JPH0822489B2 - Rotational positioning device for parts of Rzeppa joint - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Object of the Invention (Industrial field of use) The present invention relates to an automatic assembler of a Rzeppa joint or the like, in which a work such as a cage or an outer ring, which is a component of the Rzeppa joint, is placed at a predetermined position. The present invention relates to a rotary positioning device for rotating up to.

(Prior Art) A Rzeppa joint 1 as shown in FIGS. 10 and 11 is used for a constant velocity joint portion of a driving force transmission system of an automobile. 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 includes 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.
Is fitted to.

(Problems to be Solved by the Invention) In order to assemble the Rzeppa joint 1 including the outer ring 4, the cage 5, the inner ring 6 and the like as described above, some kind of "knack" is required, so automatic assembly by a machine is not possible. Was considered difficult. 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 this automatic assembling machine, the cage 5 and the outer ring 4 are held by the work holder during the assembling process, and the direction of rotation of the work is adjusted so that the opening window 9 of the cage 5 and the ball groove 8 of the outer ring 4 come to a predetermined position. Although it is necessary to accurately regulate the position in the (circumferential direction), there has been no suitable device satisfying such a demand in the past, and its development has been desired.

Therefore, an object of the present invention is to provide a rotary positioning device capable of rotating a work such that an opening window or a ball groove is located at a predetermined position in an automatic assembly machine or the like that handles a work such as a cage of a Rzeppa joint and an outer ring. To provide.

[Means for Solving the Problems] (Means for Solving the Problems) The present invention developed to achieve the above object, a base, a hollow spindle rotatably provided on the base about a vertical axis, and the spindle An actuator for rotating the spindle within a predetermined angle range, a movable claw provided below the spindle, inserted from the inside of the workpiece from above, and movable in a direction in which the workpiece can be fitted into an opening window or a ball groove of the workpiece, and the spindle. A rod portion that drives the movable claw in a direction in which the movable claw is engaged with an opening window or a ball groove of the workpiece in a state in which the movable claw is held so as to be able to move up and down and a first portion that urges the rod portion in a direction in which the rod portion is raised. Spring, a friction member that is non-rotatable with respect to the base body, and is urged in a direction of contacting the end surface of the work, and the roller in the spindle. A slider having a lower end portion that is vertically movable above and below the rod portion and that contacts and separates from the upper end of the rod portion; and a slider that has a stronger elastic force than the first spring and that attaches the slider downward. A second spring that urges the slider and a slider driving unit that can drive the slider in a direction to push up the slider against the elastic force of the second spring are provided.

(Operation) When the rotary positioning device of the present invention is lowered from above the work, the lower end of the friction member contacts the upper end surface of the work. In addition, when the pushing-up force of the slider by the slider driving means is released, the slider and the rod portion are integrally lowered by the elastic force of the second spring, and the movable claw moves in the direction in which it contacts the inner surface of the work. The movable claw rotates in the same direction as the spindle by rotating the spindle by a predetermined angle. The friction member is stationary,
Since the friction member and the end surface of the work are frictionally engaged with each other, even if the movable claw rotates in the above direction, the work remains stopped until the movable claw fits into the opening window of the work or the ball groove. . After the movable claw is fitted into the opening window or the ball groove, the work together with the movable claw is rotated to a predetermined angle as the spindle rotates.

Embodiment An embodiment of the present invention will be described below with reference to the drawings. As shown in FIGS. 1 and 2, the cage 5
Positioning device 12 for car and rotational positioning device for Outer ring 4
13 are attached to a common lift unit 15. The lifting / lowering unit 15 can be moved up and down by a linear actuator 18 such as an air cylinder along a pair of left and right vertical guide members 17 (only one is shown) provided on the fixed base 16. . The lower limit stroke end of the lift unit 15 is restricted by the stopper 19.

First, the rotary positioning device 12 for the cage 5 is first described.
This will be described with reference to FIGS.

A pair of upper and lower base members extending horizontally in the lifting body unit 15.
25,26 are provided. Bearing assemblies 27 and 28 that receive loads in the radial direction and the thrust direction are provided on the base bodies 25 and 26, and a hollow spindle 31 is rotatably supported by the bearing assemblies 27 and 28 about a vertical axis.

The spindle 31 is the output shaft of the rotary actuator 32.
It is connected to 33. The actuator 32 is adapted to reciprocally rotate the spindle 31 about a vertical axis within an angle range of 60 ° or more, for example, 180 °. The spindle 31 in the illustrated example is rotated within the above angle range by a protrusion 34 attached to the side surface thereof and a pair of stoppers 35 (only one side is shown in FIG. 2) on the rotation trajectory of the protrusion 34. It is supposed to do. However, by means other than the above, the spindle
The rotation range of 31 may be restricted.

A claw unit 40 is provided below the spindle 31. The claw unit 40 includes a cylindrical retainer 42 that is prevented from rotating by a key 41, a pair of movable claws 43 and 44 provided at the lower portion of the retainer 42, a rod portion 45 that extends in the vertical direction, and a rod portion of this. Spring seat attached near the top of 45
It is composed of 46 and so on. A groove 47 continuous in the circumferential direction is provided in the lower portion of the retainer 42.

The movable claws 43 and 44 are rotatably supported by horizontal shafts 50 and 51. The lower ends of the movable claws 43, 44 can be inserted into the cage 5. Contacts 52, 53 are provided at the lower ends of the movable claws 43, 44. The contacts 52, 53 are formed in a shape capable of engaging with the opening window 9 of the cage 5. In addition, the first cam receiving portions 54 and 55 project from the movable claws 43 and 44 in the directions facing each other. Second cam receiving portions 56 and 57 project from the upper ends of the movable claws 43 and 44 in the directions facing each other.

At the lower end of the rod portion 45, a tapered first cam surface 60 which is in sliding contact with the first cam receiving portions 54, 55 is provided. A taper-shaped second cam surface 61, which is in sliding contact with the second cam receiving portions 56 and 57, is provided at an axially intermediate portion of the rod portion 45. Furthermore, a flange portion is provided above the second cam surface 61.
62 are provided. The rising stroke end of the rod portion 45 with respect to the retainer 42 is restricted by the flange portion 62 hitting the retainer 42.

A first compression coil spring is provided between the spring seat 46 and the retainer 42.
63 is provided in a compressed state. The first spring 63 always urges the rod portion 45 in a direction to raise it.

A cylindrical housing 65 whose upper and lower ends are open is attached to the lower surface side of the base body 26. The housing 65 is provided concentrically with the spindle 31 and the retainer 42,
The locking mechanism 66 can be engaged with and disengaged from the retainer 42. The locking mechanism 66 includes a protrusion 67 that can be engaged with and disengaged from the groove 47 of the retainer 42, and an operator 68 that can be pinched with fingers. It can be moved in the pulling direction. Groove stud 67
The housing 65 can be removed when it is removed from the housing 47.

A friction member 70, which is concentric with the housing 65, is provided on the opening side of the lower end of the housing 65 so as to be movable up and down. The friction member 70 also has a cylindrical shape, and is biased downward by the compression coil spring 71. The diameter of the lower end surface 70a of the friction member 70 is such that it can contact the end surface 5a of the cage 5.

A hollow slider 75 is built in the axially intermediate portion of the spindle 31. The slider 75 can move up and down in the axial direction inside the spindle 31. A pin 76 is fixed in a state of penetrating in the radial direction of the slider 75. Both ends of the pin 76 are vertically elongated holes 77, 78 provided in the spindle 31.
And protrudes to the outer surface side of the spindle 31. The lower end 79 of the slider 75 faces the upper end 80 of the rod portion 45.

A second spring 86 is provided in a compressed state between the slider 75 and the spring seat 85. The second spring 86 is a slider
Biasing 75 downwards. The spring constant of the second spring 86 is larger than that of the first spring 63.

An annular member 91 having a flange 90 is attached to the slider 75 by a pin 76. The annular member 91 moves up and down integrally with the slider 75 via the pin 76, and the flange 90
The lower surface side of the roller can be supported by the roller 92. Second
As shown in the figure, the roller 92 is attached to the swing arm 93. The swing arm 93 is supported by a horizontal shaft 94 so as to be vertically rotatable, and is driven by an actuator 95 between a position shown by a solid line and a position shown by a chain double-dashed line in FIG. The actuator 95, the arm 93, the roller 92 and the like constitute a slider driving means 96. A sensor 97 is provided near the flange 90 to detect that the flange 90 has dropped to a predetermined position.

The cage 5 is held right below the pawl unit 40 by the work holder 98. The work holder 98 is open on the upper surface side, and is fitted and held rotatably around a vertical axis with the end surface 5a of the cage 5 facing upward.

Next, the operation of the embodiment 12 of the above-mentioned configuration will be described.

The cage 5 is transferred to a position right below the pawl unit 40 together with the work holder 98 by a transfer mechanism (not shown). Lifting unit 18 by lifting actuator 18
3 is lowered to a predetermined position, the lower ends of the movable claws 43 and 44 enter the inside of the cage 5 as shown in FIG. 3, and the lower end surface 70a of the friction member 70 moves toward the end surface 5a of the cage 5.
Touch

After that, as shown in FIG. 4, the roller 92 is driven in the direction away from the lower surface of the flange 90,
When the slider 75 is in the free state, the elasticity of the second spring 86 causes the slider 75 to descend, and the lower end portion of the slider 75 is lowered.
79 hits the upper end 80 of the rod portion 45. Since the elastic force of the second spring 86 is stronger than the elastic force of the first spring 63, the elastic force of the second spring 86 overcomes the elastic force of the first spring 63 so that the rod portion 45 moves down together with the slider 75. become. At this time, the movable claw
If the contacts 52, 53 of 43, 44 face the opening windows 9, 9 of the cage 5, the contacts 52, 53 fit into the opening windows 9, 9 as they are.
If the contacts 52,53 do not face the opening windows 9,9,
The rod portion 45 stops when 52 and 53 come into contact with the inner surface of the cage 5.

The spindle 31 is rotated by operating the rotation actuator 32. When the spindle 31 rotates, the retainer 42 and the movable claws 43, 44 rotate together with the spindle 31.

The friction member 70 is held non-rotatably with respect to the fixed-side housing 65, and the end surface 5a of the cage 5 is held by the friction member 70. Therefore, even if the movable claws 43 and 44 rotate in the above-mentioned direction, The cage 5 is held stationary until the contacts 52, 53 fit into the open windows 9, 9. Therefore, contact 5
2, 53 rotate while sliding on the inner surface of the cage 5, and the contacts 52, 53 fit into the opening windows 9, 9 during the rotation. When the contacts 52 and 53 are fitted into the opening windows 9 and 9 as shown in FIGS. 5 and 6, the torque acting on the cage 5 and the friction member are generated.
Cage 5 to overcome the friction between 70
Rotates integrally with the movable claws 43 and 44.

As shown in FIG. 6, since the opening windows 9 are provided at six positions at equal intervals of 60 ° in the circumferential direction of the cage 5, the movable claws 43, Four
The contacts 52 and 53 of 4 are fitted in the opening windows 9 and 9. In this way, the pawl unit 40 rotates to the predetermined position P and stops, whereby the cage 5 stops at the predetermined rotation position. In addition, since the grease is supplied in advance to the two outer peripheral portions of the cage 5 inside the work holder 98, as described above,
Is rotated 180 °, the grease is
It is spread in the circumferential direction.

After the cage 5 is held at the predetermined rotation position by the above steps, the roller 92 is moved up and the slider 75 is pushed up against the elasticity of the second spring 86. Therefore, the rod portion 45 comes to stand by in the raised position again due to the elasticity of the first spring 63, and the contact 5
When 2,53 move in the closing direction, they are removed from the opening windows 9,9. Further, the lifting / lowering body unit 15 is lifted up along the guide member 17 by the operation of the lifting / lowering actuator 18,
The rotary positioning device 12 moves away from the cage 5.

Next, regarding the rotary positioning device 13 for the outer ring 4,
Description will be made with reference to the drawings and FIGS. 7 to 9.

The elevator unit 15 described above is provided with a pair of upper and lower bases 125 and 126 extending in the horizontal direction. On the base 125, 126,
Bearing assemblies 127, 128 are provided for receiving radial and thrust loads.
A hollow spindle 131 is rotatably supported by 7,128 about a vertical axis.

The spindle 131 is connected to an output shaft 133 of a rotary actuator 132. The actuator 132 is adapted to reciprocally rotate the spindle 131 about a vertical axis within an angle range of 60 ° or more, for example, 180 °. The spindle 131 in the illustrated example is configured to rotate within the above angle range by a protrusion 134 attached to a side surface and a pair of stoppers (not shown) on the rotation locus of the protrusion 134. .

A claw unit 140 is provided below the spindle 131. The claw unit 140 includes a cylindrical retainer 142 that is prevented from being rotated by a key 141, a pair of movable claws 143 and 144 provided at a lower portion of the retainer 142, a rod portion 145 that extends in the vertical direction, and a rod portion 145 of the rod portion 145. It is configured by including a spring seat 146 attached near the upper end. Retainer 142
A groove 147 continuous in the circumferential direction is provided in the lower part of the.

The movable claws 143 and 144 are rotatably supported by horizontal shafts 150 and 151. The lower ends of the movable claws 143, 144 can be inserted inside the outer ring 4, and
Contactors 152, 153 are provided at the lower end of 4. Contactor 152,
153 is formed in a shape that can be engaged with the ball groove 8 of the outer ring 4. The first pawls 154 and 155 project from the movable claws 143 and 144 in the directions facing each other. Second cam receiving portions 156, 157 project from the upper ends of the movable claws 143, 144 in the directions facing each other.

At the lower end of the rod portion 145, there is provided a tapered first cam surface 160 that is in sliding contact with the first cam receiving portions 154 and 155. At the axially intermediate portion of the rod portion 145, the tapered second cam surface 1 that is in sliding contact with the second cam receiving portions 156, 157.
61 is provided. Further, a flange portion 162 is provided above the second cam surface 161. The ascending side stroke end of the rod portion 145 with respect to the retainer 142 is restricted by the flange portion 162 hitting the retainer 142.

A first compression coil spring 163 is provided in a compressed state between the spring seat 146 and the retainer 142. First spring 1
63 always biases the rod portion 145 in the direction of raising it.

On the lower surface side of the base body 126, a cylindrical housing 165 whose upper and lower sides are open is attached. The housing 165 is provided concentrically with the spindle 131 and the retainer 142, and can be engaged with and disengaged from the retainer 142 by a locking mechanism 166. The locking mechanism 166 is provided in the groove 147 of the retainer 142.
It is provided with a protrusion 167 that can be engaged and disengaged with a manipulator and a manipulator 168 that can be pinched with fingers.The manipulator 168 can be used to move the mandrel 167 in the direction of pulling it out of the groove 147. There is. With the protrusion 167 removed from the groove 147, the housing 165 can be removed.

A friction member 170, which is concentric with the housing 165, is provided on the opening side of the lower end of the housing 165 so as to be movable up and down. The friction member 170 also has a cylindrical shape and is urged downward by the compression coil spring 171. Lower end surface 1 of friction member 170
The diameter of 70a is such that it can contact the end surface 4a of the outer ring 4.

A hollow slider 175 in the middle of the spindle 131 in the axial direction.
Is built in. The slider 175 can move up and down in the axial direction inside the spindle 131. The pin 176 is fixed in a state of penetrating in the radial direction of the slider 175. Pin 1
Both ends of 76 penetrate through vertical elongated holes 177, 178 provided in the spindle 131 and project to the outer surface side of the spindle 131. The lower end portion 179 of the slider 175 faces the upper end 180 of the rod portion 145.

A second spring 186 is provided in a compressed state between the slider 175 and the spring seat 185. The second spring 186 biases the slider 175 downward. Second spring 186
Has a larger spring constant than that of the first spring 163.

An annular member 191 having a flange 190 is attached to the slider 175 by a pin 176. The annular member 191 has pin 17
It moves up and down together with the slider 175 via 6, and the lower surface side of the flange 190 can be supported by the roller 192. The roller 192 is configured to be driven in the vertical direction by slider driving means 196 including a swing arm 193 and an actuator (not shown).

The outer ring 4 is held right below the pawl unit 140 by the work holder 198. The work holder 198 is open on the upper surface side, and the outer ring 4 is fitted and held rotatably around a vertical axis with the end surface 4a of the outer ring 4 facing upward.

The basic operation of the rotary positioning device 13 is the same as that of the cage rotary positioning device 12 described above. That is, when the lifting / lowering body unit 15 is lowered, the friction member 170 comes into contact with the end surface 4a of the outer ring 4 as shown in FIG. Further, when the roller 192 is driven in the direction away from the lower surface of the flange 190, the slider 175 is lowered by the elasticity of the second spring 186, and the rod portion 145 is lowered together with the slider 175. As a result, the movable claws 143 and 144 move in the opening direction.

When the rotation actuator 132 is activated and the spindle 131 rotates, the claw unit 140 moves to the spindle.
The outer ring 4 rotates in unison with the 131, and the outer ring 4 is held stationary until the contacts 152, 153 fit into the ball grooves 8, 8. When the contacts 152, 153 are fitted in the ball grooves 8, 8 as shown in FIG. 8, the outer ring 4 rotates together with the movable claws 143, 144 around the vertical axis.

As shown in FIG. 9, since the ball grooves 8 are provided at six positions in the circumferential direction of the outer ring 4 at regular intervals of 60 °, the movable claws 14 can move while the claw unit 140 rotates at least 60 °.
3,144 contacts 152,153 fit into the ball grooves 8,8. In this way, the claw unit 140 rotates to the predetermined position P and stops, whereby the outer ring 4 stops at the predetermined rotation position.

EFFECTS OF THE INVENTION According to the present invention, the work can be rotated to a predetermined circumferential position by utilizing the opening window or the ball groove provided in the work such as the cage of the Rzeppa joint or the outer ring. In the device of the present invention, while the work is held by the friction member, the movable claw is fitted into the opening window or the ball groove by using the elastic force of the spring while rotating the claw unit. No excessive force will be applied to the work piece and the work will not be damaged.

[Brief description of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a longitudinal sectional view of a rotary positioning device for a cage and a rotary positioning device for an outer ring, and FIG.
FIG. 3 is a side view showing the rotary positioning device for a cage in a partial section, and FIGS. 3 to 5 are cross-sectional views showing different operating states of the rotary positioning device for a cage.
FIG. 6 is a plan view showing the relationship between the cage and the movable claw, FIG. 7 is a sectional view showing a part of the outer ring rotary positioning device, and FIG. 8 is a view showing the movable claw of the outer ring rotary positioning device engaged with the ball groove. FIG. 9 is a plan view showing the relationship between the outer ring and the movable claw, FIG. 10 is a perspective view of the Rzeppa joint, and FIG.
FIG. 11 is an exploded perspective view of the Jeppe joint. 1 ... Rzeppa joint, 4 ... Work (outer ring), 5
...... Work (cage), 8 ... Ball groove, 9 ... Opening window, 12 ... Cage rotary positioning device, 13 ... Outer ring rotary positioning device, 25,26 ... Base body, 31 ... Spindle, 3
2 ... Actuator, 40 ... Claw unit, 43,44 ... Movable claw, 45 ... Rod part, 63 ... First spring, 70 ... Friction member, 75 ... Slider, 86 ... Second Spring, 96 ... Slider drive means, 125,126 ... Base body, 131 ... Spindle,
132 …… Actuator, 140 …… Pawl unit, 143,144
...... Movable claw, 145 ...... Rod part, 163 ...... First spring, 17
0 ... Friction member, 175 ... Slider, 186 ... Second spring, 196 ... Slider driving means.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor, Hamabe Lighting 5-3-8, Shiba, Minato-ku, Tokyo Mitsubishi Motors Corporation (72) Inventor, Yuichi Hazaki, No. 1 Nakasiri, Hashime-cho, Okazaki-shi, Aichi Mitsubishi Motors Engineering Co., Ltd. Okazaki Plant (56) References: Kaikaihei 1-92336 (JP, U)

Claims (1)

[Claims] 1. A base body, a hollow spindle rotatably provided on the base body about a vertical axis, an actuator for rotating the spindle within a predetermined angle range, and a work piece provided below the spindle. A movable claw that is inserted from the upper side and moves in a direction in which it can be fitted into the opening window or ball groove of the work, and the movable claw that is held so as to be able to move up and down with respect to the spindle and is lowered to open the opening window of the work. Alternatively, a rod portion that is driven in a direction to engage with the ball groove, a first spring that urges the rod portion in a direction that raises the rod portion, and a direction that is non-rotatably provided with respect to the base body and that is in contact with the end surface of the workpiece. A urging friction member and a lower end portion which is provided above the rod portion in the spindle so as to be able to move up and down and contact with and separate from the upper end of the rod portion. Slider, a second spring having a stronger elastic force than the first spring and urging the slider downward, and the slider is pushed up against the elastic force of the second spring. A rotary positioning device for a component of a Rzeppa joint, comprising: a slider driving means that can be driven in any direction.