JPS6062428A - Parts driver - Google Patents

Abstract

PURPOSE:To prevent such wrong driving of parts such as expansion nuts by a parts driver that the parts are driven in an overstrained state into the fitted portions of assembled members. CONSTITUTION:A parts driver A comprises a base 20 sucured on a robot, and a driving member 30. The driving member 30 is composed of a driving rod 31, and a driving pipe 32, which is fitted on the rod and can be slid up and down relative thereto through the engagament of a portrusion and a groove. A movable base 22 is provided with a limit switch for protruding the piston rod 34a of a driving air cylinder 34. This results in preventing such wrong driving of parts that the parts are driven in an overstrained state into the fitted portions of assembled members. The state of fitting of the parts on the assembled members is thus always kept good.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a component driving device, and more particularly, to an improvement of a component driving device for driving and fixing a component such as an expansion nand.

In general, an expansion nut N as a part to be supplied to a component driving device has a substantially rectangular shape I base 1, as shown in FIGS. A screw hole 2 for screwing is provided in the center of the base l, while a pair of leg pieces 3 capable of deformation I+1 are provided opposite each other in the center of both sides of the base l. 3 is
It extends slightly outward from its base to the center 11
The legs are bent inward from the center to the tip, and a gap 5 narrower than the shaft diameter of the screw 4 is formed between the tips of the legs 3.

This expansion car has 14 different types:;
A set of utensils, etc. (when screwing one part, the leg pieces 3 are inserted into several holes 6 made in the instrument panel I mentioned above to form the threaded part of the screw 4) and
In this case, the screw is screwed into the screw hole 2 of the expansion nut (N), and the tip of the screw 4 presses into the gap 5 between the leg pieces 3, so that the 11111 piece 3 is pushed outward. When the screws 4 are expanded, the bases of the leg pieces 3 are brought into pressure contact with the edges of the several holes 6, and the screws 4 are securely fixed to the instrument panel (2) via the expansion nuts (N). This makes it possible to prevent deformation of the instrument panel I when screwing the screws 4 directly into the instrument panel I.

By the way, when installing such an expansion nut 1-N into the instrument panel described above, the parts driving device is attached to an automatic machine, and this automatic machine automates the installation of the expansion nut N. A system is being devised to do this. In such a system, the expansion nand N may be set in an unstable position in the component driving device, or the expansion pad N may be set in the component driving device in an unstable position.
A situation arises in which the expanded expansion nut N position and the position of the instrument panel 1 (= hole 6 position 11) do not match. In this state, the two-leg component driving device; If this is done, the expansion nut (N) will be forcibly driven into the mounting hole 6, and the expansion nut (N) will be forced into the mounting hole 6.
Not only will some lines of ill be incomplete, but the instrument panel will also malfunction.

The present invention has been made in accordance with 7.1+ from the following two points of view, and its purpose is to
The incorrect part driving operation where the part is forcibly driven into the part is eliminated, and the parts are not assembled correctly. jll A,I
An object of the present invention is to provide a component driving device that maintains a good mounting condition of components and prevents damage to one member due to incorrect component driving.

The basic structure of the present invention includes a base member installed in an automatic machine, and a driving member provided at the tip of the base member with several hens for positioning and holding parts. The above-mentioned driving member is composed of a driving rod and a driving pipe that protrudes from the tip of the driving opening/end and moves relative to the driving rod. Connect the driving rod to the driven actuator, and connect the driving rod to the base member. ) A switch means which supports the driving pipe via an elastic member, and is provided between the base member and the driving pipe to project and operate the driving actuator as the driving knob moves backward. There is a component driving device that is equipped with a.

Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.

FIG. 3 is a perspective view showing the entire system for driving the expansion nut. In the figure, the instrument panel I as a base is a rectangular frame 10.
The two legs are fixed and transported together with the frame 10 to a predetermined position by the shuttle 11 and rotatably supported by the rotating device 12 via the frame 10. An automatic machine R equipped with an arm Ra movable in the horizontal direction is installed on the work stage located near the instrument panel, and a component driving device A is installed at the tip of this arm AyRa. The work stage near the two-legged robot L-R has an expansioner as a part.
A parts feeder P that accommodates a large number of l-N is installed via a pedestal 13.

In this system, the 1'IIi product driving device A is first placed near the parts feeder P based on the teaching motion of the robot R, as shown by the imaginary line in FIG. Receives supply of Expansion Nand H. Next, the component driving device A is conveyed to a predetermined position based on the teaching operation of the Lohonto H, as indicated by the solid line iζ in FIG.
Insert the expansion numbers l-N into several holes 6 of the instrument panel I and panel ■, which are positioned at predetermined angle positions by
11 "The first drive is fixed.

In this embodiment, the basic configuration of the component driving device A is as follows:
As shown in FIG. 4, there is a base member 20 fixed to the robot l'H, a driving member 30 attached to the base member 20 in the direction of the -1-lower blade in an a-advance direction, and Several hents 40 are provided at the tip of the driving member 30 to position and hold the expansion nuts N, and the expansion nuts N, which are attached to the base member 20, are neatly arranged and stored. Strike 7ka 50
and the expansion number l-N in this stocker 50.
and a centering member 60 that connects the mounting head 40 to the mounting head 40.

The bipedal base member 20 is composed of a fixed base 21 and a movable base 22, as shown in FIGS. 5 and 6. The fixed base 21 includes a lower base 21a extending in the horizontal direction, a connecting base 21b rising upward from one end of the lower base 21a, and the connecting base 21b.
"1" so as to face the lower heath 21a from the upper end of the "1"
and an upper pace 21c that protrudes in a short length according to the protruding dimension of the lower base 21a, and
1b is connected and fixed to the robot arm Ra via a support bracket 26. On the other hand, the movable base 22 is
It is arranged to face the lower base 21a, and
The movable base 22 is slidably mounted along a kite support 23 that is stretched between the lower base 21a and the upper base 21c. 1 is connected to F25a.

Further, the driving member 30 is a member extending in the -1-F direction, and is fitted into the driving rod 31 and the driving rod 3H, and has a protrusion and a groove (1") with respect to the driving rod 31.
4 (not shown) and a driving pipe 32 that slides relative to each other in the vertical direction. - Enter Ron+・31
4-t t passes through the hole 27 of the movable base 22, and its upper end is attached to the movable base 22 via a support 33.
Piston rod 34a of air cylinder 34 for driving
On the other hand, the upper end of the bipedal driving pipe 32 is elastically supported by the top surface of the movable base 22 via a spring 35, and this driving pipe 32 is connected to the lower base 2.
I is disposed through the guide bush 36 attached to 1a.
IXru. The movable base 221 is also provided with a limit switch 37 that protrudes and activates the piston port 1j34a of the driving air cylinder 34, so that when the driving pipe 32 is moved upward from the normal position B, the driving The rimming switch 37 is activated by the upper end flange 38 of the containment pipe 32 pushing up the limiter 1 and the roller-equipped switch 38 of the switch 37.

Furthermore, the two-piece head 40 is integrally formed with a driving rod 31 and a driving pipe 32, particularly as shown in FIG. That is, a positioning protrusion 41 into which the expansion nut Ncr + screw hole 2 is fitted is protruded from the center of the tip of the driving rod 31, and the driving pipe 3
A positioning protrusion 42 is formed around the distal end of the drive rod 31 and protrudes downward from the distal end surface of the driving rod 31, and the positioning protrusion 42 is shaped to fit with the outer edge of the expansion nut Ill. On the other hand, 1-description driving rod 31
A magnet 43 that attracts and holds the upper surface of the nut base L of the expansion nut H is provided on the tip surface of the expansion nut H. Furthermore, a set state detector 44 is installed on the lower surface of the lower base 2+a located near the mounting head 40, and detects whether or not the expansion nut N is inserted into the head 40. The state detector 44 is a so-called photocoupler in which a light-emitting element and a light-receiving tree r are arranged facing each other so as to sandwich the head 40 between them, and the state detector 44 is a so-called photocoupler in which a light-emitting element and a light-receiving tree r are placed opposite each other so as to sandwich the head 40 between them.
A set of expansion nuts l-N in,
It is designed to detect. And a few hend 40
When the expansion (N) or (C) is performed, a part-sent completion signal is sent from the 1-E detector 44 to a control device (not shown).

Further, as shown in FIGS. 4, 5, and 8, the above-mentioned stone force 50 is applied to several fixed bases 21 via support arms 51. This stone force 50 is arranged with the same inclination angle as the chute 52 of the parts feeder P, and is arranged oppositely so as to sandwich the leg piece 3 of the expansion nut l-N, and protrudes from both sides of the leg piece 3. A sur (trail 53 and an expansion nut N
Install the above site rail 5 to prevent it from lifting up.
3, and an upper rail 54 extending along the upper part of the rail. And,” two-legged stocker 50 shooter 5
A connecting protrusion 55 having a conical guide surface is protruded from the second end, while a connecting recess 56 into which the connecting protrusion 55 fits is provided on the shooter 52 side. The connecting protrusion 55 and the connecting recess 56 constitute a positioning connection mechanism, and the stocker 50 is abuttingly connected to the chute 52 through the second connection mechanism. Further, a full detector 57 is attached to the end of the stocker 50 on the side of the chute 52 for detecting that the amount of oil stored in the expansioners, )H in the stocker 50 is full. 57 connects the light emitting element and the light receiving element -r to the expansion nut N in the switch 50.
This is a so-called Fo I coupler which is arranged opposite to each other so as to sandwich the expansion nut N, and detects whether the storage 1ij of the expansion nut N is full or not depending on whether or not the light receiving element receives light. When the storage m of expandance hN in the stocker 50 becomes full, the fullness detector sends a fullness detection signal to a control device (not shown).

Furthermore, reference numeral 58 denotes a stopper provided at the tip of the shooter 52 to release the restraint on the movement of the expansion lever (5).
9 is a cylinder for operating the stopper 58;

Reference numeral 60 is a connection switch that is built in the four connecting parts 56 and detects the connected state of the two when the connecting protrusion 55 is fitted into the four connecting parts 56, and 61 is provided on the sight rail 53 facing the full detector 57. This is a hole for light to pass through.

Further, in this embodiment, the set member 70 described in -
As shown in FIGS. 5 and 8, the lower space 1 of the stocker 50 is
”. This cent member 7
0 indicates a receiving part 71 that positions and receives the expansion nut N from the stocker 50, and this receiving part 71.
The supporting arm portion 72 is pivotally supported by a shaft pin 74 on a support bracket 73 provided several times on the lower base 21a.
1 receives the expansion nut l-N from the stocker 50, and moves along a predetermined rotational trajectory between the LI preparation position SL and the set position S2 (see Fig. 9) where several expansion nuts N are sent to the hand 4o. It is possible to move back and forth. A protrusion 75 is formed near the rotation axis of the support arm 72 and protrudes radially with respect to the rotation axis. The air cylinder 77 is connected to the piston door 7a of the air cylinder 77 through the piston door 7a. and again,
- A stopper part 78 is formed adjacent to the receiver part 71 in the set member 70, and this stopper part 78
The recording/receiving portion faces the lower opening of the stonker 50 when the portion 71 moves from the setting preparation position S1, and has a curved surface shape along the rotation locus of the Se'7 FijR material 70. There is.

Therefore, according to the component driving device according to this embodiment, the one-component driving device A first receives the expansion nand N from the parts feeder P. In this process, as shown in FIG.
moving towards. At this time, even if the teaching accuracy of the robot R is not so high, the stocker 5o and the chute 52 will be reliably butt-coupled because of the existence of the coupling mechanism composed of the coupling protrusion 55 and the coupling recess 56. , the command signal (R) from a control device (not shown) based on the ON operation of the connection switch 60 is stopped. Then, the stopper 58 1J attached to the shooter 52
tlEc The expansion nuts l-N in the chute 52 slide into the stocker 5o one after another, and the expansion nuts N are sequentially arranged and stored starting from the center member 70. When the storage amount of expansion nuts N in the stocker 50 becomes full, the stop I/flange 58 is closed by the action of the full detector 57. As a result, the supply of expansion N (N) from the chute 52 to the stocker 5o is stopped.
The empty chute 52 is supplemented with an expansion nut l-N by the operation of the parts feeder P. In this state, the process -F of supplying the expansion agent H to the component supply device A is completed, and the robot R is started for the next process.

In this state, the robot R starts up]・N
The number of thousands of cents is 1 F'40. In this setting process, as shown in Figure tP9, first, the piston port of the air cylinder tough 7 is set.

F'? 7a is operated to protrude, and thereby the set member 70
rotates in the counterclockwise direction of the figure Φ with the support pin 74 as the center of rotation. At this time, one expansion nut yl/N is positioned and received in the receiving portion 71 of the setting member 7o, and due to the rotational movement of the setting member 70, the expansion nut l=N is set. Preparation 4s7. i4Sl (see Figure 5) to Sera I.
The expansion nut l-N is transferred to the position S2 and supplied to the removal head 4o. In this state, the expansion nut N is 4;(,i
It is positioned by the Mi pleasure protrusion 41 and the 16 pleasure protrusion 42, and is also attracted and held by the magnet 43.

The expansion nuts 1-N are mounted on the mounting rod 4o while maintaining the predetermined posture without (III).

On the other hand, as the set member 70 rotates, the center member 7
0 will move from the set preparation position S1, but the expansion nut l-N in the stocker 50 is closed and stopped by the stopper part 78 of the cell i/member 70. Therefore, a situation in which the expansion nut N in the stocker 5θ falls out of the stocker 50 does not occur. Furthermore, if the expansion nut N is not set in the mounting head 40, the setting member 70 will not perform the setting operation until the expansion nut N is set in the mounting head 40 by the action of the setting state detector 44. continue.

Then, handle 1 head 40 and expansion oak 1-
At the stage where N has been soldered, preparation for the driving operation is completed, and the driving operation is started by a command signal from the control device based on the signal from the center state detector 44.
-R starts for the next step.

After this, the robot) R places the component driving device A at the upper position corresponding to the mounting hole 8 of the instrument panel I based on the teaching information, and the component driving device A places the component driving device A at the corresponding upper position. Start the driving operation. At this stage, a control device (not shown) issues a command signal to start the driving operation, and the component driving device A begins to operate. That is, as shown in FIG. 10, the piston rod 25a of the air cylinder 25 is operated to project, and the movable base 22 is moved downward by a predetermined amount. Then, the driving member 30 descends, and when the expansion nut N position within 71.4θ and the instrument panel are aligned, the driving member 30 is removed as shown in FIG. 11a. The N leg piece 3 is slightly inserted into the slot 6 of the instrument panel I. In this state, as shown in FIG.
A positioning protrusion 42 provided on the instrument panel. At this time, the driving pipe 32 is elastically supported by the spring 35 with respect to the movable base 22, and the downward movement of the driving pipe 32 is restrained.
This driving pipe 32 slides in three directions relative to the driving rod 31 while compressing the spring 35, and the driving nozzle 32 applies unreasonable force to several edges of the hole 6. There is no situation. At this time, the driving pipe 32 is
Since it is in relative contact with the moving hebe 22, the limit switch 37 is activated, and this limit switch 37 causes the piston rod 34a of the driving air cylinder 34 to protrude, and the driving rod 31 to protrude downward. do.

Then, as shown in FIG. 11C, the expansion nut 11 is pushed into the driving hole 31, securely fitted into several holes 6, and removed.

On the contrary, an expansion within 40 thousand 1 vents
If the center position of -N is tilted, or if the teaching accuracy of the robot yhR is not that high, the expansion null l-N position in the mounting head 4θ will not match the above mounting hole 6 position. In this state, when the mouth movement base 22 descends a predetermined amount toward the lower blade, the leg piece 3 of the expansion nut N comes into contact with the edge of the takeaway ζJ hole 6. Hole 6
Even if the edge is only slightly bent, the driving pipe 32 will not reach the edge of the mounting hole 6, and the limit switch 37 will not operate. Therefore, the piston rod 3 of the driving air cylinder 34
4a does not protrude, and the expansion nut N is forcibly pushed into the hole 6 of the receptacle 41.
] The 4S condition in which the edge of the hole 6 is damaged does not occur. In this case, the component driving device A corrects the expansion nut N position based on a command from a control device not shown, and then performs the expansion nut N driving operation again.

When the driving port 3+ reaches its lowest point, the control device issues a driving operation completion signal, and the piston rod d of the driving air cylinder 34 moves backward, and the air cylinder The piston rod 25a of No. 25 moves backward, and the driving member 30 is raised while separating from the expansion nut lN. At this stage, the driving process for one expansion nut is completed.

Thereafter, based on the teaching information of the robot R, the component driving device WIA drives and fixes the expansion nuts N into several holes 6 of the instrument panel I one by one.

In the embodiment described above, the component driving device A is equipped with the stocker 50, but it is not necessarily limited to this, and the shooter 5 of the parts tweeter P
There is no problem even if the expansion Nara L-H is directly supplied from No. 2. Furthermore, in the embodiment described in -1-, the pace member 20 includes the fixed pace 21 and the +i (moving base 2).
2, and a driving member 3o is provided on the movable pace 22, but the driving member 3o is not necessarily limited to this. There is no problem even if the member 30 is provided. Further, in the above embodiment, the limit switch 37 is used as a switch means for the driving air cylinder 34, but the limit switch 37 is not necessarily limited to this.
Of course, any switch means such as a proximity switch that detects the backward movement of the driving pipe 32 can be selected as appropriate. Furthermore, the elastic member supporting the driving pipe 32 is not limited to the spring 35 shown in the embodiment, and the design may be changed as appropriate.

In addition, in the above embodiment, the expansion oak l is used as a component.
-N is taken as an example in the explanation, but it is not necessarily limited to this, and it goes without saying that any component can be appropriately selected.

As described above, according to the component 1/1 insertion device η according to the present invention, it is possible to eliminate the erroneous component driving operation of forcefully driving the component into the mounting portion of the member to be assembled. This makes it possible to maintain the state of attachment of the parts to the assembled parts at all times, and also to prevent damage to the assembled parts due to incorrect part driving operations. Effectively defense 11
-Can be done.

[Brief explanation of the drawing]

Fig. 1 is an overall perspective view of the expansion nut, Fig. 2 is a cross-sectional explanatory view showing the expansion nut removal (=I state), and Fig. 3 is a driving of the expansion nut using the component driving device 2 according to the present invention. Work 1: A perspective view showing the entire system, FIG. 4 is a schematic diagram of an embodiment of the component driving device 6 according to the present invention, and FIG. 5 is a front view of the component driving device. Fig. 6 is a view taken from the direction of V1 in Fig. 5, Fig. 7 is a perspective view of the main parts showing the relationship between the J head and the parts, and Fig. 8 is a view of parts being inserted into the parts driving device. An explanatory diagram showing the supply process, Fig. 8 is an explanatory diagram showing the state jJ when parts are inserted, Fig. 10 is an explanatory diagram showing eight states during parts driving work,
1A to 1C are cross-sectional explanatory views of main parts showing the state of parts being driven in during part driving work. R...Robont (automatic machine) ■...Instrument panel N...Expansion Nara i (parts) 20...
・Base &ll 44 2 1...Fixed base 22・
・・Port f moving base 24・・air cylinder 30・・
- Driving member 31... Driving rod 32... Driving pipe 34... Driving air cylinder (actuator) 3
7... Limit switch (switch L stage) 40...
・Tori・J head characteristics Applicant: Nissan [1 Jidosha Co., Ltd.

Claims (1)

[Scope of Claims] 1) The parts are inserted into the automatic machine several times, and the parts to be assembled (= J parts are driven and fixed in the predetermined parts of the parts by the parts driving device, and the parts are removed by the automatic machines). a base member provided on the base member, and a driving member provided with a handle (to = 1) for positioning and holding the above-mentioned component at the tip thereof; and a driving pipe that protrudes from the tip of the driving rod and moves relative to the driving rod,
``The bipedal driving rod is connected to a driving actuator that is placed several times on the base member, and the driving pipe is supported by the heath member via an elastic member.
A component driving method characterized in that an L-stage switch is disposed between the two-legged Henne member and the driving guide, and the L stage switch is arranged to project the driving actuator as the driving pipe retreats. Including device. 2) The base member includes a fixed base that is fixed to an automatic machine and a movable base that is movable forward and backward with respect to the fixed base, and the driving member is provided on the movable base. Claims: 1. A component driving device according to claim 1, characterized in that: