JPH08281523A - Automatic split pin inserting device and its method - Google Patents

Abstract

PURPOSE: To make the inserting work of a split pin smooth to reduce machining man-hours by providing a laser detector for detecting that the pin hole of a shaft fixed on a table is on a line in the moving direction of a push rod. CONSTITUTION: The tip part of a shaft S is inserted into the shaft inserting hole 21 of a positioning pate 2. Next, when a robot rotates a table 1 round the shaft S, and a laser detector 7, namely a pin hole detector, detects that the pin hole S1 of the shaft S turns the longitudinal direction of a split pi.n P, the rotation of the table 1 is stopped. Next, when a cylinder 6 presses a push rod 5 against the head P1 of the split pin P, the head P1 fits into the V-groove 51 of the push rod 5, and the split pin P moves toward the shaft S as the hole P11 of the head P1 turns upward. When in this state, the push rod 5 is further moved by fixed force, the split tip of the split pin P is inserted into the pin hole S1 of the shaft S.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and method for automatically inserting a split pin into a pin hole provided in a machine part.

[0002]

2. Description of the Related Art Conventionally, when attaching a mechanical component to a shaft, a pin hole is vertically formed in the tip of the shaft in the axial direction of the shaft so that the mechanical component does not come out of the shaft, and a split pin is inserted in the pin hole. The method of inserting and bending the tip of the cotter pin is adopted. In that case, in order to match the direction of the pin hole with the insertion direction of the split pin, a method is disclosed in which light is passed through the pin hole to detect the penetrating direction of the pin hole by a photodetector (for example, a special method). Kaihei 1-2
57531). After inserting the cotter pin into the shaft pin hole after the direction of the pin hole has been detected, grab the cotter pin with a robot and insert it into the shaft pin hole, and then push open the tip of the cotter pin with a screwdriver. Bending with a hammer, etc. prevents the split pin from coming out of the pin hole.

[0003]

However, in the prior art, after the split pin is inserted into the pin hole by the robot,
Since the work of bending the split tip of the split pin is manually performed, there are problems that the work time varies, a large number of processing steps are required, and the split pin is deformed during bending to deteriorate the quality. there were. . When using a photodetector that detects the direction of the pinhole by the light passing through the pinhole, the photodetector is located on the extension line of the direction in which the pinhole is open. There is a problem that the detector interferes with the insertion work. It is an object of the present invention to provide an automatic cotter pin insertion device that allows the cotter pin insertion work to be performed smoothly, the number of processing steps to be reduced, and the quality to be stable.

[0004]

In order to solve the above problems, the present invention provides an insertion mechanism for inserting a split pin into a pin hole provided at the tip of a shaft of a mechanical component into the pin hole, and the pin hole. In the split pin automatic insertion device provided with a pin hole detector for detecting the opening direction of the, the insertion mechanism, a table fixed to the robot arm, and a disc-shaped positioning plate fixed to the table. A shaft insertion hole, which is provided in the center of the positioning plate, into which the tip of the shaft can be inserted; a pin guide portion notched in the radial direction of the positioning plate; and a radial direction opposite to the pin guide portion. A notch portion, a knife edge portion provided in the notch portion, a clamping means having two claw portions for holding the split pin, and the position passing through between the two claw portions. And a cylinder for moving the push rod toward the center of the positioning plate, wherein the pin hole detector is oblique to the moving direction of the push rod. Laser beam is emitted from the laser detector to detect that the pin hole provided on the shaft fixed to the table is on the line in the moving direction of the push rod. Further, the push rod has a diameter that allows it to be inserted into a recess provided in the two claw portions, and is provided with a V groove having a valley at the tip thereof that passes vertically. In addition, the clamp means is provided with two fixing portions provided on the table at the tip in the direction of the pin guide portion from the center of the positioning plate, and two fixing portions capable of sliding between the two fixing portions. A claw portion, a concave portion provided on a tip surface where the two claw portions face each other, a tapered portion provided on an upper surface of the two claw portions and inclined toward the tip surface, and between the fixing portion and the claw portion. And a spring provided on the. Further, the two clamping means are arranged side by side with a gap toward the center of the positioning plate. Further, a receiving block having a flat surface having a height matching the lower surface of the concave portion of the claw portion is provided on the push rod side of the clamp means. In addition, in the split pin automatic insertion method in which a pin hole provided at the tip of the shaft of a machine part is detected by a pin hole detector and the split pin is inserted into the pin hole, the hole at the head of the split pin is directed upward. Hold the straight part of the split pin by the clamping means, insert the tip of the shaft of the mechanical part into the shaft insertion hole provided in the positioning plate in this state, and detect the pin hole of the shaft with the pin hole detector. Confirm that the split pin can be inserted into the pin hole, move the split pin in the direction of the pin hole with a push rod, insert the split pin into the pin hole, and the head of the split pin is This is a method in which the split tip of the split pin is brought into contact with the end of the pin hole and then the split tip of the split pin is applied to the knife edge portion to open the split tip of the split pin.

[0005]

With the above-mentioned means, the straight portion is grasped by the clamping means with the hole of the head of the split pin facing upward. In this state, insert the tip of the shaft of the machine part into the shaft insertion hole provided in the positioning plate, and detect the pin hole direction of the shaft by the pin hole detector consisting of the reflection type laser detector to rotate the table. After aligning the longitudinal direction of the cotter pin with the direction of the pin hole, move the cotter pin in the direction of the pin hole with the push rod, and insert it further until the head of the cotter pin contacts the end of the pin hole. Then, the split pin is opened by pressing the split tip of the split pin against the knife edge. Since the reflection type laser detector can irradiate and detect the laser beam obliquely to the direction of the pin hole, it does not interfere with the cotter pin insertion work and the pin hole detection operation is reliable. You can Therefore, cotter pin insertion work does not require manpower regardless of pin hole detection work, and cotter pin insertion work can be automated.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a plan view showing an embodiment of the present invention, and FIG. 2 is a side view thereof. In the figure, reference numeral 1 denotes a box-shaped table, which is fixed to a wrist portion or a rotary table of a robot arm (not shown). Reference numeral 2 denotes a disc-shaped positioning plate fixed to the table 1, and has a shaft insertion hole 21 into which the tip of the shaft S can be inserted at the center of the disc. 22 is a pin guide portion notched in the radial direction of the positioning plate 2, 23 is a notch portion provided in the radial direction on the opposite side of the pin guide portion 22, 24 is a knife edge portion provided in the notch portion 23, The tip is directed toward the center of the positioning plate 2. 3 is a first clamp means provided on the table 1 in the direction of the pin guide portion 22 from the center of the positioning plate 2, 31 is two fixing portions fixed to the table 1, 32 as shown in FIG. Is table 1
The upper surface of the two claws is configured to be slidable between the two fixing parts, and the front end surface 32a where the two claws 32 face each other is provided with a recess 32b for holding the split pin P. On the upper surface of 32, a taper portion 32c inclined toward the tip surface 32a is provided. A spring 33 is provided between the fixed portion 31 and the claw portion 32, and always presses the two claw portions 32 in the closing direction. Reference numeral 4 denotes a second clamp means, which has the same configuration as that of the first clamp means 3 and includes a fixing portion 41, two claw portions 42, and a spring 43, and is arranged side by side with a gap toward the center of the positioning plate 2. I am doing it. Reference numeral 5 is a push rod having a diameter that allows it to be inserted into a recess 42b provided in the two claws 32, and a V groove 51 having a valley extending vertically is provided at the tip. 6 is a cylinder for moving the push rod 5 toward the center of the positioning plate 2,
Reference numeral 61 is a piston rod, and 62 is a connecting arm connecting the piston rod 61 and the push rod 5. 63
Is a claw portion 32 on the push rod side of the first clamp means 3.
Is a receiving block having a flat surface with a height matching the lower surface of the concave portion 32b. Reference numeral 7 denotes a pin hole detector using a laser beam fixed to the table 1. The pin hole S1 provided on the shaft S is moved in the moving direction of the push rod 5, that is, the center of the recess 32b of the two claws 32 and the positioning plate 2. It is detected that it is on a line connecting the center of the robot, and a detection signal is output to the controller of the robot (not shown). It should be noted that the pinhole detector 7 uses the push rod 5 for the laser beam.
Is arranged so that the pin hole S1 can be detected by irradiating it obliquely with respect to the moving direction of.

The operation will now be described with reference to FIGS. 3, 4 and 5. First, the first clamping means 3 and the second
As shown in FIG. 4A, the head P1 of the split pin P is formed by a known automatic supply device (not shown) on the tapered portions 32c and 42c provided on the upper surfaces of the claw portions 32 and 42 of the clamping means 4.
Is placed toward the tip of the push rod 5, and the split tip P2 is placed toward the center of the positioning plate 2. The head P1 of the split pin P is substantially elliptical, but the cross section of the straight line portion P3 between the head P1 and the split tip P2 is substantially circular. Next, as shown in FIG.
With the pusher 8 provided in a direction perpendicular to the claws 32, 4
The side surface of the straight portion P3 of the split pin P is pressed toward 2. Then, via the split pin P, the tapered portion 32c,
42c is pressed, the springs 33 and 43 are bent, the two claw portions 32 and 42 are opened, and the split pin P is recessed into the concave portions 32b and 42.
It enters into b and the longitudinal direction of the split pin P coincides with the moving direction of the push rod 5 and is gripped. At this time, since the head P1 of the split pin P is placed on the upper surface of the receiving block 63,
The hole 11 of the head P1 faces upward. Pusher 8 in this state
And the table 1 is moved to the vicinity of the mechanical parts by the robot arm, as shown in FIGS. 1 and 2.
The shaft S is inserted into the shaft insertion hole 21 of the positioning plate 2.
Insert the tip of the. Next, robot 1
Is rotated around the shaft S, and when the pin hole detector 7 detects that the pin hole S1 of the shaft S faces the longitudinal direction of the split pin P, the rotation of the table 1 is stopped.
Next, the cylinder 6 pushes the push rod 5 into the split pin P.
When the head P1 is pressed toward the head P1, the split pin P moves toward the shaft S while the head P1 conforms to the V groove 51 of the push rod 5 and the hole P11 of the head P1 faces upward. When the push rod 5 is further moved with a predetermined force in this state, the split pin P is moved to the concave portion 32 of the claw portions 32 and 42.
b, 42b, and the head P1 is claw 32,
42 is pushed open and moved, and the split tip P2 of the split pin P is inserted into the pin hole S1 of the shaft S. Further, when the split pin P advances in the pin hole S1 and is inserted until the head P1 of the split pin P comes into contact with the end of the pin hole, the split tip P2 is pressed against the knife edge portion 24, and FIG.
As shown in, the split tip P2 of the split pin P opens. In this state, the split pin P will not come out of the pin hole S1. Next, the robot moves the table 1 to pull out the shaft 2 from the shaft insertion hole 21, and the split pin P
The split tip P2 is bent into a desired shape by another pusher or the like (not shown).

[0008]

As described above, according to the present invention, the split pin is grasped so that the hole of the head is directed upward and is movable in the longitudinal direction, and in this state, the machine is inserted into the shaft insertion hole of the positioning plate. Insert the tip of the shaft of the component, check the pin hole of the shaft with the pin hole detector and confirm that the split pin can be inserted into the pin hole, and then insert the split pin into the pin hole and remove the split tip of the split pin. Since it is opened by the knife edge portion, there is an effect that it is possible to provide a cotter pin automatic insertion device in which the number of processing steps can be reduced and the quality is stable without direct manual labor.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of the present invention.

FIG. 2 is a side view showing an embodiment of the present invention.

FIG. 3 is a side view showing an operating state of the embodiment of the present invention.

FIG. 4A is a front view showing a state before gripping a split pin of the embodiment of the present invention, and FIG. 4B is a front view showing a state after gripping the split pin.

FIG. 5 is a side view showing a state in which the operation according to the embodiment of the present invention is completed.

[Explanation of symbols]

1 table, 2 positioning plate, 21 shaft insertion hole, 22 pin guide part, 23 notch part, 24
Knife edge part, 3 first clamping means, 31, 41
Fixed part, 32, 42 Claw part, 32a, 42a Tip surface, 32b, 42b Recessed part, 32c, 42c Tapered part, 33, 43 Spring, 4 Second clamping means, 5
Push rod, 51 V groove, 6 cylinder, 61 piston rod, 62 coupling arm, 63 receiving block, 7 pin hole detector, 8 pusher, P split pin,
P1 head, P11 hole, P2 split tip, S shaft, S1 pin hole

Claims (6)

[Claims] 1. An insertion mechanism for inserting a split pin to be inserted into a pin hole provided at a tip of a shaft of a mechanical component into the pin hole, and a pin hole detector for detecting an opening direction of the pin hole. In the split pin automatic insertion device, the insertion mechanism includes a table fixed to the robot arm, a disc-shaped positioning plate fixed to the table, and a tip portion of the shaft provided at the center of the positioning plate. A shaft insertion hole that can be inserted, a pin guide portion that is notched in the radial direction of the positioning plate, and a notch portion that is provided on the opposite side of the pin guide portion in the radial direction,
A knife edge portion provided in the cutout portion, a clamp means having two claw portions for gripping the split pin, and a line extending between the two claw portions toward the center of the positioning plate. A push rod and a cylinder for moving the push rod toward the center of the positioning plate, the pin hole detector irradiates a laser beam obliquely with respect to the moving direction of the push rod, A split pin automatic insertion device comprising a laser detector that detects that a pin hole provided in the shaft fixed to the line is on a line in the moving direction of the push rod. 2. The split according to claim 1, wherein the push rod has a diameter that allows the push rod to be inserted into a recess provided in the two claw portions, and has a V groove having a valley that passes vertically at a tip thereof. Automatic pin insertion device. 3. The clamp means is slidable between two fixing portions provided on the table at a point in the direction of the pin guide portion from the center of the positioning plate, and between the two fixing portions. Two claws, a recess provided on the tip surfaces of the two claws facing each other, and a taper portion that is inclined toward the tip surfaces provided on the upper surfaces of the two claws,
The split pin automatic insertion device according to claim 1, further comprising a spring provided between the fixing portion and the claw portion. 4. The split pin automatic insertion device according to any one of claims 1 to 3, wherein two of the clamp means are arranged side by side with a gap toward the center of the positioning plate. 5. The split according to any one of claims 1 to 4, further comprising a receiving block on the push rod side of the clamp means, the receiving block having a flat surface having a height matching the lower surface of the concave portion of the claw portion. Automatic pin insertion device. 6. A split pin automatic insertion method in which a pin hole provided at the tip of a shaft of a mechanical component is detected by a pin hole detector, and a split pin is inserted into the pin hole. The straight part of the split pin is grasped upward by the clamp means, and in this state, the tip of the shaft of the mechanical component is inserted into the shaft insertion hole provided in the positioning plate, and the pin hole detector detects the pin hole of the shaft. To confirm that the cotter pin can be inserted into the pin hole, move the cotter pin in the direction of the pin hole with a push rod, and insert the cotter pin into the pin hole. The split pin is inserted to a position where it abuts against the pin hole end, and then the split tip of the split pin is applied to the knife edge portion to open the split tip of the split pin. Automatic insertion method.