JPH0737794Y2 - Assembly tool - Google Patents

Description

TECHNICAL FIELD The present invention relates to an assembling tool that is used by being attached to an assembling apparatus, and more particularly to an assembling tool that assembles three or more parts with each other.

2. Description of the Related Art Conventionally, three or more parts have been assembled together by an assembly device. For this purpose, an assembling tool was attached to the assembling device. The assembling tool generally holds a first holding member that holds a first component, a second component and a third component, and assembles a second component to a first component and a third component to a second component, respectively. It is configured to include second and third holding members. The second and third holding members are disclosed, for example, in JP-A-60
As described in Japanese Patent No. -228051, it is equipped with an assembly hand having a plurality of claws that open and close symmetrically about an axis.
While the second and third holding members are attached to the assembling hand, the first holding member is attached to the supporting base, and the assembling hand and the supporting base are moved toward and away from each other in a direction parallel to the one axis. The first, second, third parts or more parts are assembled by combination with the opening / closing movement of the attached hand. Since the plurality of claws of the assembling hand open and close symmetrically about one axis, if the second and third holding members are attached to each of the claws, the second and third holding members also open and close symmetrically about the one axis. Become. Therefore, the first part is held by the first holding member, the second part is held by the second holding member and assembled to the first part, and then the third part is held by the third holding member. If they are brought close to each other, they can be fitted together.

However, when the second component is assembled to the first component so as to be movable in the direction intersecting the one axis, or when the first component itself is movable, the second component The position of the center line may shift when the component is released from the second holding member. Therefore, even if the third part is moved to the normal center line of the second part next time, there is a problem that the third part cannot be fitted to the second part.

Further, in order to avoid the above-mentioned inconvenience, if the assembling device is provided with a guide device for concentrically guiding each part, there is a problem that the structure of the assembling device becomes complicated and the cost increases.

The present invention has been made in view of the above problems, and has an object to obtain an assembling tool capable of fitting the second component and the third component, even when the centerlines of the second component and the third component are displaced, by correcting the displacement. It is a thing.

Means for Solving the Problems In order to solve the above problems, the assembly tool according to the present invention comprises:
(A) a first holding member for holding the first component, (b) a holding surface for holding the second component, and a guide surface provided with a taper on the side of the first holding member of the holding surface. And is opened and closed symmetrically with respect to one axis and holds the second part on the holding surface to approach and separate from the first holding member in a direction parallel to the one axis, and assemble the second part to the first part. A plurality of second holding members, and (c) are integrally opened and closed with the second holding members, hold the third component and move toward and away from the first holding member in a direction parallel to the one axis. The third part is configured to include a plurality of third holding members that fit into at least one of the first part and the second part, and the second holding member is the third part of the third part by the third holding member. When assembled, it is slidably fitted to the second part on the holding surface by the guide of the guide surface, Shape to position the goods concentrically, it is to have a dimension.

Action The assembling tool having the above-mentioned configuration is used by being attached to the assembling device.
The first holding member is attached to the support base, and the second holding member and the third holding member are attached to the assembly hand. Then, in a state where the first component is held by the first holding member, first, the second component is held by the holding surface of the second holding member, moved in parallel to the center line, and assembled to the first component. Next, the third part is held by the third holding member and fitted to the second part. At this time, the holding surface of the second holding member is slidably fitted to the second component by the guide of the tapered guide surface formed on the second holding member. When the second holding member holds the second component, the holding surface is in close contact with the second component to hold the second component, but when the third component is assembled, the holding surface is slightly attached to the second component. This is because the shape and dimensions of the second holding member are determined so as to allow the second component to slide with each other with a gap left therebetween. Therefore, even when the center line of the second component is displaced from the center line of the third component, the displacement of the second component is corrected by fitting the second holding member with the second component, and the second component is corrected. The part and the third part are positioned concentrically, and the third part and the second part are securely fitted together.

Further, when the second component is assembled to the first component, there is no displacement between them, and when the second component is displaced due to the displacement of the first component, the second holding member is fitted to the second component. By concentrically positioning the second part and the third part with each other, as a result, the deviation of the center line between the third part and the first part is also eliminated. Therefore, it is of course possible to fit the third component and the second component, and of course, together with or instead of them, the third component and the first component.

It is also possible to chamfer the parts that fit together to form a guide surface, but in this case the size of the guide surface is naturally limited, and if the misalignment between the parts is large, the purpose is Can't be reached. On the other hand, there is no limitation on the size of the guide surface of the second holding member, and it can be determined according to the size of the misalignment to be corrected.

Effect of the Invention Thus, by using the assembling tool of the present invention, even when the center lines of the second part and the third part are deviated from each other, the second holding member separates the second part and the third part from each other. Since the parts are concentrically positioned, the third part can be reliably fitted to the second part (the first part in some cases).

Moreover, when the second holding member functions as a holding member when the second component is assembled to the first component and as a positioning guide for the second component when the third component is assembled, a dedicated guide member is provided. The structure is simpler and the device cost can be kept low compared to

Embodiment Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

1 to 4 show an embodiment in which the present invention is applied to a power steering valve assembling tool. In FIG. 1, 10 is a first holding member, which is fixed to a support base (not shown) of the assembling device. The first holding member (10) has a fitting hole (14) having an internal gear part (12) in a part of its inner peripheral surface, and the pinion (16) which is the first part is fitted in the fitting hole (14) non-rotatably and accurately. Axial and radial positioning is performed. The upper end of the pinion 16 is projected from the first holding member 10, and the bearing 18 is fitted in advance on the outer peripheral surface. In addition, the pinion 16 is formed with a stepped axial hole 20 opening to the upper end surface, and in the small diameter portion 22 thereof,
A base end portion of a torsion bar 24 extending concentrically with the pinion 16 is fitted and fixed by a pin 25. Further, a push 26 is fitted in the large diameter portion of the axial hole 20 of the pinion 16. The push 26 is chamfered around the opening.

Above the first holding member 10, a holding member 30 is provided on a pair of bases. Each second holding member 30 has a holding surface 38 for holding the valve body 36 which is the second component. Each holding surface 38
As shown in FIG. 5 and FIG. 8, they form partial circumferential surfaces facing each other, and a guide surface 42 is formed at the bottom of each holding surface 38. These guide surfaces 42 form a tapered hole that opens toward the pinion 16 when the second holding member 30 holds the valve body 36. On the other hand, the valve body 36 is provided with a through hole 48 penetrating in the axial direction, and a fitting hole 50 having a diameter larger than that of the pinion 16 and fitted to the upper end of the pinion 16 so as to be relatively movable in the radial direction. There is. Further, on the side opposite to the guide surface 42 side of each holding surface 38 of the second holding member 30, the fitting surface 52 and a guide surface continuous with the fitting surface 52 are provided.
56 are formed. The fitting surfaces 52 are partial cylindrical surfaces facing each other, and can be fitted to the large diameter portion 62 of the valve shaft 60 which is the third component shown in FIG. Guide surface when mated with 60
56 is designed to form a tapered hole that opens upward.

The valve shaft 60 has a through hole 64 at the center thereof into which the torsion bar 24 can be fitted, and is fitted into the axial hole 20 of the pinion 16 at the small diameter portion 66 at the lower end. In addition, the large diameter portion 62 of the valve shaft 60 has an O
The ring 68 is attached, and the outer peripheral portion of the O-ring 68 projects from the outer peripheral surface of the large diameter portion 62.

A pair of third holding members 70 is provided above the second holding member 30. Each of the third holding members 70 includes a holding surface 76 that holds the tip end portion of the valve shaft 60 by forming partial cylindrical surfaces facing each other. Further, a flange 80 is provided at the upper end so as to face inward in the radial direction.

As shown in FIGS. 7 and 8, each of the third holding members 70 is formed with a notch 84 extending in the vertical direction, and each notch 84 has a pair of claws 87 of a robot hand 86 as an assembly hand. The robot hand 86, which is fitted and fixed by bolts, is easily detached and attached to the robot arm 89 via the adapter device 88 as shown in FIG. 5, and is shown by a dashed line in the figure by the operation of the robot. The pawl 87 is moved in a direction parallel to the axis l, and the claw 87 is opened and closed symmetrically with respect to the axis l. Therefore, the third holding member 70 can be moved together with the claw 87 in the direction parallel to the axis l and can be opened and closed symmetrically with respect to the axis l. In addition, a pair of rods 96 is attached to the third holding member 70 via push members 94, respectively.
Are inserted so as to be movable in the axial direction in parallel with the axis l, and the tip end of each rod 96 is fixed to the upper end of the second holding member 30, so that the third holding member 30 and the third holding member 30
70 and 70 can be integrally moved symmetrically with respect to the axis l. The axis l is aligned with the center lines of the valve body 36 and the valve shaft 60.
The valve shaft 60 is held and moved parallel to the center line.

Further, a spring 102 is arranged between the second holding member 30 and the third holding member 70, and the spring 102 always causes the second holding member 30 and the third holding member 70 to move away from each other. Is urged by. Each rod 96 is provided with a head portion 106. As shown in FIG. 6, when the head portion 106 abuts on the upper end surface of the third holding member 70, the second holding member 30 and the third holding member 70 The separation limit of is specified. Reference numeral 110 denotes a pair of side plates, which are fixed to the third holding member 70 and are in contact with the outer surface of the second holding member 30 to prevent the second holding member 30 from being displaced outward.

A case of assembling the power steering valve by the assembling apparatus including the assembling tool configured as described above will be described.

First, as shown in FIG. 1, when the second holding member 30 and the third holding member 70 are raised, the torsion bar 24
The pinion 16 to which is attached is held by the first holding member 10. Next, the second holding member 30 is opened and closed by the operation of the robot hand 86, the valve body 36 is held by the holding surface 38, and the valve body 36 is lowered parallel to the axis l by the operation of the robot. As a result, the pinion is fitted in the fitting hole 50 of the valve body 36.
The tip end of 16 fits, but since the inner diameter of the fitting hole 50 is sufficiently larger than the outer diameter of the tip end of the pinion 16, both fit without problems. After that, the second holding member 30 is opened, the valve body 36 is released, and the second holding member 30 and the third holding member 70 are raised.

Next, as shown in FIG. 2, the third holding member 70 is opened and closed to hold the valve shaft 60 on the holding surface 76. At this time, as the third holding member 70 is closed, the second holding member 30 is also closed, and the fitting surface 52 is fitted to a portion of the valve shaft 60 slightly below the O-ring 68. Further, the flange 80 comes into contact with the upper end of the valve shaft 60 to perform axial positioning. In this state, the second holding member
When the 30 and the third holding member 70 are lowered, the tip end portion of the torsion bar 24 is fitted into the fitting hole 64 of the valve shaft 60. The holding members 30, 70 and the first holding member 10 are positioned almost accurately by the robot, and the chamfered portion formed at the tip of the torsion bar 24 performs a guiding action, so that the fitting is not performed. Definitely done.

As shown in FIG. 3, when the second and third holding members 30 and 70 are further lowered, the guide surface 42 of the second holding member 30 comes into contact with the upper end portion of the previously fitted valve body 36. Guide the valve body 36. Although the valve body 36 is fitted to the pinion 16, the fitting hole 50 has a large inner diameter, so that the valve body 36 can move in the radial direction relative to the pinion 16 and is assembled to the pinion 16. Misalignment may occur after attachment. The guide surface 42 guides the valve body 36 and corrects this misalignment, whereby the valve body 36 is fitted to the retaining surface 38. Further, in the state where the upper end portion of the valve shaft 60 is held by the third holding member 70, the second holding member 30 has the fitting surface 52 on the valve shaft 60.
Since the valve shaft 60 is accurately positioned by slidably fitting with the large diameter portion of 60, if the second holding member 30 fits with the valve body 36, the valve shaft 60 and the valve body 36 will be As a result of the concentric positioning, the valve shaft 60 is securely fitted into the fitting hole 48 of the valve body 36.

If the robot hand 86 is further lowered after the second holding member 30 is fitted into the valve body 36, the second holding member 30 contacts the valve body 36 as shown in FIG. However, as shown in FIG. 4, the third holding member 70 moves down while compressing the spring 102.
At this time, the O-ring attached to the valve shaft 60
The 68 is guided by the tapered guide surface 56 of the second holding member 30, and is inserted into the through hole 48 of the valve body 36 without being damaged by the bite. Also, the third holding member
As the valve 70 descends, the tip of the valve shaft 60 fits into the axial hole 20 of the pinion 16 via the bush 26. Since the outer peripheral edge of the tip of the small diameter portion 66 of the valve shaft 60 and the peripheral edge of the opening of the bush 26 are chamfered, they function as a guide and the valve shaft 60 is easily fitted to the bush 26. Also, as the valve shaft 60 is fitted into the pinion 16, the tip of the torsion bar 24 is
Of the third holding member 70, and extends upward through the inside of the flange 80 of the third holding member 70.

If the valve shaft 60 is fitted to the pinion 16, the pinion
16, the assembly of the valve body 36 and the valve shaft 60 is completed, and the second holding member 30 and the third holding member 70 are separated from the valve body 36 and the valve shaft 60. In this state, since these three members are assembled so as not to move relative to each other in the radial direction, even if the valve body 36 and the valve shaft 60 are released, no misalignment occurs between these members.

In this embodiment, the third holding member 70 is the valve shaft.
Although only holding one end of 60, since the second holding member 30 is adapted to be fitted to the valve shaft 60 at the fitting surface 52, the valve shaft 60 is positioned at two locations, and the center line direction It is possible to prevent the tilting to the right. In addition, since the guide surface 56 of the second holding member 30 guides the O-ring 68, the outer peripheral portion of the O-ring 68 projects from the outer peripheral surface of the large diameter portion 62 of the valve shaft 60. Therefore, damage when the O-ring 68 is fitted into the valve body 36 can be effectively prevented.

In addition, when the axial length of the third component is short, or when the third holding member holds the third component in a wide axial range,
The positioning of the third component by the second holding member may be omitted.

Next, another embodiment of the present invention is shown in FIG.

In this embodiment, the first component 120 has a flat surface 122, and after the cylindrical second component 124 is placed on the flat surface 122,
Third part 126 small-diameter hole portion 128 is fitted to the outer peripheral surface of the second part 124, and the large-diameter part 130 of the third part 126 is an outer peripheral surface of an annular engagement protrusion 132 provided on the flat surface 122. The first part 120, the second part 124, and the third part 126 are positioned and assembled with each other by being fitted to.

An assembling tool for assembling each of the above-described components includes a first holding member (not shown) that holds the first component 120, and a pair of second holding members 136 and the second holding member 136 that holds the second component 124 and the third component 126. And three holding members 138. The second holding member 136 has a holding surface 144 that holds the second component 124 from its inner peripheral surface 142 side, and a lower side of the holding surface 144, that is, a tapered guide surface 148 on the first component 120 side. It is opened and closed symmetrically with respect to the axis l by an assembling hand (not shown), and is moved up and down in parallel with the axis l by an elevating device. When the second holding member 136 is in the closed state, the holding surface 1
A gap is created between 44 and the inner peripheral surface 142 of the second component 126, and the second holding member 136 can be fitted into the second component 126. However, when the second holding member 136 is opened, the holding surface 144 is the inner circumferential surface. The second component 126 is held from the inside in close contact with 142.

The upper part of the second holding member 136 has a large diameter to form a holding surface 152, and the third part 126 has a small diameter hole 128 in the third part 126.
Is designed to hold. The shape and dimensions of the holding surface 144 are determined so that the holding surface 144 slidably engages with the second component 124 when the holding surface 152 of the third holding member 138 holds the third component 126. . That is, in this embodiment, the third holding member 138 having the holding surface 152 has the holding surface 144.
And it is formed integrally with the second holding member 136 having the guide surface 148.

When performing the assembly in the assembling apparatus including the assembling tool, first, the first component 120 is held by the first holding member,
The second holding member 136 holds the second component 124 and lowers it in parallel with the axis l to place the second component 124 on the flat surface 122. Next, the third holding member 138 holds the third component 126 and lowers it to fit the large-diameter hole portion 130 into the engaging projection 132 of the first component 120 and the small-diameter hole portion 128 to the second component. Mating with 124. Since the first part 120 and the second part 124 are not fitted together, the second part 124 shifts on the first part 120, and when the third part 126 is assembled, the second part 124 and the third part 126 May not be concentric with each other, but the guide surface 148 of the second holding member 136 contacts the inner peripheral surface 142 of the second part 124 to guide the second part 124, so that the holding surface 144 moves to the first position. To fit in the two parts 124,
The misalignment between the second part 124 and the third part 126 is corrected, and the third part 126 can be fitted to the second part 124.

In this embodiment, the second holding member 136 and the third holding member 1
Since 38 and 38 are integrated, the effect that the concentricity of the second component 124 and the third component 126 becomes particularly high when the third component is assembled.

Yet another embodiment of the present invention is shown in FIG.

Although the assembling tool of this embodiment is for assembling the second part 162 and the third part 164 to the first part 160, the first holding member 166 simply supports the first part 160 substantially positioned. It is a thing. Also in this assembly tool, the second holding member 16
8 and the third holding member 170 are integrally formed, the second holding member 168 holds the second component 162 on the holding surface 172,
After assembling the second component 162 to the first component 160 while guiding the tapered surface 174 of the first component 160 to position the first component 160, the third holding member 170 causes the third component 164 on the holding surface 176.
The holding surface 172 is guided by the holding surface 178 so that the holding surface 172 becomes the second part 162.
The shape and dimensions are determined so that the third component 164 is fitted to the first component 160 while the misalignment of the three components 160, 162, 164 is corrected by fitting the third component 164 to the first component 160.

As described above, in the three embodiments of the present invention, since each holding member is fixed to the pawl that is opened and closed by the parallel movement of the assembling hand and is opened and closed by the parallel movement, even if the diameter of the component changes. Although there is an advantage that the holding surface of the holding member is not inclined, it may be opened and closed by turning. For example, if a method such as machining the holding surface and the guide surface of both holding members together with the pair of holding members fixed to the component holding position by a jig is adopted, both holding members can be held while holding the components. The holding surface of can be located on one cylinder.

Besides, the present invention can be implemented in various modified and improved modes based on the knowledge of those skilled in the art.

[Brief description of drawings]

1, FIG. 2, FIG. 3, and FIG. 4 are front cross-sectional views showing different operating states of the assembly according to the embodiment of the present invention. FIG. 5 is a front view (partially sectional view) showing the above-mentioned assembling tool together with a robot hand and an adapter device which are part of the assembling device, and FIG. 6 shows another operating state of the device of FIG. It is a front view (partial cross section). FIG. 7 is a side view of the apparatus shown in FIG. 5, and FIG. 8 is a plan view (partial cross section) of the same.
Is. 9 and 10 are front sectional views showing an assembling tool which is another embodiment of the present invention. 10: First holding member, 30: Second holding member 38: Holding surface, 42: Guide surface 70: Third holding member, 76: Holding surface 86: Robot hand, 87: Claw 136: Second holding member, 138: Third holding member 144: Holding surface, 148: Guide surface 152: Holding surface, 166: First holding member 168: Second holding member, 170: Third holding member 172: Holding surface, 176: Holding surface 178: Guide surface

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Kengo Noda 1 Toyota-cho, Toyota city, Aichi prefecture Toyota Motor Co., Ltd. (72) Inventor Katori Asano 1-cho, Toyota city, Aichi prefecture Toyota car company (72) Inventor Miyazaki Akino 6 Toyota Town, Toyota City, Aichi Prefecture, Kyoho Manufacturing Co., Ltd. (72) Inventor Nao Yamaguchi 6 Toyota Town, Toyota City, Aichi Prefecture, Kyoho Manufacturing Co., Ltd.

Claims (1)

[Scope of utility model registration request] 1. An assembling tool which is used by attaching to an assembling device for assembling three or more parts together, the first holding member holding a first part, and the holding part holding a second part. Surface and a guide surface provided with a taper on the side of the first holding member of the holding surface, which are opened and closed symmetrically with respect to one axis, and hold the second component on the holding surface. A plurality of second holding members that are brought closer to and separated from the first holding member in a direction parallel to the one axis, and that are assembled with the second component to the first component, and are integrally opened and closed with the second holding members, A plurality of first parts that holds the third part and is moved toward and away from the first holding member in a direction parallel to the one axis, and that fits the third part into at least one of the first part and the second part. Three holding members, and the second holding member includes a third holding member. When assembling the third part by the member, the shape and the dimension for concentrically positioning the second part and the third part are slidably fitted to the holding surface by the guide of the guide surface. An assembly tool characterized by having.