JPH08150519A - Automatic assembling device - Google Patents

Abstract

PURPOSE: To provide an inexpensive automatic assembling device which can surely obtain a degree of accuracy of a gap between jigs and a degree of parallelization. CONSTITUTION: In an automatic assembling device in which a part 6 temporarily fixed to an upper jig gripped by a robot hand 3 is brought into pressure contact with a part 7 on a lower jig set on an assembling bed 4 so as to join the parts 6, 7 together, a spacer 8 for holding a parallel gap between the jigs is laid between the upper and lower jigs.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic assembly apparatus used for joining and integrating necessary parts such as a pyroelectric body and electrodes on a printed circuit board by a robot hand.

[0002]

2. Description of the Related Art In a device for automatically assembling parts by a robot hand, for example, as shown in FIG.
The upper jig 1 and the lower jig ^{2 (} about 00 cm ² ) are used, the upper jig 1 is fixed to the robot hand 3, and the lower jig 2 is placed on the supporting members 5, ... (See FIG. 9) on the assembly table 4. The parts 6, which are temporarily placed on the lower jig 2, and the parts 7, which are vacuum-adsorbed on the upper jig 1.
... and press either one or both parts 6, 7 in advance
Both parts 6 and 7 are adhered by the adhesive applied on the.

[0003]

However, in order to join all the parts 6 and 7 together soundly, the parts 6 and 7 must be joined together.
The pressure contact between them must be evenly obtained. For that purpose, it is necessary to secure the gap between the jigs 1 and 2 in parallel with high accuracy. For example, the parallelism (difference) requires about 20 μm.

However, since both jigs 1 and 2 are held in a fixed state, the shape accuracy of each jig itself,
For example, the influence of thickness, distortion, and other deformations is largely reflected in the parallelism, and the predetermined parallelism may not be obtained (see FIG. 9).

Further, even if the upper jig 1 is attached to the robot hand 3 in a tilted manner, a predetermined parallelism cannot be obtained (see FIG. 10), and the support members 5 supporting the lower jig 2 are tilted. However, the same problem occurs.

Such a problem is difficult to eliminate sufficiently by general robot control, and in particular, complicated control using a highly accurate robot or sensor cannot eliminate the problem. There is a drawback that the cost becomes high.

The present invention has been made in view of such circumstances.
It is an object of the present invention to provide an inexpensive automatic assembling apparatus capable of surely obtaining a high clearance precision and parallelism between jigs.

[0008]

The present invention comprises means for solving the above-mentioned problems as follows. That is, according to the first aspect of the present invention, the part on the lower jig placed on the assembly table is pressure-contacted with the part temporarily fixed to the upper jig held by the robot hand to join the two parts. In such an automatic assembling apparatus, a spacer is provided between the lower jig and the upper jig for holding the gap between the jigs in parallel.

According to a second aspect of the invention, in the automatic assembly apparatus according to the first aspect, the upper jig is elastically supported by the robot hand so as to be swingable.

According to a third aspect of the present invention, in the automatic assembling apparatus according to the first aspect, the lower jig is elastically supported so as to be swingable on the assembling table.

[0011]

According to the first aspect of the invention, the precision of the gap between the two jigs and the parallelism can be stably ensured by the spacers provided between the two jigs.

According to the second aspect of the invention, since the upper jig is elastically supported by the robot hand so as to be swingable, the upper jig flexibly corresponds to the lower jig, and the gap between the two jigs is increased. The accuracy and parallelism can be reliably ensured.

According to the third aspect of the present invention, since the lower jig is elastically supported on the assembly table so as to be swingable, the lower jig flexibly corresponds to the upper jig, and the jig between the two jigs. The clearance accuracy and parallelism can be reliably ensured.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of an automatic assembling apparatus of the present invention will be described in detail below with reference to the drawings. FIG. 1 shows the structure of an essential part of the automatic assembly apparatus. Reference numeral 1 is an upper jig made of a plate member formed in a rectangular shape having a relatively large flat area, 2 is a lower jig, and 11 is an upper jig 1. A guide plate 12 attached to the robot hand 3 for elastically supporting freely is provided with guide pins 12 provided upright at the four corners of the upper jig 1 and inserted into the guide holes h of the guide plate 11 and screwed on the upper portion thereof. The upper jig 1 is elastically supported downward by a spring 14 wound around the guide pin 12 while being prevented from coming off by the fitted nut 13. The guide hole h is formed in the shape of a mortar that opens upward so that the upper jig 1 can be swung with respect to the guide plate 11.

Reference numeral 6 is a thin plate-like component vacuum-adsorbed to the upper jig 1 by vacuum tweezers (not shown) or the like, and 8 is
Spacers glued to the four corners of the upper jig 1 (see Figure 2)
Is provided in order to ensure a constant gap and parallelism with the lower jig 2 placed on the supporting members 5, ... Standing on the assembly table 4. 7 is a component 6 that is attached to the upper jig 1.
It is a thin plate-like component that is joined and integrated with the lower jig 2, and the lower jig 2 is mounted on the support members 5, ... Standing on the assembly table 4.

With such a configuration, one of the parts 7, ...
The adhesive is applied to the surface of the robot in advance, and the robot hand 3
When the lower part is lowered, the spacers 8, ... Abut on the four corners of the lower jig 2, secure a predetermined gap and parallelism between the two jigs 1 and 2, and the elastic force of the spring 14 causes both parts 6, 7 to come together. Can be pressed evenly to perform sound joining. In this case, even if the support members 5, ..., the upper jig 1, and the lower jig 2 are slightly distorted, the upper jig 1 can swing with respect to the robot hand 3, so that the spacer can be flexibly dealt with at all times. The gap between the jigs 1 and 2 and the parallelism of the jigs 8 and the like can be secured at a predetermined level, sound bonding can be achieved, and the product yield can be significantly improved.

FIG. 3 shows a different embodiment, in which the central portion of the upper jig 1 is swingably supported by a guide plate 11 by a ball joint 15, and a spring 14 is provided between the guide plate 11 and the four corners of the upper jig 1. It has been inserted.

FIG. 4 shows another embodiment in which the upper jig 1 is rockably and elastically supported by the guide plate 11 by means of sponges 16 bonded between the four corners and the central portion thereof. . In this case, the cost reduction effect is great. The sponge 16 may be provided on the entire surface between the upper jig 1 and the guide plate 11.

FIG. 5 shows still another embodiment, in which the tip 5a of the support member 5 is axially movably fitted to the base 5b and the tip 5a is elastically supported by a spring 14. Is. This allows the lower jig 2 to flexibly correspond to the upper jig 1. Although not shown, the support members 5, ... May be replaced by sponges, and the lower jig 2 may be elastically supported by sponges.

FIG. 6 shows a different arrangement example of the spacer 8.
For example, when the component 6 or 7 is a printed circuit board or a thin plate having a large amount of distortion, it is preferable to dispose the spacer 8 in the central portion to correct the distortion. When the area of the component 6 or 7 is large, columnar spacers 8 may be formed in the vertical direction as shown in FIGS. 7A and 7B.
Alternatively, it may be formed in a lattice shape. Needless to say, the spacer 8 may be provided on the upper jig 1 or the lower jig 2, or may be provided on both jigs 1 and 2.

[0021]

As described above, according to the invention described in claim 1, since the spacer is provided between both jigs, the gap accuracy between the two jigs can be inexpensively achieved without complicated control by the spacers. And the parallelism can be secured stably.

According to the second aspect of the invention, since the upper jig is elastically supported by the robot hand so as to be swingable, the upper jig flexibly corresponds to the lower jig, and the gap between both jigs is increased. The accuracy and parallelism can be reliably ensured.

According to the third aspect of the invention, since the lower jig is elastically supported so as to be swingable on the assembly table, the lower jig flexibly responds to the upper jig and the distance between the two jigs is increased. Gap accuracy and parallelism can be reliably ensured.

[Brief description of drawings]

FIG. 1 is a main part configuration diagram showing an embodiment of an automatic assembly apparatus of the present invention.

FIG. 2 is a bottom view showing the arrangement of spacers in the upper jig.

FIG. 3 is a main part configuration diagram showing the different embodiment.

FIG. 4 is a main part configuration diagram showing another embodiment.

FIG. 5 is a main part configuration diagram showing still another embodiment.

FIG. 6 is a bottom view of an upper jig or a lower jig showing a different arrangement example of spacers.

7A is a bottom view of an upper jig or a lower jig showing another arrangement example of spacers, and FIG. 7B is a cross-sectional view thereof.

FIG. 8 is a perspective view showing an example of a conventional automatic assembly apparatus.

FIG. 9 is an explanatory diagram showing an example in which the parallelism of the same gap cannot be obtained.

FIG. 10 is an explanatory diagram showing another example in which the parallelism of the same gap cannot be obtained.

[Explanation of symbols]

1 ... Upper jig, 2 ... Lower jig, 3 ... Robot hand, 4
... Assembly table, 6,7 ... Parts, 8 ... Spacer.

Front Page Continuation (72) Inventor Katsuhiko Higashino 2 Higashimachi, Kichijoin-nomiya, Minami-ku, Kyoto-shi, Kyoto

Claims (3)

[Claims] 1. An automatic assembling apparatus for joining parts temporarily fixed to an upper jig gripped by a robot hand to a part on a lower jig placed on an assembly table so as to join the two parts together. The automatic assembling apparatus according to claim 1, wherein a spacer is provided between the lower jig and the upper jig to keep a gap between the jigs in parallel. 2. The automatic assembly apparatus according to claim 1, wherein the upper jig is elastically supported by the robot hand so as to be swingable. 3. The automatic assembly apparatus according to claim 1, wherein the lower jig is elastically supported so as to be swingable on the assembly table.