JPH0730254Y2 - Multi-position positioning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of Invention] (Field of Industrial Application) The present invention relates to a positioning device for stopping a work or the like at a plurality of positions in a device or the like that handles various works.

(Prior art) Fig. 18 and Fig.
A Rzeppa joint 1 as shown in Fig. 19 is used. The Rzeppa joint 1 includes an outer ring 4 having a shaft portion 2 and a bowl-shaped portion 3, a cage 5 that is swingably housed inside the outer ring 4, and an inner ring 6 that is swingably housed inside the cage 5. And six balls 7 are provided. The ball 7 is fitted into a ball groove 8 provided in the outer ring 4, an opening window 9 provided in the cage 5, and a ball groove 10 provided in the inner ring 6. An inner tooth-shaped center hole is formed in the center of the inner ring 6.
11 are provided. Teeth 12 are provided on the outer peripheral portion of the inner ring 6 at six locations in the circumferential direction at equal intervals.
The ball groove 10 is formed between 2 and 12.

It has been considered that automatic assembly by a machine is difficult because a certain kind of "knack" is required for assembling the Rzeppa joint 1 including the outer ring 4, the cage 5, the inner ring 6 and the like as described above. Therefore, conventionally, the assembly work was performed manually, but the present inventors have developed an automatic assembly machine capable of automatically assembling the Rzeppa joint 1.

In the automatic assembly machine developed by the present inventors, the inner ring 6 is assembled to the cage 5 through the operations shown in FIGS. 20 to 27. First, the outline of the assembling procedure will be described.

As shown in FIGS. 20 and 21, the cage 5 has an end face.
Holds with 5a facing up. On the other hand, the inner ring 6 stands vertically above the cage 5, that is, the horizontal axis.
Holds rotatably around H ₁ . Then, as shown in FIG. 20, the radial center C ₁ of the inner ring 6 is eccentric from the center line O—O of the cage 5 by Δ _{1 in} the radial direction of the inner ring 6, and as shown in FIG. In this way, the inner ring 6 is positioned such that the center C _{2 in} the thickness direction of the inner ring 6 is on the center line OO of the cage 5. In this specification, the above series of steps is called an inner ring setting step. The opening width W of the opening window 9 of the cage 5 is slightly larger than the thickness t of the inner ring 6. Cage 5
The inner peripheral surface of is a spherical surface with radius r ₁ . Center of the outer peripheral surface of the inner ring 6 (the outer sphere) C ₃ is displaced several mm next to the center C ₂ in the thickness direction. The outer radius r ₂ of the inner ring 6 is slightly smaller than the radius r ₁ of the inner spherical surface of the cage 5.

After the inner ring setting step is completed, the inner ring 6 is lowered from above the cage 5 toward the cage 5. This way
As shown in FIG. 22, a part 12a of the tooth 12 of the inner ring 6 abuts on the edge of the end surface 5a of the cage 5, so that the inner ring 6 is moved to the horizontal axis H ₁
The tip end portions 12b of the teeth of the inner ring 6 enter the opening window 9 of the cage 5 while rotating around.

Although the width W of the opening window 9 is slightly wider than the thickness t of the inner ring 6, the thickness direction center C ₂ of the inner ring 6 is located on the center line OO of the cage 5, that is, the opening window, by the inner ring setting step described above. Since it is located at the center of 9, the tip portion 12b of the tooth 12 can be smoothly inserted into the opening window 9. Then, as shown in FIG. 23, the inner ring 6 is lowered to a position where the height of the radial center C ₁ of the inner ring 6 substantially coincides with the height of the center C ₀ of the cage 5, thereby completing the inner ring insertion step. To do.

Next, as shown in FIG. 24, the radial center C ₁ of the inner ring 6
The inner ring 6 is moved in the lateral direction so that is aligned with the center C _{0 of the} cage 5. Since in this state, it remains as shown in FIG. 25 is the outer sphere center C ₃ of the inner ring 6 is eccentric only delta ₂ next to the center C ₀ of the cage 5, in order to overcome this eccentricity delta ₂ By moving the inner ring 6 by Δ ₂ in the thickness direction, the center C ₃ of the outer sphere of the inner ring 6 and the center C _{0 of the} cage 5 are aligned as shown in FIG. The above series of steps is the centering step.

After the centering step is completed, the inner ring 6 is rotated 90 ° in the clockwise direction in the drawing and tilted horizontally to
The inner ring 6 is housed in the cage 5 as shown in FIG. The above process is the inner ring collapse process.

The inner ring 6 is moved to the cage 5 by going through the above-mentioned steps.
Can be assembled in a predetermined position.

Among the above steps, in the inner ring setting step,
It is necessary to position the inner ring 6 at a position where the center C ₃ of the outer ring of the inner ring 6 is eccentric from the center C _{0 of the} cage 5 by Δ ₂ .
Further, in the centering step, it is necessary to position the inner ring 6 at a position returned by Δ ₂ in the thickness direction. Δ
₂ is a short stroke of about several mm.

When it is necessary to stop the work at multiple positions like this, using a so-called dual cylinder,
A conventional example of combining a plurality of cylinders has been studied.

(Problems to be Solved by the Invention) However, in each of the conventional examples, there is a problem that the cylinder structure becomes complicated, or the wiring or piping structure of the valve for controlling the cylinder becomes complicated, and the cost also increases.

Therefore, it is an object of the present invention to provide a multi-position positioning device capable of performing multi-position positioning with a relatively simple structure.

[Structure of the Invention] (Means for Solving the Problems) As conceptually shown in FIGS. 1 and 2, a multi-position positioning device 15 according to the present invention has a first stroke along a guide 26. The movable body 30 reciprocally movable by S, the stopper means 33 for regulating one stroke end of the movable body 30, and the movable body 30 connected to the movable body 30 and directed toward the stopper means 33 by fluid pressure. A hydraulic actuator 32 that can be driven to the full stroke of the first stroke S and a spring-type push-back mechanism 35 are provided. The spring type push-back mechanism 35 includes a movable shaft 37 that is movable in the axial direction with a _second stroke Δ ₂ that is shorter than the first stroke S, and a spring 38 that biases the movable shaft 37 in the axial direction. When the fluid pressure supplied to the actuator 32 becomes equal to or lower than a predetermined value, the elastic force of the spring 38 pushes the movable body 30 back by the second stroke Δ ₂ . The actuator 32 is operated by fluid such as compressed air or hydraulic pressure. A second stopper means 43 may be provided to regulate the stroke end of the movable body 30 on the other side.

(Operation) When the actuator 32 is actuated to the first stroke S toward the stopper means 33 by applying a fluid pressure to the actuator 32, the movable body 30 is at a position regulated by the stopper means 33, that is, the first stroke S. Move to position P ₁ . When the fluid pressure to the actuator 32 is released, the movable body 30 is pushed back by the second stroke Δ ₂ by the elastic force of the spring 38 of the push-back mechanism 35, and stops at the second position P ₂ . Second stopper means 43
When the movable body 30 is moved to the second stopper means 43 side by supplying the fluid to the actuator 32, the movable body 30 can be stopped at the third position P ₃ .

(Embodiment) An embodiment of the present invention will be described below with reference to the drawings. The multi-position positioning device 15 according to the present invention is
It is used as a part of the inner ring assembly device 20 for the Rzeppa joint shown in FIGS. 3 to 17. The inner ring assembly device 20 will be described below.

As shown in FIG. 3, the cage 5 is held by the cage holder 21 with the end surface 5a facing upward. The cage holder 21 holds the cage 5 by a clamp mechanism 22 so that the cage 5 cannot be pulled out. The cage holder 21 is provided with an opening window 9 of the cage 5 by a rotation direction positioning mechanism (not shown).
The cage 5 is preliminarily positioned in the rotational direction so that an arbitrary pair of opening windows 9, 9 are positioned in the direction orthogonal to the paper surface in FIG.

An inner ring holder 23 is provided next to the cage holder 21.
The inner ring 6 is held by the inner ring holder 23 with the end surface 6a facing upward. The inner ring 6 can be taken out above the inner ring holder 23. The holders 21 and 23 are mounted on a turntable (not shown) that rotates intermittently in a horizontal plane. Fixed base 25 on the side of the above turntable
Is provided. The fixed base 25 is provided with a pair of left and right horizontally extending guides 26, 27. Guide 26, 27
A slide unit 31 having a movable body 30 is reciprocally mounted on a horizontal direction. The movable body 30 is guided by a fluid direct acting actuator 32 such as an air cylinder.
It can be moved forward and backward along 26,27.

As shown in FIGS. 11 and 12, stopper means 33 for restricting the backward stroke end of the movable body 30 is attached to the vertical wall 25a of the fixed base. A spring type push-back mechanism 35 is provided next to the stopper means 33.

The push-back mechanism 35 includes a cylindrical casing 36, a movable shaft 37 movably provided in the axial direction of the casing 36, a compression spring 38 for pressing the movable shaft 37 toward the movable body 30, and a movable shaft. It is composed of an end stopper 39 and the like for controlling the amount of protrusion of the shaft 37. The end member 40 provided at the tip of the movable shaft 37 faces the rear end surface 30a of the movable body 30.

In the push-back mechanism 35, the movable body 30 has the actuator 32.
When the fluid pressure of the actuator 32 is released after being retracted by the stopper means 33 by the stopper means 33, the elastic force of the spring 38 has a function of pushing back the movable body 30 in the forward direction by a distance corresponding to the eccentricity Δ ₂ described above. There is.

In order to absorb the impact when the movable body 30 is moved to the backward stroke end and the forward stroke end,
Shock absorbers 41, 42 are provided. The shock absorbers 41, 42 may have a function as stoppers for restricting the forward stroke end and the backward stroke end of the movable body 30.

A base 45 is erected on the movable body 30. A pair of left and right vertical guide members 46 and 47 are provided on the front surface side of the base body 45. An elevating unit 50 is vertically movable along the guide members 46 and 47. The lifting unit 50
A fluid type direct acting actuator 51 such as an air cylinder is driven to move up and down with a predetermined stroke. Lifting unit
The lower limit stroke end of 50 is restricted by the stopper 57.

The elevating unit 50 has a base structure 52 extending in the horizontal direction, and a pair of left and right leg members 53, 54 extending downward are provided on the lower surface side of the base structure 52. As shown in FIG. 6, the leg members 53 and 54 are provided with horizontal bearings 55 and 56, and the head assembly 6 is provided by these bearings 55 and 56.
0 is supported rotatably around a horizontal axis.

The head assembly 60 includes a pair of left and right shafts 61 and 62 rotatably supported by bearings 55 and 56, an inverted U-shaped bridge structure 63 provided between the shafts 61 and 62, and a bridge structure 63 of the bridge structure 63. It is configured by including an arm unit 65 and the like arranged inside. As shown in FIG. 4 and the like, the arm unit 65 includes a swing arm 67 that is swingably supported by a bearing 66, an arm base 68 that is connected to the back side of the swing arm 67, and a swing arm 67. It comprises a chuck 69 provided at the lower end of the arm 67, a parallel link mechanism 70 described later, and the like.

The chuck 69 includes a pair of chuck claws 74 and 75 that are biased in the opening direction by a compression spring 73. When the chuck 69 is inserted into the center hole 11 of the inner ring 6, the spring 73 bends to hold the inner ring 6 by the chuck claws 74 and 75. The center C _{4 of the} chuck 69 coincides with the centers of the shafts 61 and 62.

Lower arms 78 are attached to shafts 61 and 62,
The lower arm 78 is connected to the lower end of a vertically extending interlocking member 79. The upper end of the interlocking member 79 is connected to the upper arm 80. The base of the upper arm 80 is fixed to the drive shaft 81. The drive shaft 81 is rotated by a direct acting actuator 82 such as an air cylinder. That is, when the rod 83 of the actuator 82 moves to the extension side, the upper arm 80 pivots and descends, and the interlocking member 79 descends, whereby the lower arm 78 pivots and descends, and the head assembly 60 moves to the position shown in FIG. That is, the chuck 69 is rotated to a posture in which it is oriented in the horizontal direction. When the rod 83 of the actuator 82 moves toward the contracted side, the head assembly 60 is rotated to the position shown in FIG. 5, that is, the chuck 69 is directed downward. In this way, the head assembly 60 rotates about the chuck 69 in the angular range of 90 ° about the horizontal axis. This rotation range is restricted by the stoppers 84 and 85. The actuator 82, the arms 78, 80, the connecting member 79, and the like described above constitute the head rotating means 89.

A shaft 86 is projectingly provided on the back side of the swing arm 67.
86 is inserted into a hole 87 provided in the arm base 68. By pulling the index plunger 88 provided on the arm base 68, the swing arm 67 can be removed from the arm base 68.

As shown in FIG. 8, a pair of left and right stoppers 90 and 91 are provided on the upper portion of the bridge structure 63. These stoppers 90 and 91 enable the swing arm 67 to swing in a range from the initial neutral position shown in FIG. 8 to the eccentric position shown in FIG.

Further, a cam portion 92 is provided below the arm base 68. The bridge structure 63 is provided with a pair of swing links 97 and 98 that rotate around a pair of left and right shafts 95 and 96. The end portions of the swing links 97 and 98 are connected to each other by connecting links 99 and 100 to form a parallel link mechanism 70.
A cam follower 101 engageable with the cam portion 92 is provided on the lower connecting link 100 in the drawing. Connection link 100
Is urged by the first tension spring 102 in a direction in which the cam follower 101 engages with the cam portion 92. In addition, a second tension spring is provided between the connecting links 99 and 100 and the arm base 68.
103 and 104 are provided under tension. The tension springs 103 and 104 have a function of urging the arm base 68 in the counterclockwise direction in the drawing.

As shown in FIG. 3 or FIG. 8, an eccentric drive actuator 110 is provided on the lower surface side of the substrate 52. The rod 111 of this actuator 110 is a driving member 112.
Is connected to the first end 113 of the. The drive member 112 is rotatable about a shaft 114. Second end 115 of drive member 112
Faces the end 116 of the upper connecting link 99 when the head assembly 60 is rotated to the position shown in FIG. The drive member 112 is the actuator 1
The 10 allows it to be rotated from the position shown in FIG. 8 to the position shown in FIG. In the state shown in FIG. 10, the second end 115 of the driving member 112 has the connecting link 99.
By pushing the end portion 116, the connecting link 99 is pushed leftward in the drawing.

Next, the operation of the embodiment device 20 having the above-described configuration will be described.

As shown in FIG. 3, with the cage 5 and the inner ring 6 held by the holders 21 and 23, respectively, the inner ring assembly device 2
It will be transferred to 0. Grease is previously applied to the outer peripheral portion of the inner ring 6.

As shown in FIG. 5, the head assembly 60 is rotated by the actuator 82 so that the chuck 69 faces downward, and the movable body 30 is moved forward by the horizontal drive actuator 32, so that the inner ring holder 23 is moved to the true position. The chuck 69 is located on the top and faces downward. Then, the elevating actuator 51 moves to the extension side, the elevating unit 50 descends, and the head assembly 60 descends, so that the chuck 69 moves the inner ring 6 as shown in FIG.
The inner ring 6 is held by the chuck claws 74 and 75. In this state, the elevating unit 50 is raised by the actuator 51,
As shown in FIG. 14, the inner ring 6 rises while being held by the chuck 69.

In this way, after the inner ring 6 is taken out from the inner ring holder 23,
As shown in FIG. 10, when the rod 111 of the eccentric actuator 110 operates toward the contraction side, the second end 115 of the drive member 112 pushes the connecting link 99 on the upper side in the figure to the left. Then, the connection link 100 on the lower side in the drawing moves to the right, and the cam follower 101 also moves to the right, that is, in the direction away from the cam portion 92. Therefore, the arm base 68 rotates counterclockwise in the drawing around the shaft 86 by the elastic force of the tension springs 103 and 104, and
The inner ring 6 held by 69 is Δ as shown in FIG.
Eccentric by ₁ .

Further, the movable body 30 is retracted by the horizontal driving actuator 32 operating toward the contraction side, and the rear end surface of the movable body 30 is retracted.
The fluid pressure to the actuator 32 is maintained in a state where the movable body 30 is retracted to a position where it abuts the stopper means 33 (see FIG. 12), so that the movable body 30 is retained at the retracted position to the full retract stroke. By doing so, the center C ₂ of the inner ring 6 in the thickness direction is located on the center line OO of the cage 5, as shown in FIG. The above corresponds to the inner ring setting process.

After that, the lifting actuator 51 operates toward the extension side,
The inner ring 6 is inserted toward the cage 5 by lowering the lifting unit 50 by a predetermined amount. At this time, as shown in FIG. 22, a part 12a of the tooth 12 of the inner ring 6 abuts against the edge of the end surface 5a of the cage 5, so that the inner ring 6 rotates about the horizontal axis and the tip portion 12b of the tooth 12 moves. Opening window 9 of cage 5
Enter. Finally, as shown in FIGS. 16 and 23, the height of the center C ₁ of the inner ring 6 and the center C _{0 of the} cage 5 are set.
The inner ring 6 is lowered to a position where the heights of the inner rings 6 approximately match. The above is the inner ring insertion step.

After the above steps, the rod 111 of the eccentric drive actuator 110 operates toward the extension side to return to the initial state of FIG. 8, and the pressing of the connecting link 99 by the drive member 112 is released. As a result, the eccentricity of the swing arm 67 is canceled by the tension of the first tension spring 102, and the swing arm 67 returns to the initial position. Therefore, as shown in FIG.
C ₁ coincides with the center C _{0 of} cage 5. In addition, the fluid pressure supplied to the horizontal driving actuator 32 is released, so that the movable body 30 is pushed back in the forward direction by Δ _{2 due to} the elasticity of the spring 38 incorporated in the push-back mechanism 35. Be done. As a result, the inner ring 6 advances in the thickness direction by Δ ₂ in the cage 5, and the outer sphere center C ₃ of the inner ring 6 coincides with the center C _{0 of the} cage 5 as shown in FIG. The above is the centering step.

Next, the rod 83 of the head rotation actuator 82 operates toward the extension side, so that the head assembly 60 rotates about the chuck 69 about the horizontal axis. As a result, the inner ring 6 falls horizontally in the cage 5 as shown in FIGS. 17 and 27, and the inner ring 6 is set at a predetermined position in the cage 5. The above is the inner wheel overturning process.

After that, the lifting actuator 51 operates toward the contraction side, and the head assembly is integrated with the lifting unit 50.
60 can be raised. At this time, since the inner ring 6 is already accommodated in the cage 5 and the cage 5 is held in the cage holder 21 by the clamp mechanism 22 so that the cage 5 cannot be pulled out, the spring 73 of the chuck 69 causes the spring 73 of the chuck 69 to rise. The chuck claws 74, 75 bend and come out of the center hole 11 of the inner ring 6. In this way, when a series of the inner ring assembling cycle is completed and the holders 21 and 23 holding the new cage 5 and the inner ring 6 are moved to the bottom of the device 20 of this embodiment, the initial stage shown in FIG. After returning to the state, a new inner ring mounting cycle is repeated.

The multi-position positioning device 15 of the present invention can be used for various devices other than the inner ring assembly device 20.

[Advantages of the Invention] According to the present invention, it is possible to stop a movable body holding a work or the like at a plurality of positions by using one fluid actuator and a spring type push-back mechanism having a simple structure together. Therefore, the control of the actuator is simple, and the wiring and piping necessary for the actuator may be simple, the cost can be reduced, and the maintenance is easy.

[Brief description of drawings]

FIG. 1 is a side view conceptually showing the positioning device of the present invention,
FIG. 2 is a side view showing an operation mode of the apparatus shown in FIG. 1, FIG. 3 is a side view showing a partial sectional view of an inner ring assembly apparatus equipped with an apparatus of an embodiment of the present invention, and FIG. Is an enlarged cross-sectional view of the head assembly portion of the apparatus shown in FIG. 3, FIG. 5 is a side view showing a partial cross-section of the state in which the chuck has moved to the inner ring holder, and FIG. 6 is shown in FIG. 7 is a front view of the head assembly, FIG. 8 is a rear view of the head assembly, and FIG. 9 is a front view of the head assembly showing a state in which the swing arm is eccentric. Fig. 10 is a rear view of the head assembly showing a state in which the swing arm is eccentric, Fig. 11 is a sectional view of the spring-type push-back mechanism, and Fig. 12 shows a state in which the movable shaft of the spring-type push-back mechanism is retracted. FIG. 13 is a sectional view showing the head assembly showing a state in which the chuck is inserted into the inner ring. Li sectional view, FIG. 14 is a sectional view of the head assembly showing the state where the inner ring has been removed,
FIG. 15 is a sectional view showing a state in which the inner ring is inserted into the cage, FIG. 16 is a front view of the head assembly showing a state in which the inner ring is inserted in the cage in a partial cross section, and FIG. 17 is a diagram showing the inner ring in the cage. FIG. 18 is a perspective view of the Rzeppa joint, FIG. 19 is an exploded perspective view of the Rzeppa joint, and FIG. 20 is a cross-sectional view showing a state before the inner ring is inserted.
21 is a sectional view taken along the line I-I in FIG. 20, FIG. 22 is a sectional view showing a state in which the inner ring is being inserted, and FIG. 23 is a sectional view showing a state in which the inner ring is inserted to a predetermined height, FIG. 24 is a sectional view showing a state where the eccentricity of the inner ring is returned, and FIG. 25 is II in FIG.
FIG. 26 is a cross-sectional view taken along line II, FIG. 26 is a cross-sectional view showing a state where the center of the inner ring in the thickness direction is aligned with the center of the cage, and FIG. 27 is a cross-sectional view showing a state where the inner ring is tilted. 26, 27 ... Guide, 30 ... Movable body, 32 ... Fluid type actuator, 33 ... Stopper means, 35 ... Spring type pushing back mechanism, 37 ... Movable shaft, 38 ... Spring.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Lighting by Hamabe Lighting 5-3-8 Shiba, Minato-ku, Tokyo, Mitsubishi Motors Corporation (72) Yuichi Hazaki 1st Nakasiri, Hashime-cho, Okazaki-shi, Aichi Mitsubishi Motors Engineering Co., Ltd. Okazaki Plant

Claims (1)

[Scope of utility model registration request] 1. A movable body provided so as to reciprocate along a guide with a first stroke, stopper means for restricting a stroke end of the movable body, and the movable body connected to the movable body by fluid pressure. A fluid actuator capable of driving the body toward the stopper means in the first stroke to the full extent, a movable shaft axially movable with a second stroke shorter than the first stroke, and the movable shaft. A spring-type push-back mechanism that has a spring for biasing in the direction and pushes back the movable body by the second stroke by the elastic force of the spring when the fluid pressure supplied to the actuator falls below a predetermined value. A multi-position positioning device comprising: