JPS6076976A - Inserter for pin - 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 The present invention relates to an insertion device for automatically inserting a bottle into a mounting hole formed in a workpiece.

[Technical background of the invention and its problems]

For example, in an engine assembly process, there is a process of inserting a knock bottle into a mounting hole formed in an engine body, which is a workpiece. When inserting a knock bottle in a fully automatic manner, a channel is installed on the arm of the robot.
The knock bottle is held in place by the screwdriver, and then the position of the chuck is controlled to align the knock bottle with the center of the mounting hole, and the knock bottle is inserted into the mounting hole.

By the way, in such an automatic assembly process, the engine body is transported by a conveyor, and the conveyor is stopped at the process position where the knock bottle is inserted, and the engine body is positioned. Therefore, if the positioning accuracy of the engine body and the positioning accuracy of the chuck by the robot become inconsistent, the end surface of the knock bottle will become similar to the edge of the insertion hole.
A problem arises in that the knock bottle cannot be inserted into the insertion hole. In particular, since the positioning of the engine body using the mount pair cannot be performed with high precision, such problems are likely to occur.

[Purpose of the invention]

This invention allows even if the center of the insertion hole and the bottle are slightly off,
It is an object of the present invention to provide a bottle insertion device that allows a bottle to be reliably inserted into the insertion hole.

[Summary of the Invention] - A support supporting a movable body at one end of a mounting shaft driven in the axial direction so as to be movable in a direction orthogonal to the axial direction of the mounting shaft, and the movable body being fixed to the support. A chuck mechanism is provided at the other end of the mounting shaft for holding the bottle concentrically with the mounting shaft; An arm is provided which can be rotated by a drive mechanism from a position facing the bottle to a position where it is not facing the bottle, and the axis of the arm is aligned with the bottle before the arm is rotated. By providing the guide pin, the guide pin is first inserted into the mounting hole of the workpiece, and when the center of the guide pin and the mounting hole is misaligned, the mounting shaft is displaced via the movable body of the alignment device, and then the guide pin is inserted into the mounting hole of the workpiece. The movable body is fixed to a support body, and the bottle held by the chuck mechanism is inserted into the attachment hole of the workpiece.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings.

Reference numeral 1 in FIG. 1 is a Lopinto arm whose positioning is controlled three-dimensionally. A rotatably driven screw shaft 2 is erected on the arm 1, and a nut 3 is screwed onto the screw shaft 2. One end of a drive shaft 4 is connected to this nut 3. A midway portion of this drive shaft 4 is slidably supported by the arm I, and an insertion device 5 is connected to the other end.

The insertion device 5 is provided with a mounting shaft 6 as shown in FIG. An alignment device 7 is connected to one end of the mounting shaft 6. This alignment device 7 has an upper plate 9 fixed to one end surface of a ring-shaped intermediate body 8 and a lower plate 10 fixed to the other end surface, and has a space 1 inside.
It has a support body 12 of 1.

One end of the movable body 13 on which the collar 14 is formed is housed in the space 11, and the other end of the movable body 1, 3 protrudes from a through hole 15 formed in the lower plate 10. Shaving. The mounting shaft 6 is connected to this projecting end with its axis aligned with the movable body 13, and the other end of the drive shaft 4 is connected to the upper plate 9. The collar 14 of the movable body 13 will be discussed with its upper and lower surfaces supported by a rotatable sphere 16.

Therefore, the movable body 13 can freely move on a plane perpendicular to the axis of the mounting shaft 6. Further, the movable body 13 is formed with an open cylinder 17 on one end surface thereof. A piston 18 is slidably housed in the cylinder 17 in an airtight manner. One end of this giston 18 protruding from the cylinder 17 has a large diameter fi.
I Q Ir l Hke JJQ 7 n) + ζ
IRv 6 〃) A first friction member 2o made of μ f Ifra rubber is attached. A second friction member 21 is disposed on the lower surface of the upper plate 9 facing the first friction member 2σ.
is fixed. In addition, the movable body 13 includes a cylinder J7.
A supply hole 22 communicating with the lower part of the
2 communicates with a compressed air supply source (not shown). Therefore, when compressed air is supplied into the cylinder 17, the piston 18 protrudes from the cylinder 17, and the first friction member 20
Since the movable body 13 is in pressure contact with the second friction member 2, a spring 23 is provided which biases the movable body 13 in a direction that prevents the movable body 13 from moving in a direction perpendicular to the axial direction via the piston 18.

That is, the piston 18 and the first and second friction members 2
0.21 forms a flange mechanism that restricts the movement of the movable body 13.

A flange 24 is formed at one end of the mounting shaft 6, and this flange 24
A ring-shaped first connecting body 25 is fixed to the lower surface of the housing 1, and an elastic material 2 such as rubber is attached to the lower surface of the connecting body 2 of the housing 1.
A second connecting body 27, which is also ring-shaped, is connected via 6. An L-shaped first mounting body 28 is fixed on one side to the lower surface of the second connecting body 27.

As shown in Figures 2 and 7, a drive source 29 such as an air cylinder is provided on the other side of the first mounting body 28 that is parallel to the axis of the mounting shaft 6. A chuck mechanism 30 consisting of fingers 30 & is connected. The pin 91 is held between the pair of fingers 30h with its axis aligned with the mounting shaft 6.

Further, the lower end of the mounting shaft 6 protrudes from one side 1 of the first mounting body 28 (through hole 32 drilled therein, and a second mounting body 33 has one end fixed to the end thereof. A bearing body 34 is vertically provided on the lower surface of the other end of the mounting body 33 of the roof 2, and a support shaft 35 is rotatably provided on the bearing body 34.

One end of the support shaft 35 protruding toward the chuck mechanism 30 is connected to one end of an arm 36 that is disposed parallel to the side surfaces of the pair of fingers 30m. In addition, the support shaft 35
One end of a lever 37 is connected to the other end. A rod 39 of an air cylinder 38 serving as a drive mechanism is pivotally attached to the other end of the lever 37. As shown in FIG. 2, the air cylinder 38 is pivotally connected to the other end of a 4L-shaped support member 40, one end of which is fixed to the outer surface of the collar 24 of the mounting shaft 6. When the rod 39 of the air cylinder 38 is actuated in the protruding direction, the lever 3
7 rotates in the direction of the arrow from a vertical position, and the arm 36 is interlocked with this rotation via the entire support shaft 35.

A mounting piece 4) is fixed at right angles to the other end of the arm 36. A mounting hole 42 is bored in this mounting piece 41, and a guide pin 43 is mounted in this mounting hole 42 with a screw 44. This guide bin 4.9 has a small diameter portion 47 which is sufficiently smaller than the attachment hole 46 formed in the workpiece 45 from the lower end side through the first tapered portion 46af, and a second tee i.
'? A reference shaft portion 48 having a slightly smaller diameter than the mounting hole 46 and the same diameter as the pin 3 which is inserted and fixed into the tab mounting hole 46 is sequentially formed through the portion 48a. and,
However, before the arm 36 is rotated by the air cylinder 38, the idle pin 43 has a pair of fingers 30aJI.
When the air cylinder 38 is operated and its rod 39 protrudes, the pair of fingers 30
Displaces from below to the side.

Note that a shock absorber 50 is provided at the other end of the second mounting body 33. When the lever 37 returns vertically from the rotated state by the air cylinder 38, the end of the lever 37 comes into contact with the shock absorber 50 and the lever 37 is positioned, that is, the guide pin 43 is aligned with the pin 31. Coaxially positioned.

Next, the operation of the above configuration will be explained. First, when the workpiece 45 conveyed by a conveyor (not shown) is positioned below the insertion device 5, the screw shaft 2 is rotated and the insertion device 5 is lowered. When the insertion device 5 is lowered, the handlebar 43 provided on the arm 36 is inserted into the attachment hole 46 formed in the workpiece 45. At this time, if the axes of the guide bin 43 and the mounting hole 46 are misaligned, the first tenor base portion 45 or the second toothed portion 48 of the idle pin 43 will come into contact with the opening edge of the mounting hole 46. Since they are in contact with each other, a force is generated on the guide bin 43 in a direction perpendicular to its axis.

When the guide bin 43 receives such a force, this force is transmitted to the movable body 13 of the alignment device 7 via the second mounting body 33 and the mounting shaft 6. Therefore, since the guide bin 43 is inserted into the mounting hole 46 of the workpiece 45 while the movable body 13 is displaced in a direction perpendicular to the axis of the mounting shaft 6, the reference shaft portion 48 of the guide bin 43 is When the guide bin 43 and the mounting hole 46 are completely inserted, the axes of the guide bin 43 and the mounting hole 46 are aligned. Furthermore, due to the movement of the movable body 13,
Since the chuck mechanism 3o is also interlocked, the axis of the pin 3 held between the pair of fingers 90a of the chuck mechanism 30 also coincides with the axis of the mounting hole 46.

In this state, compressed air is supplied to the cylinder 17 of the alignment device 7 to cause the piston 18 to protrude, and the movable body 13 is supported by bringing the first friction member 20 and the second friction member 21 into pressure contact. It is fixed to the body 12. Once the movement of the movable body 13 is blocked, the screw shaft 2 is actuated to release the guide pin 43.
The insertion device 5 comes out from the mounting hole 46 of the workpiece 45.
to rise. Next, the air cylinder 38 is actuated to rotate the arm 36 and the guide pin 43 is displaced laterally from the lower end of the pair of fingers 90a, and then the insertion device 5 and the screw shaft 2 are actuated. lower it again. Then, the above pair of fingers? Bottle 3 held between Oa
The bottle 31 will be inserted into the mounting hole 46 of the workpiece 45, but since the axis of the bottle 31 is aligned with the axis of the mounting hole 46 by the alignment device 7 and the idle pin 43. , the bottle 31 is reliably inserted into the attachment hole 46.

In addition, there is almost no difference in dimension between the tube 31 and the mounting hole 46.
In some cases, simply displacing the bottle 31 downward will not allow the bottle 31 to fit smoothly into the mounting hole 46 if the contact between the lower edge of the bottle 31 and the inner peripheral surface of the mounting hole 46 becomes even slightly uneven. You won't get into it. However, in such a case, the elastic material 26 provided between the eleventh and second connecting bodies 25 and 27 is compressively deformed in response to the force applied to the bottle 31 and tilts the bottle 3. Since the bottle 91 is pushed into the mounting hole 46 in a pried manner,
It will be inserted into the mounting hole 46.

〔Effect of the invention〕

As described above, according to the present invention, the axis of the bottle held by the chuck mechanism can be aligned with the axis of the attachment hole of the workpiece by the guide bottle and alignment device provided on the arm.

Therefore, even if the positioning of the bottle and the workpiece is not performed with high precision, the bottle can be reliably inserted into the attachment hole of the workpiece.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Fig. 1 is an overall schematic diagram, Fig. 2 is a front view, Fig. 3 is a partially sectional side view, and Fig. 4 is a sectional view of the arm mounting structure. be. 6... Mounting shaft, 7... Aligning device, 12... Support body, 13... Movable body, 18... Piston (clamp mechanism), 20.21... Friction member (clamp mechanism) ), 3
゜...Chuck mechanism, 31...Bin, 36...Arm, 38...Air cylinder (drive mechanism), 43...
・Idobin.

Claims (1)

[Claims] A mounting shaft driven in the axial direction, a movable body connected to one end of the mounting shaft, and a movable body supported so as to be movable in a direction orthogonal to the axial direction of the mounting shaft. A support and the movable body as a support. an alignment device having a flange mechanism for fixing; a chuck mechanism for holding the bottle concentrically with the mounting shaft provided at the other end of the mounting shaft; and an arm rotatably provided integrally with the mounting shaft. a drive mechanism for rotating this arm from a position where one end thereof faces the bottle held by the chuck mechanism to a position where it does not face the bottle; A bottle insertion device characterized by comprising a guide bin provided with the axis aligned with the bottle.