JPH08323681A - Floating device - Google Patents

Abstract

PURPOSE: To reduce contact force applied on a workpiece when an insertion section is inserted into a hole section by providing a positioning guide section which generates force in the direction in which it crosses a predetermined direction in a second member due to the contact of a guide pin for correction. CONSTITUTION: When a floating device 20 descends, a chamfered section 81d of a guide pin 81c of a positioning pin 81 reaches an inlet of a screw hole 102 of a motor shaft 100. If an axis of a screw hole 102 of the motor shaft 100 is deviated from an axis of the guide pin 81c, the chamfered section 81d of the guide pin 81c comes into contact with a chamfered section 103. At this time, contact force from the chamfered section 103 acts on the guide pin 81c and a position of the guide pin 81 is corrected so that a axis of an insertion hole 91 of a disc 90 coincides with a axis of the motor shaft 100. When the floating device 20 is lowered further, a compression spring 82c is compressed and the disc 90 is inserted without coming into contact with the motor shaft 100.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a floating device used for inserting a center hole of a single plate (hereinafter referred to as "disk") for recording information into a rotary shaft of a drive motor of a hard disk storage device. The present invention relates to a positioning device for a floating device.

[0002]

2. Description of the Related Art For example, when inserting a center hole of a work such as a disk into a rotary shaft of a motor, even if the axis of the work is slightly deviated, the work is moved in the XY directions without applying a large force to the work. A floating device as a device that can be inserted as described above is known, for example, from Japanese Patent Application Laid-Open No. 2-48194.

This floating device is constructed as shown in FIG. Reference numeral 1 is a motor such as a hard disk, and a chamfered portion 2 is formed at the tip thereof. Reference numeral 3 is a work such as a hard disk. The work 3 is provided with an insertion hole 4 into which the motor shaft 1 is inserted, and the work 3 is supported by a floating device 5.

Explaining the floating device 5, reference numeral 6 is a first plate attached to a robot arm or the like. The first plate 6 is provided with three ball casters 7 projecting downward, the lower end of which is provided. A ball 8 is attached to the part. 9 is a second plate, the upper surface of which is the ball 8 of the ball caster 7.
Is in contact with the center of the first plate 6 and the second
A tension spring 10 is stretched between the centers of the plates 9.

A suction hand 11 is provided on the second plate 9, and the work is vacuum-sucked by the suction hand 11. Therefore, the second plate 9 having the suction hand 11 that suctions the work 3 is movable in the XY directions.

When the floating device 5 descends, the insertion hole 4 of the work 3 descends toward the motor shaft 1. At this time, if the axes of the motor shaft 1 and the insertion hole 4 are aligned with each other, it is left as it is. Insert, but motor shaft 1 and insertion hole 4
When the shaft centers of and are misaligned in the XY directions, the inner surface of the insertion hole 4 contacts the chamfered portion 2 of the motor shaft 1 as shown in FIG. A directional component force 13 acts. This component force 12 moves the work 3 in the horizontal direction, and the insertion hole 4 is inserted into the motor shaft 1.

In addition to the floating device 5 described above, an ultra-compact RCC (Remote Center Com) for assembling precision parts is also available.
pliance) device is known. Instead of the ball caster 7 and the tension spring 10 of the floating device 5, the first and second plates 6 and 6, as shown in FIG.
The elastic rubber 14 is provided between the nine. Here, a chamfered portion 16 a is provided at the opening edge of the hole 16 of the work 15, and the shaft 18 grasped by the gripper 17 is inserted into the hole 16.

[0008]

The above-mentioned conventional floating device has the following problems.
That is, in the floating device shown in FIG. 8, when the shaft centers of the motor shaft 1 and the insertion hole 4 are misaligned in the XY directions, the inner surface of the insertion hole 4 has the motor shaft 1 as shown in FIG.
Contacting the chamfered part 2 of the
Works. The component force 13 moves the work 3 in the horizontal direction to insert the insertion hole 4 into the motor shaft 1. That is, the insertion hole 4 must contact the chamfer 2 in order to operate the floating device. Therefore, there is a problem that the chamfered portion 2 can be used only when the size of the chamfered portion 2 can be made larger than the amount of positional deviation between the motor shaft 1 and the insertion hole 4 of the work 3.

Further, since the floating device has a structure in which the second plate 9 is brought into contact with the ball 8 of the ball caster 7 by the tensile force of the tension spring 10, the minimum tensile force required for the tension spring 10 is the second. It is determined by the weight of the plate 9, the suction hand 11, and the work 3.

In this case, since the contact force 12 for realizing the insertion is determined by the elastic force of the tension spring 10, the contact force 12 depends on the weight of the suction hand 11 including the second plate 9 and the work 3. become. That is, when the floating device is operated by the contact force between the motor shaft 1 and the work insertion hole 4, the minimum contact force applied to the work 3 is determined when the suction hand 11 is determined. Therefore, there is a problem that it cannot be used unless a strong force is applied to the work 3.

Further, in the above floating device, 3
Since the first plate 6 and the second plate 9 are supported by the individual ball casters 7, there is a possibility that the work 3 may tilt and cannot be inserted unless the resistance when inserting the work 3 into the motor shaft 1 is uniform. It was

Furthermore, in the above floating device, since the tension spring 10 is arranged in the central portions of the first and second plates 6 and 9, the utilization of the central portions is structurally limited. Therefore, since the suction hand 11 cannot project above the second plate, the distance from the second plate 9 to the work 3 becomes long. In this case, tension spring 1
If the elastic force of 0 is not increased, the suction hand 11 is likely to tilt due to the insertion resistance of the work 3, so that there is a problem that the force applied to the work 3 becomes large or the insertion operation becomes unstable.

On the other hand, in the RCC device shown in FIG. 10, the elastic rubber 14 supports the gripper 17. Since the elastic rubber 14 needs a force sufficient to support the weight of the gripper 17, there is a problem that the minimum contact force applied to the shaft 18 is determined by the weight of the gripper 17 as in the floating device. Further, since the elastic rubber 14 is used, there is a problem that the allowable positional deviation amount is small.

Therefore, according to the present invention, when the insertion portion of the insertion work is inserted into the hole of the work to be inserted, the contact force applied to the work can be reduced regardless of the weight of the holding portion such as a hand holding the work. It is an object of the present invention to provide a floating device that does not damage a work having low rigidity.

[0015]

In order to solve the above-mentioned problems and to achieve the object, the invention described in claim 1 is a work to be inserted having a hole formed therein and an insert inserted into the hole. Corrects the positional deviation of the one work in the direction intersecting with the predetermined direction when holding one work of the insertion work in which the portion is formed and inserting it into the other work from the predetermined direction. In the floating device, the first member, the second member arranged to face the first member, and the second member slidable with respect to the first member in a direction intersecting the predetermined direction. To the second member, a holding portion that is connected to the second member and holds the one work, and is provided slidably in the predetermined direction with respect to the second member and urged in the predetermined direction. Guide pin The guide pin is arranged so as to face the tip end side in the predetermined direction of the guide pin and to come into contact with the tip end portion before the insertion portion is inserted into the hole portion, and the guide pin comes into contact with the guide pin so that The two members are provided with a positioning guide portion that performs correction by generating a force in a direction intersecting with the predetermined direction.

According to the invention described in claim 2, in the invention described in claim 1, the connecting means includes elastic means for elastically connecting the first member and the second member. Preferably.

According to the invention described in claim 3, in the invention described in claim 1 or 2, the coupling means is arranged so as to be movable within a reference plane intersecting the predetermined direction. It is preferable to include at least three spheres and a regulation means for regulating the arrangement of these spheres so that the polygon formed by connecting the center points of the spheres includes the outer diameter of the guide pin.

According to the invention described in claim 4, in the invention described in claim 3, the restriction means is disposed between the first member and the second member, and
It is preferable that the guide plate has a hole provided along a circle having a predetermined diameter and into which the spheres are inserted.

According to the invention described in claim 5, in the invention described in claim 3 or 4, one end of the elastic means is connected to the first member and the other end thereof is the second member. It is preferably composed of a tension spring connected to the.

According to the invention described in claim 6, in the invention described in claim 5, a plurality of the tension springs are arranged so as to be point-symmetric with respect to the center of the polygon. Is preferred.

According to the invention described in claim 7, in the invention described in claim 3 or 4, the elastic means is a plurality of compression springs arranged point-symmetrically with respect to the center of the polygon. It is preferable that one end of the compression spring is connected to the first member and the other end is connected to the second member.

According to the invention described in claim 8, in the invention described in claim 7, a plurality of the compression springs are arranged so as to be point-symmetric with respect to the center of the polygon. Is preferred.

According to the invention described in claim 9, in the invention described in claims 1 to 8, the guide pin is formed by a compression spring connected to at least one of the first member and the second member. It is preferably biased in a predetermined direction.

According to the invention described in claim 10, in the invention described in claims 1 to 9, the movement amount of the first member and the second member in a direction intersecting with the predetermined direction. Is preferably provided within the maximum range of the correction amount by the guide pin and the positioning guide portion.

[0025]

As a result of taking the above-mentioned means, the following effects occur. In the invention described in claim 1, one of the workpiece to be inserted in which the hole is formed and the workpiece to be inserted in which the insertion portion to be inserted in the hole is formed is held and held with respect to the other workpiece. When the second member is inserted from a predetermined direction, the second member, which is arranged to face the first member and is connected to the holding portion for holding one work, is slidable with respect to the first member in a direction intersecting the predetermined direction. A position where a guide pin biased in a predetermined direction is connected to the second member so as to be slidable in the predetermined direction, and the guide pin is in contact with the tip of the guide pin before the insertion portion is inserted into the hole. The guide pin comes into contact with the positioning guide portion arranged at the position to generate a force in the direction intersecting the predetermined direction on the second member, and correct the positional deviation of one workpiece in the direction intersecting the predetermined direction. Can do . Therefore, since the positional displacement in the direction intersecting with the insertion direction is corrected by the contact between the guide pin and the positioning guide portion, the positional displacement is corrected without the direct contact between the work to be inserted and the work to be inserted. It is possible, and the held work does not exert any force.

According to the invention described in claim 2, the first
Since the member and the second member are elastically coupled, they are restored to a predetermined positional relationship when no force is applied to the guide pin.

According to the invention described in claim 3, an array of at least three spheres movably arranged in a reference plane intersecting with a predetermined direction is formed by connecting the center points of the spheres. Since the polygonal shape of the guide pin is regulated so as to include the outer diameter of the guide pin, the guide pin to which a force may be applied from any direction by coming into contact with the positioning guide portion is stably supported via the second member. be able to.

According to the invention described in claim 4, the sphere is arranged between the first member and the second member to regulate the arrangement of the sphere, and is provided along a circle having a predetermined diameter. Since the guide plates are provided with holes to be inserted, it is possible to always keep the polygonal shape.

According to the invention described in claim 5, the first
Since the member and the second member are connected by the tension spring, an appropriate restoring force can be given. According to the invention described in claim 6, since the plurality of tension springs are arranged so as to be point-symmetric with respect to the center of the polygon, the guide pin can be installed in the device without increasing the size of the device. It can be placed near the center.

According to the invention described in claim 7,
Since the member and the second member are connected by the compression spring, an appropriate restoring force can be applied. According to the invention described in claim 8, since the plurality of compression springs are arranged so as to be point-symmetric with respect to the center of the polygon, the guide pin of the device can be provided without increasing the size of the device. It can be placed near the center.

According to the invention described in claim 9, since the guide pin is urged in the predetermined direction by the compression spring coupled to at least one of the first member and the second member, the guide pin is inserted into the work to be inserted. Since the compression spring is compressed when the insertion work is inserted, the insertion operation can be smoothly performed even after the guide pin and the positioning guide portion come into contact with each other.

According to the invention described in claim 10, the movement amount of the first member and the second member in the direction intersecting the predetermined direction is within the maximum range of the correction amount by the guide pin and the positioning guide portion. Can be restricted.

[0033]

1 is a perspective view showing the appearance of a floating device according to a first embodiment of the present invention. FIG. 2 is a perspective view showing the floating device with a part thereof cut away, and FIG. 3 is a sectional view taken along line XX in FIG.

The floating device 20 includes an upper block 30 (first member), a lower block 40 (second member) arranged below the upper block 30 in FIG. 3, and the lower block 40 in FIG. The suction hand plate 50 disposed on the lower side, the disc suction unit 60 (holding unit) disposed on the lower side of the suction hand plate 50 in FIG. 3, and the upper block 30 and the lower block 40 are disposed. The correction mechanism 70 (coupling means) and the positioning mechanism 80 arranged in the upper block 30 and the lower block 40 are provided. Further, in FIG. 3, 90 indicates a disk as a work to be inserted, and 100 indicates a motor shaft as a work to be inserted.

The upper block 30 is provided with a block body 31 formed in a column shape.
A recess 32 is provided on the lower side in FIG. Recess 32
Is located on the upper side in FIG. 3, has a first recess 32a having a predetermined inner diameter, and is located on the lower side in FIG. 3 of the first recess 32a,
The second recess 32b having an inner diameter larger than that of the first recess 32a
And further below the second recess 32b in FIG.
It is formed of a third recess 32c having an inner diameter larger than that of the recess 32b. Further, a through hole 33 penetrating from the upper bottom of the block body 31 in FIG. 3 to the first recess 32a is formed. As shown in FIG. 1, the outer portion of the block main body 31 is spaced at 120 degree intervals around the central axis of the block main body 31.
The three spring posts 34a to 34c are screwed,
Spring posts 45a to 45c of the lower block 40 described later
The tension springs 35a to 35c (elastic means) are attached between and. In addition, 36 in FIG. 3 has shown the robot arm.

The lower block 40 is the upper block 3 described above.
One end of the block body 41 is inserted into the zero recess 32, and the block body 41 is formed in a cylindrical shape having an outer diameter smaller than the inner diameter of the first recess 32a, and a disc-shaped brim provided on the outer side of the block body 41. 3 and the block main body 4 of the upper block 40 which is provided on the upper side in FIG.
And a cylindrical portion 43 slightly larger than the outer diameter of 1.

Inside the block body 41, cylindrical pin guides 44a and 44b are arranged side by side in the vertical direction in FIG. Inside the pin guides 44a and 44b, a pin body 81a of a positioning pin 81 described later is slidably supported in the vertical direction in FIG.

Spring posts 45a to 45c, which are arranged to face the spring posts 34a to 34c of the upper block 30 described above, are screwed to the outer side of the cylindrical portion 43.
The three tension springs 35a to 35c are respectively the spring post 34a and the spring post 45a, the spring post 34b and the spring post 45b, and the spring post 34c and the spring post 45c.
Is pulled with a predetermined pulling force, the upper block 30
Block body 31 and the cylindrical portion 43 of the lower block 40
The upper plate 71 and the lower plate 72 are maintained in contact with the steel balls 74 via the. Further, the restoring force of the tension springs 35a to 35c keeps the position where the central axis of the block body 31 of the upper block 30 and the central axis of the block body 41 of the lower block 40 coincide with each other.

The suction hand plate 50 is composed of a bottomed cylindrical plate body 51. A disk-shaped collar portion 52 is provided on the outer side of the upper end of the plate body 51 in FIG. 3, and is coupled to the collar portion 42 of the lower block 40 by a coupling screw 53. The lower portion of the block body 41 of the lower block 40 in FIG. 3 is inserted into the hollow portion 54 of the plate body 51 from the opening 54a and is screwed. Further, the bottom portion 54b of the hollow portion 54 has a through hole 5 through which a guide pin 81c of a positioning pin 81 described later passes.
4c is formed. Incidentally, reference numeral 55 in FIG. 3 denotes a vacuum path connected to a vacuum path 62a of the disk suction unit 60 described later and connected to the suction force generation device 64.

The disc attracting portion 60 includes a cylindrical portion 61 and an annular portion 6 fitted in a recess 61a of the cylindrical portion 61, which will be described later.
It is composed of two parts and is connected to the collar part 52 of the suction hand plate 50 by a connecting screw 63. Incidentally, reference numeral 64 in FIG. 3 denotes a suction force generation device.

The cylindrical portion 61 has a circumferential recessed portion 61 in the upper portion of FIG.
a is provided, and a gap 61b communicating from the recess 61a to the lower end of the cylindrical portion 61 is circumferentially formed on the lower side in FIG. The annular portion 62 has a vacuum passage 62 communicating with the gap 61b of the cylindrical portion 61 and the vacuum passage 55 of the suction hand plate 50.
a is formed. In the gap 61b, the suction force generated by the suction force generation device 64 allows the tip portion 61c to adsorb the disc 90.

The correction mechanism 70 includes the second block of the upper block 30.
A disc-shaped upper plate 71 that fits into the recess 32b is disposed so as to face the lower portion of the upper plate 71 in FIG.
In addition, the lower surface of the lower block abuts on the upper surface of the lower block 40, and the outer diameter of the lower plate 72 is the same as that of the upper plate 71, and between the upper plate 71 and the lower plate 72. And a disk-shaped retainer 73 having the same outer diameter as the upper plate 71.

The upper plate 71 is formed with a hole portion 71a whose inner diameter is the same as the inner diameter of the first recess 32a of the upper block 30. Further, the lower plate 72 is formed with a hole portion 72a having an inner diameter slightly larger than the outer shape of the lower block 40 and smaller than the inner diameter of the hole portion 71a of the upper plate 71.

The retainer 73 has a hole portion 73a whose inner diameter is the same as the inner diameter of the hole portion 71a of the upper plate 71, and a circular pitch diameter larger than the inner diameter of an insertion hole 91 of the disc 90 described later. As shown in FIG. 4, twelve retainer holes 73b are formed at equal intervals.

Twelve steel balls 74 are rotatably inserted in the retainer holes 73b. These steel balls 74
3, the upper part and the lower part are in contact with the lower surface of the upper plate 71 and the upper surface of the lower plate 72, respectively. The steel balls 74 are always maintained in contact with the upper plate 71 and the lower plate 72 by the restoring force of the tension springs 35a to 35c.

The positioning mechanism 80 includes a positioning pin 81.
And a pin support portion 82 that supports the positioning pin 81. The positioning pin 81 is formed in a cylindrical pin body 81a slidably arranged in the pin guides 44a and 44b, and is formed inside the pin body 81a, and its opening portion is arranged so as to face upward in FIG. And a guide pin 81c which is formed to have a smaller diameter than the pin body 81a and is provided at the lower end of the pin body 81a in FIG. The guide pin 81c
A chamfered portion 81d is formed at the tip of the. Further, the pin body 81a and the guide pin 81c are provided with a channel 81e for sucking dust.

The pin support portion 82 is provided on the stopper 82a screwed into the through hole 33 of the upper block 30 and on the lower side of the stopper 82a in FIG. 3, and the tip end thereof faces the recess 81b of the positioning pin 81. A support pin 82b,
One end thereof is connected to the stopper 82a, and the other end is provided with a compression spring 82c arranged in the recess 81b of the positioning pin 81. The stopper 82a and the support pin 82b
A dust suction flow path (not shown) is provided in the container, and is connected to a dust suction device (not shown) through the through hole 33.

The disc 90 is provided with a circular insertion hole 91 (hole portion). The disc 90 is attracted to the disc attracting portion 60 by the positioning portion 110 described later.
The motor 100 includes a cylindrical shaft body 101 (insertion portion), and the screw hole 1 is provided at the upper portion of the shaft body 101 in FIG.
02 is provided, and a chamfered portion 103 is formed at the opening of the screw hole 102.

FIG. 5 is a side view showing a partially cutaway disk positioning device 110 for holding the floating device 20 and the disk 90 by suction while holding them in the suction holding portion 60 of the floating device 20.

The disk positioning device 110 comprises a base 1
11 and a positioning block 112 in the shape of a truncated cone that is formed on the base 111 and has a maximum diameter smaller than the inner diameter of the insertion hole 91 of the disc 90. A conical positioning block hole 113 is formed at the center of the upper surface of the positioning block 112 in FIG.

The disk 90 and the motor 100 are assembled in the following manner by the floating device 20 and the disk positioning device 110 configured as described above. Assembling is performed in the order of suction holding work by the floating device 20 and the disk positioning device 110, and insertion work into the motor shaft 100 by the floating device 20.

First, the suction holding work is performed. That is, the disc positioning device 110 is inserted into the insertion hole 91 of the disc 90.
Disks are supplied one by one by a disk supply unit (not shown) so that the positioning block 112 of FIG. At this time, if the insertion hole 91 of the disc 90 is displaced, the inner diameter portion of the insertion hole 91 is positioned in the positioning block 112.
And is placed on the base 111 with the positional deviation corrected.

Next, the floating device 20 is positioned above the positioning device 110 in FIG. 5 by the robot arm 36 and lowered. As the floating device 20 descends, the chamfered portion 81d of the guide pin 81c of the positioning pin 81 contacts the positioning block hole 113 of the positioning block 112. At this time, as shown in FIG. 6, the central axis of the positioning block hole 112 and the guide pin 8
If the center axis of 1c is deviated by τ, the guide pin 81
The chamfered portion 81d of c contacts the positioning block hole 113, and a contact force indicated by an arrow S in FIG. 6 is generated. Due to this contact force S, a component force T in the α direction in FIG. 5 is generated on the guide pin 81c.

This component force T acts on the lower block 40 via the positioning pin 81. At this time, the lower plate 7
2 is a steel ball 74 and a tension spring 3 with respect to the upper plate 71.
5a to 35c are only in contact with each other, so the steel ball 7
4 rotates and the lower plate 72 slides easily. The displacement τ is corrected by this movement, and the central axis of the block main body 41 of the lower block 40 and the central axis of the insertion hole 91 of the disc 90 coincide with each other. Even in this case, the lower plate 72 and the upper plate 71 are connected to each other by the tension spring 3
The contact with the steel ball 74 is maintained by each of 5a to 35c.

On the other hand, the force applied to the guide pin 81c is transmitted to the steel ball 74 via the lower plate 72, but since the outer diameter of the guide pin 81c is included in the polygon connecting the centers of the steel balls 74, It is stably supported by the steel balls 74.

When the suction force generating device 64 is operated to generate the suction force at the tip portion 61c through the vacuum paths 55, 62a and the gap 61b, and the floating device 20 is further lowered, the guide pin 81c of the positioning pin 81 is generated.
Receives the upward force in FIG. 6 from the positioning block 112, and the compression spring 82c is compressed. When the tip portion 61c of the disc suction portion 60 contacts the disc 90, the disc 90 is sucked and held by the tip portion 61c with the central axis of the insertion hole 91 aligned with the central axis of the block body 41.

At the same time, dust or the like generated by the contact between the guide pin 81c and the block hole 113 is removed by the positioning pin 81.
Is discharged to the outside through the flow path 81e, the stopper 82a, and the flow path provided in the support pin 82b. Therefore, it is possible to prevent the occurrence of a positioning error due to the accumulation of dust in the block hole 113.

Next, the insertion work is performed. Robot arm 36
The floating device 20 is positioned above the motor shaft 100 in FIG. As the floating device 20 descends, the chamfered portion 81d of the guide pin 81c of the positioning pin 81 reaches the inlet of the screw hole 102 of the motor shaft 100. At this time, if the central axis of the screw hole 102 of the motor shaft 100 and the central axis of the guide pin 81c are deviated, the chamfered portion 81d of the guide pin 81c contacts the chamfered portion 103. At this time, the chamfered portion 1 is attached to the guide pin 81c as in the suction holding work described above.
The contact force from 03 acts, the position of the guide pin 81c is corrected, and the central axis of the block main body 41 of the lower block 40, that is, the central axis of the insertion hole 91 of the disc 90 and the central axis of the motor shaft 100 are aligned. Even in this case, the lower plate 72 and the upper plate 71 are connected to each other by the tension spring 35.
The contact with the steel ball 74 is maintained by each of a to 35c.

When the floating device 20 is further lowered, the guide pin 81c of the positioning pin 81 is moved to the shaft main body 1
The compression spring 82c is compressed by receiving the force from 01 upward in FIG. Center axis of guide pin 81c and insertion hole 91
The disc 90 is inserted without contacting the motor shaft 100 because it coincides with the central axis of the disc.

Finally, when the suction force generator 64 is stopped when the lower surface of the disc 90 comes into contact with the motor seat surface 105 or when the disc 90 is inserted to a predetermined insertion depth, the disc 90 separates from the tip portion 61c. Finish the insert operation.

As described above, according to this embodiment, when the shaft body 101 of the motor shaft 100 is inserted into the hole 91 of the disc 90, the disc 90 is removed by chamfering the guide pin 81c and the positioning hole 103. Motor shaft 100
Since the misalignment between and is corrected, the disc 90 can be inserted without contacting the motor shaft 100. Therefore, even if the disc 90 has low rigidity, it is possible to prevent the disc 90 from being damaged. Further, since the guide pin 81c and the positioning hole 103 can be formed with a larger chamfer than that of the disc 90, the range of correction can be increased. Therefore, the accuracy required for the positioning by the robot arm 36 can be reduced.

On the other hand, since the tension springs 35a to 35c are arranged in point symmetry, the guide pin 81c can be arranged on the central axis of the floating device 20 without increasing the size of the device.

FIG. 7 is a cross-sectional view of essential parts showing a modification of this embodiment. In this modification, the upper block 30 shown in FIG.
A flange portion 37 is provided on the outer edge of the middle and lower ends, and a member 46 projecting above the flange portion 37 is provided on the outer edge of the flange portion 42 of the lower block 40. Further, the three compression springs 38a to 38c (38) are provided between the flange portion 37 and the member 46 at intervals of 120 degrees around the central axis of the block body 31.
b and 38c are incorporated (not shown).

With this structure, the upper plate 71 and the lower plate 72 can be attracted by a predetermined force as in the above-described embodiment. The present invention is not limited to the above embodiment. That is, although one positioning pin is used in the above embodiment, two or more positioning pins may be used. Further, although the position where the positioning pin is arranged is made to coincide with the center of the upper block and the lower block, it may be arranged at another place. Further, although the positioning guide portion is provided in the screw hole of the motor shaft, it is possible to prevent the load from being applied to the motor shaft by providing the positioning guide portion in the jig for fixing the motor. Of course, various modifications can be made without departing from the scope of the present invention.

[0065]

According to the first aspect of the present invention, the contact between the guide pin and the positioning guide portion corrects the positional deviation in the direction intersecting the insertion direction. The positional deviation can be corrected without direct contact with the work piece, and no force is applied to the held work piece.

According to the invention described in claim 2, the first
Since the member and the second member are elastically coupled, they are restored to a predetermined positional relationship when no force is applied to the guide pin.

According to the third aspect of the invention, since the guide pin can be stably supported, the insertion operation can be stably performed. According to the invention described in claim 4, the arrangement of the spheres can be regulated by the guide plate.

According to the invention described in claim 5, the first
Since the member and the second member are connected by the tension spring, an appropriate restoring force can be given. According to the invention described in claim 6, since the plurality of tension springs are arranged so as to be point-symmetric with respect to the center of the polygon, an appropriate restoring force can be given.

According to the invention described in claim 7,
Since the member and the second member are connected by the compression spring, an appropriate restoring force can be applied. According to the invention described in claim 8, since the plurality of compression springs are arranged so as to be point-symmetric with respect to the center of the polygon, an appropriate restoring force can be given.

According to the ninth aspect of the invention, the inserting operation can be smoothly performed when the inserting work is inserted into the inserted work. According to the invention described in claim 10, the movement amount of the first member and the second member in the direction intersecting with the predetermined direction is limited within the maximum range of the correction amount by the guide pin and the positioning guide portion. You can

[Brief description of drawings]

FIG. 1 is a perspective view showing a floating device according to an embodiment of the present invention.

FIG. 2 is a perspective view showing the floating device with a part thereof cut away.

FIG. 3 is a cross-sectional view of the floating device taken along line XX in FIG. 1 and seen in the direction of the arrow.

FIG. 4 is a plan view showing a retainer incorporated in the floating device.

FIG. 5 is a side view for explaining an operation of attracting and holding a disk by the floating device.

FIG. 6 is an explanatory view of the operation of the floating device.

FIG. 7 is a cross-sectional view showing a modified example of the floating device.

FIG. 8 is a side view of a conventional floating device.

FIG. 9 is an operation explanatory view of a conventional floating device.

FIG. 10 is a front view of a conventional RCC device.

[Explanation of symbols]

20 ... Floating device 30 ... Upper block 31 ... Block body 32 ... Recessed part 33 ... Through hole 34a-34c ... Spring post 35a-35c ...
Tensile spring 36 ... Robot arm 37 ... Collar portion 38a-38c ... Compression spring 40 ... Lower block 41 ... Block body 42 ... Collar portion 43 ... Cylindrical portion 44a, 44b ... Pin guide 45a-45c ...
Spring post 46 ... Member 50 ... Adsorption hand plate 51 ... Plate body 52 ... Collar part 54 ... Hollow part 60 ... Disk adsorption part 61 ... Cylindrical part 62 ... Annular part 64 ... Suction force generator 70 ... Correction mechanism 71 ... 72 ... Lower plate 73 ... Retainer 74 ... Steel ball 80 ... Positioning mechanism 81 ... Positioning pin 81a ... Pin body 81b ... Recess 81c ... Guide pin 81d ... Chamfering section 82 ... Pin support section 82a ... Stopper 82b ... Support pin 82c ... Compression spring 90 ... Disc 91 ... Insertion hole 100 ... Motor 101 ... Shaft body 102 ... Screw hole 103 ... Chamfer 110 ... Disc positioning device 111 ... Base 112 ... Block 113 ... Positioning block hole

Claims (10)

[Claims] 1. A work to be inserted having a hole formed therein and a work to be inserted having an insertion portion to be inserted into the hole held to hold one work from a predetermined direction with respect to the other work. In a floating device that corrects a positional deviation of one of the works in a direction intersecting with the predetermined direction when inserting, a first member, and a second member arranged to face the first member, A coupling means for slidably coupling the second member to the first member in a direction intersecting the predetermined direction; and a holding portion connected to the second member for holding the one work. A guide pin that is slidably movable in the predetermined direction with respect to the second member and that is biased in the predetermined direction, faces a tip end side of the guide pin in the predetermined direction, and has the hole in the hole. Insertion Before the part is inserted, the guide pin is arranged at a position where it abuts against the tip portion, and based on the abutment of the guide pin, a force is generated in the second member in a direction intersecting with the predetermined direction for correction. A floating device comprising a positioning guide portion. 2. The connecting means comprises the first member and the second member.
The floating device according to claim 1, further comprising elastic means for elastically coupling with a member. 3. The at least three coupling means are movably arranged in a reference plane intersecting with the predetermined direction.
A sphere, and a regulating means for regulating the arrangement of these spheres so that a polygon formed by connecting the center points of the spheres includes the outer diameter of the guide pin. The floating device according to 1 or 2. 4. The regulating means includes the first member and the second member.
The floating device according to claim 3, wherein the floating plate is a guide plate that is arranged between the member and a member and that is provided along a circle having a predetermined diameter and that has the holes into which the spheres are inserted. 5. The elastic means comprises a tension spring having one end connected to the first member and the other end connected to the second member. The floating device described in. 6. The floating device according to claim 5, wherein a plurality of the tension springs are arranged in point symmetry with respect to the center of the polygon. 7. The elastic means comprises a plurality of compression springs arranged point-symmetrically with respect to the center of the polygon, one end of the compression spring being connected to the first member, and the other end being the first member. Two
The floating device according to claim 3 or 4, wherein the floating device is connected to a member. 8. The floating device according to claim 7, wherein a plurality of the compression springs are arranged so as to be point-symmetric with respect to the center of the polygon. 9. The guide pin according to claim 1, wherein the guide pin is urged in a predetermined direction by a compression spring coupled to at least one of the first member and the second member. The floating device described. 10. Limiting means for limiting the amount of movement of the first member and the second member in a direction intersecting the predetermined direction within the maximum range of the amount of correction by the guide pin and the positioning guide portion. The floating device according to any one of claims 1 to 9, further comprising: