JPS59110593A - Article inserter - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] It is something to do.

Conventional configurations and their problems In recent years, the performance of industrial robots has improved dramatically, with repeatable positioning accuracy reaching approximately 5071 m, and industrial robots are increasingly being used for fitting work. It is being done. However, so-called precision IS with a mating clearance of 3 Q/J m or less? Joint work is still insufficient.

Furthermore, if we try to introduce this into a fitting process that involves going to production equipment currently in use, it is rare that the positions of the workpieces where fitting is performed will vary by several μm. Rather, it has become a major obstacle M' to the introduction of industrial robots.

Therefore, we use the Gasatsu processing system to read the position of the workpiece and use this data to operate the industrial robot.
Many systems are in operation that use the movement of industrial robots to absorb misalignment between the workpiece and the inserted article. However, picture 1
Since the image processing system is extremely expensive, it has the disadvantage of inevitably reducing investment efficiency.

Therefore, Japanese Patent Publication No. 53-21639 discloses a method of inserting an article into a chamfer formed in a hole of a workpiece by using an inexpensive rock 1]14.

The feature of this device is that by aligning the inserted article to the chamfer of the workpiece, the positional misalignment between the workpiece and the inserted article can be corrected.
Next, when the tip of the inserted article is inserted into the hole of the workpiece, the misalignment between the hole of the workpiece and the core of the inserted article is corrected, and during that time, the insertion direction is The relief mechanism provided in the workpiece prevents excessive pressure from being applied to the workpiece. However, when inserting an article with a desired insertion length in one direction of the axis of the inserted article, such as a so-called horizontal articulated robot, the robot is able to easily achieve precision. There is almost no need for the function of correcting the curvature of the workpiece, and the existence of this function actually prevents the misalignment between the inserted article and the workpiece, which is caused by frictional force when correcting the misalignment along the chamfer of the workpiece hole. Moments often result in increased tipping of the insert's axis. Another disadvantage is that the escape mechanism provided in the insertion direction of the robot opening limits the insertion force of the article. Furthermore, since the robot hand has a flexible structure, eye movements occur during the robot's JAI speed and during braking, making it impossible to increase the robot's operating speed.

In order to increase the operating speed of a robot, a method is disclosed in Japanese Patent Publication No. 53-469 SS->RI Public Y.mu., in which the robot wrist is made into a flexible structure when the robot is operating and a flexible structure when inserting an article. This method uses an expanding/contracting /rinder 4~, and when the cylinder is extended (unfortunately, the robot hand vinegar becomes soft tl17 due to springs, etc., and when the cylinder is contracted, the wedge becomes tapered l/'rCi/ Therefore, the structure becomes I = t + I. However, in this method, the length of the robot wrist will be different between the rigid structure and the flexible structure due to the expansion and contraction of the unlinder. It has the disadvantage that it is not possible to accurately determine the digit 11.

OBJECTS OF THE INVENTION In view of the above drawbacks, the present invention provides a highly reliable article insertion device.

Structure of the Invention The present invention provides two plates on both sides of one plate as a robot hand, which face each other in the -F row with the ball in between, and which are fixed to each other in the direction in which all the articles are inserted. It consists of a structure that is movable only on a vertical plane, one of which is fixed to the robot, an object gripping device on the other, and a chamfer (lCji'I) provided in the hole when inserting the object. The object should be able to move and assist the above +lL physical plane, and when the robot is moving, the ball and the indentation (from here on, without changing the length of the robot hand 1 = 1, robot magic trick f:
It has a rigid structure.

DESCRIPTION OF EMBODIMENTS FIG. 1 shows one embodiment of this invention l+ll, and this will be explained according to the drawings.

1 is an insertion article, 2 is a workpiece, 2 is a hole into which the insertion article 1 is inserted, and 2b is a chamfer. 3 is an article gripping device for gripping the inserted article 1 (L); 4 is a first disc that identifies the article grasping device 3; a <11 mm 4a is provided in the center portion; 5
is a second disc facing the first disc in seven rows, and is fixed to the first disc 4. 6 is a third disc provided between the first disc 4 and 42 disc 5 by using a ball 7;
, the second disc 5 and the third disc 6 are two-dimensionally movable in a direction perpendicular to the article insertion direction. 8 is a retainer that prevents the ball 7 from falling off, and 9 is a holder that fixes the third disc 6.
ll is provided with an internal reinodder 9a. 10id
/ cylinder 9a ( / cylinder 9 a ) is a hole that is biased by a spring 12 via a piston 11 to a cylinder 4 a , which causes the first disc 3 ( -i to have a flexible centripetal force). 13 (a robot which fixes the d-store 9 and determines h'L1σ of the workpiece 1, 14 is an air joint, 15 is a tube, which is connected to a compressed air source via a solenoid valve and read. Based on these, compressed air is supplied to the unlinder 98. Numeral 16 is a linear spring that prevents rotation of the second disc 5.
The second disc 5 and the first disc 4 are able to move two-dimensionally on a horizontal plane.

The operation of the article insertion device configured as described above will be described below.

First, positioning is performed by the robot 13. At this time, compressed air is being supplied to the cylinder 9a,
Nest 1 disk 4. The second disc 5 and the third disc 6 are in a state of prayer. After the positioning is completed, the solenoid valve is switched and l1g1 disc 4. The second disc 5 can move relative to the first and third discs 6. After that, the robot 13
It starts moving in the direction t, and the right end of the inserted article 1 is chamfered 2b.
When the inserted article 1 comes into contact with it, the inserted article 1 is subjected to force in the Y direction in the figure. At this time, the inserted article 1, the ten-way holding device 3.4g, 1 disc 4. The second disk 6 will receive a moment in the M direction in the figure, but IL et al. note that movement in directions other than perpendicular to the Uiu insertion direction is restricted. , these work together as one without collapsing.
When the inserted article 1 and the hole 2a are moved in the direction IdJ, the axes of the inserted article 1 and the hole 2a coincide. At this time, ball 10. Piston 11 (Z in Figure 4)
Additionally, the robot 13 moves in the X direction and the insertion is photon.

As described above, according to this embodiment, the movable direction of the inserted article is perpendicular to the insertion direction of the gold article.

By restricting the insertion direction only, the object can be inserted into the hole without causing the object to fall, and since there is no escape mechanism that can move in the insertion direction of the object, it is possible to increase the insertion force of the object. It is. Furthermore, when the robot operates, the force of the ball against the depression and the compressed air are used to increase the robot's υl speed and vibrations during braking, and the length of the robot's wake is always constant. , JEGYN positioning 0 is possible.

In this embodiment, the third disk 6 is moved by the robot 13.
, and the article gripping device 63 is fixed to the first disk 4, but this may be provided in reverse.

-Also, in this embodiment, the linear spring 16 is used in the rL direction, but the recesses 4a and balls 1o may be provided at a plurality of locations 11ii to prevent rotation.

-Also, in the example of Misu/Ai, the biasing force against the recess 4a of the ball 10 is obtained by the spring 12, but this may also be done by varying the pressure of compressed air. The ball 10.The heavy sleeve 1A of the piston 11 may do this by means of frictional force against these cylinders 9a.

In this example, it is the pressure of compressed air.・Spring 12
Transmit the pressure to the ball 1° via the piston 11 b
However, the piston 11'fr:RL, may be configured to directly press the hole 10.

In addition, in this embodiment, <4.4a all articles loquat device 3
On the side, / Linder 9 a f o bot 13 [1II
I have a DC, but even if I sink 7L in reverse, it will not work.
Needless to say, it has similar effects.

Effects of the Invention As described above, in the VC present invention, the movable direction of the inserted part is defined only in the direction forming a plane perpendicular to the insertion direction of the article. Since there is no relief surface 41'+7 that can be inserted and that is movable in the direction of insertion of the article, it is possible to increase the insertion force of the article. Furthermore, when the robot is operating, the urging force of the ball against the recess is contained by compressed air, which may cause vibrations when the robot accelerates or brakes. Therefore, accurate position 1α determination is tJJ'IIhi, and its effect is quite large.

[Brief explanation of drawings]

The drawing is a longitudinal sectional view of an article insertion device according to an embodiment of the present invention. 1...Insert article, 2...Work, 2a...
... Hole, 2b ... (rIJ hole, 3 ... - Article gripping 14.4 ... 1st circle, 1 roll, 5 ... Flood 2 disk, 6 ...・・3rd circular desk, 7・・・・Bonope 8
...Retainer, 9...Shaft, 9a.../Rinder 110...Ball, 11...Piston, 1
2...spring, 13...robot, 14-,...
...Air fitting, 15...Tube, 16...
... Linear spring.

Claims (1)

[Claims] , a first plate provided so as to form an angle Ifi perpendicular to the insertion direction of the article, and a first plate facing parallel to each other via balls on both sides of the gA1 plate, and fixed to each other, integrally forming the first plate.
plates (two second plates that are two-dimensionally movable relative to C only in the direction perpendicular to the insertion direction of the article, and the above $J1
an article gripping device fixed to either one of the plate or the second plate; a position determining device for fixing the unfixed plate of the article gripping device and determining the position of the article (4);
The first board or the second hemp board is provided with 11 or more holes on one side, and the board with the above-mentioned recess is not provided with the above-mentioned recess. An article insertion device 60 consisting of a kited ball and a device provided to directly or indirectly press the ball with compressed air so that the force applied to the upper VC recess of the ball can be varied.