JPH10156783A - Chuck and method for using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a chuck capable of securely clamping a small member, and easily and accurately transferring, pressing, and assembling the small member into other member. SOLUTION: A chuck main body 2 is provided with a group of legs 3 consisting of plural legs 3a. The group 3 of legs is securely held against the chuck main body 2 at its first end, has its second end formed into a free end, and is made of an elastically deformable material. The end 4 of the group 3 of legs is placed on the same circumferential of an outside diameter (d), and a tapered part 6 is formed at the end 4 of the group 3 of legs. By inserting the end 4 into a through hole or a bottomed hole in a member, the member can be clamped. The through hole or bottomed hole in the member is formed to have a diameter smaller than the outside diameter (d).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chuck for gripping a relatively small member having a through hole or a bottomed hole, transferring it to a predetermined position and delivering it, and a method of using the same.

[0002]

2. Description of the Related Art Conventionally, for example, when a small member such as a nut is transferred from its storage position to a desired position,
A chuck and a device for automatically transporting the chuck are used. Although an automatic machine such as a robot is often used as the device, a chuck having various structures is used. As a general chuck structure, there are many types that detachably engage with the outer diameter of a member to grip the member, and those that hold the member by vacuum-sucking the surface of the member.

[0003]

In the case of a chuck structure for gripping the outer diameter of a member, the engagement between the member and the chuck is simple, and the structure of the chuck is relatively simple.
When many identical members are stored adjacently, it is difficult to grip one of them. In addition, if a member whose outer diameter is gripped is pressed into another member while being chucked, the chuck may come into contact with the other member and press-fit may be difficult, and the chuck may protrude from the member. In many cases, a space is required, and the chuck itself interferes with other members, making it difficult to press-fit or assemble in many cases.

On the other hand, the method using vacuum suction has a problem that, in the case of a small member, the suction force is insufficient and the holding is insufficient, and the member falls during press-fitting or assembling operation. Further, the suction hole of the chuck also has a small diameter, so that there is a problem that the suction hole is easily clogged. Further, there is a problem that the apparatus structure becomes complicated, the cost becomes high, and a transfer to a remote place becomes difficult because a vacuum source is required.

Further, in any of the above-mentioned prior arts, there is no means for detecting whether the small member is gripped or sucked by the chuck or whether the small member is pressed into another member. Such detection is performed.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a chuck and a method of using the same, which can securely hold a small member, and can easily and accurately transfer, press-fit, and assemble the small member to another member. That is.

[0007]

Means for Solving the Problems To achieve the above object, an invention according to claim 1 is a chuck for gripping a member having a through hole or a hole having a bottomed shape, comprising: a chuck body; When the base end side is fixed to the chuck body and the distal end side is formed at the free end and inserted into the through hole or the bottomed hole, it is elastically deformed according to the inner surface of the through hole or the bottomed hole. And a plurality of foot groups for gripping the member by the elastic force thereof, provided near the tip of the foot group, and inserted into the through hole or the bottomed hole of the foot group, the member And a flange portion that abuts on the surface of the foot group to regulate the insertion position of the foot group.

According to the above construction, when the foot group is inserted into the through hole or the bottomed hole, the foot group is elastically deformed following the inner surface of the through hole or the bottomed hole. Alternatively, an elastic force is applied to the inner surface of the bottomed hole from the foot group, and the member is reliably held by the elastic force.
In addition, since a collar portion is provided near the tip of the foot group, when the foot group is inserted into a through hole or a bottomed hole,
The surface of the member abuts against the flange, and the insertion position of the foot group can be restricted to a predetermined position. Then, in this state, transfer to a desired position is possible by a free transfer device such as a robot. In addition, since the through-hole or the bottomed hole is gripped, the member can be attached to another part while being chucked, assembled by press-fitting, screwing, or the like.
Further, the engagement and release between the chuck and the member can be easily achieved by merely inserting and removing. In addition, equipment cost can be reduced because the chuck structure is simple.

According to a second aspect of the present invention, there is provided a chuck for gripping a member having a through hole or a hole having a bottomed shape, the chuck body having a base end fixed to the chuck body and a distal end being a free end. When formed and inserted into the through hole or the bottomed hole, a plurality of the plurality of holes are elastically deformed in accordance with the inner surface of the through hole or the bottomed hole, and grip the member by the elastic force. And a detecting means for detecting whether or not the foot group is gripping the member, and provided near the tip of the foot group, to the through hole or the bottomed hole of the foot group. And a flange that abuts on the surface of the member to regulate the insertion position of the foot group at the time of insertion.

According to the above arrangement, since the detecting means for detecting whether or not the foot group is holding the member is provided,
An automatic transfer device such as a robot may start the transfer operation even though the group of legs does not hold the member, or the robot or the like may not be assembled with other members while the member remains at the tip of the group of legs. It is possible to prevent an operation error such as that the automatic transfer device of (1) goes to get the next member.

[0011] Examples of the detecting means are described in claims 3 and 4. That is, the invention according to claim 3 is a chuck having a through hole or a hole with a bottomed shape and holding a conductive member, wherein the chuck main body, the base end side is fixed to the chuck main body, The side is formed at the free end, and when inserted into the through hole or the bottomed hole, the member is elastically deformed in accordance with the inner surface of the through hole or the bottomed hole, and the elastic force causes the member to be deformed. A plurality of feet that are gripped and formed of a conductive material;
Applying a voltage between two feet of the foot group, detecting means for detecting whether the foot group is gripping the member, provided near the tip of the foot group, And a flange portion that abuts against the surface of the member and regulates the insertion position of the foot group when the foot group is inserted into the through hole or the bottomed hole.

According to the above configuration, since the foot group is formed of a conductive material, when the foot group grips the conductive member,
Current flows between the two feet. Therefore, when a current flows between the two feet, it can be determined that the group of feet is holding the member.

According to a fifth aspect of the present invention, there is provided a chuck for gripping a member having a through hole or a bottomed hole, wherein the chuck body has a base end fixed to the chuck body and a distal end free. Formed at the end, when inserted into the through hole or the bottomed hole, elastically deforms following the inner surface of the through hole or the bottomed hole, and grips the member by its elastic force. A plurality of foot groups, and a light irradiating light near the tip of the foot group, receiving the light, and detecting whether or not the foot group is gripping the member; and And a flange portion that is provided near the distal end portion of the foot group and that contacts the surface of the member to regulate the insertion position of the foot group when the foot group is inserted into the through hole or the bottomed hole. It is characterized by:

According to the above arrangement, the detecting means always irradiates the vicinity of the tip of the foot group with light, and when the foot group grips a member, the light is blocked by the member. Therefore, when the light is blocked, it can be determined that the foot group is holding the member.

According to a seventh aspect, the outer shape of the through hole or the bottomed hole is circular. That is, the invention according to claim 7 is a chuck for gripping a through hole having an inner diameter D or a bottomed hole having a depth b with the inner diameter D, wherein the chuck body includes:
The chuck body is composed of a plurality of elastically deformable feet that have a base end fixed to the chuck body and extend toward the distal end by a length L, and the distal end of the feet has a diameter d (d> d) in a free state.
D), each of which is arranged on the same outer periphery, and each of the foot groups is formed with a flange portion capable of abutting on the surface of the member at a position at least shallower than the hole depth b of the member from the tip thereof. It is characterized by.

[0016] The invention described in claim 8 is the first to third aspects of the present invention.
In any one of the fifth and seventh aspects, a tapered portion whose diameter is reduced toward the tip is formed at the tip of the foot group. With this configuration, the foot group can be smoothly inserted into the hole.

A ninth aspect of the present invention is a method of using a chuck. That is, the invention according to claim 9 provides a chuck body connected to an automatic transfer device such as a robot, and a plurality of elastic deformations having a base end fixed to the chuck body and extending by a length L toward the tip. By a chuck consisting of a group of possible feet, a through hole having an inner diameter D or a bottomed hole having a depth b at the inner diameter D is gripped, and the member having the through hole or the bottomed hole is transported to a desired position. A method of using a chuck for transferring the member or assembling the member to another member, wherein the penetrating portion penetrates a tip end side of the foot group disposed on the same outer circumference having a diameter d at least larger than the inner diameter D in a free state. After being inserted into the hole or the hole with the bottom shape, a flange formed at a position at least shallower than the depth b on the tip side of the foot group contacts the surface of the member, and grips the member, The automatic transfer device Transports the member gripped by the chuck to a desired position, and delivers or assembles the member to another member side by inserting or press-fitting, and then moves the automatic transporting device in a direction opposite to the insertion or press-fitting method to chuck the chuck. Is released from the member.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a chuck according to the present invention and a method of using the same will be described in detail with reference to the drawings. (Embodiment 1) As shown in FIG. 3, the chuck according to the present embodiment grasps small members 8 or 8a arranged adjacently on the supply device 10 one by one and transfers them to another place. The member 8 or 8a is inserted into the concave hole 12 of the other member 9 as shown in FIG.
Is used when press-fitting. Here, the member 8 has a through hole 7 penetrating from the front surface to the back surface, and the member 8a
Is formed with a bottomed hole 7a which does not penetrate to the back surface. The application of the chuck of the present embodiment is not limited to the description here.

As shown in FIG. 1 and FIG.
Is composed of a chuck body 2 and a foot group 3 whose base end is fixed to the chuck main body 2 and extends by a length L toward the distal end. Note that the foot group 3 is formed by arranging a plurality of feet 3a having the same shape, and in this embodiment, four feet 3a are arranged at equal intervals on the same circumference as shown in FIG. The chuck main body 2 is formed of a rigid block body and is connected to a robot (not shown) which is one of automatic transfer devices.

The foot group 3 is made of an elastically deformable spring material or the like, and each of the feet 3a has its distal end 4 elastically deformed in the diameter increasing or decreasing direction based on the base end on the chuck body 2 side. The tip 4 of each leg 3a is a free end, and is arranged on the same circumference with an outer diameter d in a free state. This outer diameter d
Is set slightly larger than the inner diameter D of the through hole 7 or the bottomed hole 7a.

At the tip 4 of each foot 3a, a flange 5 is provided at each foot 3a.
And are provided integrally. The flange 5 is provided at a position above the distal end of each leg 3a by a length a, and has a flat surface formed on the lower surface thereof so as to be in contact with the surface of the member 8 or 8a. Note that the length a is set to be shorter (shallower) than the hole depth b (see FIG. 3) of the bottomed hole 7a formed in the member 8a. In addition, a tapered portion 6 whose diameter is reduced toward the tip is formed at the tip 4 of the foot group 3. By forming the tapered portion 6 in this manner, the foot group 3 can be easily inserted into the through hole 7 or the bottomed hole 7a.

A method of using the chuck 1 having the above configuration will be described with reference to FIGS. As described above, in the chuck 1 of the present embodiment, the outer diameter of the distal end portion 4 of the foot group 3 is the diameter d in the free state (see FIG. 1). On the other hand, as shown in FIG. 3, the member 8 or 8a mounted on the supply device 10 is conveyed right below the chuck 1 from the C direction. Then, the chuck body 2 is lowered as shown by the arrow B in FIG. 3, and the tip 4 of the foot group 3 is inserted into the through hole 7 of the member 8, for example. In this case, since the tapered portion 6 is formed in the tip 4, the tip 4 can be easily inserted into the through hole 7. Further, since the foot group 3 is formed of a spring material or the like which can be elastically deformed, when the tip 4 is inserted into the through hole 7, the tip 4 is reduced in diameter following the inner surface of the through hole 7, and Is completely inserted into the through hole 7, the outer diameter d thereof is substantially equal to the inner diameter D of the through hole 7. Thus, the foot group 3 is d-D
Since the foot group 3 is made of a spring material or the like, the distal end 4 of the foot group 3 is pressed against the inner surface of the through hole 7 by the elastic force.

The foot group 3 is provided with a flange 5 at a distance a from the distal end. When the distal end 4 is inserted into the through hole 7, the lower surface of the flange 5 becomes the surface of the member 8. Abuts,
The insertion position of the foot group 3 is restricted to a predetermined position. As a result, the insertion length of the distal end portion 4 is always constant, and the distal end portion 4 is inserted straight into the through hole 7, and the member 8 is gripped in a normal posture without tilting. Further, when the chuck body 2 is lifted in the direction of arrow E as shown in FIG.
Move upward away from.

Next, the chuck body 2 is moved in the direction of arrow F in FIG.
Other component 9 fixed at a position separated by a predetermined distance from 0
Transfer to just above. The other component 9 includes a member 8 (or 8
a) is formed in advance, and the inner diameter of the concave hole 12 is slightly larger than the outer diameter of the member 8 (or 8a), that is, a size in which the member 8 (or 8a) can be press-fitted. Is set to Then, as shown in FIG. 5, by lowering the chuck main body 2 in the direction of arrow G, the member 8 held by the chuck 1 is inserted into the concave hole 12 and press-fitted. Since the member 8 is held in the concave hole 12 by press-fitting, the member 8 is left in the concave hole 12 when the chuck body 2 is pulled up in the arrow H direction as shown in FIG. Is released from the member 8.

In the above-described method of using the chuck, the chuck 1 is configured such that the distal end portion 4 of the foot group 3 is inserted into the through hole 7 of the member 8 or the member 8.
a into the bottomed hole 7a, and connect the flange 5 to the member 8 or 8
Since the member 8 or 8a is gripped only by contacting the surface of the member a, the operation of taking out the member 8 or 8a is extremely simple and quick. Further, since the foot group 3 is made of an elastically deformable spring material or the like, the member 8 or 8a is securely gripped and does not drop. On the other hand, when the member 8 or 8a held by the chuck 1 is pressed into another component 9, there is almost no interference between the chuck 1 and other peripheral components, and no space is required. Therefore, delivery to a peripheral component, assembling, and the like are also easily performed.

Since the length of the leg group 3 and the value of d-D can be set as appropriate, the chuck 1 having a desired gripping force can be prepared corresponding to the member 8 or 8a. . Further, even when the member 8 is a bottomed hole 8a, a sufficient gripping force can be obtained by appropriately setting the length a of the distal end portion 4 in accordance with the depth b of the hole.

In the above description, only the case where the member 8 or 8a gripped by the chuck 1 is press-fitted into another component 9 has been described. The method of wearing can be performed simply as described above.

(Embodiment 2) FIGS. 7 and 8 show a schematic configuration of a chuck according to Embodiment 2 of the present invention. In the chuck 20 according to the present embodiment, a base end of a foot group 21 made of an elastically deformable spring material or the like and formed of a conductive material is fixed to the chuck body 2. The foot group 21 includes two feet 21a, and a collar portion 23 is provided near a tip portion 22 thereof. The flange 23 is the same as that shown in the first embodiment, and is located at a distance a from the tip of the foot 21a.
a is provided integrally. A tapered portion 24 is formed at the tip 22 of the foot 21a.

The tips 22 of the two legs 21a are free ends, and are arranged on the same circumference with an outer diameter d in a free state. The outer diameter d is equal to the through hole 7 of the member 8 described above.
Alternatively, the diameter is set slightly larger than the inner diameter D of the bottomed hole 7a of the member 8a.

Terminals 25 are provided at the upper ends of the two legs 21a.
Is attached, and a cord 26 is connected to the terminal 25. A power supply 27 is connected to the cord 26, and a voltage can be applied to the two legs 21a. A voltage detection sensor 28 is provided in the middle of the cord 26.

When the chuck 20 configured as described above is used, as shown in FIG. 8, when the member 8 or 8a made of a conductive material is supplied by the supply device 10, the foot group 21 is moved. Whether or not the member 8 or 8a is gripped can be easily detected. That is, since a voltage is always applied between the two legs 21a by the power supply 27, the member 8 or 8a made of a conductive material is
If it is held at 1, current flows between the two legs 21a.
Then, this is detected by the voltage detection sensor 28, and it can be determined that the foot group 21 is gripping the member 8 or 8a.

FIG. 8 shows that the foot group 2 is attached to the member 8 on the supply device 10.
1 is inserted, and the voltage detection sensor 28 detects the voltage. Therefore, it is determined that the foot group 21 is securely gripping the member 8, and the member 8 is pulled up by the chuck 20 as shown by the arrow E. It shows the place.

The member 8 or 8 held by the foot group 21
When a is pressed into the concave hole 12 of the other member 9 shown in FIG. 6, it can be detected whether or not the press-fit has been performed normally. That is, the press-fit is performed normally and the foot group 21
Is removed from the member 8 or 8a from the tip 22 of
Since the current stops flowing between the two legs 21a, this may be detected by the voltage detection sensor 28.

In this embodiment, an example is shown in which the foot group 21 is provided with two feet 21a, but three or more feet 21a are provided.
May be provided. Then, a voltage may be applied between the two feet 21a.

(Embodiment 3) FIGS. 9 to 11 show Embodiment 3 of the present invention. FIG. 9 is a front view of a chuck, and FIG.
0 is a bottom view, and FIG. 11 is a front view of the chuck holding the member. In the chuck 30 of the present embodiment, an inverted L-shaped arm portion 31 is provided on a side surface of the chuck body 2, a light emitting portion 32 is provided at a lower end of one arm portion 31, and a lower end portion of the other arm portion 31 is provided. , Light receiving sections 33 are respectively attached. The mounting positions of the light emitting unit 32 and the light receiving unit 33 are eccentric from the center of the foot group 3 as shown in FIG.
The light emitted from the light emitting section 32 is not blocked by the foot group 3. Other configurations are the same as those in the first embodiment.

In order to prevent the light emitting section 32 and the light receiving section 33 from hitting the member 8 or 8a when the chuck 30 is lowered to grip the member 8 or 8a,
In the present embodiment, the member 8 or 8a is supplied in a direction perpendicular to the plane of FIG.

With the above arrangement, when the foot group 3 grips the member 8 as shown in FIG. 11, for example, light from the light emitting section 32 is blocked by the member 8 and does not reach the light receiving section 33. It can be determined that the foot group 3 is holding the member 8.

According to the present embodiment, even if the member 8 or 8a is not made of a conductive material as in the second embodiment,
It is possible to detect whether the foot group 3 is holding the member 8 or 8a.

(Embodiment 4) FIG. 12 is a front view of a chuck according to Embodiment 4 of the present invention. In the chuck 50 of the present embodiment, a displacement sensor 51 is attached to the distal end portions 4 of the two feet 3a.
Are installed facing each other.

When the displacement sensor 51 is attached as described above, when the tip portions 4 of the two feet 3a are inserted into the through holes 7 of the member 8 or the bottomed holes 7a of the member 8a, the two feet 3a It is possible to detect that the space at the distal end portion 4 is narrowed due to the elastic deformation of the member 3a, whereby it is possible to detect whether or not the foot group 3 is gripping the member 8 or 8a.

(Fifth Embodiment) FIGS. 13 and 14 show a fifth embodiment of the present invention. This embodiment is an automatic nut press-fitting device for holding a nut with a chuck and press-fitting the nut into a concave hole. FIG. 13 is a front view thereof, and FIG. 14 is a plan view thereof.

The automatic nut press-fitting device of this embodiment comprises two side rails 61 provided horizontally and in parallel, a cross rail 62 provided between the side rails 61 and movable on the side rails 61, A nut grip portion 63 provided on the cross rail 62 and movable on the cross rail 62. Then, the chuck 60 for holding the nut 64 is attached to the nut holding portion 63,
The chuck 60 is moved up and down by a chuck up and down driving mechanism 65 provided on the nut gripping portion 63. The same chuck as that described in the first or second embodiment is used as the chuck 60.

Further, a cross rail drive mechanism 65 for moving the cross rail 62 along the side rail 61 is provided on the cross rail 62, and the chuck holding section 63 is moved along the cross rail 62 to the chuck holding section 63. A chuck gripper drive mechanism 66 is provided for each. Further, in the automatic nut press-fitting device of the present embodiment, a nut supply part 67 for supplying the nut 64 to the nut gripping part 63 and a press fit for mounting the press fit member 68 having the concave hole 68a. A member mounting section 69 is provided. In the figure, reference numeral 70 denotes a nut removing portion for removing a nut held by the chuck 60, and a magnet is attached to the upper surface thereof. Also, 7
Reference numeral 1 denotes a support column for supporting the side rail 61.

Next, a series of operations for press-fitting a nut into a concave hole of a member to be press-fitted by using the nut automatic press-fitting device having the above configuration will be described with reference to FIG. First, the chuck holding unit 63 is moved to the nut supply unit 67, and the chuck 60 is lowered by the chuck holding unit driving mechanism 66 to hold the nut 64 (step 100). And
While raising the chuck 60, it is detected whether or not the nut 64 is securely held (step 101). The detection of whether or not the nut has been gripped may be a method by applying a voltage as in the second embodiment, or a method by light irradiation as in the third embodiment. Nut 64 in step 101
If it is detected that the nut is not gripped, the nut 6
The operation of holding the nut is repeated until the nut 4 is securely held.

Next, when the nut 64 is gripped, the chuck 60 is raised, and the cross rail drive mechanism 6
5 and the nut gripper drive mechanism 66 are driven to move the nut gripper 63 to the press-fitted member mounting portion 69,
The nut 64 gripped by the chuck 60 is transferred (step 102). Then, the chuck 60 is positioned just above one of the press-fitted members 68 placed on the press-fitted member mounting portion 69, and the chuck 60 is lowered by the chuck gripper driving mechanism 66, and the concave hole of the press-fitted member 68 is formed. The nut 64 is press-fitted into 68a (step 103).

When the nut 64 is press-fitted, the chuck 60 is raised, and it is detected whether or not the nut 64 is securely press-fitted into the concave hole 68a (step 104). Detection in this case is also performed by a method by applying a voltage as in the second embodiment, or by a method by light irradiation as in the third embodiment.

When the press-fitting is securely performed, the cross rail drive mechanism 65 and the nut gripper drive mechanism 66 are driven, and the nut gripper 6 is gripped to grip the next nut 64.
3 is moved to the nut supply section 67 (step 10).
5). If the press-fitting has not been performed reliably, the nut gripper 63 is moved to the nut remover 70, and the nut 64 still gripped by the chuck 60 is removed by attracting the magnet to the magnet (step 106). The nut gripper 63 is moved to the nut supply unit 67.

[0048]

As described above, according to the chuck of the present invention, by inserting the tip of the foot group of the chuck into the through hole or the bottomed hole of the member, the elastic force of the foot group can be reduced. The member is securely held on the chuck side by the margin. That is, the member is reliably held by a simple operation of simply inserting the tip of the foot group into the member. Further, by making the formed flange provided near the distal end abut on the surface of the member, the insertion position of the distal end is made uniform, and the member is held in a correct posture by the flange. Further, since the chuck of the present invention does not grip the outer diameter unlike the prior art, it is possible to reliably grip the members supplied adjacently one by one.

Further, since a detecting means for detecting whether or not the member is gripped is provided at the tip of the chuck, the chuck may be moved to the destination of the member even if the member is not gripped, or the member may be moved. Although the remains at the tip of the chuck, an operation error such as going to get the next member can be prevented.

According to the method of using the chuck of the present invention, a member having a through hole or a bottomed hole supplied adjacently can be reliably gripped, and the member can be transferred as it is. When press-fitting and assembling into another member placed at another distant position, it can be performed in the same posture. In addition, the press-fitting and assembling work can be performed quickly and smoothly without interference with peripheral parts. Further, space can be saved.

[Brief description of the drawings]

FIG. 1 is a front view of a chuck according to Embodiment 1 of the present invention.

FIG. 2 is an enlarged view as viewed from a direction A in FIG. 1;

FIG. 3 is a schematic view showing a state where a chuck is lowered to grip a member.

FIG. 4 is a schematic view showing a state where a chuck grips a member and moves upward.

FIG. 5 is a schematic view showing a state in which a member held by a chuck is pressed into another component.

FIG. 6 is a schematic view showing the chuck released from the member after the press-fitting of the member is completed.

FIG. 7 is a schematic configuration diagram of a chuck according to Embodiment 2 of the present invention.

FIG. 8 is a schematic diagram showing a state in which a chuck grips a member and rises.

FIG. 9 is a schematic configuration diagram of a chuck according to Embodiment 3 of the present invention.

FIG. 10 is a bottom view of the chuck of FIG. 9;

FIG. 11 is a schematic view showing a state in which a chuck is holding a member.

FIG. 12 is a schematic configuration diagram of a chuck according to Embodiment 4 of the present invention.

FIG. 13 is a schematic configuration diagram of a nut automatic press-fitting device according to Embodiment 5 of the present invention.

FIG. 14 is a plan view of the automatic nut press-fitting device of FIG.

FIG. 15 is a flowchart showing an operation of press-fitting a nut by the automatic nut press-fitting device.

[Explanation of symbols]

 1,20,30,50.60 Chuck 2 Chuck main body 3,21 Leg group 3a, 21a Leg 4,22 Tip part 5,23 Flange part 6,24 Tapered part 7 Through hole 7a Hole with bottom shape 8,8a Member 9 Other parts 10 Supply device 12 Concave hole 27 Power supply 28 Voltage detection sensor 32 Light emitting unit 33 Light receiving unit 51 Displacement sensor

Claims (9)

[Claims] 1. A chuck for gripping a member having a through hole or a hole with a bottomed shape, comprising: a chuck main body; a base end fixed to the chuck main body; and a distal end formed at a free end; Or when inserted into a bottomed hole,
The through-hole or the bottomed shaped hole is elastically deformed in accordance with the inner surface thereof, and a plurality of feet that grip the member by its elastic force. At the time of insertion into the through-hole or the bottomed hole, a flange that contacts the surface of the member and regulates the insertion position of the foot group,
A chuck comprising: 2. A chuck for gripping a member having a through hole or a hole having a bottomed shape, said chuck body having a base end fixed to said chuck body and a distal end formed at a free end, wherein said through hole is formed. Or when inserted into a bottomed hole,
It is elastically deformed following the inner surface of the through hole or the bottomed hole, and the plurality of feet that grip the member is detected by the elastic force, and whether or not the feet are gripping the member is detected. Detection means, provided near the tip of the foot group,
At the time of insertion of the foot group into the through hole or bottomed hole,
A chuck portion that abuts on a surface of the member to regulate an insertion position of the foot group. 3. A chuck having a through hole or a bottomed hole and holding a conductive member, wherein the chuck body has a base end fixed to the chuck body and a distal end formed at a free end. Therefore, when inserted into the through hole or the bottomed hole, the member is elastically deformed in accordance with the inner surface of the through hole or the bottomed hole, and the elastic force holds the member, A plurality of foot groups formed of a material, and a detection unit that detects whether the foot group is gripping the member by applying a voltage between two feet of the foot group,
Provided near the tip of the foot group, when inserted into the through hole or bottomed hole of the foot group, a flange portion that contacts the surface of the member to regulate the insertion position of the foot group, A chuck comprising: 4. The chuck according to claim 3, wherein the detecting unit detects when a current flows between the two legs.
A chuck for determining that the group of feet is gripping the member. 5. A chuck for gripping a member having a through-hole or a hole with a bottomed shape, said chuck body having a base end fixed to said chuck body and a distal end formed at a free end, said through-hole being provided. Or when inserted into a bottomed hole,
While elastically deforming in accordance with the inner surface of the through hole or the bottomed hole, the elastic force irradiates a plurality of foot groups that hold the member and light near the tip of the foot group, and irradiates the light. Detecting means for detecting whether or not the foot group is gripping the member, and provided near the tip of the foot group, to the through hole or the bottomed hole of the foot group. And a flange that abuts on the surface of the member to regulate the insertion position of the foot group when the member is inserted. 6. The chuck according to claim 5, wherein said detecting means determines that said group of feet is gripping said member when said light is blocked. 7. A chuck for gripping a through hole having an inner diameter D or a bottomed hole having an inner diameter D and having a depth b, comprising: a chuck body; A plurality of elastically deformable feet that extend by a length L, and the distal end side of the feet has a diameter d (d
> D), each of the foot groups is formed with a flange portion at a position at least shallower than the hole depth b of the member from the tip of the foot group, the flange portion being capable of contacting the surface of the member. A chuck characterized in that: 8. The chuck according to claim 1, wherein a tapered portion that decreases in diameter toward the tip is formed at the tip of the foot group. . 9. A chuck body connected to an automatic transfer device such as a robot, and a plurality of elastically deformable legs which are fixed to the chuck body at a base end and extend toward the tip by a length L. With the chuck, a through hole having an inner diameter D or a bottomed hole having a depth b at the inner diameter D is gripped, a member having the through hole or the bottomed hole is transported to a desired position, and the member is delivered or A method of using a chuck to be assembled to another member, wherein in a free state, the tip side of the foot group arranged on the same outer periphery having a diameter d at least larger than the inner diameter D is formed in the through hole or the bottomed shape. After being inserted into the hole, a flange formed at a position at least shallower than the depth b on the distal end side of the foot group is brought into contact with the surface of the member, and the member is gripped. Is gripped by After transferring the member to a desired position and transferring or assembling the member to another member side by inserting or press-fitting, moving the automatic transfer device in a direction opposite to the insertion or press-fitting method to release the chuck from the member. Characteristic usage of chuck.