JPS5890430A - Small ball intrusion device to inner rotor of equal speed joint - Google Patents

Abstract

PURPOSE:To intrude small balls simultaneously in a pair of holes provided in the inner rotor of an equal speed joint by allowing a ball intruding part, which is formed at the tips of a pair of rods facing each other, to intrude the small balls in the holes situated facing in the inner rotor. CONSTITUTION:While rods 42 and 58 are in the retracted position, small balls are fed to the tips of ring-shaped rods 48, 62. When the inner rotor 1 contacts the guide wall 18 while maintaining proper attitude, the working fluid is introduced into cylinder 19 by a fluid supply/exhaust hole 43 to expand the ros 42. Thereby the rod 58 interlocked with the rod 42 through arms 52, 66 advances. Then small-diameter projections 48, 63 make relative movements to ring-shaped rods 48, 62, respectively, against the actions of pushing springs 46, 60, to intrude the small balls in the holes provided in the inner rotor 1 of the euqal speed joint.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention allows an inner rotating body and an outer rotating body to transmit rotational force from one to the other through small spheres arranged along the outer periphery of the inner rotating body. This invention relates to a device for pushing small spheres into an inner rotary body, which is used in the assembly process of a type of isoconnector.

The assembly process of an equal connector in which the inner rotating body and the outer rotating body transmit rotational force from one side to the other via small spheres arranged along the outer periphery of the inner rotating body is extremely difficult. Because of its complexity, in the past, assembling the above-mentioned equal connectors required manual labor by skilled workers, resulting in a large amount of labor and time.
There were limits to improving production efficiency.

Therefore, the main object of the present invention is to enable the inner rotating body and the outer rotating body to transmit rotational force from one side to the other via small spheres arranged along the outer periphery of the inner rotating body. An object of the present invention is to obtain a device for pushing a small sphere into an inner rotating body in order to automate the process of pushing a small sphere into the inner rotating body in the assembly process of a type of equal connector.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An example of a case where a small sphere pushing device for an inner rotary body according to an embodiment of the present invention is applied to a fully automatic assembly device for equal connectors will be described below with reference to the drawings.

First, in FIG. 1 (α), the inner rotary body 1 of the equiarticulate member includes, for example, an inner ring member 2 and an annular cage 4 fixed on the outer peripheral surface of the inner ring member 2 and whose outer surface is formed of a convex spherical surface. In the center of the inner ring member 2, there is a connecting hole having, for example, a female spline on the inner circumferential surface, to be fitted to one of the input side rotation shaft and the output side rotation shaft. 3 is formed, and in the outer peripheral part 5 formed by the part along the outer peripheral surface of the inner ring member 2 and the cage 4, for example, six small sphere receiving holes 61 + 62 p..., 6 are formed.
6 are formed at equal intervals in the circumferential direction.

In addition, as shown in FIG. It has an inner surface 11, and each small sphere receiving hole 61, 6□ of the inner rotating body 1 is formed on this inner surface.

. . . , an outer ring portion 10 having a small sphere receiving groove 12 that engages with the small spheres fitted in the small spheres 66 and transmits rotational force between each of these small spheres, and an input side rotating shaft or an output side rotating shaft. The connecting portion 9 is connected to the other rotating shaft of the shafts.

The center of the concave spherical surface forming the inner surface 11 of the outer ring portion 10 of the outer rotating body 8 is generally located on the rotation center line of the outer rotating body 8, on the inner side of the outer ring portion 10, and at the edge of the inner surface 11. Since the diameter in the direction perpendicular to the rotational center line is smaller than the diameter in the direction perpendicular to the rotational center line in the part further inside the end edge, each small sphere receiving hole 6t of the inner rotating body 1 After fitting the small spheres into I62, . . . , 66, it is impossible to fit the inner rotating body 1 into the outer ring portion 10 of the outer rotating body 8.

Therefore, as a first step, each small sphere receiving hole 61 of the inner rotating body 1 is
*62p..., A pair of small sphere receiving holes 6□ located at positions facing each other in the diametrical direction among 66.

64, and these pair of small sphere receiving holes 6□.

64, each small sphere is 7m from the radial direction.

Push in 74.

Next, as a second step, as shown in FIG. 1(b), the rotation center line of the inner rotor 10 is perpendicular to the rotation center line of the outer rotor 8, □
, 74 are inserted into the outer rotating body 8 while maintaining a relative posture of the inner rotating body 1 with respect to the outer rotating body 8 such that the inner rotating body 1 does not interfere with the edge portion of the outer rotating body 8.

As a third step, as shown in FIG. 1(C), the center line of rotation of the inner rotating body 10 and the center line of rotation of the outer rotating body 80 are aligned.

Then, as the fourth step, Fig. 1(d) and Fig. 1(
=), the inner rotating body 1 is connected to a pair of small spheres 7. ．． 7. First, the small sphere receiving holes 62, 6 on one side exposed from the outer rotating body 8 of the inner rotating body 1 are swung relative to the outer rotating body 8 around the diametrical rocking axis passing through the inner rotating body 1. ．． The small spheres γ1 and 13 are respectively pushed into the inner rotating body 1 from the radial direction, and then the small spheres γ1 and 13 are inserted into the small sphere receiving hole 6 on the other side. .

66 and a small sphere 7. ．． 7. is pushed into the inner rotating body 1 from the radial direction to complete the assembly.

FIG. 2 shows an overall layout of an example of an assembly device for assembling the equal connector through the above steps. A conveying device 13, such as a conveyor, for example, which conveys the outer rotating body 8 at constant intervals in a posture such that the inner surface 11 of the outer ring portion 10 faces upward is shown in FIG. 1 (α). Automatic working position I for performing the first step shown in Figure 1 (Automatic working position for performing the second step shown in Figure 1 (C) Automatic working position for carrying out the third process, Fig. 1(d) and Fig. 1(C)
) is arranged so as to sequentially pass through automatic working positions ① and ② for carrying out the fourth step shown in .

In the automatic working position I, the inner rotating body 1 is in the chute 14
When the inner rotating body 1 fed by this chute 14 comes into contact with the guide wall 17 in the direction perpendicular to the chute 14, the actuating cylinder 150 and rod 16 immediately expand. The inner rotating body 1 is pressed and moved along the guide wall 17. When the inner rotary body 1 comes into contact with the guide wall 18 perpendicular to the guide wall 17, it is held at that position, and in this state, according to an embodiment of the present invention, the inner rotary bodies 1 are diametrically opposed to each other. For example, a pair of actuating cylinders 19 and 21 are formed at the tip of each rod of a pair of actuating cylinders 19 and 21, which are disposed on a straight line passing through the small sphere receiving holes 61 to 64 and facing each other with the inner rotating body 1 in between. The small sphere push-in portions 20 and 22 each hold each small sphere 7.
8.7. into the corresponding small sphere receiving hole 6i-6<.

At this time, the inner rotating body 1 is adjusted so that a pair of diametrically opposed, for example, small sphere receiving holes 6t-6a of the inner rotating body 1 are on the center line of each small sphere pushing part 20, 22 as accurately as possible. The orientation needs to be set, but in order to automatically set the orientation of the inner rotor 1 to the appropriate orientation, for example, the inner rotor 1 can be smoothly aligned with the outer rotor 8.
By using chamfered parts 5α and 5h previously formed on the outer surface of the inner rotating body 1 so as to be able to fit into the inner rotating body 5, these chamfered parts 5a and 5b are attached to the left and right side wall surfaces of the chute 14, and the rod 1.
6 and the wall surface of the guide wall 18, the inner rotating body 1 moves while always maintaining a proper orientation.
can be retained. Alternatively, when the inner rotating body 1 comes into contact with the guide wall 18, the inner rotating body 1
The orientation of the selected small sphere receiving hole is detected by the detection means, and the inner rotating body 1 is automatically rotated inward by rotating around the rotation center line so that the orientation of the inner rotating body 1 becomes an appropriate orientation. The orientation of the body 1 may also be corrected.

3 and 4 show an example of a specific structure of a small sphere pushing device A according to an embodiment of the present invention for performing the first step in the automatic working position I of FIG. There is. A piston 41 is fitted into the working cylinder 19 fixed on the base plate 40, and a rod 42 integrated with the piston 41 allows working fluid, such as hydraulic oil, to enter the working cylinder 19 through a fluid supply/discharge hole 43. It expands when introduced into the working cylinder 19, and contracts when working fluid is introduced into the working cylinder 19 through the fluid supply/discharge hole 44.

Inside the rod 42 is an annular cylinder chamber 45 equipped with an air vent.
An annular piston 47 is fitted into the annular cylinder chamber 45 so as to be constantly pressed toward the distal end of the rod 42 by a pressing spring 46 . The tip of the annular rod 48 that is integrated with the annular piston 47 is normally pressed against the rod 4 by the pressing action of the pressing spring 46.
It protrudes beyond the tip of the small-diameter protrusion 49 that protrudes along the center line of 2. At the tip of the annular rod 48, a small sphere 7. is fed from a magazine whose teeth are not shown. A cylindrical small sphere supply section 50 is formed for sequentially supplying the small spheres into the tip of the annular rod 48 one by one.

An interlocking arm 52 is provided at the tip of the annular outer wall portion 51 of the rod 42.
A rack 53 formed on the side surface of the distal end of the interlocking arm 52 is connected to a support plate 54 fixed on the base plate 40 and a holding plate on which the inner rotating body 1 is held. 5
Binion 57 on the Binion shaft 56 which is pivotally supported between
It meshes with the. In FIG. 2, when the inner rotating body 1 is moved along the guide wall 17 and comes into contact with the guide wall 18, the rotation center line of the inner rotating body 10 is the rotation center of the pinion 57 in FIGS. A pinion shaft 56 is arranged so as to coincide with the line.

Actuation cylinder 21 fixed on base plate 40 at a position facing actuation cylinder 19 across binion shaft 5.6
A rod 58 is fitted into the rod 58 so as to be freely movable therein, and the rod 58 is always pressed toward the distal end side by a pressure spring 60 in an annular cylinder chamber 59 having an air vent hole formed in the rod 58. An annular piston 61 is fitted therein.

An annular rod 62 integrated with this annular piston 61
Due to the pressing action of the pressing spring 6o, the tip of the rod 58 protrudes beyond the tip of the small-diameter protrusion 63 that normally protrudes along the center line of the rod 58. A cylindrical small sphere supply section 64 is formed at the tip of the annular rod 62 for sequentially feeding small spheres 74 sent from a magazine (not shown) into the tip of the annular rod 62 one by one.

An interlocking arm 66 is provided at the tip of the annular outer wall portion 65 of the rod 58.
A rack 67 formed on the side surface of the distal end of the interlocking arm 66 is engaged with the pinion 57 from the side opposite to the rack 53 with respect to the pinion shaft 56 . The center line of the rod 42 and the center line of the rod 58 are both on the same straight line perpendicular to the center line of the pinion shaft 56,
Moreover, the distance between the tip surface of the small-diameter protrusion 49 of the rod 42 and the center line of the pinion shaft 56 is always the distance between the tip surface of the small-diameter protrusion 63 of the rod 58 and the center line of the pinion shaft 56. is kept equal to .

Since the small sphere pushing device A according to the embodiment of the present invention shown in FIGS. 3 and 4 is configured as described above, the working fluid is introduced into the working cylinder 19 through the fluid supply/discharge hole 44. When the rod 42 is in the retracted position,
Rod 58, which is in interlocking relationship with rod 42 via linkage arms 52, 66, is in a retracted position, and in this state,
Small spheres 7□7, 74 are supplied from the magazine via each small sphere supply section 50.64 into the tip of the corresponding annular rod 48.62. When the inner rotating body 1 is moved along the guide wall 17 in FIG. 1 and comes into contact with the guide wall 18 in an appropriate orientation, the fluid supply and discharge hole 44 is communicated with the fluid storage tank, Working fluid is introduced into the working cylinder 19 through the discharge hole 43, and the rod 42 is expanded. Along with this, a rod 58 that is in an interlocking relationship with the rod 42
also move forward. As a result, the distal end surfaces of the annular rods 48 and 62 first come into contact with the inner rotating body 1 from the diametrically opposite side, and as the rod 42 further extends and advances, the rod 58 also advances further, and each The small diameter protrusion 49.63 moves relative to each annular rod 48.62 while resisting the elastic force of each pressing spring 46, 60, and each small sphere 71.74
respectively corresponding small sphere receiving holes 61. 64. At this time, the tip of each annular rod 48.62 serves to reliably guide the corresponding small sphere 71.74 into each small sphere receiving hole 61-64. Each small sphere receiving hole 6
When the insertion into the rod 1-64 is completed, the fluid supply/discharge hole 43 is communicated with the fluid storage tank, and the working fluid is introduced into the working cylinder 19 from the fluid supply/discharge hole 44, thereby causing the rod 42 to contract. The rod 58 also moves back accordingly.

In FIG. 2, when the pair of small spheres 71 and γ4 are completely pushed into the respective small sphere receiving holes 61.64 and the rods of each actuating cylinder 19.21 are retracted, the rod 24 of the actuating cylinder 23 is immediately extended. and move the inner rotating body 1 to the guide wall 1.
8 and move it toward the gripping device 30 of the inner rotating body insertion device B waiting at the automatic working position (3).

The inner rotary body insertion device B includes a rotary drive device 25 for reciprocating the rotary shaft 26 around the rotation center line within a certain angle range, a support frame 2T fixed to the tip of the rotary shaft 26, and a support frame 2T fixed to the tip of the rotary shaft 26. an actuating cylinder 28 fixed on the frame 27;
An actuating cylinder 2 that expands and contracts in a direction perpendicular to the rotation axis 26
A gripping device 30 for gripping the inner rotating body 1 attached to the tip of the rod 29 of No. 8 is provided.

When waiting for the inner rotating body 1, the actuating cylinder 28
is held in the horizontal direction, for example, and the inner rotating body 1 is pressed by the actuating cylinder 230 and the guide wall 1
8, the rod 29 of the actuating cylinder 28 immediately extends and moves forward, and when the inner rotating body 1 reaches the edge of the holding plate 55, the gripping claws supported at the tip of the gripping device 30 are moved forward. The inner rotating body 1 is gripped from both upper and lower sides. When the gripping device 30 grips the inner rotary body 1, the rod 29 of the actuating cylinder 28 contracts and the rotating shaft 26 of the rotary drive device 25 rotates, and the gripping device 30 grips the inner rotary body 1 so that its rotation center line is vertical. The robot swings from a position in which it is gripped with the inner rotating body 1 facing in the direction, to a position in which it is gripped with the inner rotating body 1 positioned downward and its rotation center line facing in the horizontal direction. In synchronization with this operation, the outer rotating body 8 is carried below the inner rotating body 1 by the conveying device 13, and
By expanding the rod 29 of the actuating cylinder 28 again, the rotational center line of the inner rotating body 1 is perpendicular to the rotational center line of the outer rotating body 8, and the pair of small spheres 7 +74
The inner rotating body 1 is inserted into the outer rotating body 8 while maintaining a relative posture of the inner rotating body 1 with respect to the outer rotating body 8 such that the inner rotating body 1 does not interfere with the edge portion of the outer rotating body 8.

FIGS. 5 and 6 show a more detailed example of the inner rotating body inserting device B for performing the second step shown in FIG. It is shown. A main body 69 of the gripping device 30 is fixed to the tip of the rod 29 of the operating cylinder 28 via a fitting 68, and a cylinder chamber 70 formed in the main body 69
When the working fluid is introduced into the cylinder chamber 70 from the fluid supply/discharge hole 73, the Ron door 2, which is integrated with the piston 71 which is fitted with synovial fluid therein, expands and moves forward.
When the working fluid is introduced into the cylinder chamber 7o, it contracts and retreats.

07) An engagement pin 75 is held at the tip of the 72, and each engagement pin 75 has a pivot shaft 76, 77.
A pair of bell cranks 78.7 whose central part is pivoted by
9 are engaged with each other, and the other ends of the bell cranks 78 and 79 are aligned perpendicularly to the center line of the piston 71 along guide grooves 86 formed at the tip of the main body 69, respectively. It engages with engagement pins 80.81 fixed to a pair of synovial fluids 82.83, each having a corresponding gripping claw 84.85 on the distal end side.

Therefore, when the rod 12 extends and moves forward, each bell crank 78, 79 swings around the pivot shaft 76° 77 in a direction in which the distal end side widens, causing the gripping claws 84, 85 to separate from each other, and the rod; 72 contracts and retreats, each bell crank 78, 79 swings around the pivot shaft 76, 77 in a direction in which the distal ends approach each other, and each gripping claw 8
4 and 85 are brought closer to each other.

Since the inner rotating body insertion device B shown in FIGS. 5 and 6 is configured as described above, the actuating cylinder 28 is in a horizontal state when waiting for the inner rotating body 1. Then, the rotating shaft 26 of the rotary drive device 25 rotates so that each gripping claw 84° 85 faces the inner rotary body IK on the holding plate 55 shown in FIG. 1, and the operating cylinder 2
The rod 29 of No. 8 contracts, and the fluid supply/discharge hole 74 communicates with the fluid storage tank, and working fluid is introduced into the cylinder chamber 70 from the fluid supply/discharge hole 73, so that the rod 72 expands and moves forward. Accordingly, each bell crank 78.
The distal ends of the grippers 79 are swung in a direction in which they are spread apart, and the gripping claws 84, 85 occupy positions in which they are moved away from each other.

The inner rotating body 1 is connected to the rod 2- of the actuating cylinder 23 in FIG.
4 and moves along the guide wall 18, the rod 29 of the actuating cylinder 28 immediately extends and moves forward.
When the inner rotating body 1 reaches the edge of the holding plate 55, the fluid supply/discharge hole 73 communicates with the fluid storage tank, and the fluid supply/discharge hole 74
As more working fluid is introduced into the cylinder chamber γ0, the rod 72 contracts and retreats, and accordingly, the tips of the bell cranks 78, 79 are swung toward each other, and the gripping claws are moved closer together. 84 and 85 reliably sandwich the inner rotating body 1 from both upper and lower sides while moving toward each other.

When the pair of gripping claws 84 and 85 grip the inner rotating body 1,
As the rod 29 of the actuation cylinder 28 contracts, the rotation shaft 26 of the rotary drive device 25 rotates, and the gripping device 30
The inner rotating body 1 is swung from a position in which the inner rotating body 1 is held with its center line of rotation pointing in the vertical direction to a position in which it is held in a position with the inner rotating body 1 positioned downward and its center line of rotation pointing in the horizontal direction. Ru. and the rod 2 of the working cylinder 28
9 expands again, so that the center line of rotation of the inner rotating body 1 is aligned with the outer rotating body 80, as shown in FIG. 1Cb).
A pair of small spheres 7□ perpendicular to the rotation center line
, 74 are maintained relative to the outer rotating body 8 such that the inner rotating body 1 does not interfere with the edge of the outer rotating body 8. It is inserted into the body 8.

When the inner rotating body 1 is inserted into the outer rotating body 8, the fluid supply/discharge hole 74 is immediately communicated with the fluid storage tank, and the working fluid is introduced into the cylinder chamber 70 from the fluid supply/discharge hole T3. , the rod 72 extends and moves forward, and accordingly, the distal ends of the respective bell cranks 78 and 79 are swung in a direction in which they are mutually expanded, and the respective gripping claws 84 and 85 are moved in a direction in which they are separated from each other, The inner rotating body 1 that was being held until then is released. and the rod 2 of the working cylinder 28
9 contracts, the rotating shaft 26 of the rotary drive device 25 rotates, and the operating cylinder 28 becomes horizontal, and the inner rotary body insertion device B maintains the waiting posture for the next inner rotary body 1 again.

In FIG. 2, after the inner rotor 1 has been inserted by the inner rotor insertion device B, the outer rotor 8 is conveyed by the conveyor 13 and reaches the automatic working position (2) for performing the third step. Here, the posture of the inner rotating body 1 with respect to the outer rotating body 8 is corrected by the correction device 31.

FIG. 7 shows a specific example of the correction device 31 for correcting the posture of the inner rotating body 1 with respect to the outer rotating body 8 as shown in FIG. 1(C). An actuating cylinder 89 is horizontally fixed to the substrate 87 via a bracket 88, and the tip of a rod 90 of the actuating cylinder 89 has a cam shape with a horizontal lower surface and a preset front edge. A first straightening plate 91 having a first straightening plate 91 is installed. Further, an actuation cylinder 92 is vertically fixed on the substrate 87 at a position directly above the transport device 13, and a second straightening plate 94 having a horizontal lower surface is attached to the lower end of the rod 93 of the actuation cylinder 92. It is installed.

Since the straightening device 31 shown in FIG. 7 is configured as described above, the inner rotating body 1 is
The outer rotating body 8 in which the
When it is conveyed by and reaches just before the straightening device 31, the gob 90 of the actuating cylinder 89 expands, and as a result,
The front edge of the first straightening plate 91 moves forward in the horizontal direction while being close to the upper end surface of the outer ring part 10 of the outer rotating body 8, and the outer ring part 1
0, and tilts the inner rotating body 1 within the outer rotating body 8 to such an extent that the center line of rotation of the inner rotating body 1 is directed in the vertical direction. At this time, the outer rotary body 8 is appropriately rotated around its rotation center line according to the cam shape of the front edge of the first correction plate 91, until the rotation center line of the inner rotor body 10 is directed in the y-upward and downward direction. When the inner rotating body 1 is tilted within the outer rotating body 8, the direction of the diameter of the inner rotating body 1 passing through the centers of the pair of small spheres 71 to 74 is parallel to the conveying direction of the conveying device 13. .

After the inner rotating body 1 is tilted in this manner, the rod 90 of the actuating cylinder 89 contracts and retreats, and the rod 93 of the actuating cylinder 92 extends, causing the lower surface of the second correction plate 94 to rotate inward. By pressing the body 1, the rotational center line of the inner rotating body 1 is accurately directed in the vertical direction and coincides with the rotational center line of the outer rotating body 8. After the second straightening plate 94 presses the inner rotating body 1 until the rotational center line of the inner rotating body 1 matches the rotational center line of the outer rotating body 8, the rod 93 of the actuating cylinder 92 contracts and retreats.

In FIG. 2, the inner rotary body 1 and the outer rotary body 8 after their postures have been corrected by the correction device 31 are transferred to the conveying device 1.
3, it is further sent to automatic working positions ① and V for carrying out the fourth step shown in FIGS. 1(cL) and 1(e).

First, in the automatic working position (3), as shown in FIG. 1(d), the inner rotary body 1 has a pair of diametrically opposed small spheres 7. The small sphere receiving hole 6z is swung in one direction around the swiveling axis passing through
, 6s, a pair of actuating cylinders 32 and 34 having basically the same structure as the actuating cylinder 19 used in the first step are formed by small spherical push-in portions 33 and 35 formed at the tip of each rod. , respectively small sphere γ2.7
．． is pushed in.

Further, in the automatic working position V, as shown in FIG. 1(e), the inner rotating body 1 has a pair of small spheres 71-74
The outer rotating body 8 is oscillated in the other direction around the oscillating axis passing through the
For the small sphere receiving holes 6s and 6a on the more exposed side,
A pair of working cylinders 36, 38 having basically the same structure as the working cylinder 19 used in the first step
A small spherical push-in portion 37.3 formed at the tip of each rod.
9, the small spheres 7s and 7r are pushed in, respectively, and the assembly of the equal connector is completed.

8 and 9, the inner rotating body 1 is shown in the automatic working positions ① and ② to carry out the fourth step as shown in FIGS. 1(d) and 1(-). A specific example of a rocking device 95 for rocking is shown. A piston 97 is fitted into the working cylinder 96 of the rocking device 95 so as to allow fluid to flow freely, and a rod 98 integrated with the piston 97 allows working fluid to be introduced into the working cylinder 96 through a fluid supply/discharge hole 99. It extends and descends, and fluid supply/discharge hole 1
When the working fluid is introduced into the working cylinder 96 from 00, it contracts and rises. The top surface of a frame 101 is fixed to the tip of the rod 98, and a pair of opposing side frames of the frame 101 are fixed to the opposing side frames of the swing frame TOV. Horizontal rocking axes 104 and 105 are mounted on bearings 102 and 103, respectively.
It is pivotally supported through the.

At the center of the swing frame 107, an engager 106 that can be fitted into the connecting hole 3 of the inner rotating body 1 is provided to protrude downward. When the swinging device 95 is disposed above the conveying device 13 in FIG. It is arranged so as to coincide with a swing axis passing through a pair of small spheres 71=74 which are diametrically opposed to each other on the inner rotating body 1 on the device 13.

An actuation cylinder 108 is fixed to the side frame portion of the frame body 101, and a rod 110 of a piston 709, which is fitted into the actuation cylinder 108 so as to allow synovial fluid, is connected to the fluid supply/discharge hole 11.
When working fluid is introduced into the working cylinder 108 through the fluid supply/discharge hole 112, it expands and descends, and when the working fluid is introduced into the working cylinder 108 through the fluid supply/discharge hole 112, it contracts and rises. The lower end of the rod 110 is connected to a link 113
One end of the link 113 is pivotally supported by a pivot pin 114, and the other end of the link 113 has a proximal end fixed to a gear 116 that is pivotally supported by a support shaft 115 on the side frame of the frame IQ1. It is pivotally supported by a pivot pin 118 at the distal end of the arm 117 .

The gear 116 is a gear 119 fixed on the swing shaft 105.
It meshes with the.

Since the rocking device 95 shown in FIGS. 8 and 9 is configured as described above, the rotational center line of the inner rotating body 1 is aligned in the vertical direction as shown in FIG. 1(C). The inner rotating body 1 and the outer rotating body 8 are moved to the conveying device 13 in a state where the inner rotating body 1 and the outer rotating body 8 are
When the rod 98 is conveyed by the rod 98 and reaches just below the engaging element 106, the fluid supply/discharge hole 100 is communicated with the fluid storage tank, and the working fluid is introduced into the working cylinder 96 from the fluid supply/discharge hole 99. expands and descends together with the frame 101, and the engaging element 106 fits into the connecting hole 3 of the inner rotating body 1 accordingly. In this state, the fluid supply and discharge hole 112 is communicated with the fluid storage tank, and the fluid supply and discharge hole 111
When more working fluid is introduced into the working cylinder 108, the rod 110 expands and descends, causing the rod 11
The downward movement of gear 1 is transmitted through link 113 and arm 117 to gear 1.
16 and further transmitted to the gear 119, the engager 106 swings in one direction around the swing center lines of the swing shafts 104 and 105. As a result, the inner rotating body 1 has a pair of small spheres 7□, 7
4, the small sphere receiving holes 6z, 6. s
Meanwhile, the small spheres γ2.
7. can be pushed in.

Small sphere 72°7 for each small sphere receiving hole 6t-6s,
When the pushing of the rod 1 is completed, the fluid supply/discharge hole 111 is communicated with the fluid storage tank, and the working fluid is introduced into the working cylinder 108 from the fluid supply/discharge hole 112.
10 contracts and rises, and the accompanying upward movement of the rod 110 causes reverse rotation of the gear 116, which further causes the gear 11 to rotate in the opposite direction.
9 is rotated in the opposite direction, the engager 106 is moved to the swing frame 1.
07, it swings in the opposite direction around the center line of the swing shafts 104 and 105 and returns to its original position. As a result, the inner rotating body 1
The 0-rotation center line again faces in the vertical direction and coincides with the rotation center line of the outer rotating body 8. In this state, the fluid supply/discharge hole 99 is communicated with the fluid storage tank, and the working fluid is introduced into the working cylinder 96 from the fluid supply/discharge hole 100.
The rod 98 contracts and rises, and accordingly the frame 10
1 rises together with the engager 106, and the engager 106 separates from the connecting hole 3 of the inner rotating body 1, thereby completing the work at the automatic work position (3) in FIG.

After the work at the automatic working position (2) is completed, the inner rotary body 1 and the outer rotary body 8 are subsequently conveyed to the automatic working position (2) by the conveying device 13.

In this automatic working position (■), basically the rocking device 95
The inner rotary body 1 is moved by another rocking device having the same structure as the rocking device 95 and arranged in the opposite direction with respect to the conveying device 13 from the rocking device 95 arranged in the automatic working position tl. This time it is swung about a swiveling axis passing through the pair of small spheres 71, 74 in the opposite direction to that in the automatic working position 2, so that the outer The small sphere 76,7° is pushed into the small sphere receiving hole 6s = 6a on the side exposed from the rotating body 8 by the small sphere pushing part 37.39 formed at the tip of each rod of the actuation cylinder 36.38. It will be done.

As described above, according to the present invention, when the inner rotating body is placed in the center between the tips of a pair of rods facing each other on a common axis, the rods approach each other, so that The small sphere pushing part formed at the tip part is configured to push the small spheres into a pair of small sphere receiving holes formed at mutually opposite positions in the diametrical direction of the inner rotating body, so the structure is simple. As a result, the small spheres can be automatically pushed simultaneously into a pair of small sphere receiving holes formed at diametrically opposed positions in the inner rotating body, and as a result, the small spheres can be pushed efficiently in a short period of time. preparations for the next process can be completed.

[Brief explanation of the drawing]

Fig. 1 (α) to e) is a process explanatory diagram showing an example of the working process when assembling an example of an equal connector, and Fig. 2 is an overall layout diagram of the equipment for carrying out the assembly process shown in Fig. 1. , FIG. 3 is a plan sectional view of a main part of a small sphere pushing device according to an embodiment of the present invention, FIG. 4 is a partially sectional side view of the small sphere pushing device of FIG. 3, and FIG. 5 is a diagram showing an inner rotary body. FIG. 6 is a partial cross-sectional side view of the main part of the insertion device of the inner rotating body shown in FIG. 5, FIG. 7 is a side view of the main part of the straightening device, and FIG. FIG. 9 is a partially sectional front view of the main part of the swinging device, and FIG. 9 is a side view of the main part, partially in section, of the swinging device shown in FIG. 1... Inner rotating body, 6I to 66... Small sphere receiving hole,
71-76...Small sphere, 8...Outer rotating body, 19.
21... Working cylinder, 20, 22... Small sphere pushing part, 41... Piston, 42.58... Rod)
, 48.62... Annular rod, 49.63... Small diameter protrusion, 50, 64... Small sphere supply part, 52.66
...Interlocking arm forming an interlocking device, 57...Binion forming an interlocking device Patent applicant Honda Motor Co., Ltd. Fig. 9 Fig. 8

Claims (1)

[Claims] ■ The inner rotating body (1) and the outer rotating body (8) are small spheres (7) disposed along the outer periphery of the inner rotating body (1).
1 to 16) used in the assembly process of a type of equally articulated hand that transmits rotational force from one side to the other,
The small sphere pushing device for the inner rotating body (1) includes a pair of actuating cylinders (19) disposed opposite to each other.
, 21) and these pair of actuating cylinders (19, 21)
A pair of rods (4
2, 58), and each of the rods (42, 58) so that these pair of rods (42, 58) approach and separate synchronously.
58) are interlocked with each other (52, 57).
, 66), a piston (41) for driving one of the rods (42, 58), and a tip end portion of each rod (42, 58) facing each other. and a small spherical pushing part (20° 22) formed in each of the rods (42, 58), when the inner rotating body (1) is placed in the center between the tips of the rods (42, 58),
As each of the rods (42, 58) approaches each other, each of the small sphere pushing portions (20°22) becomes a pair of small spheres formed at positions facing each other in the diametrical direction of the inner rotating body (1). A small sphere pushing device for an equi-articulated inner rotating body of the hand, configured to push a small sphere (71, 74) into the sphere receiving hole (61, 64), respectively. (2) Each of the small sphere pushing parts (20, 22) pushes each of the rods (42, 58) along the center line of each of the rods (42, 58).
, 58) and a small-diameter protrusion (49) that protrudes toward the distal end side integrally with the
, 63) and the small-diameter protrusion (49, 63) so that the synovial fluid can freely fit into the small-diameter protrusion (49, 63). an annular rod (4B. 62), and a small sphere supply section (50° 64) that supplies small spheres one by one into the tip of this annular rod (48, 62).
A small sphere pushing device for an internal rotating body for an equally articulated hand according to claim 0, comprising: