JPS5947128A - Assembling device for plates and the like - Google Patents

Abstract

PURPOSE:To fit a component with good alignment in a hole even though the hole is provided with an error in location exceeding its chamfer area even when the hole is not provided with chamfer, by furnishing a hole location sensor and a component fitting gripper independently. CONSTITUTION:A sensor end 2 in the form of truncated pyramid of a hole location sensor 50 is supported by bearings 7, 8 rotatably round both the X and Y axes. Strain gauges to sense the rotational condition are set in these bearings 7, 8. The hole sensor 50 is inserted in the insertion hole prior to fitting of the component. The supporting arm is moved so that the voltage output by the strain gauges in accordance with the dislocation at this time becomes zero. Thus accurate alignment is obtained. Then the component 34 held by a gripper 54 is brought to the hole location sensed out, and fitting is carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an assembly apparatus for angular parts such as plates.

Conventionally, this type of device has a hole-equipped tit specified on the drawing by positioning based on a fixed weight position.
The equipment N was constructed with a heavy emphasis on As another method of integration, there is an example of work in which a square hole is chamfered, the reaction force generated when the part and the chamfer come into contact is detected using a strain gauge, etc., and the part is fully inserted, but this is not practical at the experimental stage. Not the level.

In conventional assembly examples, experimental methods have been carried out in which the insertion curve of a square hole is chamfered, but this process is not as easy as that for a round hole. Furthermore, the method of assembling without detecting the position of the square hole has the drawback that the reliability of assembly is lowered due to fluctuations in the relative position during assembly.

This invention was made in order to eliminate the drawbacks of the conventional ones as described above, and it provides an insertion hole position detector and a component insertion gripper independently, so that even if a relative position error occurs during assembly, the hole position It is an object of the present invention to provide an assembly device that can not only accurately detect hole positions but also detect hole positions even without chamfering. An embodiment of the present invention will be described below with reference to the drawings. In Figures 1 and 2, (1) is the bearing (9
) and the rotary shaft (11) which is rotatably supported by II.
! The detection LLN11 is set at +1, and its tip has a truncated pyramid-shaped detection end (2) for detecting the insertion hole position.

The rotation shaft (II) is rotatably supported by a detection shaft support (3) that holds a bearing (9) and a bearing plate (4), and a detection device υ equipped with a strain gauge is fixed to one end of the shaft support (3) that holds a bearing (9) and a bearing plate (4). has been done. The other end of the detection plate 0υ is fixed to the detection shaft support (83), and is configured so that the distortion caused by the detection plate corresponding to the movement of the detection end (2) can be extracted as a voltage output.

In Fig. 3, H is a rotating shaft that is the same as the above-mentioned rotating shaft support (81), and one end thereof has a detection plate φ4 on which a strain gauge (15) fixed to the rotating shaft 0 is attached, as in Fig. 2. The other end is a bearing (I) that supports the rotating shaft.
3) is fixed to the detection shaft support (5) that holds the.

Similarly, the rotation axis (17) that rotates around the point where the rotation axis (1υ and (1→) directly intersect) is the bearing (16).
A strain gauge (a detection plate having 2Ql) is fixed at one end to the bearing stand (6) and at the other end to the rotating shaft (17). In FIG. 4, the dimensions Ll to L@ that determine the shape of the detection end (2) can be arbitrarily selected depending on the shape of the insertion hole.

In Fig. 5, Qυ has a built-in head (support) at its tip that holds a position detector G and a gripper so that they can each independently extend/contract and rotate. This is a support arm that moves the can in the directions of the arrows Y and X in a position controllable manner. The detector is rotatably supported on a sliding table and is configured to be rotationally driven by a motor. Sliding table G! It is supported so that it can expand and contract in the direction of the arrow 2 along the guide (), and moves 20,000 times by the air cylinder Q. Similarly, the gripper (2) is connected to the air cylinder (
The slide table is configured so that it can be moved in two directions by means of a guide shaft and rotated by a motor. Motors H and (c) are controlled so that they always rotate by the same angle. A detailed explanation of the structure of the clipper (for the clipper) will be omitted here, but any structure is sufficient as long as it can open and close the inclined claws that grip the built-in part 041 and grip the detector at a constant interval.

Next, δtl+ production will be explained. When the soil is transferred to the conveyor 02 and the pallet 0υ holding the objects to be assembled is positioned at the assembly position, the air cylinder () is operated, the gripper () is lowered, and the supply device (2) soil parts C341
Grasp and rise. In this state, support arm G! υ moves in the direction of the arrow X, and the detection end (2) is positioned above the insertion hole 0ω and stops. In this state, when the air cylinder H is operated and the detector is lowered, the detection end (2) is inserted into the insertion hole (to) of the shaft of the object to be assembled. At this time, since there is a relative position error to a greater or lesser extent between the insertion hole (C) and the detection end (2), the detection end (2) is affected by the reaction force to be displaced along the insertion hole (C). When the force is applied, the detection axis (1) rotates by a small angle around 0η to the rotation axis (11) in a direction corresponding to the positional error. Due to this action, the amount of positional deviation corresponding to the positional error is output as a voltage from the strain gauges 00) 05) (Incorporated) attached to the respective rings on the detection plate ←υ.

Support arm G! in the direction of decreasing this output value! Operate υ and motor (c)15. Strain gauge (+o) (15
Stop J at the position where the output becomes zero, and activate the air cylinder) to raise the detector. In this state, the position of the insertion hole 〇5) made in the object to be assembled) can be accurately known, and the support arm Qυ can be moved by the arrow mark by the distance between the detector 〇 and the gripper 〇, which are arranged at regular intervals in advance. Move it in the Y direction. The part (2) will be inserted into the insertion hole 09 by fully operating the air cylinder (c) and lowering the air cylinder (c) into the grip. At this time, if the insertion hole c39 and the component are not gripped in parallel, the insertion operation may not be completed completely, so the component Oa
)′? i:fU-r and release the gripper at this position. If the clearance between the insertion hole o9 and the part (B) is large, the part (goods) will be inserted by its own weight in this state, but in order to ensure reliable insertion, raise the part (with the gripper) once with the air cylinder). to Grinnoza)
Close the gripper again and lower it again to the gripper's four claws (goods).
Push in the part (G) with the tip of the

This operation also confirms insertion. When insertion is confirmed, the gripper (a) rises, the support arm Qυ retreats in the direction of arrow Wait on the parts (b).

In the above embodiment, the support arm Qυ was operated so that the output of each detector became zero, and then the gripper was lowered and inserted. However, the positioning error is calculated by the control device from the output value of the detector, and the It is also possible to insert parts by correcting the distance between them.

Similar insertion is possible even if the truncated pyramid shapes L+ to L+ of the detection end are set arbitrarily. Furthermore, although the strain gauge was pasted on one side of the detection plate, it may be pasted on both sides. Furthermore, although a cedar arm made of orthogonal coordinates is used here, the same effect can be obtained by using a surface-shaped arm. Furthermore, it goes without saying that the position detector can be used as a single detector. Furthermore, by providing the support portion of the gripper with an elastic body, errors in parallelism between the component and the insertion hole can be absorbed, and the insertion operation can be simplified.

As described above, according to the present invention, an insertion hole position detector using a strain gauge and a component insertion gripper are arranged at regular intervals so that they can expand and contract independently, and the Since the structure is configured such that relative positioning errors can be detected and position correction can be performed, there is an effect that reliable assembly work can be performed even if variations occur in the assembly position.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing a position detector in an embodiment of the present invention, FIG. 2 is a sectional view taken along the line ■-■ in FIG. 1, and FIG.
The figures are a sectional view taken along the line m--■ in Fig. 1, Fig. 4 is a perspective view showing the detection end, and Fig. 5 is a perspective view showing an embodiment of the present invention. In the figure, (1) is the detection shaft, (2) is the detection end, (IJ is the detection shaft support, (5 is the detection shaft support, (IQ is the strain gauge,
(1υ is the rotation axis, Qri is the 1 tree rotation axis, 0 grain is the strain gauge, (
17) is the rotating shaft, (b) is the support stand, (b) is the bearing stand, spider is the strain gauge, O! υ is the support arm, ni) is the air cylinder, (c) (c) is the motor, H (goods) is the sliding base, ni)
is a guide shaft, 2) is a gripper, - is an object to be assembled, (B) is a part, (G) is an insertion hole, 6υ wheel is a detection plate, and (B) is a claw. Agent Shin Kuzuno - Figure 1 Figure 2

Claims (1)

[Claims] In a device for inserting a square part such as a plate into an insertion hole of a workpiece, the tip of an arm that is freely curved in one plane moves independently of each other in a direction perpendicular to the plane m1. One of the sliding parts has a detection axis that is rotatably supported around one point and two orthogonal axes that are orthogonal to each other, and that is capable of spherical movement. A detector having a shaft that can freely rotate around the orthogonal point Ili+It is pivotally mounted, and a rotating shaft of a gripper that rotates by the same amount as the detection shaft is pivotally mounted on the other sliding part, The above detector has the displacement position of each direction of the above detection axis η
A strain gauge is provided that can take out the insertion hole of the object as an air quantity, and the detector detects the deviation of the insertion hole of the object from the predetermined position using the electric quantity, and after detecting the exact position of the insertion hole, the gripper moves the The plate ∆ is characterized in that the arm is moved to a position in the insertion water, and the component held by the gripper is inserted into the insertion hole of the object to be assembled.
41゛Which assembly equipment?