JPH08126919A - Rubber bushing inserting device and inserting method - Google Patents

Abstract

PURPOSE: To automatically and surely insert a rubber bushing by holding the rubber bushing supported by a guide at a specified angle, rotating the guide after holding and pressing the rubber bushing by jaws, and inserting the rubber bushing into a through hole of a workpiece. CONSTITUTION: When a rubber bushing 20 is inserted into a through hole 31 of a workpiece 30, at first, a lifting cylinder 12 is made to expand to protrude jaws 5 from the bottom section 40 of a guide 4, and a holding cylinder 14 is driven to close a chuck 6 for holding the rubber bushing 20 by both of their respective stoppers 41 and 42 of the jaws 5 and guide 4. In the next step, a table cylinder 15 is made to expand to move an arm 9 and a swing table 1 to displace the guide 4 toward the workpiece 30. Then, a pressing cylinder 13 is made to expand to displace a slider 7 toward the through hole 31 to press the rubber bushing 20 against the internal periphery of the through hole 31. After that, a swing cylinder 11 is made to expand to displace the swing arm 2, etc., a specified angle θ to insert the rubber bushing into the through hole 31.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rubber bush insertion device and insertion method.

[0002]

2. Description of the Related Art In vehicles such as automobiles, rubber bushes having vibration-proof or vibration-damping performance are widely used for engine mounts, member mounts, suspension links, and the like. Such a rubber bush is shown in FIG.
As shown in FIG. 5, the inner circumference is provided with a through hole 22, while the outer circumference is formed of a tubular elastic member having an engagement groove 21 formed between the flange portions 20A and 20B.

The rubber bush 20 is assembled by press-fitting it into the through hole 31 from the end surface of the rubber bush 20 on the side of the flange portion 20A, and the outer diameter D ₀ is temporarily reduced by the press-fitting to engage the engagement groove. 21 to work 3
The flange portion 20B is fitted in the through hole 31 of 0.
There is one in which the side end surface is pressed by a cylinder or the like.

[0004]

However, in such a conventional rubber bush insertion device and insertion method, the flange portion 2 of the rubber bush 20 on the press-fitting side is included.
It is not only necessary to provide a taper at 0A, but also the engaging groove 2
When the fitting depth L (shown in FIG. 17), which is the difference between the radius of 1 and the radius of the flange portion 20A, becomes large, the flange portion 20A may not be able to get over the through hole 31 of the work piece 30 only by press fitting. There is a problem that the rubber bush 20 cannot be surely inserted, which is a cause of hindering the automatic assembly of the rubber bush 20.

Therefore, the present invention has been made in view of the above problems, and is irrespective of the fitting depth of the rubber bush.
An object of the present invention is to provide an insertion device and an insertion method capable of reliably and automatically assembling a rubber bush into a through hole of a work.

[0006]

A first invention is an insertion device for inserting a through hole formed in a work of a plate-like member and a rubber bush formed in a tubular shape into the through hole.
A guide having a predetermined bottom surface for supporting the end surface of the rubber bush, and a support means for supporting the guide so as to be swingable with respect to the surface of the work and displaceable toward the work.
Means for driving the guide toward the swinging direction and the work, stoppers formed on the guide and projecting toward the work at predetermined positions sandwiching the bottom surface, and a stopper facing the work One of the guides and the inclined surface of a predetermined angle θ and the guide are supported so as to be swingable with respect to the surface of the work together with the guide and capable of relative displacement in the axial direction and the radial direction of the rubber bush. A pair of pawls capable of selectively sandwiching a rubber bush supported by the pressing member, a pressing means for driving the pawl toward a stopper having the inclined surface, and a lifting unit for driving the pawl in the axial direction of the rubber bush. And means.

In a second aspect based on the first aspect, the predetermined angle θ is set to a predetermined value of 30 ° or more and less than 45 °.

The third invention is the first or second invention.
In the invention described above, the angle ω formed between the position where the pair of claws sandwich the rubber bush and the axis of the rubber bush is 110
Set to a predetermined value between 0 ° and less than 180 °.

The fourth invention is the first to third inventions.
In any one of the inventions, the guide is provided with a piston substantially equal to the inner diameter of the rubber bush, the piston is arranged at the coaxial position of the rubber bush, and the piston is axially moved from the bottom surface to the rubber bush. Means for extending and contracting are provided.

A fifth aspect of the present invention is a method for inserting a rubber bush formed in a cylindrical shape into a through hole formed in a work of a plate-shaped member, as shown in FIG. A step of supporting the rubber bush at a predetermined angle θ with respect to the surface of the work by a guide having a stopper protruding toward the work at a predetermined position such that the bottom surface is sandwiched (step A1), And a step of sandwiching the outer circumference of the rubber bush with a pair of relatively displaceable claws (step A2), and the guide and the claws are displaced while the sandwiching by the claws is held so that a predetermined outer circumference of the rubber bush can be held on the workpiece. A step of bringing the claw into contact with the through hole (step A3), and a step of pressing the claw toward the contact position between the rubber bush and the through hole (step A4),
A step of rotating the guide and the pawl to a position where the rubber bush is parallel to the work by a predetermined angle θ and inserting the guide and the pawl into the through hole (step A5); while holding the guide at the predetermined position, the pawl Is displaced in the axial direction of the rubber bush and pulled out from the through hole (step A6).

In a sixth aspect based on the fifth aspect, the predetermined angle θ is set to a predetermined value of 30 ° or more and less than 45 °.

The seventh invention is the fifth or sixth invention.
In the invention, the angle ω between the position where the pair of claws sandwich the rubber bush and the shaft of the rubber bush is 11
It is set to a predetermined value of 0 ° or more and less than 180 °.

An eighth aspect of the invention is the fifth to sixth aspects of the invention.
In any one of the inventions, the method further includes the step of inserting a piston having an inner diameter substantially equal to the inner diameter of the rubber bush into the inner circumference of the rubber bush inserted into the through hole.

[0014]

According to the first aspect of the present invention, when the rubber bush is supported by the bottom surface of the guide formed between the stoppers and then sandwiched by the pair of claws, the rubber bush whose displacement is restricted by the stopper in the radial direction sandwiching the bottom surface is , Deform only at a predetermined position sandwiched by the claws. After rotating the guide and the claw with a predetermined angle θ with respect to the surface of the work by the driving means,
When the guide and the claw are displaced toward the work, the inclined surface formed on the stopper contacts the work to lock the guide and the claw, and the outer periphery of the rubber bush contacts the through hole of the work. Here, the pressing means is driven to displace the claw toward the inclined surface contacting the work, and the rubber bush deformed by the clamping is compressed in the direction in which the outer diameter is further reduced. After that, when the guide and the claw are rotated by a predetermined angle -θ, the slanted rubber bush becomes parallel to the work and is inserted into the through hole, and is deformed by sandwiching and the outer diameter is reduced. Can be securely inserted into the inner periphery of the through hole without hooking the outer periphery, and when the lifting means is driven to displace the pawl in the axial direction of the rubber bush and pull it out from the through hole, the rubber bush will It is possible to automatically assemble the rubber bush into the through hole by restoring the elasticity and pressing the outer circumference to the inner circumference of the through hole.

Further, in the second aspect of the invention, since the predetermined angle θ is set to a predetermined value of 30 ° or more and less than 45 °, interference between the claw and the work is prevented, and the rubber bush is prevented from coming off from the guide, which is reliable. Moreover, the rubber bush can be guided to the through hole.

According to the third aspect of the invention, since the angle ω between the position where the pair of claws sandwich the rubber bush and the axis of the rubber bush is set to a predetermined value of 110 ° or more and less than 180 °, the rubber bush is claw-shaped. The outer diameter can be smoothly reduced by being driven by pressing the claws.

According to a fourth aspect of the invention, after inserting the rubber bush into the through hole of the work, a piston having a diameter substantially equal to the inner diameter of the rubber bush is driven to extend from the bottom surface of the guide and inserted into the inner circumference of the rubber bush. If, by any chance, the outer circumference of the rubber bush is caught in the through hole, the piston that raises the inner circumference of the rubber bush pushes up the caught outer circumference, so that the entire outer circumference is securely inserted into the through hole. It is possible to surely and promptly correct the insertion failure by inserting.

A fifth aspect of the invention is to provide the rubber bush with respect to the surface of the work by a guide provided with a predetermined bottom surface and a stopper projecting toward the work at a predetermined position sandwiching the bottom surface. When the outer circumference of the rubber bush is clamped by a pair of pawls that are supported at an angle θ of relative to the guide, the rubber bush whose displacement in a predetermined direction is restricted by a stopper deforms the clamped position. . The guide and the pawl are displaced while holding the nipping by the pawl, the predetermined outer circumference of the rubber bush is brought into contact with the through hole of the work, and the pawl is directed toward the contact position between the rubber bush and the through hole. By pressing, the outer diameter of the rubber bush is reduced, and then the guide and pawl are rotated by an angle θ to a position where the rubber bush is parallel to the work. The rubber bush is inserted into the through hole without hooking the outer circumference. To be done. Then, while holding the guide at a predetermined position, when the pawl is displaced in the axial direction of the rubber bush and pulled out from the through hole, the rubber bush is restored by its own elasticity and the outer circumference is pressed to the inner circumference of the through hole. However, the rubber bush can be automatically attached to the through hole.

Further, in the sixth aspect of the invention, since the predetermined angle θ is set to a predetermined value of 30 ° or more and less than 45 °, interference between the claw and the work is prevented, and the rubber bush is prevented from coming off from the guide, which is reliable. Moreover, the rubber bush can be guided to the through hole.

According to the seventh aspect of the invention, since the angle ω between the position where the pair of claws sandwich the rubber bush and the shaft of the rubber bush is set to a predetermined value of 110 ° or more and less than 180 °, the rubber bush is claw-shaped. It can be deformed into a convex shape by being sandwiched by the claw, and the outer diameter can be smoothly reduced by pressing the claw.

In addition, in the eighth aspect of the present invention, after the rubber bush is inserted into the through hole of the work, a piston having a diameter substantially equal to the inner diameter of the rubber bush is inserted into the inner circumference of the rubber bush. If a part of the outer ring is caught in the through hole, the piston inserted in the inner periphery of the rubber bush pushes up the outer periphery where it is caught, so the entire outer periphery is securely inserted into the through hole to ensure insertion failure. And it can be corrected quickly.

[0022]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

As shown in FIG. 1, a work 30 formed of a plate-like member and provided with a through hole 31 is an XY-work shown in FIG.
It is arranged in parallel with the XY plane of the Z orthogonal coordinates and constitutes, for example, a center member of an automobile. FIG.
In the figure, the X-axis is the horizontal direction in the figure, the Y-axis is the penetrating direction of the paper, and the Z-axis is the vertical direction in the figure.

An arm 9 constituting a device for inserting the rubber bush 20 into the through hole 31 similar to that shown in FIG. 17 of the conventional example is arranged at a predetermined position facing the work 30 along the Z-axis direction. .

The arm 9 has its free end facing the work 30, while its base end is supported by a table 8 tilted with respect to the work 30 by a predetermined angle θ so as to be displaceable in the α-axis direction shown in FIG. It is driven in the α-axis direction by a cylinder (not shown) housed in 8. The angle θ is set to a predetermined value of 30 ° ≦ θ ≦ 45 ° as described later.

Here, the α axis and the β axis form rectangular coordinates, and the α axis is rotated counterclockwise in the figure by a predetermined angle θ from the X axis and is inclined with respect to the work 30. The table 8 is driven in the β axis direction toward the work 30 by the expansion and contraction drive of the table cylinder 15, and the arm 9 is α-β by the table cylinder 15 as these driving means and an arm cylinder (not shown) housed in the table 8.
Driven along an axis.

The most contracted position of the arm cylinder (not shown) becomes the origin position of the arm 9 and is offset in the X-axis direction by a predetermined distance from the shaft 31A of the through hole 31.
Further, while it is separated from the plane of the work 30 or an extension of the plane by a predetermined distance in the Z-axis direction on the side of the table 8, the arm 9 also has the through hole 3 at the most extended position of the arm cylinder.
While being displaced to a predetermined position in the X-axis direction beyond the first axis 31A, the free end of the arm 9 is displaced to a predetermined position in the Z-axis direction beyond the plane of the work 30 or the extension of the plane.

The arm 9 swingably supports the swing arm 2 having a substantially L shape through a hinge 3 provided on the free end side.

The swing arm 2 has a table 8 having an L-shaped top.
An elevating cylinder 12 as an elevating means for supporting the swing table 1 of the plate-like member is fixedly provided on the free end side while being disposed toward the hinge 3 at the base end.

Here, a rocking cylinder 11 is arranged between the rocking arms 2 and 9, and the rocking table 1 is parallel to the work 30 at the extended position of the rocking cylinder 11, that is, XY. The rocking table 1 is supported at a position parallel to the plane, while the rocking table 1 is at the contracted position of the rocking cylinder 11.
The swing table 1 is supported in a position parallel to, ie, in parallel with the α axis, and can swing about the hinge 3 within a range of a predetermined angle θ according to expansion and contraction of the swing cylinder 11.

At the extended position of the swing cylinder 11 shown in FIG. 1, the swing table 1 is displaced in the Z-axis direction by the extension / contraction drive of the lifting cylinder 12, and is moved by the guide member 16 provided at the end of the swing arm 2 to Z-axis. Rotation around the axis is restricted.

A chuck 6 is provided on the surface of the swing table 1 on the side of the work 30 and a slider 7 which is displaceable in the X-axis direction is provided as a pressing means fixed to the swing table 1. The slider 7 is driven in the X-axis direction by the pressing cylinder 13.

From the end of the slider 7 facing the arm 9, a pair of chucks 6, 6 each having a claw 5 formed of a round bar member projecting from the end toward the work 30 are provided as shown in FIG. The chucks 6, 6 are opened and closed in the direction in which the claws 5, 5 come into contact with and separate from each other by driving the sandwiching cylinder 14 radially arranged and supported by the slider 7.

A guide 4 for supporting the rubber bush 20 is provided between the claws 5, 5, and the guide 4 is supported on the base end side of the swing arm 2, that is, on the hinge 3 side. 2, which rotates integrally with the swing table 1, and as shown in FIG. 2, stoppers 41, 42 projecting at a predetermined interval toward the work 30 to prevent the rubber bush 20 from falling off. Of these, the stopper 4 on the hinge 3 side
The upper end 45 of 1 is arranged on the axis of the hinge 3.

A bottom portion 40 is formed between the stoppers 41 and 42, and the bottom portion 40 is formed as a plane parallel to the swing table 1 and supports the end surface of the rubber bush 20.

This bottom portion 40 is, as shown in FIGS.
The claws 5, 5 displaced in the Y-axis direction are formed to have a predetermined width capable of holding the rubber bush 20.

On the other hand, at a position facing the work 30 from the upper end 45 of the stopper 41 toward the end of the guide 4, there is an inclined surface 43 inclined toward the table 8 side (downward in FIG. 1) at the predetermined angle θ. It is formed.

The relative positions of the chucks 6, 6 and the claws 5, 5 and the guide 4 are shown in FIG.
The chuck 6 is disposed below the lower surface of the guide 4 in the extending position of the guide 4, and at this time, the end of the claw 5 is located at the bottom 4 of the guide 4.
To a predetermined height toward the workpiece 30.

As shown in FIG. 4, the rubber bush 20 placed on the guide 4 drives the gripping cylinder 14 to drive the chucks 6, 6 in the closing direction, thereby causing the claws 5, 5 to move.
The outer periphery of the rubber bush 20 is clamped by the
As shown in FIG. 5, the position where the abutment contacts the outer circumference of the rubber bush 20 is about the axis of the rubber bush 20.
The length of the chuck 6 is set to a predetermined position within a fan-shaped range of 0 degrees or more and less than 180 degrees, and the claws 5 and 5 are X-shaped.
The rubber bush 20 is arranged at a position symmetrical with respect to the axis.
Is clamped symmetrically with the X axis.

Assuming that the angle between the position where the claws 5 and 5 contact the outer circumference of the rubber bush 20 and the axis of the rubber bush 20 is ω, the relationship of 110 ° ≦ ω <180 ° is set, and ω / 2 is set. The X axis passes through the position.

The rubber bush inserting device configured as described above is driven by supplying hydraulic pressure or pneumatic pressure controlled by a control means (not shown) such as a sequencer to the rocking cylinder 11 to the table cylinder 15, respectively. An example of this control is shown in the flowchart of FIG.

The insertion of the rubber bush 20 into the through hole 31 formed in the work 30 will be described in detail below with reference to the flowchart of FIG.

First, the swing cylinder 11 and the lift cylinder 1
2, the pressing cylinder 13, the clamping cylinder 14, the table cylinder 15, and the arm cylinder (not shown) are set to the most contracted positions, respectively, and the origin of the apparatus is set. In this state, a rubber bush is attached to the bottom 40 of the guide 4 by a parts feeder (not shown). It mounts so that the end surface of 20 may contact (step S1).

Then, the lifting cylinder 12 is extended to extend the claws 5.
After projecting from the bottom portion 40 to a predetermined height, the clamping cylinder 14 is driven to drive the chucks 6, 6 in the closing direction to clamp the rubber bush 20 with the claws 5, 5 (step S2).

Rubber bush 20 sandwiched by the claws 5, 5.
4, as shown in FIG. 4, the rubber bush 20 which forms the deformed portion 23 in which the stopper 42 side is deformed into a convex shape and is clamped in the Y-axis direction by the claws 5 and 5 is displaced in the X-axis direction by its elasticity. However, this displacement is restricted by stoppers 41 and 42 projecting so as to sandwich the bottom portion 40, and the rubber bush 20 deforms the position clamped by the claws 5 and 5 to stop the stopper 41 in the X-axis direction. , 42, Y
The claws 5 and 5 respectively support the axial direction.

As shown in FIG. 5, the clamping of the rubber bush 20 by the claws 5, 5 is 110 ° ≦ ω <180 °.
Since it is performed in step 3, it is possible to reliably form the projecting deformable portion 23 on the stopper 42 side.

With the claws 5 and 5 held, the table cylinder 15 is extended and driven to move the arm 9 and the swing table 1 in the β-axis direction, that is, the guide 4 as the work, as shown in FIG. It is displaced in the direction approaching 30 (steps S3-4).

Since the rocking cylinder 11 is in the contracted position,
The swing table 1 is parallel to the table 8 and has a guide 4
The end surface of the rubber bush 20 held by the inclined surface of the rubber bush 20 is also inclined by a predetermined angle θ with respect to the work 30.
The engaging groove 21 of 2 faces the inner circumference of the through hole 31 on the α axis.

When an arm cylinder (not shown) housed on the table 8 is driven to extend, the arm 9 is displaced along the α axis, so that the guide 4 is displaced toward the through hole 31, as shown in FIG. Then, the arm 9 stops at the position where the inclined surface 43 formed on the guide 4 and having the predetermined angle θ contacts the work 30 (step S5).

At the position where the arm 9 is stopped by the contact of the inclined surface 43, a part of the engagement groove 21 of the rubber bush 20 can be engaged with the work 30 on the inner circumference of the through hole 31.

At this time, the work 3 of the rubber bush 20
When the inclination angle θ with respect to 0 is less than 30 °, the claw 5 that is displaced along with the displacement of the arm 9 may come into contact with the work 30 before the inclined surface 43 of the guide 4, and the angle θ is further reduced. If the angle exceeds 45 °, the rubber bush 20 may drop from the guide 4 or the engagement groove 21 and the inner periphery of the through hole 31 may not be smoothly engaged. Angle θ to be brought into contact with the through hole 31
Is set to a predetermined value within the range of 30 ° ≦ θ ≦ 45 ° as described above.

After the rubber bush 20 is tilted at an angle θ with respect to the surface of the work 30 to bring the engagement groove 21 into contact with the through hole 31, the extension drive of the pressing cylinder 13 is performed (step S6).

As shown in FIGS. 9 and 10, the slider 7 is displaced toward the through hole 31 due to the extension of the pressing cylinder 13, and the chucks 6, 6 and the claws 5, 5 are also displaced accordingly, while the guides are also guided. Since 4 is fixed to the base end of the swing arm 2, the rubber bush 20 is pressed against the inner periphery of the through hole 31 by the pawls 5 and 5 which are displaced toward the stopper 42, and the rubber bush 20 has a convex shape due to the pawl 5 being clamped. The deformed portion 23 is compressed in the direction in which the diameter of the rubber bush 20 is reduced.
The outer diameter of is temporarily D'as shown in FIG. 10, and this outer diameter D '
The pressing cylinder 13 is extended to a predetermined position where is equal to or smaller than the inner diameter of the through hole 31.

In this way, after the rubber bush 20 is deformed and compressed by being sandwiched and pressed by the claws 5 and 5, the rubber bush 20 is inserted by driving the swing cylinder 11 to extend (step S7).

By the extension drive of the rocking cylinder 11, the rocking arm 2 and the rocking table 1 are rotated clockwise by an angle θ in FIG. 11, and the rubber bush 20 supported by the guide 4 becomes parallel to the work 30. Since this rotation is performed by using the top portion 45 of the stopper 41 arranged on the hinge 3 of the swing arm 2 as an axis, the engaging groove 21 on the stopper 41 side is securely fitted into the inner periphery of the through hole 31. While combining, claw 5
Is also inserted into the through hole 31 and the deformable portion 23 on the stopper 42 side
Is maintained in a deformed and compressed state at the inner periphery of the through hole 31.

Next, the elevating cylinder 12 is driven to contract while the engaging groove 21 of the rubber bush 20 is held at a position where it can be engaged with the inner periphery of the through hole 31 by the guide 4 (step S).
8).

As shown in FIG. 12, the rocking table 1 is lowered by contraction of the lifting cylinder 12, so that the claw 5 is lowered together with the chuck 6, while the guide 4 is supported by the arm 2 and is not displaced, so that the claw 5 is moved. Only the part escapes from the through hole 31 to release the deformed portion 23 of the rubber bush 20.

The deformed portion 23 released is the rubber bush 2
Since the outer diameter D ′ reduced by the claws 5 and 5 is returned to the original predetermined outer diameter D ₀ by the elasticity of 0, the rubber bush 2
The engaging groove 21 of 0 fits into the through hole 31 over the entire circumference, and the rubber bush 20 is securely assembled to the through hole 31 of the work 30. The fitting depth L of the engaging groove 21 is the same as in the conventional example. Therefore, the rubber bush 20 can be smoothly and automatically inserted into the through hole 31 without being restricted by the above.

Thereafter, as shown in FIG. 13, the table cylinder 15, the swing cylinder 11, and an arm cylinder (not shown) are contracted and driven, and the holding cylinder 14 is driven in the opening direction to return each arm and table to the origin. Then, one cycle is completed (step S9).

Thus, by repeating the above steps S1 to S9, the rubber bush 20 is sequentially arranged on the work 30.
Can be automatically inserted into the assembly and assembled, and the fitting depth L of the engagement groove 21 of the rubber bush 20 as in the above-mentioned conventional example.
Can be reliably inserted without being affected by, and productivity can be improved, and the rubber bush 20 does not need to form a taper as in the conventional example, thereby reducing the manufacturing cost. In addition, the degree of freedom in design can be expanded.

FIG. 14 shows the second embodiment, in which the through hole 4A is formed in the bottom portion 40 of the guide 4 of the first embodiment in the Z-axis direction in the figure.
And a retractable piston 50 is housed in the through hole 4A, and a cylinder 51 for extending and retracting the piston 50 toward a work (not shown) is fixedly mounted on the lower surface of the guide 4 by a bracket (not shown). Others are the same as those in the first embodiment.

The outer diameter of the piston 50 is set to a predetermined value substantially equal to the inner diameter D ₁ of the rubber bush 20 shown in FIG. 17, and the top surface of the piston 50 is moved from the position parallel to the bottom portion 40 by the extension drive of the cylinder 51. Protruding to the height of.

When the lifting cylinder 12 shown in step S8 of FIG. 6 and FIG. 12 of the first embodiment is driven to contract and the claw 5 is pulled out from the through hole 31 of the work 30, FIG. 15 (A),
As shown in (B), the claw 5 that holds and compresses the deformable portion 23.
By the friction between the rubber bush 20 and the rubber bush 20, the flange portion 21
A may be deformed in the pulling-out direction of the pawl 5, and the flange portion 21A may be caught in the through hole 31, and the flange portion 21 when the pawl 5 is pulled out by the piston 50 and the cylinder 51.
This is to correct the catch of A.

After step S8 of the first embodiment is completed, the cylinder 51 is driven to extend and the piston 50 is inserted into the through hole 22 of the rubber bush 20.

When the flange portion 21A is caught in the through hole 31 when the claw 5 is pulled out, the inner periphery of the through hole 22 is shown in FIG.
The protrusion 22A is formed as shown in FIG.

When the piston 50 is extended and inserted into the through hole 22, the piston 50 has an outer diameter substantially equal to the inner diameter of the through hole 22, as shown in FIGS.
As the end portion on the top surface side of the
Push A upward through the through-hole 31 in the drawing to raise the convex portion 2
The flange portion 22A passes over the through hole 31 of the work 30 as the 2A is displaced upward.

In this way, the top surface of the piston 50 is extended until it projects from the end surface of the rubber bush 20, and the entire circumference of the engaging groove 21 is fitted into the inner circumference of the through hole 31, and then the cylinder 51 is contracted. Thereby, the piston 50 is pulled out from the rubber bush 20 and the correction process is completed (FIG. 16).
(C)).

In this way, the outer diameter of the piston 50 that can expand and contract from the guide 4 toward the work 30 is set to the rubber bush 20.
Since the inner diameter D ₁ of the through hole 22 is set to be almost equal, even when the flange portion 21A gets over the through hole 31 and the insertion failure occurs when the claw 5 is pulled out, it is possible to surely and promptly correct the defective processing. The reliability and productivity of the insertion device can be improved by preventing the device or line from being stopped due to

FIG. 18 shows a third embodiment, in which the rubber bush 20 is supported by the bottom portion 40 and the guide 4 for restricting the displacement in the X-axis direction in the figure, as in the above-mentioned embodiment, and the guide 4. On the other hand, a pair of claws 5 and 5 that can be relatively displaced in the X, Y, and Z directions in the drawing are attached to driving means such as a robot hand or a manipulator (not shown). An example of control in this case is shown in FIG. Shown in the flow chart.

Hereinafter, a work 30 similar to that of the first embodiment described above.
The case of inserting the rubber bush 20 into the through hole 31 will be described in detail with reference to the flowchart of FIG.

In step S10, the rubber bush 20 is supported by the bottom portion 40 of the guide 4. Then, in step S11, the claws 5 and 5 are driven in the Y-axis direction to move the predetermined position of the rubber bush 20 as in the conventional example. Hold and deform.

Then, in step S12, the rubber bush 20 is moved to the work 30 as in FIG. 7 of the first embodiment.
The guide 4 and the claw 5 are synchronously rotated so as to be inclined at a predetermined angle θ with respect to the surface of the rubber bush 20. Then, in the same manner as in FIG. The mating groove 21 is held in a state of being inclined at the angle θ and brought into contact with the through hole 31 of the work 30.

At this time, the inclined surface 4 formed on the guide 4
The guide 4 is locked and positioned by the contact of the work piece 3 with the work piece 30.

Next, in step S14, the claw 5 is displaced in the X-axis direction, that is, toward the stopper 41 of the guide 4, thereby compressing the rubber bush 20 deformed into a convex shape, similarly to the above-described embodiment. The outer diameter of the rubber bush 20 is deformed within the inner diameter of the through hole 30.

In step S15, the guide 4 and the pawl 5 are synchronously rotated to the angle -θ so that the rubber bush 20 deformed and compressed by the pawls 5 and 5 becomes parallel to the work 30. The flange portion 20A (see FIG. 17) is inserted into the inner periphery of the through hole 31 without being caught in the through hole 31.

In this way, when the rubber bush 20 inserted into the through hole 31 is supported by the guide 4 and the claws 5 and 5 are driven in the Z-axis direction and pulled out from the through hole 31, the rubber which has been deformed and compressed is compressed. The bush 20 is restored by elasticity,
The engagement groove 21 can be fitted to the inner circumference of the through hole 31 over the entire circumference (step S16).

After that, the guide 4 and the claws 5 and 5 can be returned to the origin position (not shown), and the rubber bush 20 can be automatically inserted sequentially (step S17).

Although the claw 5 is formed of a round bar member in the above-mentioned embodiment, it can be formed in any cross-sectional shape, although not shown, and the through hole 31 can be formed by providing the claw 5 with a taper. It can be pulled out more smoothly.

Further, the rubber bush 20 and the through hole 31
The case where the rubber bush is formed into a circular shape has been described, but it is also possible to insert a rubber bush having an elliptical shape or an oval shape in the same manner, although not shown.

[0080]

As described above, according to the first aspect of the present invention, the rubber bush supported by the guide is supported at a predetermined angle θ with respect to the work, and the outer diameter is reduced by being clamped and pressed by the claws. Since the guide is rotated to insert the deformed rubber bush into the through hole and then the claw is pulled out, it is not affected by the fitting depth of the rubber bush unlike the conventional example, and the rubber bush is not affected. Since it is possible to automatically assemble the outer circumference of the bush without being caught in the through hole, it is possible to improve productivity, and since it is not necessary to form a taper on the rubber bush unlike the above-mentioned conventional example, The degree of freedom in designing the rubber bush can be expanded, and the manufacturing cost can be reduced.

Further, in the second aspect of the invention, since the predetermined angle θ is set to a predetermined value of 30 ° or more and less than 45 °, interference between the claw and the work can be prevented, and the rubber bush can be prevented from coming off from the guide. By suppressing the insertion failure of the rubber bush, it is possible to secure the reliability of automatic assembly and improve the productivity.

According to the third aspect of the invention, the angle ω formed by the position where the pair of claws sandwich the rubber bush and the shaft of the rubber bush is set to a predetermined value of 110 ° or more and less than 180 °. The outer diameter can be easily reduced by pressing the claws after being clamped by and deformed into a convex shape, and the reliability of automatic assembly can be ensured.

Further, the fourth aspect of the invention makes it possible to make a quick and reliable correction even in the event of an insertion failure in which a part of the outer circumference of the rubber bush is caught in the through hole. It is possible to prevent stoppages and ensure productivity.

According to a fifth aspect of the present invention, the rubber bush supported by the guide is supported at a predetermined angle θ with respect to the work, and the outer diameter of the rubber bush is reduced by holding and pressing the claws to rotate the guide. Since the deformed rubber bush is inserted into the through hole and then the claw is pulled out, there is no influence of the fitting depth of the rubber bush as in the conventional example, and the outer circumference of the rubber bush is removed. Since it can be assembled automatically without being caught in the through hole, productivity can be improved, and since it is not necessary to form a taper on the rubber bush as in the conventional example described above, the rubber bush design It is possible to increase the degree of freedom of manufacturing and reduce the manufacturing cost.

Further, in the sixth aspect of the invention, since the predetermined angle θ is set to a predetermined value of 30 ° or more and less than 45 °, it is possible to prevent interference between the claw and the work, and to prevent the rubber bush from coming off from the guide. By suppressing the insertion failure of the rubber bush, it is possible to secure the reliability of automatic assembly and improve the productivity.

According to the seventh aspect of the invention, since the angle ω between the position where the pair of claws sandwich the rubber bush and the axis of the rubber bush is set to a predetermined value of 110 ° or more and less than 180 °, the rubber bush is claw-shaped. The outer diameter can be easily reduced by pressing the claws after being clamped by and deformed into a convex shape, and the rubber bush can be reliably inserted to ensure the reliability of automatic assembly.

The eighth aspect of the invention makes it possible to make a quick and reliable correction even if an insertion failure occurs in which a part of the outer circumference of the rubber bush is caught in the through hole. It is possible to prevent productivity from being stopped and to ensure productivity.

[Brief description of drawings]

FIG. 1 is a front view of a rubber bush insertion device showing an embodiment of the present invention.

FIG. 2 is a front view of the guide.

FIG. 3 is a plan view showing an opened state of a chuck.

FIG. 4 is a plan view showing a chucking state of the chuck.

FIG. 5 is a plan view showing a nipping position of the claw.

FIG. 6 is a flowchart showing an example of control.

FIG. 7 is a front view showing the start of insertion of a guide.

FIG. 8 is a front view showing a state where a rubber bush is brought into contact with the inner circumference of the through hole.

FIG. 9 is a front view showing a pressed state of a claw.

FIG. 10 is a view on arrow A in FIG.

FIG. 11 is a front view showing the rotation of the swing arm.

FIG. 12 is a front view showing the retracting of the claws.

FIG. 13 is a front view showing the evacuation of the swing table.

FIG. 14 is a sectional view of a guide showing a second embodiment.

FIG. 15 is an explanatory view showing the same insertion correction operation.

FIG. 16 is an explanatory diagram showing insertion correction operation positive.

FIG. 17 is a front view showing a rubber bush and a work.

FIG. 18 is a perspective view of a guide showing a third embodiment.

FIG. 19 is a flowchart similarly showing an example of control.

FIG. 20 is a claim correspondence diagram corresponding to the fifth invention.

[Explanation of symbols]

 1 Swing Table 2 Swing Arm 4 Guide 5 Claws 8 Table 9 Arm 11 Swing Cylinder 12 Lifting Cylinder 13 Push Cylinder 14 Clamping Cylinder 15 Table Cylinder 20 Rubber Bushing 21 Engagement Groove 22 Through Hole 30 Work 31 Through Hole 40 Bottom 41 , 42 Stopper 43 Slope 45 Top

Claims (8)

[Claims] 1. An insertion device for inserting a through hole formed in a work of a plate member into a through hole and a rubber bush formed into a tubular shape, the insert device having a predetermined bottom surface for supporting an end surface of the rubber bush. Guide, a support means for supporting the guide so as to be swingable with respect to the surface of the work and displaceable toward the work, a means for driving the guide in the swing direction and the work, and the guide. Stoppers that are respectively formed on the work piece and project toward the work at predetermined positions sandwiching the bottom surface, an inclined surface having a predetermined angle θ formed on one of the stoppers facing the work, and the guide. Along with the surface of the work, the rubber bush supported by the guide is supported so that it can be displaced relative to the axial and radial directions of the rubber bush. A rubber bush insertion device comprising: a pair of claws; a pressing means for driving the claw toward a stopper having an inclined surface; and an elevating means for driving the claw in the axial direction of the rubber bush. . 2. The predetermined angle θ is 30 ° or more and 45 °
A predetermined value less than 1 is set.
Rubber bush insertion device described in. 3. An angle ω between the position where the pair of claws sandwich the rubber bush and the axis of the rubber bush is 110 °.
The rubber bush insertion device according to claim 1, wherein the rubber bush insertion device is set to a predetermined value of 180 ° or more and less than 180 °. 4. The guide includes a piston having a diameter substantially equal to the inner diameter of the rubber bush, the piston is disposed coaxially with the rubber bush, and the piston is driven to expand and contract in the axial direction of the rubber bush from the bottom surface. Claim 1 thru / or Claim 3 provided with means.
The rubber bush insertion device described in any one of 1. 5. A method of inserting a rubber bush formed in a cylindrical shape into a through hole formed in a work of a plate-like member, wherein the work is provided with a predetermined bottom surface, and the work is performed at a predetermined position so as to sandwich the bottom surface. A step of supporting the rubber bush at a predetermined angle θ with respect to the surface of the work by a guide having a stopper projecting toward it, and sandwiching the outer circumference of the rubber bush with a pair of pawls that can be displaced relative to the guide. A step of displacing the guide and the claw while holding the claw held by the claw so that a predetermined outer circumference of the rubber bush is brought into contact with the through hole of the work; and the claw is brought into contact with the rubber bush and the through hole. Pressing toward the position, rotating the guide and the claw by a predetermined angle θ into a position where the rubber bush is parallel to the work, and inserting the guide into the through hole; While held in a fixed position, the rubber bushing insertion method which comprises a step of disconnecting from the through hole by displacing the pawl in the axial direction of the rubber bushing. 6. The predetermined angle θ is 30 ° or more and 45 ° or more.
6. A predetermined value less than 6 is set.
Inserting the rubber bush described in. 7. The angle ω between the position where the pair of claws sandwich the rubber bush and the axis of the rubber bush is 110
The rubber bush insertion method according to claim 5 or 6, wherein the rubber bush is set to a predetermined value of not less than 180 ° and not more than 180 °. 8. The method according to claim 5, further comprising the step of inserting a piston having an inner diameter substantially equal to the inner diameter of the rubber bush into the inner circumference of the rubber bush inserted into the through hole. Rubber bush insertion device described.