therefore, this lower plate is moved to the upper position so that it can move laterally, and moves laterally with respect to the upper plate so that the pin is inserted into the insertion hole. Thus, the misalignment correction allows the pin to be smoothly inserted into the insertion hole.

Further, the lower surface of the movable member is provided with at least three conical recesses, and the spherical body fixedly arranged in the recess provided on the lower surface of the hollow portion at the lower position has the conical shape. By fitting in the recess, the movable member does not move in the lateral direction, while on the other hand, another sphere is fixedly arranged in the recess provided on the upper surface of the movable member, and the sphere is located at the upper position. However, in the case where the movable member is configured to be able to move laterally in a slightly wide concave portion provided on the upper surface of the hollow portion, this movable member is placed at a lower position by a simple configuration using a sphere. It is held so that it does not move laterally and can move laterally in the upper position.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described in detail below with reference to FIGS. It should be noted that the examples described below are suitable specific examples of the present invention, and therefore, various technically preferable limitations are given, but the scope of the present invention particularly limits the present invention in the following description. Unless otherwise stated, the present invention is not limited to these modes.

1 and 2 show an embodiment of a misalignment correction device constructed according to the present invention. In FIG.
The misalignment correction device 10 is provided with an upper plate 11 configured to be attached to a lower end of a rod or the like as an attachment member movable in the Z-axis direction of an XY robot or the like, and a chuck for gripping parts. Lower plate 12
A hollow housing 13 attached to the upper plate 11, and a movable member 14 vertically movably inserted in a hollow portion 13a of the hollow housing 13, and below the movable member 14. The lower end 14a extending to the bottom is penetrated through the lower end of the hollow housing 13 and fixed to the lower plate 12.

The movable member 14 is provided on its lower surface with at least three conical recesses 14b arranged at equal angular intervals. In addition, the hollow portion 13a of the hollow housing 13
As shown in FIG. 2, the lower surface of the conical recess 14b is
The concave portion 13b is provided at a position facing the. Furthermore, between the conical recess 14b and the recess 13b,
The first sphere 15 is fitted. Here, this recess 1
The size of 3b is selected so that the sphere 15 does not roll laterally.

Therefore, when the movable member 14 is at the lower position in the hollow portion 13a of the hollow housing 13,
By fitting the sphere 15 into the conical recess 14b, it can be held so as not to move laterally.

The movable member 14 is provided with at least one (preferably 3 to 6 recesses 14c arranged at equal angular intervals) on its upper surface. The recess 14c is formed on the upper surface of the hollow portion 13a, in this case, the lower surface of the upper plate 11.
A relatively large-diameter recessed portion 11a is provided at a position opposed to. Here, the second spherical body 16 is fitted between the recess 14c and the recess 11a. Incidentally, the recess 1
The size of 4c is selected so that the spherical body 16 does not roll laterally, like the concave portion 13b, and the concave portion 11a allows the spherical body 16 to roll laterally. The size is selected so that the diameter is slightly larger.

As a result, when the movable member 14 is in the upper position in the hollow portion 13a of the hollow housing 13, the spherical body 16 can be moved laterally by fitting in the recess 11a. Will be held in.

Further, the upper plate 11 and the movable member 14
Are stretched so that they are separated from each other by a compression spring 17 provided at the center. This allows the movable member 14 to be normally held in the lower position.

Also, the lower plate 12 and the hollow housing 1
3 is at least one (preferably three equiangularly spaced) compression springs 18 provided along the circumference.
Are stretched so as to be separated from each other. As a result, the lower plate 12 is held against the hollow housing 13 so as not to rotate, and the load can be averaged.

The misalignment correction device 10 according to this embodiment is configured as described above. As shown in FIG. 3, the misalignment correction device 10 has an upper plate 11 at the tip of an arm of an XY robot. Attached to a rod 19 movable in the Z-axis direction, and with the chuck 20 attached to the lower plate 12, a pin 21 gripped by the chuck 20 is inserted into a part insertion hole 22a of a jig pallet 22 or the like. It is designed to be inserted.

In this case, when the lower end of the pin 21 is aligned with the part insertion hole 22a, when the rod 19 is lowered, the lower end of the pin 21 is located in the part insertion hole 22a.
Could be inserted in. At this time, in the misalignment correction device 10, since the lower plate 12 cannot be pushed upward, the movable member 14 is fitted into the conical recess 14b and the spherical body 15 at the lower position due to gravity and the tension of the spring 17. It is held in a lateral position determined by the combination. Therefore, the movable member 14 and the lower plate 12 do not shift laterally. Thus, the pin 21 can be smoothly inserted into the part insertion hole 22a without shifting laterally.

Also, the lower end of the pin 21 is the part insertion hole 2
If not aligned with 2a, when the rod 19 is lowered, the lower end of the pin 21 comes into contact with the peripheral edge of the part insertion hole 22a. As a result, the lower plate 12 and the movable member 14 of the misalignment correction device 10 are lifted upward against the tension of the spring 17. Thus, in the movable member 14, at the upper position, the spherical body 16 fixedly held in the recess 14c on the upper surface is fitted into the recess 11a provided on the lower surface of the upper plate 11,
It will be possible to move laterally. Therefore, the chuck 20
The lower end of the pin 21 gripped by the
This movable member 14 and the lower plate 12 move laterally so that they can be inserted into a. Thus, this pin 21
It can be smoothly inserted into the part insertion hole 22a.

As described above, according to the misalignment correcting apparatus of the present invention, when there is no misalignment, the lower plate is located below the upper plate and does not move laterally. Is held. Therefore, a part or the like gripped by the chuck attached to the lower plate can be inserted into the insertion hole at a predetermined position without shifting laterally.

When there is misalignment, when the whole misalignment correction device is lowered, the lower plate is pushed upward with respect to the upper plate and brought to the upper position. Therefore, the lower plate is movable in the lateral direction, and the lower plate is moved in the lateral direction so that the parts held by the chuck attached to the lower plate are aligned with the insertion holes. Etc. can be smoothly inserted into this insertion hole. Therefore, a stable misalignment correction operation can be obtained.

Further, the lower surface of the movable member is provided with at least three conical recesses, and the spherical body fixedly arranged in the recess provided on the lower surface of the hollow portion at the lower position has the conical shape. By fitting in the recess, the movable member does not move in the lateral direction, while on the other hand, another sphere is fixedly arranged in the recess provided on the upper surface of the movable member, and the sphere is located at the upper position. However, in the case where the movable member is configured to be able to move laterally in a slightly wide concave portion provided on the upper surface of the hollow portion, this movable member is placed at a lower position by a simple configuration using a sphere. Since it is held so as not to move laterally and can move laterally at the upper position, the number of parts is small and the assembly can be performed easily in a short time. Therefore, the cost can be reduced.

[0028]

As described above, according to the present invention, there is provided a misalignment correcting device which has a simple structure and can be easily assembled and which does not operate when there is no misalignment. be able to.

[Brief description of drawings]

FIG. 1 is a sectional view showing an embodiment of a misalignment correction device according to the present invention.

FIG. 2 is a perspective view of a housing in the misalignment correction device of FIG.

3 is a schematic side view when inserting a pin using the misalignment correction device of FIG. 1. FIG.

FIG. 4 is a schematic side view showing a pin inserting operation by a conventional XY robot.

FIG. 5 is a perspective view showing an example of a conventional misalignment correction device used in FIG.

[Explanation of symbols]

 10 misalignment correction device 11 upper plate 11a recessed part 12 lower plate 13 hollow housing 13a hollow part 13b recessed part 14 movable member 14b conical recessed part 14c recessed part 15 first spherical body 16 second spherical body 17 compression spring 18 compression spring 19 rod 20 chuck 21 pin 22 jig pallet 22a parts insertion hole

Claims (4)

[Claims] 1. An upper plate that can be attached to a mounting member that is movable in a certain direction, and a lower plate that can be attached to a chuck for gripping a part, the lower plate being relative to the upper plate. The lower plate is supported so as to be movable from the lower position to the upper position in the vertical direction by a predetermined distance. The misalignment correction device is configured to be capable of being laterally displaced at the upper position. 2. A hollow housing is attached to the upper plate, and a movable member is inserted into a hollow portion of the hollow housing, the movable member penetrating a lower end of the hollow housing to a lower plate. In addition to being fixed, the lower surface of the movable member is provided with at least three or more conical recesses, and in the lower position, the spherical body fixedly arranged in the recess provided on the lower surface of this hollow portion is By fitting in the conical recess, the movable member is prevented from moving in the lateral direction, and another spherical body is fixedly arranged in the recess provided on the upper surface of the movable member. This other sphere at the position
The misalignment correction device according to claim 1, wherein the misalignment correction device is configured so as to be able to move laterally in a slightly wide recess provided on the upper surface of the hollow portion. 3. The misalignment correction device according to claim 2, wherein the movable member is held at a lower position by a tension of a spring. 4. The movable member, with respect to the housing,
The misalignment correction device according to claim 2, wherein the misalignment correction device is held so as not to rotate about the central axis.