JPH0985546A - Method and device for push and moving parts - Google Patents

Abstract

PROBLEM TO BE SOLVED: To absorb shock at the time of contact generated when parts are moved by releasing advance transmission force at the time when reaction force against advance force after advance force is pressure transmmitted from both sides of a movable retainer. SOLUTION: In a state where parts are moved to a target position left and right sliders 1a, 1b are continued to move, and compression and pressurization coil springs 8a, 8b are compressed further, then pistons 9a, 9b pushing the parts corresponding to the compression quantity increases in their power. When the compression force of the springs 8a, 8b reaches a certain value or more, balls 2a, 2b on both sides which have transmitted the force of sliders 1a, 1b to a movable retainer 6 shut out the transmission force of the advancing sliders 1a, 1b by jumping out against the pressure elastic force of adjustment compression coil springs 4a, 4b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the mechanization of assembling work of glass parts and small parts having small mechanical strength which are easily broken when a large external force is applied, so that these parts can be safely and reliably carried to a predetermined position without being broken. The present invention relates to a method of pushing and moving a component that can be carried out, and an apparatus directly used for its implementation.

[0002]

2. Description of the Related Art Generally, in the assembly work of parts made of brittle materials such as glass parts, it is often dependent on manpower. In this case, there is a problem that the assembly cost becomes high because the work efficiency is not good. Therefore, mechanization is essential to reduce the assembly cost.

[0003]

In this mechanization, there is a problem in that the holding of the component at one important technical point destroys the component if the holding force is too strong, and drops the component if it is too weak. As a countermeasure for this, generally, a force sensor is incorporated in order to hold with an appropriate force, and an image processing device for determining the position and orientation of parts is adopted in order to limit the holding position. To do.

Moreover, in such an assembling work, since the shape and size of the parts are also affected, the manufactured device is not versatile and is often a dedicated machine for a specific part.
As described above, in the conventional situation, there is a problem that the mechanization does not lead to the reduction of the assembly cost.

The main objects to be solved by the present invention are as follows. A first object of the present invention is a method of pushing and moving a component that enables mechanization and automation of the moving work with a simple structure in positioning by pushing and moving the component on a plane or inserting into an opening. And to provide a device.

A second object of the present invention is to provide a method and apparatus for pushing and moving parts in which the working cost of the moving work is reduced.

A third object of the present invention is to provide a method and apparatus for pushing and moving a component which has a small mechanical strength and which does not give an excessive pushing force which leads to breakage or damage to a brittle component. .

A fourth object of the present invention is to provide a method and apparatus for pushing and moving a component that adapts the shape of the contact portion of the component and applies a pushing force.

[0009] Other objects of the present invention will become apparent from the description of the specification, drawings, and particularly from the claims.

[0010]

In order to solve the above-mentioned problems, the above-mentioned object is achieved by adopting the novel characteristic methods and means listed in the following by the present invention. That is, the first of the method of the present invention
The feature of is that the movable holding body that holds one or more pistons that have the protruding tips that can be contacted with the components is advanced by being inserted into and retracted from the cylinder hole and elastically biasing the protruding behavior at all times,
When the parts are pushed and moved to the fixed positions, the forward force is pressure-transmitted from both sides of the movable holding body, and the forward force is released when the reaction force against the forward force becomes higher than a predetermined level. There is a method of pushing and moving parts.

A second feature of the method of the present invention resides in a method of pushing and moving a component, in which the elastic biasing of the piston in the first feature of the method of the present invention, which always has a tendency to project, is constituted by compression spring elasticity.

A third feature of the method of the present invention resides in a method of pushing and moving a part in which the forward pressure transmission from both sides in the first or second feature of the method of the present invention is uniform.

A fourth feature of the method of the present invention is a method for pushing and moving a component in which the forward pressure transmission in the first, second or third feature of the present invention is elastic.

The fifth feature of the method of the present invention is that the elastic pressing in the first, second, third or fourth feature of the method of the present invention is adjustable according to the component. It is in.

The sixth feature of the method of the present invention is that the pressure transmission of the forward force in the first, second, third, fourth or fifth feature of the method of the present invention is concave on both sides of the movable holding member. It is a method of pushing and moving a component, which is performed through engagement between a V groove provided and a ball.

The seventh feature of the method of the present invention is that the release of the forward transmission force in the sixth feature of the method of the present invention is such that the ball disengages from the V groove against the elastic pressing force. There is a method of pushing and moving parts.

The eighth feature of the method of the present invention is that the component in the first, second, third, fourth, fifth, sixth or seventh feature of the method of the present invention is a glass component or a small component. The method and apparatus for pushing and moving parts which are fragile or have low mechanical strength.

The first feature of the device of the present invention is to hold one or more pistons having a head at the tip of the protrusion which is elastically urged so as to constantly project and is inserted in a cylinder hole so as to be retractable and retractable. In addition, a movable holding body having V grooves formed on both sides thereof and a backup pin for elastically pressing the ball engaging with the V groove so as to transmit forward force are housed in the pin loading holes.
It is a device for pushing and moving parts, which has a combination of left and right integrated sliders that are arranged opposite to each other with the movable holder sandwiched in between.

The second feature of the device of the present invention is that the piston in the first feature of the device of the present invention is elastically wound by interposing a compression coil spring so as to be slidable in the axial direction between the head and the movable holding member. It is in a device for moving and pushing parts that are urged.

A third feature of the device of the present invention is that the piston in the first or second feature of the device of the present invention is loaded with a compression coil spring between the inner end and the blind end of the cylinder hole to elastically bias the piston. It is in the device for moving parts.

A fourth feature of the device of the present invention is that the slider according to the first, second or third feature of the device of the present invention is movable between a pair of front and rear stoppers provided with a stroke interval between the front and rear reciprocating strokes. It is in a device for pushing and moving parts formed in the above.

A fifth feature of the device of the present invention is a device for pushing and moving parts, in which the left and right sliders of the first, second, third or fourth feature of the device of the present invention are configured to be synchronously interlocked. is there.

A sixth feature of the device of the present invention is that the movable holding member according to the first, second, third, fourth or fifth feature of the device of the present invention integrally guides the left and right sliders. It is a device for pushing and moving parts that is set so that it can be moved back and forth.

A seventh feature of the device of the present invention is a head with which the backup pin in the first, second, third, fourth, fifth or sixth feature of the device of the present invention presses and contacts a ball. A push-moving device for moving parts, which includes a guide cylinder into which a slide rod protruding from the inner end surface of an adjusting screw screwed to the inner peripheral surface of the pin loading hole is inserted.

An eighth feature of the device of the present invention is that the backup pin of the seventh feature of the device of the present invention is slidable in the axial direction and is elastically adjustable by the adjusting screw while being placed between the head and the adjusting screw. In a device for moving and pushing a component, a compression coil spring is wound around.

[0026]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention realizes the following embodiments by taking the novel methods and means described above.

According to the method of the present invention, the mechanical strength is small, and the impact of contact of the bridging glass or the like with the protruding tip is alleviated, so that the compression elastic force is applied to the piston and the shape of the contact portion of the component is adapted. On the other hand, when at least the predetermined pushing force immediately before exceeding the strength of the component is applied to the piston, the embodiment in which the pressure transmission of the forward pushing force from both sides of the movable holding body can be released is adopted. This avoids damage to the parts during the pushing movement.

In the device of the present invention, the movable holding body for holding the piston inserted by being constantly biased by the cylinder hole so as to project, and the left and right opposite to each other so as to reciprocate back and forth with the movable holding body interposed therebetween. A pair of sliders are engaged with V-shaped grooves formed on both side surfaces of the movable holding body with balls whose elastic pressure is backed up from the inside of the slider to transmit the forward force of the left and right sliders to the movable holding body. And a functional structure in which the engagement between the ball and the V groove is released against the backup elastic pressure of the ball when a reaction force of a certain amount or more is applied to the movable holding body through the piston. Take.

[0029]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to an embodiment in which a component is positioned at a fixed position in a fixed posture, but the present invention is not limited to this. It goes without saying that it applies to work.

(Apparatus Example) An example of an apparatus as an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a partially broken plan view showing an example of the present apparatus, and FIG. 2 is a sectional view of a portion corresponding to line II-II in FIG.

In the figure, 1a and 1b are left and right sliders, and 1
a ', 1b' are pin loading holes, 1a ", 1b" are female screws,
2a and 2b are balls, 3a and 3b are adjusting screws, 3a ',
3b 'is a slide rod, 4a and 4b are compression coil springs, 5a and 5b are backup pins, 5a' and 5b 'are heads, and 5a "and 5b" are guide cylinders.

6 is a movable holder, 6a and 6b are cylinder holes, 6a 'and 6b' are blind ends, 7a and 7b are V-grooves, 8a,
8b is a compression coil spring, 9a and 9b are pistons, 9
a ', 9b' are heads, 9a ", 9b" are piston inner ends, 10a, 10b are left and right front stoppers, 11a, 11b
Is a left / right rear stopper, 12 is a guide groove, 12a is an intermediate stopper receiver, 13 is an intermediate stopper, and 14 is a positioning stopper (see FIG. 3).

In this example of the apparatus, the two sliders 1a and 1b, which are visible on the left and right in the figure, are integrally formed by connecting with the guide groove 12, for example, because they are bilaterally symmetrical. The adjusting screws 3a and 3b are formed with male screws on the outer peripheral surfaces thereof, and are screwed with the female screws 1a "and 1b" formed on the inner peripheral surfaces of the outer openings of the pin loading holes 1a 'and 1b' to form sliders 1a and 3b.
The position of the compression coil spring 4 can be adjusted arbitrarily by rotating it with respect to 1b, and the compression coil spring 4 added to the balls 2a and 2b.
The strength of the elastic force of a and 4b is adjusted by changing the positions of the adjusting screws 3a and 3b. The inside of the guide cylinders 5a ", 5b" of the backup pins 5a, 5b are hollow so that the small diameters of the slide rods 3a ', 3b' of the adjusting screws 3a, 3b can freely move.

With this structure, when the left and right sliders 1a and 1b are moved from the outside in the X direction, the movable holding member 6 moves in the same direction as the left and right sliders 1a and 1b via the balls 2a and 2b, and the compression coil springs 8a and 8a. The pistons 9a and 9b move in the same manner as the movable holding body 6 via 8b. The left and right sliders 1a and 1b are connected to the left and right front and rear stoppers 10a and 1b.
When it hits 0b or 11a, 11b, the entire movable part stops. That is, the pistons 9a, 9b can integrally follow the operation of the left and right sliders 1a, 1b moving between the front and rear stoppers 10a, 10b or 11a, 11b via the movable holding body 6.

The left and right sliders 1a and 1b are integrally connected via a guide groove 12 shown by an imaginary line, and the guide groove 12 for accommodating and setting the movable holder 6 movably back and forth is in the middle shown by an imaginary line. It is also possible to form the concave intermediate stopper receiver 12a into which the stopper 13 is fitted, so that the compression compression coil springs 8a and 8b are connected to the blind ends 6a 'and 6 of the cylinder holes 6a and 6b.
It is also possible to interpose between b'and the inner ends 9a ", 9b" of the pistons 9a, 9b.

(Example of Method) The execution operation procedure of the example of the method as the embodiment of the present invention applied to the present example of the apparatus will be described with reference to the drawings. 3A to 3D are explanatory views of the progress procedure of each stage of the execution operation of this method example, and FIG. 4 is a principle for releasing and breaking the engagement transmission relationship between the ball elastically pressed by the backup pin and the V groove. FIG.

In this example of the method, the glass component α is moved without being damaged and brought into close contact with the positioning stopper 14, and is executed through the following steps of the progress situation. (A) A setting step of preparing and waiting for the entire arrangement before moving the left and right sliders 1a and 1b.

(B) The left and right sliders 1a and 1b are synchronously and integrally moved to move the heads 9a 'and 9 of the pistons 9a and 9b.
b ′ comes into contact with the contact portion of the component α, compresses the compression coil springs 8a and 8b according to the arrangement posture of the component α, and the positions of the pistons 9a and 9b are adaptively displaced. Be absorbed. When the left and right sliders 1a and 1b are pushed forward in this state, the compression compression coil springs 8a and 8b are further compressed, and the pistons 9a and 9b.
The force of the pressurizing / compressing coil springs 8a and 8b for pushing b increases. Then, when the force of the pressure compression coil springs 8a and 8b becomes larger than the frictional force of the component α, the component α starts to move in the movement starting step.

(C) Part of the part α is the positioning stopper 1
When it comes into contact with No. 4, the translational movement up to now changes to a rotational movement centering on this contact point. Then, when the part α comes to a position in close contact with the positioning stopper 14, the movement is stopped.
This is the positioning completion step, which means that the part α has been moved to the target position.

(D) In this situation, the left and right sliders 1 are still
Since a and 1b continue to move, the compression pressure coil spring 8
a and 8b are further compressed, and the part α
The force of the pistons 9a and 9b that pushes is increased. However, when the compression force of the pressure compression coil springs 8a and 8b exceeds a certain value, the balls 2a and 2b on both sides, which have transmitted the force of the left and right sliders 1a and 1b to the movable holding member 6, move to the V grooves 7a on both sides of the movable holding member 6. Left and right slides 1 that move forward from 7b by protruding against the compression elastic force of the adjusting compression coil springs 4a and 4b.
The transmission force of a and 1b is cut off. As a result, the piston 9
The forward transmission force interruption step in which the pushing force acting on the part α from a and 9b is released.

Next, when the compression force of the pressure compression coil springs 8a, 8b exceeds a certain value, the left and right sliders 1a, 1
The principle of blocking the force of b will be described with reference to FIG. When the left and right sliders 1a and 1b are moving while pushing the part α,
The forces Fa of the left and right sliders 1a and 1b are applied to the balls 2a and 2b.
And three forces of the force Fb of the adjusting compression coil springs 4a and 4b acting via the backup pins 5a and 5b and the reaction Fc are acting.

The reaction force Fc corresponds to the frictional force between the component α and the moving surface when the component α is moving, and after reaching the positioning stopper 14, the force Fa of the left and right sliders 1a and 1b.
Is a reaction force that acts in the opposite direction with the same strength as. Ball 2
Since a and 2b jump out from the V grooves 7a and 7b after the component α comes into contact with the positioning stopper 14, the reaction F
It can be considered that c is a reaction of the force Fa of the left and right sliders 1a and 1b.

Whether the balls 2a, 2b stay in the V-grooves 7a, 7b or roll out during the movement of the left and right sliders 1a, 1b is supported by a contact point S between the balls 2a, 2b and the slopes of the V-grooves 7a, 7b. If the clockwise moment M + is larger than the counterclockwise moment M- depending on the moment acting on the center point O of the balls 2a, 2b,
b rolls out from the V grooves 7a and 7b, and in the opposite case V
It will be retained in the grooves 7a and 7b. On the other hand, since the point O exists on the line of action for the forces Fa and Fb among the three forces, these two forces are related to the moment of the point O, but the reaction force Fc acts on the fulcrum S, so that the point O Not involved in the moment.

Therefore, assuming that the base angles of the V grooves 7a and 7b are 2θ and the radii of the balls 2a and 2b are r, the component force in the horizontal direction (x direction) of the slopes of the V grooves 7a and 7b with respect to the two forces Fa and Fb. fax, fbx, and the component force in the vertical direction (y direction)
It is divided into fby and point O by these two forces Fa and Fb.
When the moment of is calculated, M + = rfax = rFa sin θ (clockwise) M− = rfbx = rFb cosθ (counterclockwise).

Vertical components of each force fay, fby
Does not relate to the moment of point O. Ball 2 from this
In order for a and 2b to roll out from the V-grooves 7a and 7b, it is only necessary to satisfy the following equation. rFb cos θ <rFa sin θ (1)

On the other hand, the acting force Fa must be smaller than the force Fb that destroys the part α, so the safety factor α
If (<1), the relationship between them is Fa <αFb (2).

By substituting equation (2) into equation (1) and rearranging, Fb <αFb tan θ (3) is obtained. That is, if the positions of the adjusting compression coil springs 3a and 3b are determined so that the force Fb of the adjusting compression coil springs 4a and 4b pushing the balls 2a and 2b satisfy the relation of the expression (3), an excessive force acts on the brittle parts. The desired movement can be done without damaging it.

[0048]

As described above, according to the present invention,
Since the three movable parts are made of a flexible mechanical connection by springs, it is possible to absorb the impact at the time of contact when moving the parts and to avoid applying excessive force. It has excellent effects such as being applicable to the movement of fragile parts.

[Brief description of drawings]

FIG. 1 is a partially cutaway plan view showing an example of an apparatus as an embodiment of the present invention.

FIG. 2 is a sectional view taken along line II-II in FIG.

FIG. 3 shows an example method as an embodiment of the present invention, and
Are explanatory diagrams of the progress procedure of each stage of the execution operation

FIG. 4 is an explanatory view of the principle of releasing and interrupting the engagement transmission relationship between the ball elastically pressed by the backup pin and the V groove in the above.

[Explanation of symbols]

 1a, 1b ... Sliders 1a ', 1b' ... Pin loading holes 1a ", 1b" ... Female screws 2a, 2b ... Balls 3a, 3b ... Adjusting screws 3a ', 3b' ... Slide rods 4a, 4b ... Adjusting compression coil springs 5a, 5b ... Backup pin 5a ', 5b' ... Head 5a ", 5b" ... Guide cylinder 6 ... Movable holding body 6a, 6b ... Cylinder hole 6a ', 6b' ... Blind end 7a, 7b ... V groove 8a, 8b ... Pressurization Compression coil spring 9a, 9b ... Piston 9a ', 9b' ... Head 9a ", 9b" ... Piston inner end 10a, 10b ... Front stopper 11a, 11b ... Rear stopper 12 ... Guide groove 12a ... Intermediate stopper receiving 13 ... Intermediate stopper 14 ... Positioning stopper α ... Moving parts

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[Procedure amendment]

[Submission date] September 27, 1995

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0017

[Correction method] Change

[Correction contents]

The eighth feature of the method of the present invention is that the component in the first, second, third, fourth, fifth, sixth or seventh feature of the method of the present invention is a glass component or a small component. It is a method of pushing and moving parts that are fragile or have low mechanical strength.

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Koji Matsunaga 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nihon Telegraph and Telephone Corporation

Claims (16)

[Claims] Claim: What is claimed is: 1. A movable holder for holding one or more pistons, which are inserted in a cylinder hole so as to be movable in and out so as to be constantly elastically biased to project, and have one or more pistons having an outgoing tip capable of coming into contact with a component, to move the component. During the pushing and moving to the fixed position, the forward force is pressure-transmitted from both sides of the movable holding body, and the forward force is released when the reaction force against the forward force becomes higher than a predetermined value. A method for pushing and moving characteristic parts. 2. The method for pushing and moving a component according to claim 1, wherein the elastic biasing of the piston, which always has a protruding tendency, is based on compression spring elasticity. 3. The method for pushing and moving a part according to claim 1, wherein the forward pressure transmission from both sides is even. 4. The method for pushing and moving a part according to claim 1, 2 or 3, wherein the forward pressure is transmitted by elastic pressure. 5. The method for pushing and moving a component according to claim 1, 2, 3 or 4, wherein the elastic pressure is adjustable according to the component. 6. The pressurization transmission of the forward force is carried out through engagement of V-grooves provided on both sides of the movable holding body with balls, and 1, 2, 3, 4 or 5. The method of pushing and moving the parts described in. 7. The method for pushing and moving a component according to claim 6, wherein the forward transmission force is released by releasing the engagement of the ball from the V groove against the elastic pressure. 8. The component is a component such as a glass component or a small component which is easily broken or has a low mechanical strength, wherein the component is a component having a small mechanical strength.
The method of pushing and moving the parts described in. 9. One or more pistons having heads at the tips of protrusions which are elastically urged to constantly project and are inserted in a cylinder hole so as to be capable of protruding and retracting, and V grooves are formed on both sides. A movable holding body provided and a backup pin that elastically pressurizes the ball that engages with the V groove so that the forward force can be transmitted are accommodated in the pin loading hole, and the movable holding body is sandwiched in between, and the left and right integrated units are arranged to face each other. It is a combination of the slider of and, and is a pushing and moving device for parts. 10. The component according to claim 9, wherein the piston elastically urges a compression coil spring interposed between the head and the movable holding body so as to be slidable in the axial direction. Mobile device. 11. The pushing and moving device for parts according to claim 9, wherein the piston has a compression coil spring loaded between the inner end and the blind end of the cylinder hole to elastically bias the piston. 12. A component pushing and moving device according to claim 9, 10 or 11, wherein the slider is formed so as to be movable between a pair of front and rear stoppers provided at a front and rear reciprocating stroke interval. . 13. The component feeding and moving device according to claim 9, 10, 11 or 12, wherein the left and right sliders are configured to be capable of being synchronized and interlocked with each other. 14. The movable holding member is set so as to be movable back and forth in a guide groove that integrally connects the left and right sliders.
The moving device for pushing and moving the parts described in. 15. The backup pin forms a head for pressing and contacting a ball, and a guide cylinder into which a slide rod protruding to the inner end surface of an adjusting screw screwed to the inner peripheral surface of the outer hole of the pin loading hole is inserted. 15. The component transfer device according to claim 9, 10, 11, 12, 13 or 14. 16. The backup pin is wound between a head and an adjusting screw, and a compression coil spring is wound so as to be slidable in the axial direction and elastically adjustable by the adjusting screw. The moving device for pushing and moving the parts described in.