JPH11285928A - E-shaped snap ring removing device and judging method for it - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow easy and certain separation of an E-shaped snap ring without being influenced by any other shaft or the like approaching and also facilitate automation of the removing operation by spreading the snap ring, moving in the axial direction, and then separating from the shaft. SOLUTION: This E-shaped snap ring removing device is equipped with a shaft fixing part 2 which approaches axially to the end part of a shaft to which an E-shaped snap ring is fastened and is fitted to the shaft end part, two arms 5 and 6 fitted in the opening of the snap ring to spread it, and a rotating mechanism 10 for opening and closing the two arms in the spreading direction. A first 3 and a second movable shaft member 4 to support their respective arms are at their base ends fitted on the shaft fixing part in the double coaxial form.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a copying machine, a printer,
OA equipment such as an image forming apparatus such as a facsimile,
In other electronic devices, mechanical devices, etc., the E-shaped retaining ring used when fixing the shaft portion such as the shaft end portion and the bearing portion to another member such as the side plate is automatically removed to improve the disassembling work. In addition, the present invention relates to an improvement of a removing device that enables a shaft and an E-shaped retaining ring to be recycled. More specifically, a conventional E-shaped retaining ring is inserted in a radial direction in a fastening portion having a structure in which an E-shaped retaining ring is fastened to a shaft end protruding from a shaft hole provided in a side plate or the like to prevent the shaft from falling off. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for removing an E-shaped retaining ring which has solved various problems caused by detachment.

[0002]

2. Description of the Related Art A substantially E-shaped retaining ring (E) is formed by processing a thin metal plate into a C-shaped arc shape and providing projections at both ends and a central portion thereof.
The ring is fastened to an end of a shaft inserted into a shaft hole of a member such as a side plate or the like, and has been frequently used as a means for preventing the shaft from falling off. The shaft end to which the E-shaped retaining ring is to be fastened has a groove on its outer peripheral surface, and the E-shaped retaining ring is attached to the outer periphery of the shaft end so that three protrusions fit into the groove. The fitting prevents the shaft from falling out of the shaft hole by the E-shaped retaining ring having a diameter larger than that of the shaft hole. When disassembling a device or removing a shaft for repair or maintenance in an electronic device, a mechanical device, or the like having a fastening portion using such an E-shaped retaining ring, the E-shaped retaining ring is used as a shaft end. It is necessary to remove from the part. The removed shaft or E-shaped retaining ring can be recycled if the degree of damage is small. Various devices have been conventionally proposed as devices for manually or automatically removing such an E-shaped retaining ring. Most of the conventional detaching devices release the engagement by moving the E-shaped retaining ring in the radial direction of the shaft while releasing the engagement between the E-shaped retaining ring and the shaft. For example, the "E-shaped retaining ring removal tool" disclosed in Japanese Patent Application Laid-Open No. 1-257575 (YDK) employs a jig provided with a pair of projections on its radial surface or edge.
There has been disclosed a technique in which an E-shaped retaining ring is held on a jig when the retaining ring is removed, thereby shortening a removal time. Further, Japanese Patent Application Laid-Open No. 2-256472 (Chubu Bearing Mfg. Co., Ltd.) discloses a device that can be used for both attachment and detachment in "E-shaped retaining ring attachment / detachment device". Japanese Patent Application Laid-Open No. HEI 8-118253 (Oki Electric Industry Co., Ltd.) discloses a "retaining ring extracting tool" in which a plate-shaped removing tool is provided with a through-hole, and an E-shaped retaining ring is fitted into the through-hole to extract. A technique for performing the method is disclosed, and since the permanent magnet is provided above the through hole, the E-shaped snap ring can be collected without scattering. Items common to each of the above prior arts are:
In any case, a method is adopted in which the E-shaped retaining ring is removed in the radial direction by pressing the shaft from the radial direction.

However, when the disassembly work is actually performed on the premise of recycling, the order of assembly does not always follow the order of assembly. Therefore, in a portion where the shaft portions are densely arranged, other shaft portions and members that are close to each other in the radial direction are not used. In many cases, it becomes difficult to remove the E-shaped retaining ring by pressing in the radial direction as an obstacle. In particular, depending on the angular position and direction of the opening of the E-shaped retaining ring, it may fall into a situation where it cannot be removed by pressing in the radial direction unless the E-shaped retaining ring is rotated. It requires a difficult operation to rotate the retaining ring so that the opening faces in a direction that does not interfere with the operation, and as a result, it reduces the disassembly workability, damages the shaft and the retaining ring, and reduces the recyclability. A defect occurred. When it was impossible to rotate the retaining ring, it was extremely difficult to remove the retaining ring without damaging it. Also,
When the direction of the opening makes it difficult to press the retaining ring in the radial direction and remove it from the shaft, it is often difficult to automate the work of removing the E-shaped retaining ring. Was. In particular, since the direction of the opening of the E-shaped retaining ring is often inconsistent, even in manual work, it is extremely complicated work that the operator applies the tool in the direction of removal while visually checking it, and basically automation is not possible Met.

[0004]

As described above, a general fastening method using an E-shaped retaining ring is often used as a fastening method for preventing a shaft portion from falling off from another member. Therefore, in a portion where the shafts are densely packed, or in a device where the shafts are densely mounted, such as a headphone stereo or a fastening portion of a shaft end in a handy video or the like, adjacent shafts interfere with each other. Therefore, it is difficult to remove the retaining ring by the conventional method of pressing the E-shaped retaining ring in the radial direction. Actually, when performing disassembly work on the premise that parts are recycled, the assembling order is not always followed, so that there are many places where the E-shaped retaining ring cannot be removed in a portion where the shaft portions are densely packed. In addition, depending on the angular position of the opening of the E-shaped retaining ring, it cannot be removed unless the opening of the retaining ring is rotated, causing problems such as reduced workability and incompatibility with automation. In particular, since the direction of the opening of the E-shaped retaining ring varies, it is difficult to remove the tool by manually applying the tool to the opening of the retaining ring, and it is not possible to perform this operation automatically. It was possible. In addition, the conventional E-shaped retaining ring removal device has poor operability of the device (tool) due to the fact that the E-shaped retaining ring has a thin plate shape and the relative positioning accuracy with respect to the tool body is severe. There was a problem. Also, in the actual removal work, a method of disassembling by removing the E-shaped retaining ring while twisting with the tip of the driver is generally used, and the twisted shaft is easily scratched, and the shaft parts are reused. There was a problem that it became impossible.

An object of the present invention is to reliably and quickly remove an E-shaped retaining ring without being interfered by another shaft located in the periphery. That is, by expanding the E-shaped retaining ring and moving it in the axial direction to separate from the shaft, the retaining ring can be reliably and easily separated without being affected by other adjacent shafts. Can be easily automated. An object of the invention of claim 2 is to remove the E-shaped retaining ring without interfering with other shafts even if the number of shafts to which the E-shaped retaining ring is fastened is dense or the structure is complicated. It is in.

Next, the E-shaped retaining ring removed by the conventional method is liable to be scattered due to the recoil at the time of removal, is dangerous, and requires much time and effort for recovery. An object of the invention of claim 3 is that the E-shaped retaining ring detached from the shaft is not scattered, but is safely removed and securely collected, so that it is possible to easily determine / reuse the shaft and the retaining ring. It is in. Next, the direction of the opening of the normal E-shaped retaining ring is not determined,
Therefore, when removing in the radial direction, the removal direction of the E-shaped retaining ring is random. In the invention of claim 4,
An object of the present invention is to make it possible to remove the E-shaped retaining ring by identifying the position of the shaft end and the rotation angle regardless of the direction in which the opening faces. That is, the purpose is to automate such an identification operation and a removal operation. Next, since the direction of the opening of the E-shaped retaining ring is not generally determined, when using the conventional removal device, it is necessary for an operator to visually confirm the position of the opening, which reduces the workability and increases the automation. Was an obstacle to An object of the invention of claim 5 is to enable the operator to automatically identify the position of the shaft end and remove the E-shaped retaining ring without having to confirm the direction of the opening. . Next, a sixth object of the present invention is to provide a method for removing E-shaped retaining rings having a plurality of nominal sizes by using a single detaching device. Next, an object of the present invention is to make it possible to cope with shafts having different diameters by one removing device. Next, in the current situation where E-shaped retaining rings are used, the size and material of E-shaped retaining rings are not unified in one device, and various types of E-shaped retaining rings are mixed. Is the actual situation. In addition, in the manual disassembly operation, it is easy to forget to remove. An object of the invention of claim 8 is to enable the E-shaped retaining ring to be quickly identified, disassembled and collected by size / material by automation. According to the ninth aspect of the present invention, the size, material, and mounting position of the E-shaped retaining ring are input to a computer or the like using the image recognition vision and the color filter, so that the E-shaped retaining ring can be used for disassembly and determination of parts. Become. Claim 1
In the invention of No. 0, the E-shaped retaining rings color-coded by size / material, etc. are distinguished by the image recognizing unit, and they are automatically distinguished and disassembled and collected, thereby effectively utilizing resources and contributing to the conservation of the global environment. The purpose is to do.

[0007]

In order to solve the above-mentioned problems,
The invention according to claim 1 is characterized in that a shaft fixing portion that approaches the shaft end of the target shaft to which the E-shaped retaining ring is fastened and engages with the shaft end and an opening in the E-shaped retaining ring. It is characterized by comprising two arms provided with pins for fitting and expanding the E-shaped retaining ring, and a rotating mechanism for opening and closing the two arms in the expanding direction. According to a second aspect of the present invention, the first movable shaft member and the second movable shaft member respectively supporting the two arms engage with the outer periphery of the shaft fixing portion at the base end thereof in a double coaxial manner. It is characterized by having. According to a third aspect of the present invention, there is provided a suction mechanism for sucking the E-shaped retaining ring detached from the target shaft by expanding the opening by the pin. According to a fourth aspect of the present invention, there is provided a rotary drive mechanism for rotating the entire E-shaped retaining ring removing device about the axis of the shaft fixing portion. The invention according to claim 5 is characterized in that an opening detecting mechanism is provided for detecting that the two pins have entered the opening of the E-shaped retaining ring. The invention according to claim 6 is characterized in that each of the arms has its base end pivotally supported by each movable shaft member and is elastically biased toward the shaft fixing portion. . The invention according to claim 7 is characterized in that the shaft fixing portion has a cylindrical portion having an open end, and the inside of the cylindrical portion has a multiplex structure. According to an eighth aspect of the present invention, in the step of removing the E-shaped retaining ring using the E-shaped retaining ring removing device according to any one of the first to seventh aspects, the E-shaped retaining ring main body or the E-shaped retaining ring is fastened. The end of the target shaft is colored according to the size and material of the E-shaped retaining ring. According to a ninth aspect of the present invention, the E-shaped retaining ring removal device is provided with a vision device for recognizing an image, and the vision device is provided with a color filter to determine the color of the E-shaped retaining ring or the target axis. It is characterized by doing so. Claim 1
The invention of claim 0 is characterized in that the E-shaped retaining ring is automatically determined and removed by using the E-shaped retaining ring determining method according to the eighth or ninth aspect.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to embodiments shown in the drawings. FIGS. 1 (a), 1 (b) and 1 (c) are an external perspective view, a plan view, and an exploded perspective view of an example of an E-shaped snap ring removing device of the present invention, and FIGS. 2 (a) and 2 (b) are diagrams. FIG. 2 is an axial cross-sectional view of an embodiment corresponding to FIG. The E-shaped retaining ring removing device 1 shown in FIG.
For example, the detaching device 1 is attached to a robot hand (not shown). The detaching device 1 is a cylindrical positioning locator (shaft fixing portion) fitted to the end of the shaft 21 to which the E-shaped retaining ring 20 shown in FIG. 2), a first and a second movable shaft member 3, which are arranged facing each other along the peripheral surface of the locator 2,
4, first and second arms 5, 6 fixedly supported on the distal end surfaces of the movable shaft members 3, 4 and protruding downward at a predetermined angle, and fixed on the distal end surfaces of the arms 5, 6. And the first and second movable shaft members 3 and 4 are configured to be rotatable along the outer peripheral surface of the locator 2. That is, the first and second movable shaft members 3 and 4 are double coaxial so as to be relatively rotatable with respect to the outer periphery of the shaft portion 2a of the locator 2 by a required configuration (rotating mechanism 10). Mated. In addition, the first and second
The movable shaft members 3 and 4 are configured to be movable in the axial direction with respect to the locator 2. In the detaching device 1 of the present invention, in a state where only the locator 2 is protruded, the distal end opening of the locator 2 is fitted to the shaft end portion of the shaft (target shaft) 21 to be disassembled, and is positioned. And 2 movable shaft members 3, 4
Is inserted in the opening of the E-shaped retaining ring 20 fitted on the outer periphery of the shaft end by sliding the pin 7 in the distal direction, and then both ends of the E-shaped retaining ring 20 are connected to the respective pins 7,
The first and second movable shaft members 3, 4 are rotated in the expanding direction indicated by the arrow B in FIG. As a result, the opening of the E-shaped retaining ring 20 is held while being expanded by both the pins 7 and 8, and in this state, the removing device 1 is entirely retracted in the axially rearward direction. Can be released, and the shaft 21 can be removed from the groove at the shaft end.

As shown in FIG. 2 (a), the rotating mechanism 10 includes a cylindrical portion 3a of the first movable shaft member 3 and a second movable shaft member coaxially around the shaft portion 2a of the locator 2. The four cylindrical portions 4a are sequentially fitted. It should be noted that this is the rotation mechanism 10
This is merely an example of the configuration, and is not limited to this structure. The first movable member 3 has a support protrusion 3b protruding in the outer radial direction at a distal end portion of the cylindrical portion 3a, and has the arm 5 on a distal end surface of the support protrusion 3b. In this embodiment, the tip of the arm 5 is fixed at a predetermined angle toward the locator 2, and the angle of inclination of the arm 5 is such that the pin 7 protruding from the tip of the arm 5 has an E-shaped snap ring. Set so that it can easily enter the opening. The second movable member 4 includes a cylindrical portion 4
a has a support projection 4b protruding in the outer diameter direction at the tip end of
The arm 6 is provided on the distal end surface of the support protrusion 4b. In this embodiment, the tip of the arm 6 is fixed so as to form a predetermined angle toward the locator 2, and the inclination angle of the arm 6 is such that the pin 8 projecting from the tip of the arm 6 is an E-shaped snap ring. Set so that it can easily enter the opening. Then, the two arms 5 and 6 are set to have the same inclination angle.
The detaching device 1 is configured to be able to advance and retreat in the axial direction indicated by an arrow A in FIG. Are rotatable in synchronism by an equal angle by a driving means (not shown), and the movable members 3 and 4 are relatively movable in the axial direction relative to the locator 2 by a driving means (not shown). .

The locator 2 is means for fitting and holding the end of the shaft 21 to which the E-shaped retaining ring 20 is fastened on the inner wall of the opening at the tip. When the movable members 3 and 4 are moved forward as shown in FIG. 2 (a), the rotation angles of the movable members 3 and 4 are adjusted so that the pins 7 and 8 enter the openings of the E-shaped retaining ring 20 as shown in FIG. The movable members 3 and 8 are set in a direction in which the pins 7 and 8 are separated from each other while the pins 7 and 8 enter the opening.
4 is rotated to expand the E-shaped retaining ring 20 to have an enlarged diameter that can be detached from the groove at the shaft end, and further advance the arrow to move along the outer periphery of the shaft end. Depart from above indicated by. As a result, the E-shaped retaining ring can be completely separated from the shaft end in the radial direction,
The E-shaped retaining ring can also be retracted in the axial direction by retracting the entire detaching device 1 rearward while holding it with both pins 7 and 8 at the time of detachment from the groove.

FIGS. 3 (a), 3 (b) and 3 (c) are a partial sectional view, an end view, and a perspective view, respectively, showing the front structure of another embodiment of the present invention. 2 is substantially the same as the embodiment shown in FIG. 2, except that a holding mechanism 30 integrally protruding forward from the upper part of the second movable shaft member 4 is provided, and the holding mechanism 30 is axially relative to the holding mechanism 30. The structure provided with a movable remover 40 is different. Holding mechanism 3
Reference numeral 0 denotes a support portion 31 that protrudes in the axial direction from the upper portion of the second movable shaft member 4, and a suction mechanism 32 integrated with a tip portion of the support portion 31. As shown in FIG. 3 (b), the suction mechanism 32 has a substantially semicircular shape whose end face matches the shape of the E-shaped retaining ring 20 as a whole, and is located on the left and right sides of the central slit 33. A permanent magnet is provided below the holding plate 34.
Alternatively, a suction unit 35 using negative pressure is provided. The ridge 34a provided along the outer contour of each holding plate 34
The inner wall is configured to receive the E-shaped retaining ring 20.

In this embodiment, the pins 7 and 8 expand the E-shaped retaining ring 20 by the same operation as in the embodiment of FIG. 2, so that the E-shaped retaining ring 20 moves upward along the outer periphery of the shaft 21. In the process of moving, the E-shaped retaining ring 20 enters the two holding plates 34 waiting at the position immediately above the E-shaped retaining ring. When the upper end of the E-shaped retaining ring 20 reaches the suction part 35, the E-shaped retaining ring 20 starts to be held by the suction part 35, and FIG.
(b) As shown by the dashed line therein, the E-shaped retaining ring surely enters both holding plates 34 as it rises, and finally reaches the uppermost portion and is completely held along the inner wall of the ridge 34a. Become. When this state is reached, the two movable shaft members 3, 4 are slightly rotated inward so that the two pins 7, 8 are detached from both ends of the E-shaped retaining ring. Or by retracting the entire removal device rearward, the shaft 2
From 1 to E, the retaining ring 20 is left to be held by the suction mechanism 32.

Subsequently, the E held by the suction mechanism 32 is
When removing the retaining ring 20 from the suction mechanism 32, the remover 1 is retracted from the shaft 21 and then the remover 40 is passed through the slit 33. In other words, the remover 40 is a thin plate that can pass through the slit 33, and when the suction mechanism 32 holds the E-shaped retaining ring, the remover 40 passes through the slit to form the E-shaped retaining ring. Is pushed out by a remover and dropped. If a receiving portion is provided at the falling position, scattering can be prevented. When the E-shaped retaining ring is dropped by the remover 40, for example, the remover 40 is moved at a position where the entire removal device is retracted from the shaft 21, or the entire removal device is moved with respect to the remover 40. , You just need to do the fall work.

Next, if the direction of the opening of the E-shaped retaining ring is not constant, for example, if it does not face right below and is displaced from just below, the E-shaped retaining ring is expanded to open the shaft. About the form example of the removal device that can be removed from
A description will be given based on FIG. In this embodiment, the entire detaching device 1 is configured to be able to rotate forward and backward in the direction of arrow D about the axis CL by a motor 51 connected via a gear mechanism 50. That is, by rotating the gear 51a provided coaxially at the base end of the detaching device 1 by the required angle by the motor 51 via the gear 51b,
As shown in FIG. 4 (b), the circumferential position of each pin 7, 8 can be displaced in accordance with the position of the opening of the E-shaped retaining ring. In this state, the pins 7, 8 are operated by the same operation as described above.
Is moved in the expanding direction, so that the E-shaped retaining ring 20 is expanded and detached from the shaft 21. A gear mechanism 50;
The motor 51 constitutes a rotation drive mechanism for rotating the entire removal device 1. It goes without saying that the configuration of the suction mechanism, the remover, and the like shown in the embodiment of FIG. 3 can be applied to this embodiment as it is. In this case, since the suction mechanism is always located in the direction in which the E-shaped retaining ring is separated along the axis, the detached retaining ring can be surely suctioned. When using the remover, the entire removal device may be returned to the initial angular position using the motor and the gear mechanism 50, and then the E-shaped retaining ring may be dropped using the remover. In the embodiment of FIG. 4, there is no means for detecting that both pins have entered the opening of the E-shaped retaining ring, but in order to automate the removal operation, both pins have automatically entered the opening. It is necessary to carry out the operation for the next departure after detecting this.

FIGS. 5 (a) and 5 (b) show a structure in which the entire device is rotatable in accordance with the angular position of the opening of the E-shaped retaining ring, and detects that a pin has entered the opening. Is a configuration example of an opening detection mechanism. The opening detecting mechanism is provided with a notch 5 disposed immediately below the pins 7 and 8.
Five. The notch 55 has a fixed circumferential position so that the notch 55 always moves in a fixed positional relationship with the pins 7 and 8 when the entire removal device 1 is rotated by the gear mechanism and the motor shown in FIG. Have been. That is,
The notch 55 is configured to be able to advance and retreat in the radial direction indicated by the arrow E while fixing the circumferential position by the second movable member 4 and the like. The notch 55 is always urged (pre-pressed) in the direction of arrow E by an elastic member (not shown). In the state of FIG. 5 (a), since the removal device 1 is in the initial state, the opening is not directed downward.
The pins 7, 8 or one of the pins is in a positional relationship in which it cannot enter the opening. Then, when the motor 51 shown in FIG. 4 is operated to rotate the entire detaching device by a predetermined angle in the direction of the arrow, the pins 7 and 8 are fitted into the openings.
In this state, the notch 55 is also located at the position on the outer diameter side of the opening, so that the notch 55 whose movement to the inner diameter side has been restricted by the outer peripheral edge of the E-shaped retaining ring 20 until then.
As shown in (b), the elastic member enters the opening by the bias of an elastic member (not shown). As a result, the recess 5 of the notch 55
Since both pins 7 and 8 enter into 5a, it is detected that pins 7 and 8 enter into the opening and the operation for removal becomes possible. Subsequent removal operations are the same as in the other embodiments described above, and the suction mechanism can be arbitrarily provided. The notch 55 turns off a detection switch (not shown) when it is at the position (a), for example.
The detection switch is turned ON when the sensor is at the inner diameter side position of (b). In each of the above-described embodiments, an example has been described in which the arms 5 and 6 are fixedly attached to the support projections 3b and 4b. However, the arms 5 and 6 are rotatable by the support projections 3b and 4b. In addition to the support, the elastic member provided at the pivot portion or the like may always be elastically biased in the inner diameter direction (locator direction) and may be fixed at a fixed position.

FIG. 6 is a view showing another method for detecting that both pins have entered the opening at the same time instead of the notch as the opening detecting mechanism. In this embodiment, the detection switch is turned on by the distal ends of the arms 5 and 6 in a state in which the pins 7 and 8 are simultaneously in the openings of the retaining ring, and the pins are in the openings. When this is detected by the detection switch, the control unit rotates the arm rotation drive gear mechanism to remove the E-shaped retaining ring 20. This embodiment is different from the above embodiments, and each support projection 3b, 4b
The base ends of the arms 5 and 6 are rotatably supported with respect to the distal end surface of the arm, and the arms 5 and 6 are always in the inner diameter direction (locator direction) by an elastic member provided at a pivotal support portion of the base end. Being energized. A pin detecting pole element 60 is disposed at a position corresponding to the notch 55 in FIG. 5 so as to be able to advance and retreat toward the center axis of the locator 2. The pole 60 is made of a member extending from the second movable shaft member 4, for example.
4b, and is supported at the intermediate position so as to be able to advance and retreat along the radial direction of the locator 2. Further, the pole piece 60 is elastically biased toward the center of the locator 2. The pole piece 60 is arranged on the back side of each arm so as not to interfere with the operation of each arm or pin, and is configured to be in contact with the tip of each arm (or a projection protruding from the tip to the back side).

When the pole is located on the outer diameter side as shown in FIG. 6A, the detection switch is turned off.
As shown in (b), when it is moved to the inner diameter position close to the locator, the switch is turned on to detect that both pins 7, 8 are located in the opening. When the opening of the E-shaped retaining ring 20 does not face a predetermined direction, for example, just below, as shown in FIG.
Even if the pins 7 and 8 are positioned by fitting to the front end of the retaining ring 1, the pins 7 and 8 cannot enter the opening of the E-shaped retaining ring 20 at the same time. At this time, the pin 7 is in the opening, while the pin 7 is in contact with the outer peripheral surface of the E-shaped retaining ring 20. For this reason,
The pole piece 60 is located on the outer diameter side, and has not detected the pins 7 and 8, and the control unit (not shown) determines that the pins 7 and 8 have not entered the opening. Also in this embodiment, the gear mechanism 50 shown in FIG. 4A is used to insert the pins 7 and 8 into the opening of the E-shaped retaining ring 20, and the entire removal device 1 is moved at a predetermined angle in the direction of arrow G. Rotate. In the course of this rotation, as shown in FIG.
When the pin 8 enters the opening of the retaining ring, the pole 60 can also move toward the inner diameter side of the opening, so that the poles 60 can contact both the pins 7 and 8 at the same time, and both pins enter the opening. Is detected. A control unit (not shown) that has received a signal that has detected that it has entered the opening from the pole 60 is:
The operation of rotating the first and second movable shaft members 3 and 4 in the expanding direction to separate the E-shaped retaining ring 20 from the shaft 21 is started. Other operations are the same as in the above embodiment. Also, the suction mechanism can be arbitrarily provided.

FIG. 7 shows another embodiment of the present invention.
In the detaching device of this embodiment, both arms 5 and 6 are rotatably supported in the direction of the arrow by the respective support protrusions 3b and 4b, and the tip of each arm is provided by an elastic member (rocker spring) 65 provided at the pivotal support. The portion is elastically biased in the inner diameter direction (locator direction). Furthermore, each arm 5,
Numeral 6 is linked to the respective drive shafts, and has a structure that swings as shown in the figure. Therefore, axis 2
When the diameter 1 is large or the E-shaped retaining ring 20 is large, it is possible to perform a detaching operation corresponding to a shaft or a retaining ring having various diameters by swinging in a direction H and, in a reverse case, in a re-direction. it can. Specifically, when the diameter of the shaft 21 or the diameter of the E-shaped retaining ring 20 is large and the opening width of the opening is different, the first distance between the pins 7 and 8 is adjusted to match the object. Then, the second movable shaft members 3, 4 are rotated in the h direction or the re-direction by a required angle, and in this state, each pin 7, 8 is fitted into the opening of the E-shaped retaining ring. I do. The swing mechanism of this embodiment can be used in combination with the embodiments shown in FIGS. 3, 4, 5, and 6.

Next, FIG. 8 is a cross-sectional plan view of a detaching device according to another embodiment of the present invention, showing an example in which shaft ends having different diameters can be positioned by one locator. The same parts as those in FIG. 2 and the like are denoted by the same reference numerals, and duplicate description is omitted, but locator 2 (outer portion 70a)
A small-diameter cylindrical inner portion 70b is provided in the cylindrical hollow space so as to be able to advance and retreat in the axial direction.
Is characterized in that the elastic member 71 is always elastically urged forward (to the left in the drawing). In this embodiment,
As shown in FIG. 8 (a), the large-diameter shaft 21 is positioned at the distal end opening of the outer portion 70a.
As for 1 ', positioning is performed at the tip opening of the inner portion 70b as shown in (b). Although not shown, a stopper is provided so that the inner portion 70b does not protrude from the opening to the outside. When positioning the shaft 21 having a large diameter as shown in FIG.
Overcoming the spring force pushing the inner part 70
Since b enters the inside, the large-diameter shaft 21 is fitted and positioned at the inner diameter of the large-diameter outer portion 70a, and as a result, the positioning of the arms 5 and 6 with respect to the E-shaped retaining ring can be performed. When positioning the small-diameter shaft 21 ′, the small-diameter shaft 21 ′ is fitted to the inner diameter of the inner portion 70 b protruding to the foremost position by the elastic member 71, so that the positioning of the shaft and each of the arms 5 and 6 is performed. Can be performed. In the above example, the case where the locator has a double structure has been described for the sake of simplicity. However, this is an example, and a locator having a three-stage structure as shown in FIG. it can. Further, the outer portion 70a, the first and second inner portions 70 shown in FIG.
If b and 70c are formed in an integrated structure in advance and the distal end surfaces of the respective portions are sequentially retracted inward, positioning using the inner diameter of the distal end of each portion can be performed. If the locator has a multi-stage structure as described above, it can cope with various types of axes.

FIG. 9 is an explanatory view of another embodiment of the present invention. Reference numeral 80 denotes a side plate or the like (object to be mounted) of a device having a shaft hole 81 for supporting a plurality of shafts 21 and shafts 21 '. ,
E-shaped retaining rings 20 and 20 ′ (having different sizes according to differences in the shaft diameter) are fastened to the shaft ends of the shafts, respectively. In this embodiment, the shafts 21 and 21 ′ having different diameters are used. Each of the E-shaped retaining rings 20 and 20 'fastened in correspondence with is configured to be distinguishable by being colored, for example, the large-diameter E-shaped retaining ring 20 is colored yellow and the small-diameter The E-shaped retaining ring 20 'is colored red, and the size of the E-shaped retaining ring is color-coded according to the coloring so that the operator can determine at a glance which tool should be used to remove the retaining ring. In the case of using the removal device 1 shown in each of the above embodiments, the size of the E-shaped retaining ring can be determined at a glance, so that the size of the removal device can be easily selected.

FIG. 10 is a block diagram of a detaching device according to another embodiment of the present invention. In this example, a vision device (imaging device) 90 is used to identify E-shaped retaining rings 20 having different sizes. ing. That is, the arm 9 extending from the robot body (not shown) in which the vision device 90 (imaging device) is
1, an arm changer 92 is provided at the tip of an arm 91 of the robot. For this reason,
The E-shaped snap ring removing device or the device for assembling can be optionally replaced. The replacement of the device by the arm changer may be performed manually or may be performed automatically. Reference numeral 50 denotes a gear mechanism, and 51 denotes a motor for operating the gear mechanism. The vision device of this embodiment can be applied to the other embodiments described above. The vision device 90 includes a color filter configured by software or hardware. For example,
When the E-shaped retaining ring shown in FIG. 9 is identified by the vision device of the present embodiment, the E-shaped retaining ring is colored for each nominal size. If a filter for cutting is used, the nominal 5 size E-shaped retaining ring can be easily detected, and the E-shaped retaining ring detected by the vision device 90 is removed or
Or can be assembled. With the above-described configuration, the E-shaped retaining rings having different sizes are detected for each color by the color filter provided in the vision device, and the assembling device or the removing device 1 having various nominal sizes can be mounted on the robot arm 91 again. Thereby, the removing operation or the assembling operation can be automatically performed on the E-shaped retaining rings of a plurality of types of nominal sizes.

[0022]

As described above, according to the first aspect of the present invention, since the opening of the E-shaped retaining ring fastened to the target shaft is expanded and then removed in the thrust direction, it is disposed close to the periphery. In addition, the E-shaped retaining ring hardly interferes with other shafts, and the E-shaped retaining ring can be reliably and quickly removed, and the removal operation can be easily automated. According to the second aspect of the present invention, since the drive shaft for rotating the movable shaft member having the pin has a double structure, the drive shaft can be made compact, hardly interfere with the peripheral shafts, and the E-shaped snap ring can be quickly and reliably formed. Can be removed. That is,
Even in the case where the number of shafts to which the E-shaped retaining ring is fastened is dense or where the structure is complicated, the E-shaped retaining ring can be removed without interfering with other shafts, and automation can be performed. According to the third aspect of the present invention, since the suction portion for sucking the E-shaped retaining ring detached from the shaft is provided, the E-shaped retaining ring is safely removed without being scattered, collected securely, and discriminated / redetermined. Use can be facilitated. According to the invention of claim 4,
Equipped with a mechanism that can rotate the entire removal device, no matter which direction the opening of the E-shaped retaining ring faces, if the position of the shaft end and the rotation angle are identified, the E-shaped retaining ring can be removed. , Suitable for automation. According to the invention of claim 5, a mechanism is provided for detecting that the two pins have reached the opening of the E-shaped retaining ring, and the opening operation can be applied to the pin by the detection, so that the E-shaped retaining ring is provided. There is no need to check the opening of the shaft, and the E-shaped retaining ring can be removed by fixing the position of the shaft end. In other words, there is no need for the operator to confirm the direction of the opening, and the position of the shaft end is automatically identified and E
Removal of the retaining ring can be carried out automatically. According to the sixth aspect of the present invention, since the pin for applying to the opening of the E-shaped retaining ring has a link structure, the radius of the pin can be changed.
The retaining ring can be removed. According to the seventh aspect of the present invention, the shaft fixing portion (inner diameter of the locator) has a multiplex structure, and one arm can be positioned with respect to shaft ends having different shaft diameters, thereby supporting shafts having different sizes. can do. According to the invention of claim 8, since the end of the shaft or the E-shaped retaining ring main body is colored by the size and the material of the E-shaped retaining ring, these can be easily identified. It is easy, and it is possible to quickly discriminate / disassemble / recover by size / material. According to the ninth and tenth aspects of the present invention, since the vision device and the end of the colored shaft or the E-shaped retaining ring main body can be identified and recognized, it can be used for disassembling / determining the E-shaped retaining ring.

[Brief description of the drawings]

1 (a), (b) and (c) are an external perspective view, a plan view, and an exploded perspective view of an example of an E-shaped snap ring removing device of the present invention.

2 (a) and 2 (b) are an axial cross-sectional view of an embodiment corresponding to FIG. 1 and an end view for explaining the operation.

3 (a), (b) and (c) are a partial sectional view, an end view, and a perspective view showing a front configuration of another embodiment of the present invention.

4 (a) and 4 (b) are a front view and a left end view of a detaching device according to another embodiment of the present invention.

FIGS. 5 (a) and (b) are explanatory diagrams of the configuration and operation of a detaching device according to another embodiment of the present invention.

FIGS. 6 (a) and (b) are explanatory diagrams of the configuration and operation of a detaching device according to another embodiment of the present invention.

FIG. 7 is a configuration explanatory view of a detaching device according to another embodiment of the present invention.

8 (a), (b) and (c) are cross-sectional views showing the configuration of a removal device according to another embodiment of the present invention.

FIG. 9 is an explanatory diagram of another embodiment of the present invention.

FIG. 10 is a configuration explanatory view of a detaching device according to another embodiment of the present invention.

[Explanation of symbols]

1 E type retaining ring removal device, 2 positioning locator (shaft fixing portion), 2a shaft portion, 3, 4 first and second movable shaft members, 3a, 4a cylindrical portion, 3b, 4b support protrusion, 5, 6th 1 and 2nd arm, 7, 8 pin, 1
0 rotation mechanism, 20E type retaining ring, 21 axes (target axis),
Reference Signs List 30 holding mechanism, 31 support part, 32 suction mechanism, 33
Slit, 34 holding plate, 35 suction unit, 40 remover, 50 gear mechanism, 51 motor, 55 notch,
60 poles, 65 elastic members (rocker springs),
70a outer part, 70b inner part, 71 elastic member, 80 side plate, etc. (object to be attached), 81 shaft hole,
90 Vision device (imaging device), 91 Robot arm, 92 Arm changer.

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Koichi Kawano 1-3-6 Nakamagome, Ota-ku, Tokyo Ricoh Co., Ltd.

Claims (10)

[Claims] 1. A shaft fixing portion which is approached from the axial direction to a shaft end of a target shaft to which an E-shaped retaining ring is fastened and engages with the shaft end, and fits into an opening of the E-shaped retaining ring. An E-shaped retaining ring removal device, comprising: two arms having pins for expanding the E-shaped retaining ring, and a rotating mechanism for opening and closing the two arms in the expanding direction. . 2. A first movable shaft member and a second movable shaft member which respectively support the two arms are engaged with the outer periphery of the shaft fixing portion at the base end thereof in a double coaxial manner. The E-retaining ring removing device according to claim 1, wherein: 3. An E-shaped stopper according to claim 1, further comprising a suction mechanism for adsorbing the E-shaped retaining ring detached from the target shaft by expanding the opening by the pin. Wheel removal device. 4. The E-shaped stopper according to claim 1, further comprising a rotary drive mechanism for rotating the entire E-shaped retaining ring removing device about an axis of the shaft fixing portion. Wheel removal device. 5. The E as claimed in claim 1, further comprising an opening detecting mechanism for detecting that the two pins have entered the opening of the E-shaped retaining ring. Shaped snap ring removal device. 6. The arm according to claim 1, wherein a base end of each arm is rotatably supported by each movable shaft member, and is elastically biased toward the shaft fixing portion. An E-shaped snap ring removing device according to 1, 2, 3, 4 or 5. 7. The shaft fixing portion according to claim 1, wherein the shaft fixing portion has a cylindrical portion with an open end, and the inside of the cylindrical portion has a multiplex structure. E-type retaining ring removal device. 8. An E-shaped retaining ring body or an object to which the E-shaped retaining ring is fastened in a step of removing the E-shaped retaining ring using the E-shaped retaining ring removing device according to claim 1. An E-shaped retaining ring discriminating method, wherein the end of the shaft is colored according to the size and material of the E-shaped retaining ring. 9. A vision device for recognizing an image is provided in addition to the E-shaped retaining ring removing device, and the vision device is provided with a color filter so as to determine the color of the E-shaped retaining ring or the target axis. The E-shaped retaining ring discriminating method according to claim 8, wherein 10. An E-shaped retaining ring removing device, wherein the E-shaped retaining ring is automatically identified and removed by using the E-shaped retaining ring determining method according to claim 8.