JPH0680948B2 - Parts assembly device - Google Patents

Description

The present invention relates to a component assembling apparatus having a positioning function for combining a pair of members having at least two engaging portions (for example, a positioning shaft and a positioning hole). It is a thing.

Conventionally, when an assembly component is accurately positioned and assembled at a predetermined position of a mating member by this type of component assembling apparatus, a positioning shaft is fixed to either one of the assembly component and the mating member. The other side is provided with a hole, and the shaft and the hole are fitted and positioned.

When the number of positioning shafts and holes is one, a remote centering device that fits the shafts and holes can be used without providing a separate sensor. 2 each
In the case of one or more pieces, as shown in FIG. 1, a guide shaft 5 having a tapered chamfer 6 which is sufficiently larger than the fine operation accuracy of the tip of the robot arm is provided, or a sensor for alignment is provided. It was not possible to assemble parts by robot without separately providing.

In FIG. 1, 10 is a plate member for assembly, 11 is a mating member for assembly, 12 is a hole provided in the plate member, and 13 is a shaft fixed to the mating member. Recently, in various technical fields, especially in electronic devices, miniaturization and high density of parts have been advanced, and it is often difficult to provide a guide shaft 5 having a large chamfer 6 as shown in this figure.

The present invention has been made in view of the above circumstances, and an assembling component having a plurality of positioning shafts or holes can be fitted into holes or shafts provided in a mating member, and a separate positioning sensor is provided. It is an object of the present invention to provide a parts chucking device for a robot that does not need to be provided, and the present invention fits a work part having a plurality of positioning shafts or holes into holes or shafts provided in a processing machine. It is also applicable as a device for combining.

In order to achieve the above object, the present invention provides a component assembling apparatus for assembling two members each having at least two fitting portions, wherein a Z-axis and an X-axis, Y substantially orthogonal to the Z-axis are provided. Assuming an axis, a hand base attached to the arm of the robot and rotated about the Z axis, and a driving means for moving the hand base in the Y direction while reciprocating the hand base in the X axis direction are provided. Separately from the above, there is provided a means for fixing one of the two control parts aligned with the XY plane and fixedly supporting it, and holding the other of the two parts aligned with the XY plane. A component holding means, the component holding means being supported so as to be freely slidable with respect to the hand base along a plane perpendicular to the rotation axis of the hand base, and the hand base described above. Either one of the component holding means To form a concave seat in wood, characterized in that urges the spherical member is provided the other spherical member to be engaged with the concave seat of the above both members toward the concave seat.

Next, an embodiment of the present invention will be described with reference to FIGS. 2 to 10 in order.

FIG. 2 shows a completed assembly state of the plate-like component 10 and the mating member 11 to be assembled by using the component chucking device according to this embodiment. Numerals 12 and 32 are positioning holes provided in the plate-shaped component 10. Numerals 13 and 33 are shafts fixed to the mating member 11 and serve both as a positioning member and a supporting member of the plate member 10. 7 is a plate-shaped member mounting screw. Reference numeral 10a is a hole drilled for aligning the plate-shaped member 10 with a component chucking device described later.

FIG. 3 shows a robot 1 to which a parts chucking device 2 according to an embodiment of the present invention is attached. The parts chucking device 2 is attached to the tip of an arm 1a of the robot to perform parallel movement in a horizontal plane and rotation about a vertical axis. , And the parallel movement in the vertical direction can be freely drive-controlled. Reference numeral 10 is an assembly component held by the component chucking device 2, and 11 is a mating member for assembly.

FIG. 4 is an enlarged sectional view of the above-mentioned component chucking device 2.

Z is the vertical axis and X is the horizontal axis. The Y-axis is a horizontal axis that does not appear on the paper, but intersects the Z-axis and the X-axis.

The hand base 3 is constructed and fixed to the tip of a robot arm (not shown). The hand base 3 is rotationally driven around the Z axis, and a driving means (not shown) for reciprocating in the X axis direction and moving in the Y axis direction.
Is equipped with.

Apart from the above, the component holding means 4 is constructed as follows.

The holder base 19 is formed, and the shaft 25 and the detent shaft 26 are fixed to the lower surface of the holder base 19.

A holder plate 27 having a hole 28 fitted to the shaft 25 and a hole 29 fitted to the detent shaft 26 is formed, and each of the shafts described above is formed.
25, 26 and the hole 29 are fitted with each other, and attached to the holder base 19 via the coil spring 30. 25a is a stopper stopper.

The vacuum chuck 16 is fixed to the lower surface of the holder plate 27.

The component positioning pin 15 is slidably fitted into the holder plate 27 having a through hole 27a, and the spring 14 urges the component positioning pin 15 downward. Reference numeral 31 is a retaining flange formed on the upper end of the component positioning pin 15.

With the above configuration, the holder plate 27 to which the vacuum chuck 16 is fixed is elastically supported with respect to the holder base 19,
The component positioning pin 15 is elastically supported by the holder plate 27.

The component holding means 4 configured as described above is attached to the hand base 3 as follows.

An intermediate base 8 is formed between the hand base 3 and the component holding means 4. Roller guide the above intermediate base 8
17 is slidably supported on the hand base 3 in a direction perpendicular to the plane of the drawing, and the holder base 19 is slidably supported by the roller guide 18 on the intermediate base 8 in the lateral direction shown in the drawing. .

In this embodiment, as described above, the component holding means 4 is supported on the hand base 3 so as to be slidable along the XY plane.

A conical concave seat 20 is formed in the center of the upper surface of the holder base 19.
To form. A steel ball 22 is provided on the hand base 3 so as to correspond to the concave seat 20, and a spring 23 biases the steel ball 22 toward the concave seat 20. Reference numeral 21 is a cylindrical hole for guiding the steel ball 22 in the vertical direction, and 24 is a spring holding screw.

In this embodiment, as described above, the concave seat 20 is formed on one of the hand base 3 and the component holding means 4, and the steel ball 22 which is a spherical member is provided on the other side and the steel ball 22 is directed toward the concave seat 20. Spring 22
Is urged by. When the present invention is applied to a practical application, the spherical member does not necessarily have to be a three-dimensional geometrical sphere. For example, a rod whose tip is spherical or spheroidal may be used.

With the above configuration, the component holding means 4 slidably supported on the hand base 3 along the XY plane is held concentrically with the hand base 3 by an elastic force.

FIG. 4 shows a state in which the tip of the component positioning pin 15 of the component chucking device of this embodiment is inserted into the hole 10a of the plate-shaped component 10 and the vacuum chuck 16 holds the plate-shaped component 10 by suction. Next, the operation of fitting the hole 12 provided in the plate-shaped component 10 to the shaft of the mating member will be described.

FIG. 5 shows a state where the robot arm (not shown) to which the hand base 3 is fixed is actuated to press the plate-shaped component 10 near the assembly position of the mating member 11. In this state, the holes 12 and 32 do not engage with the shafts 13 and 33 except by accident. FIG. 6 is a plan view schematically showing the positional relationship between the holes 12 and 32 and the shafts 13 and 33.

In this state, the robot arm is operated to move the plate-shaped component 10 as indicated by the corrugated arrow 34. That is, it is moved in the Y-axis direction while reciprocating in the X-axis direction.

Although both the X axis and the Y axis are horizontal axes, the X axis and the Y axis do not necessarily need to be orthogonal to each other.

The shape of the corrugated arrow 34 shows a state in which the hole 12 and the shaft 13 can be fitted to each other during the corrugated movement in consideration of the positioning accuracy of the robot arm and the fitting degree of the hole 12 and the shaft 13. Set to do. Specifically, the amplitude and length of this waveform are set so as to cover the maximum error range of the alignment operation of the robot arm, and the pitch dimensions of the above waveform are allowed for the hole 12 and the shaft 13 to be fitted together. Set smaller than the maximum disorientation. As a result, the hole 12 and the shaft 13 are fitted together while the plate-shaped component is being moved as indicated by the corrugated arrow 34. Figure 7 shows holes
FIG. 8 is a plan view schematically showing a state in which 12 and the shaft 13 are fitted together, and FIG. 8 is a vertical sectional view of the same. Since the holder base 19 to which the vacuum chuck 16 is fixed is urged downward by the coil spring 30, if the centers of the hole and the shaft are aligned, the spring urging force will immediately and automatically engage them. Since the fitting is performed as described above, the fitting is similarly performed even if a mechanical chucking means (not shown) is used instead of the vacuum chuck 16.

When the hole 12 and the shaft 13 are fitted to each other as shown in FIG.
Although the relative movement of 10 with the mating member 11 is restrained, the hand base 3 fixed to the robot arm moves in a corrugated manner in a predetermined manner, so that the component holding means 4 holding the plate-like component 10 and the hand base 3 are held. There must be a displacement between and. In this embodiment, as shown in FIG. 9, the steel ball 22 resists the biasing force of the spring 23 and rides on the slope of the conical seat 20 to allow the above displacement.

At the time when the robot arm (not shown) has moved the plate-shaped member 10 in a corrugated manner as described above, the hole 12 and the shaft 13 should be completely fitted as shown in FIG. Yes, the hole 32 does not fit with the shaft 33 except by accident.
Then, the robot arm is actuated to rotate the plate-shaped component 10 around the shaft 13 within the range of the angle φ around the Z-axis as indicated by the arc-shaped reciprocating arrow 35. This operation is possible by disposing the roller guides 17 and 18 along the XY plane perpendicular to the rotation axis Z of the hand base 3 shown in FIG.

The distance between the shafts 13 and 33 and the distance between the holes 12 and 32 are configured to the required accuracy, and the angle ψ can cover the angular error of the robot arm. If set, the hole 32 and the shaft 33 coincide with each other and fit together during this rotation. FIG. 9 is a cross-sectional view of the mating completed state. When this state is reached, the vacuum chuck 16 is released and the parts chucking device 2 is pulled up, so that the plate-shaped part 10 for assembly becomes the mating member 11
The assembly operation remains complete.

In order for the device of the present embodiment to smoothly perform the above-described operation, the horizontal force transmission by the steel ball 22 and the conical concave seat 20 must be appropriate. That is, as described with reference to FIG. 6, fitting of the shaft 13 and the hole 12 occurs while moving the plate-shaped component as indicated by the corrugated arrow 34, but before the fitting occurs, the plate-shaped component 10 and the shaft 13 are not connected. As they slide relative to each other, they must overcome the frictional resistance and transmit a force capable of moving the plate-shaped component 10 as indicated by the corrugated arrow 34. Further, after the fitting occurs and the plate-shaped component 10 is restrained, even if the robot arm moves as shown by the corrugated arrow 34, the movement is absorbed between the steel ball 22 and the conical concave seat 20. You must not exert excessive force on the shaft 13. Steel ball 22 and concave seat above
The holding force F due to 20 and (see FIG. 10) is given by F≈Ptan θ.

However, P is the pressing force of the steel ball 22 by the spring, and θ is the inclination angle of the conical concave surface 20. When the present invention is applied to a practical application, the values of P and θ described above are appropriately set,
It is easy to obtain the proper holding force F by adjusting 24 appropriately.

The above embodiment shows an assembly part 10 having two holes 12 and 32.
Was described as being assembled to the mating member 11 having the two shafts 13 and 33.
The present invention can be similarly applied to the case of being attached to a processing machine having two shafts.

Also, when fitting a component having three or more holes to a mating member having a shaft corresponding to the above holes, the fitting can be performed in the same manner.

Further, contrary to the above-described embodiment, when the shaft is fixed to the assembly component and the hole is provided in the mating member, the present invention can be applied and the fitting can be performed in the same manner as the previous example.

As described in detail above, the present invention includes at least 2
In a component assembling apparatus for assembling two members each having a fitting portion, a Z-axis and an X substantially orthogonal to the Z-axis
Assuming an axis and a Y-axis, a hand base attached to the arm of the robot and rotated around the Z-axis, and a drive means for moving the hand base in the Y-direction while reciprocating in the X-axis direction are provided. Means for fixing one of the two parts to the XY plane and fixedly supporting the two parts are provided separately from the hand base, and the other of the two parts is substantially aligned to the XY plane. Constituting a component holding means for holding the component by holding the component holding means with respect to the hand base so as to be freely slidable along a plane perpendicular to the rotation axis of the hand base, and A concave seat is formed on any one of the hand base component holding means, and a spherical member engaging with the concave seat is provided on the other of the two members to direct the spherical member toward the concave seat. Position by urging An assembly part having a shaft or a hole for use in fitting can be fitted into a hole or shaft provided in a mating member, and
The fitting operation can be automatically performed by the robot without providing a separate sensor.

[Brief description of drawings]

FIG. 1 is an explanatory view of positioning by a guide shaft having a chamfered chamfer, FIGS. 2 to 10 show an embodiment of a parts assembling apparatus according to the present invention, and FIG. 2 shows a positioning object. FIG. 3 is an explanatory view of a plate-shaped component attached to the robot, FIG. 3 is an overall external view of the plate-shaped component attached to the robot, FIG. 4 is a sectional view of the plate-shaped component held, and FIG. 6 is a cross-sectional view showing a state in which a member is pressed against a mating member, FIGS. 6 and 7 are plan views schematically illustrating assembly parts for explaining the fitting operation, and FIG. 8 is one shaft and a hole. Fig. 9 is a sectional view showing a state in which fitting between the shaft and the hole is completed, and Fig. 10 is an explanatory view of holding force generated by the steel ball and the concave seat. . 1 ... Robot, 2 ... Parts chucking device, 3 ... Hand base, 4 ... Parts holding means, 10 ... Plate-like parts for assembly, 11 ... Mating member, 12, 32 ... Hole, 13, 33 ... axis, 14 ...
… Spring, 16 …… Vacuum chuck, 17,18 …… Roller guide, 19 …… Holder base, 20 …… Conical concave seat, 22…
… Steel ball, 23 …… Spring, 27 …… Holder plate, 30 …… Coil spring.

Claims (1)

[Claims] 1. A parts assembling apparatus for assembling two members each having at least two fitting portions, assuming a Z axis and an X axis and a Y axis substantially orthogonal to the Z axis. A hand base attached to the arm of the robot and rotatable about the Z-axis; and drive means for moving the hand base in the Y-direction while reciprocating in the X-axis direction. A means for fixedly supporting one of the two parts aligned with the XY plane is provided, and a part holding means for holding the other of the two parts substantially aligned with the XY plane is configured. The component holding means is rotatably supported with respect to the hand base along a plane perpendicular to the rotation axis of the hand base, and any one of the hand base component holding means is supported. If a concave seat is formed on one member, At the same time, a spherical member that engages with the concave seat is provided on the other of the two members, and the spherical member is urged toward the concave seat.