JPS61121843A - Spring grasping mechanism - Google Patents

Abstract

PURPOSE:To realize stable grasping of a spring by holding the spring horizontally by providing an almost sleeve type guide to be inserted in a coil unit of the spring and a pressing rod and hook for retaining an arm unit of the spring. CONSTITUTION:A spring grasping mechanism 13 grasps a torsion spring 69 having a coil unit 70 and arm units 71a, 71b. A guide 44 is constructed so that a disc unit 45 is integrally formed on an upper end portion and a lower end portion is formed almost sleeve type, and is inserted in the coil unit 70 of the torsion spring. A pressing rod 48 is applied by replusing force pressing to contact to an upper face of a horizontal side hook piece 41b of a hook 41 by pressing force of a coil spring 50 and can retain the arm unit 71a of the torsion spring. Therefore, the torsion spring 69 is supported by the spring grasping mechanism 13 on its two points, and the spring can be kept almost horizontally and grasped stably.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a novel spring gripping mechanism. Specifically, for example, springs called iron springs, torsion springs, spiral springs, etc., that is, springs having a coil portion and at least one arm portion integrally formed with the coil portion (hereinafter, such springs are referred to as iron springs, torsion springs, spiral springs, etc. The spring is called a "torsion spring, etc.").
With its relatively simple structure, it can stably grip torsion springs, etc., and also automatically grab torsion springs, etc. placed in the parts storage area, and hold them in a specified position. It is an object of the present invention to provide a novel spring gripping mechanism that can be automatically installed in the installation position of the device.

BACKGROUND TECHNOLOGY AND PROBLEMS Torsion springs and the like are widely used in various mechanisms and devices, but conventionally, incorporating them into mechanisms and devices has been done exclusively by hand. The reason for this is as follows. First, due to its shape, the position where it can be gripped is generally limited to the coil part or the arm part, and each of these parts has a relatively thin core wire shape. Moreover, since the cross-sectional shape is generally circular, it is extremely difficult to grasp it mechanically and stably. Second, torsion springs etc.
In many cases, the coil portion is fitted onto the shaft of a certain member, and the arm portion is assembled so as to be engaged with an engaging member or the like provided close to the shaft. That is, since it is placed in an extremely narrow space, the size of the mechanism for gripping it is extremely limited. Thirdly, torsion springs etc. usually need to be installed in a state where the elastic force of the coil section is acting on the arm section, so the mechanism for gripping the torsion spring etc. It must be constructed so that it can withstand and be held securely, and if the spring has two arm parts, one arm part must be engaged in a specified manner. After engaging the member, the other arm is pulled upward while resisting the above-mentioned elastic force, and then the other arm is engaged with another predetermined engagement member. In such cases, it becomes even more difficult to ensure that the torsion spring or the like is always held securely, since complex movements are required. And the fourth
In addition, since wire springs with various diameters are used depending on the purpose of use, they can be gripped regardless of the wire diameter, at least to a certain extent, and the torsion increases as the wire diameter increases. It is not practical unless it is constructed so that the force can be controlled stably.

For these reasons, conventionally, picking out torsion springs and other parts from the parts storage area and installing them into predetermined installation positions has not been done by people using a set of pins or so-called radio pliers. was.

Therefore, even though it has become possible for industrial robots to perform most of the assembly of video tape recorders, for example, the assembly of torsion springs, etc., has not been mechanized, that is, automated. .

Purpose of the Invention The present invention has been made in view of the above-mentioned problems, and has a relatively simple structure that makes it possible to stably grip torsion springs, etc. It is an object of the present invention to provide a novel spring gripping mechanism that can automatically grip and install the same into a predetermined installation position.

SUMMARY OF THE INVENTION In order to achieve the above-described object, the spring gripping mechanism of the present invention includes a coil portion and at least one arm portion integrally formed with the coil portion, and is arranged in a parts storage portion in a predetermined posture. The present invention is characterized by comprising a substantially sleeve-shaped guide inserted into the coil portion of the spring, and a holding means disposed on the side of and close to the guide and holding the arm portion of the spring.

EXAMPLES Below, details of the spring gripping mechanism of the present invention will be explained according to the embodiments shown in the attached drawings.In the embodiment shown in the drawings, the spring gripping mechanism of the present invention is applied as a spring gripping mechanism mounted on an industrial robot. It is something.

First, an overview of industrial robots will be explained (see Figure 2).

In the figure, 1 is an industrial robot equipped with a spring gripping mechanism which will be described later.

2 is a base of the industrial robot 1, and 3 is a first arm whose base end is rotatably supported by the base 2. Reference numeral 4 denotes a first arm drive section consisting of a motor 5 and a speed reduction mechanism 6 disposed on the upper surface of the base 2;
is adapted to be rotated in the θ1 direction by the first arm driving section 4. 7 has its proximal end connected to the first
The second arm 7 is rotatably supported by the rotating tip of the arm 3, and the second arm 7 has a second arm 7, which is composed of a motor 8 and a speed reduction mechanism 9, which are arranged on the upper surface of the tip of the first arm 3. It can be rotated in the θ2 direction by the arm driving section 10. Reference numeral 11 denotes a tool that is disposed to pass through the rotating tip of the second arm 7 in a substantially vertical direction, and is supported by the rotating tip so as to be slidable and rotatable in the axial direction. It is a mounting axis, and the tool mounting axis 1
A spring gripping mechanism, which will be described later, is mounted on the lower end of the connecting tower. Reference numeral 12 denotes a tool mounting shaft drive means provided on the upper surface of the second arm 7, and the tool mounting shaft drive means 12
is driven by a drive unit (not shown), and the tool mounting shaft 11
can be slid in the Z direction and rotated in the R direction.

Next, the spring gripping mechanism 13 will be explained (see FIGS. 1 to 7).

14 is a main shaft formed in a substantially cylindrical shape long in the axial direction;
An upper flange 15 for mounting, which is approximately oval in shape when viewed from above, is integrally formed at its upper end, and a lower 7 flange 16, which is approximately disk-shaped, is integrally formed at its lower end. 17.17. Number e is a notch formed on the outer periphery of the upper flange 15 at a distance of about 90'' from each other.

18 is a through hole formed in the axial center of the main shaft 14 so as to pass through the main shaft 14 in the axial direction, and the diameter of the approximately middle part of the through hole 18 in the axial direction is a slightly smaller diameter. The step surface 1 is formed between the upper end and the lower end of the intermediate portion of the through hole 18.
9.20 is formed.

Reference numeral 21 denotes a pressing wall integrally formed so as to protrude downward from a portion along the outer periphery of the lower surface of the lower flange 16, and the pressing wall 21 has a circular shape of approximately 60° when viewed from the axial direction of the main shaft 14. The two pressing surfaces 22a and 22b, which are formed in an arc shape and located on both sides in the circumferential direction, are not formed so as to be located in the same plane with each other, but are formed so as to face slightly outward from each other.

Thus, the main shaft 14 is integrally connected to the lower end portion of the tool mounting shaft 11. That is, 23 (see FIG. 5) is a coupling having a flange 23a for attachment, and the coupling 23 is fastened to the lower end of the tool mounting shaft 11. The main shaft 14 is connected to its upper flange 1.
5 notch 17.17, port 24.24 screwed to the flange 23a of the coupling 23 through +1Φ.
... is fixed to the coupling 23, thereby connecting the main shaft 14 to the tool mounting shaft 11.

Reference numeral 25 denotes a work shaft supported by the main shaft 14 so as to be able to slide freely in the axial direction and to be able to rotate to some extent. 27 are integrally connected.

The base portion 26 (see FIG. 4) of the working shaft 25 includes a shaft portion 28 formed in a substantially cylindrical shape and a pressed portion 29 integrally formed at the lower end of the shaft portion 28. A screw hole 30 is formed at the upper end of the shaft center of the shaft portion 28, and a screw hole 30 is formed at the upper end of the shaft center portion of the shaft portion 28.
An annular protrusion 31 for use as a spring receiver is formed on the outer circumferential surface of the spring 8 at a position slightly downward from the center in the axial direction. Further, the pressed portion 29 is formed into a substantially drum shape whose outer diameter is substantially equal to the outer diameter of the lower flange 16 of the main shaft 14, and the portion excluding the lower end portion is about 3 minutes long when viewed from above. 1, that is, a portion extending from the approximate center between the thin end and the outer circumferential surface of the pressed portion 29 to the outer circumferential surface is cut out in an approximately half-moon shape. As a result, a pressed surface 32 facing in a direction perpendicular to the axial direction of the pressed portion 29 is formed.

33 is an annular protrusion integrally formed on the lower surface of the pressed part 29, and 34 is formed at the axial center of the pressed part 29,
Further, it is a guide hole opened on the lower surface of the protrusion 33 . Reference numeral 35 denotes a steel ball support hole (see FIG. 6) formed approximately at the center in the axial direction of the pressed portion 29 and between the guide hole and the outer peripheral surface. The hole 35 is formed such that one end thereof is opened in the pressed surface 32 and its axial direction extends in a direction substantially perpendicular to the pressed surface 32 .

On the other hand, the working portion 27 of the working shaft 25 includes a shaft portion 36 having an outer diameter approximately equal to the outer diameter of the shaft portion 28 of the base portion 26, and a mounting portion integrally formed at the upper end portion of the shaft portion 36. Flange 3
It consists of 7. 38 is a circular recess formed on the upper surface of the flange 37.

The inner diameter of the recess 38 is approximately equal to the outer diameter of the annular protrusion 33 formed on the lower end surface of the pressed portion 29 . 3
Reference numeral 9 denotes a guide insertion hole formed to axially penetrate the axial center portion of the working portion 27 .

Reference numeral 40 denotes a rod guide hole located between the guide insertion hole 39 and the outer circumferential surface of the working part 27 and formed so that its axial direction extends parallel to the axial direction of the guide insertion hole 39. . Reference numeral 41 denotes a hook provided on the lower end surface of the shaft-shaped portion 36 (see FIGS. 1, 7, 12, etc.). The hook 41 projects downward from the lower end surface of the shaft-shaped portion 36. The upper end portion of the vertical side hook piece 41a, which extends in the vertical direction, is fixed to the shaft portion 36 by a fixing means (not shown).
A horizontal hook piece 41 fixed to the horizontal side and extending in the horizontal direction.
b is located below the rod guide hole 40.

The main shaft 14 and the working shaft 25 are rotated in the direction shown by the solid arrow in FIGS. 1 and 7 (hereinafter, this direction is referred to as the "spring gripping direction") when performing the spring gripping operation.
When performing a spring release operation, the hook 4 is rotated in the direction shown by the broken arrow in FIGS. 1 and 7 (hereinafter, this direction is referred to as the "spring release direction").
The first horizontal hook piece 41b projects from the lower end of the vertical hook piece 41a substantially in the spring gripping direction.

Thus, the base 26 of the work shaft 25 and the work part 27 are such that the annular protrusion 33 on the base 26 side is fitted into the circular recess 38 on the work part 27 side, and the flange of the work part 27 Port insertion hole 42.42,...φ (
Only three are shown in the drawing. ) through the pressed part 29
They are integrally connected by ports 43, 43, . . . which are screwed onto the lower end surfaces of. As a result, the guide guide hole 34 formed on the base 26 side and the guide insertion hole 39 formed on the working part 27 side are coaxially positioned and communicated with each other.

44 has a disk portion 45 integrally formed at its upper end, and
The guide 44 is an elongated cylindrical guide whose lower end is formed into a substantially sleeve shape. The work shaft 25 is slidably disposed in the guide hole 34 formed in the pressed portion 29.
It is supported so as to be able to freely slide in the axial direction at the lower end of the. 46 is a hole opened at the lower end of the guide 44.

Reference numeral 47 denotes a guide hole 34 formed in the pressed portion 29.
A coil spring for pressing the guide is arranged in a compressed state to a certain degree between the upper end surface and the disk portion 45 of the guide 44, and the guide 44 is moved by the pressing force of the coil spring 47. The work shaft 25 is always biased with an elastic force that tends to move downward, and when the disc portion 45 comes into contact with the upper opening edge of the guide insertion hole 39, it is moved away from the work shaft 25. A stop has been put in place to stop the removal.

Note that the guide 44 has its disk portion 4 as shown in FIG.
5 is in contact with the upper opening edge of the guide insertion hole 39, and its lower end portion is made to project downward from the lower end of the guide insertion hole 39.

Reference numeral 48 denotes a press rod that is slidably inserted into the rod guide hole 40 formed in the working part 27, and the press rod 48 is formed in a substantially round bar shape, and the lower end of the press rod 48 is shaped like a round bar. It is formed into an inverted conical shape whose diameter gradually becomes smaller, and its lower end surface is formed into a substantially hemispherical shape (see FIG. 12, etc.). Reference numeral 49 denotes a screw (not shown) formed at the upper end of the rod guide hole 40. A cap screw is screwed into the hole, and 50 is a coil spring disposed between the upper end of the pressing rod 48 and the cap screw 49 in a somewhat compressed state. Therefore, the pressing force of the coil spring 50 causes the pressing iron 48 to constantly press the horizontal hook piece 41b of the hook 41.
A resilient force is applied to press the upper surface of the Therefore, the lower end surface of the pressing rod 48 is pressed against the upper surface of the horizontal hook piece 41b of the hook 41 in a state where the arm portion of the spring described later is not engaged with the hook 41.

Thus, the shaft-shaped portion 28 of the base portion 26 of the work shaft 25 is slidably inserted into the through hole 18 of the main shaft 14, and
With the pressed surface 32 of the pressed portion 29 facing the pressing surfaces 22a and 22b of the pressing wall 21 formed on the main shaft 14, the screw formed at the upper end of the shaft-shaped portion 28 A stopper port 51 is screwed into the hole 3°. In addition, the stopper port 51 has a screw shaft portion 51a and a bolt head 5.
1b and a flange 51c between the screw shaft portion 51a and the bolt head 51b are integrally formed, and the screw shaft portion 51a is screwed into the screw hole 3o of the working shaft 25.

52 is fitted onto the shaft-shaped portion 28 of the base 26 of the work shaft 25,
In addition, a coil spring (the first coil spring) is disposed between the annular protrusion 31 of the shaft portion 28 and the lower step surface 20 formed in the through hole 18 of the main shaft 14 and is compressed by a predetermined amount. 5
shown in the figure only].

Therefore, the working shaft 25 is always urged to move downward by the pressing force of the coil spring 52 against the main shaft 14, and the stopper port screwed onto the upper end of the working shaft 25 is always urged to move downward. The flange 51c of 51 comes into contact with the upper stepped surface 19 of the through hole 18, so that it is supported in a state where it is prevented from being removed from the main shaft 14, and is also slidable within a certain range in the axial direction. It is supported as such. Note that the maximum distance that the work shaft 25 can move in the axial direction with respect to the main shaft 14 is structurally determined by the lower flange 16 of the main shaft 14 and the pressed portion 29 of the work shaft 25.
In reality, the work shaft 25 is the main shaft 14.
The distance moved in the axial direction is made shorter than the above-mentioned structural movable distance by a photointerrupter, which will be described later.

Reference numeral 53 denotes a steel ball (see FIG. 6). The steel ball 53 is movably disposed in the opening of the steel ball support hole 35 formed in the pressed portion 29 of the work shaft 25, and is attached to the main shaft 14. One pressing surface of the pressing wall 21, that is, the main shaft 14 is arranged so as to be in contact with the pressing surface 22a on the side that presses the pressed surface 32 of the pressed portion 29 when the main shaft 14 is rotated in the spring gripping direction. There is. Further, 54 is a steel ball pressing spring in the form of a coil spring, which is disposed in a somewhat compressed state between the end surface of the steel ball support hole 35 on the side opposite to the opening and the steel ball 53. The steel ball pressing spring 54 constantly presses against one pressing surface 22a of the pressing wall 21. As a result, normally, the other pressing surface 22b of the pressing force W21 is pressed against the end of the pressed surface 32 of the pressed portion 29 on the side where the anti-steel ball support hole 35 is formed, and the one pressing surface 22a They come to face each other at a slight distance from the pressed surface 32.

When the main shaft 14 is rotated in the spring gripping direction, one of the pressing surfaces 22a of the pressing force 121 presses the pressed part 29 via the steel ball 53 and the steel ball pressing spring 54, so that the work shaft 25 is rotated integrally with the main shaft 14 in the spring gripping direction. Further, when the main shaft 14 is rotated in the spring release direction, the other pressing surface 22b of the pressing wall 21
will press the pressed surface 29, so the work shaft 25
is rotated integrally with the main shaft 14 in the spring release direction.

Note that when the main shaft 14 is rotated in the spring gripping direction, the work shaft 2
If a force is applied to 5 to prevent its rotation, only the main shaft 14 will be rotated. In this case, one pressing surface 22a of the pressing wall 21 pushes the steel ball 53 toward the inner part of the steel ball support hole 35 against the pressing force of the steel ball pressing spring 54 (already pushed into the pressed portion 22a). This rotation of only the main shaft 14 occurs when grasping a spring, etc. This will be explained in detail later.

55 is a first photointerrupter (see FIGS. 5 and 7) provided on the main shaft 14; 56 is a first photointerrupter provided on the main shaft 14 from a portion of the outer peripheral surface of the lower flange 16 on the side opposite to the pressing wall 21; The support substrate 56 is formed in a substantially gate shape as shown in FIG. It extends to a position corresponding to the side part. A light projecting member 58 having a light emitting element 57 is fixed to one 56a of the legs 56a and 56b, and the other 56a has a light emitting element 57 fixed thereto.
A light receiving member 60 having a light receiving element 59 is fixed to b. Further, 61 is a first light shielding plate formed to have a substantially crank shape, and 8t, the first light shielding plate 61 has a mounting piece 61a formed at one end that is connected to the pressed portion 25 of the work shaft 25. A light-shielding piece 6 is fixed to a portion of the outer peripheral surface on the side opposite to the pressing surface 32, and is formed in an upright shape at the other end.
1b is arranged to correspond to the position between the light projecting member 58 and the light receiving member 60. Note that the upper edge of the light-shielding piece 61b of the light-shielding plate 61 is positioned slightly below the optical path of light traveling from the light-emitting element 57 to the light-receiving element 59 (indicated by a dashed line in Figure 5). .

Therefore, when the main shaft 14 is moved downward while the downward movement of the work shaft 25 is blocked, the first photointerrupter 55 is displaced downward in response to the shading hit 81 of 4@1. That will happen.

When the main shaft 14 is displaced downward by a predetermined amount, the optical path of the light from the light emitting element 57 to the light receiving element 59 is changed to the light shielding plate 61.
The light is blocked by the light blocking piece 61b. As a result, a predetermined operating state such as a spring gripping action can be detected. This will be explained in detail later.

62 is a second photointerrupter (see FIG. 7) provided on the main shaft 14; 63 is the first photointerrupter on the outer peripheral surface of the lower flange 16 of the main shaft 14;
This support substrate 63 is provided so as to protrude approximately horizontally from a position approximately 90 degrees apart in the spring gripping direction from the position where the support substrate 55 is attached.
6, and a light projecting member 65 having a light emitting element 64 on its leg and a light receiving member 67 having a light receiving element 66 are fixed and spaced apart from each other. Reference numeral 68 denotes a second light-shielding plate which is also formed in a substantially crank shape, and the second light-shielding plate 6B has a mounting piece 68a at one end attached to the outer peripheral surface of the pressed portion 29 of the work shaft 25. The light shielding piece 88b at the other end is fixed to a portion spaced approximately 90 degrees away from the position where the first light shielding plate 61 is attached in the spring grip direction, and the light shielding piece 88b at the other end is fixed to the light projecting member 65.
and the light receiving member 67 at a corresponding position.

Note that one side edge of the light shielding piece 88b of the second light shielding plate 68 on the support substrate 63 side is slightly smaller than the optical path of light from the light emitting element 64 to the light receiving element 66 (indicated by a dashed line in FIG. 7). It is located on the spring gripping direction side.

Therefore, when the main shaft 14 is rotated in the spring gripping direction while the work shaft 25 is prevented from rotating in the spring gripping direction, the second photointerrupter 6 is rotated against the second light shielding plate 68.
2 will be moved in the spring gripping direction. Then, when the main @ 14 is rotated by a predetermined amount in the spring gripping direction, the optical path of light traveling from the light emitting element 64 to the light receiving element 66 is blocked by the light shielding piece 68b of the second light shielding plate 68. As a result, a predetermined operating state such as a spring gripping action is detected.

69 is a torsion spring (see factor 8, etc.) which is gripped by the above-mentioned spring gripping mechanism 13. 70 is a coil portion of the torsion spring 69, and 71a and 71b are arm portions formed integrally with the coil portion 70. It is.

Reference numeral 72 designates a component tray (see FIG. 8) in which the above-mentioned torsion springs 69 are arranged and stored in a predetermined posture. Recessed portions 73.73, ... (8th
(see Fig. 1 and Fig. 10) are arranged in a large number in a fixed direction and at a fixed interval from each other. Incidentally, these alignment recesses 73, 73, . . . are formed in a shape in which the talk spring 69 is fitted without producing any elastic force. 73a is a coil part fitting part which is substantially circular when viewed from above, and the coil part 70 of the torsion spring 69 is fitted here. Moreover, 73b is a take-out part formed in a substantially fan shape with the central part of the coil part fitting part 73a as the main part when viewed from above, and formed to be shallower to some extent than the coil part fitting part 73a. , when the torsion spring 69 is taken out, the spring gripping mechanism 1
A hook 4"1 provided at 3 can be inserted therein.

A first groove 73c is formed to extend toward the anti-coil fitting portion 73a from a substantially central portion of the outer circumferential wall of the take-out portion 73b extending in a substantially arc shape, and is formed in a groove shape shallower than the take-out portion 73b. This is the arm fitting part, and here,
The tip of one arm portion 71a of the torsion spring 69 is fitted. The depth of the first arm fitting portion 73c is approximately equal to the wire diameter of the torsion spring 69.

73d is an ash removal portion 73b of the coil fitting portion 73a.
This is a second arm fitting part that is formed to extend from the side part to the ash removal part 73b side and is formed in a groove shape with the same depth as the coil part fitting part 73a.

Thus, the torsion springs 69, 69, . . . have their coil portions 70 aligned with the alignment recesses 73, 73, . ... are fitted into the coil part fitting parts 73a, 73a, φ, and the tips of one arm part 71a, 71a, Φ... are fitted into the alignment recess 73.
．． 73, Φ・- first arm fitting portion 73c, 73c
, - Fitted into the fist [phase], the other arm part 71b, 71
b, the fist l111 is the second alignment recess 73,73,...
By being fitted into the arm fitting parts 73d, 73d, .

Next, an example of the operation of taking out the torsion springs 69, 69, . . . from the parts tray 72 by the industrial robot 1 on which the spring gripping mechanism 13 is mounted will be explained step by step with reference to FIG.

When the industrial robot 1 takes out the torsion spring 69, the first arm 3 and/or the second arm 7 are rotated by a predetermined amount in a predetermined direction, and the spring gripping mechanism 13 is placed above the parts tray 72. Move it to the specified position. That is,
The industrial robot 1 has a spring gripping mechanism 13 and a guide 4 thereof.
The axis of 4 is aligned with the alignment recess 73.73 of the component tray 72,
The hook 41 comes coaxially with the axis of the coil part fitting part 73a of the alignment recess 73 in the next order from which the torsion spring 69 was taken out last time, and the hook 41 moves into the alignment recess 73. One arm portion 718L of the torsion spring 69 and the second arm portion 718L of the torsion spring 69 among the takeout portions 73b of the
and the wall surface located on the extension of the arm fitting portion 73d. Thus, the guide 44 and hook 41 of the spring gripping mechanism 13 are positioned above the alignment recess 73 of the component tray 72 in the state shown in FIG. 9(A).

Therefore, from the state shown in FIG. 9(A), the tool mounting shaft 1
1 is moved downward, the entire spring gripping mechanism 13 is lowered toward the component tray 72, and the lower end of the guide 44 is inserted into the coil portion 70 of the torsion spring 69, and the lower end of the guide 44 is inserted into the coil portion 70 of the torsion spring 69, and The end face is the alignment recess 73
When it comes into contact with the bottom surface of the coil part fitting part 73a, from there.

By compressing the coil spring 47 associated with the guide 44, the portion of the spring gripping mechanism 13 excluding the guide 44 is further lowered. Then, the horizontal hook piece 41b of the hook 41 is attached to the take-out portion 73 of the alignment recess 73.
'b, the downward movement of the work shaft 25 is blocked, and the coil spring 52 associated with the work shaft 25 is compressed, causing only the main shaft 14 to be further lowered. However, when only the main shaft 14 is lowered, the steel ball 53 is moved while being in contact with one of the pressing surfaces 22a of the pressing wall 21.

When the main shaft 14 is lowered by a predetermined amount, albeit slightly, from the state in which the work shaft 25 is prevented from lowering, the optical path of the light from the light emitting element 57 of the first photointerrupter 55 to the light receiving element 59 is changed. Since it is located below the upper edge of the light shielding piece 61b of the first light shielding plate 61, the irradiation of light to the light receiving element 59 is interrupted. As a result, a signal indicating that the guide 44 and the hook 41 have reached the predetermined position on the parts tray 72 is input to the control unit of the industrial robot 1, and the downward movement of the tool mounting shaft 11 is stopped in accordance with this detection signal. (In Figure 9 (B) and Figure 11,
Also, the state shown by the solid line in FIG. 10).

Therefore, from the state shown in FIG. 9(B), the tool mounting shaft 11 is now rotated in a predetermined direction in the R direction, that is, a direction in which the spring gripping mechanism 13 is rotated in the spring gripping direction (hereinafter, this rotation direction is referred to as " As a result, the main shaft 14 is rotated integrally in the spring gripping direction. As a result, the hook 41 is moved from sliding on the bottom surface of the take-out part 73b of the alignment recess 73 to the spring gripping direction, and when it is moved by a predetermined angle, it is shown in FIG. 9(C) and FIG. As shown by the two-dot chain line, the vertical side hook piece 41a comes into contact with one arm portion 71a of the torsion spring 69. In this state, the pressing rod 48 presses one arm portion 71a of the torsion spring 69 from above the road.

That is, when the state shown in FIG. 9(B) is reached, the horizontal hook piece 41b of the hook 41 is located at a position corresponding to the lower side of one arm portion 71a of the torsion spring 69, as shown in FIG. 12(A). I will be coming to Then, when the hook 41 is rotated from this state in the spring gripping direction, the twelfth
As shown in Figure (B), the horizontal hook piece 41b slides into the lower part of one arm part 71a, and the lower end of the pressing rod 48
It comes to collide with. Then, the lower end surface of the pressing rod 48, which is formed in a hemispherical shape, is relatively pressed from the side by the one arm portion 71a, so that the pressing rod 48 resists the pressing force of the coil spring 50. Figure 12 (
As shown by the two-dot chain line in B), it will be pushed upward. Then, when the hook 41 etc. is further rotated in the spring gripping direction, the vertical side hook piece 41a of the hook 41 collides with one arm part 71a, and the pressing rod The lower end surface of 48 is the anti-hook piece 41a of the upper surface of one arm portion 71a.
The one arm portion 71a is pressed against the horizontal hook piece 41b. That is, the torsion spring 69 is activated by the vertical side hook piece 41a and the pressing rod 48.
One of the arm portions 71a is sandwiched between the two arms.

Thus, the vertical hook piece 41a of the hook 41 comes into contact with one arm portion 71a of the torsion spring 69, thereby preventing the work shaft 25 from rotating in the spring gripping direction.

In this way, when the main shaft 14 is rotated by a predetermined amount, albeit slightly, from the state in which the work shaft 25 is prevented from rotating in the spring gripping direction, the second photointerrupter
Since the optical path of light from the 62 light emitting elements 64 to the light receiving element 66 is blocked by the light blocking piece 68b of the second light blocking plate 68, the irradiation of light to the light receiving element 66 is interrupted. As a result, a signal indicating that the hook 41 has gripped one arm portion 71a of the torsion spring 69 is input to the control unit of the industrial robot 1, and the rotation of the tool mounting shaft 11 is stopped in accordance with this signal.

Then, the tool mounting shaft 11 is pulled upward, and as a result, as shown in FIG. 71a is held by the hook 41 and the pressing rod 48 and is taken out from the component tray 72 in a gripped state.

Incidentally, for some reason, the spring gripping mechanism 13 is moved over the alignment recesses 73, 73, . When the torsion spring 69 is not present in the alignment recess 73, the second photointerrupter 62 detects that the torsion spring 69 is not present in the alignment recess 73. That is, in such a case, the hook 41 moves while sliding on the bottom surface of the take-out part 73b of the alignment recess 73 as described above, but since there is no torsion spring 69, the hook 41 cannot be rotated by a predetermined angle. Therefore, when the flap 41 is rotated by a predetermined angle, the second photointerrupter is rotated.
The signal that should be output from 62 to the control unit of the industrial robot 1, that is, the signal that detects that the hook 41 has come into contact with one arm portion 71a of the torsion spring 69, is not output. Therefore, in the industrial robot 1, it is detected that the torsion spring 69 is not placed in the alignment recess 73.

Next, an example of the operation of assembling the torsion spring 69 taken out from the component tray 72 as described above into a predetermined assembling position will be explained step by step with reference to FIG. 13.

In addition, in FIGS. 13 and 1414, 74 is, for example, a mechanical chassis of a video tape recorder (FIG. 13 (
A) and 14 are shown only. ), 75 is a spring support pin erected from a predetermined position of the mechanical chassis 74, the outer diameter of which is slightly smaller than the inner diameter of the hole 46 formed at the lower end of the guide 44, A platform 76 is integrally formed at the lower end, and an annular groove 77 is formed at the upper end. Further, 78 is a spring locking block provided at a certain distance from the spring support pin 75, and an engaging groove 79 that is open on one side is formed in the center of the block in the height direction. 8
0 is a rotating member rotatably supported by the mechanical chassis 74, and a spring engagement pin 81 is erected at the rotating end of the rotating member. 82 is an annular engagement groove formed at the upper end of the spring engagement pin 81. The torsion spring 69 has a coil portion 70 attached to a pin 75 for supporting the spring.
One arm portion 71a is engaged with the spring engagement pin 81, and the other arm portion 71b is engaged with the spring engagement block 78, so that the mechanical chassis 74 is supported in an externally fitted manner. It is designed to be incorporated.

Therefore, first, the first arm 3 and/or
Alternatively, the second arm 7 is rotated by a predetermined amount in a predetermined direction to move the spring gripping mechanism 13 that grips the torsion spring 69 to a predetermined position above the mechanical chassis 74. That is, the spring gripping mechanism 13.

As shown in FIG. 13(A), the axis of the guide 44 is coaxial with the axis of the spring support pin 75, and the other arm portion 71b of the torsion spring 69 is connected to the spring locking block 78. It is moved to a position corresponding to the position closer to the spring locking block 78 between the spring locking pins 81.

When the spring gripping mechanism 13 is moved to the position shown in FIG. 13(A), the tool mounting shaft 11 is moved downward, thereby lowering the entire spring gripping mechanism 13 toward the mechanical chassis 74. Therefore, the lower end of the guide 44,
That is, the portion in which the hole 46 is formed is fitted onto the spring support pin 75, and its lower end surface is brought into contact with the upper surface of the base portion 76 of the spring support pin 75. With this, guide 4
4 is prevented from moving downward. Then, when the main shaft 14 and the working shaft 25 are further lowered from this state, albeit slightly, the lower end surface of the shaft-shaped part 36 of the working part 27 of the working shaft 25 is placed above the coil part 70 of the torsion spring 69. Since it abuts against the end surface, downward movement of the working shaft 25 is thereby prevented. However, from this state, the main shaft 14
Since only the first photointerrupter 5 is moved further downward, as described above, the first photointerrupter 5
The irradiation of light to the light receiving element 59 of No. 5 is interrupted, and this signal is input to the control section of the industrial robot 1. That is, the control unit of the industrial robot 1 detects that the coil portion 70 of the torsion spring 69 is externally fitted onto the spring support pin 75 in a predetermined state. As a result, the tool mounting shaft 11 is stopped from descending. The state at this time is shown in Figure 13 (B) and ! This is the state shown in the $14 diagram.

In this state, one arm portion 71a of the torsion spring 69 is at a position far away from the spring locking pin 81 with which it is to be engaged, toward the side opposite to the spring locking block 78, and It is located at a lower position than the upper end surface of the other arm part 71.
b is a position closer to the spring engagement blow rim 78 between the spring engagement block 78 and the spring engagement pin 81, and is at the same height as the engagement groove 79 of the spring engagement blow rim 78. ing.

Therefore, from the state shown in FIG. 13(B), the tool mounting shaft 1
1 is rotated in the first R direction, whereby the main shaft 14 and the working shaft 25 are rotated integrally in the spring gripping direction. Then, as shown in FIG. 13(C), the tip of the other arm 71b of the torsion spring 69 is engaged with the engagement groove 79 of the spring engagement block 78, and the one arm 71a is engaged with the spring. It approaches the locking pin 81. Then, when the main shaft 14 and the work shaft 25 are further rotated in the spring gripping direction from this state, that is, the state in which the other arm portion 71b is engaged with the spring engaging block 78, the torsion spring 69 applies an elastic force. This elastic force causes the hook 41 to be deformed so that the hook 41
When the work shaft 25 has been rotated to a certain extent, rotation is prevented by the elastic force applied to the hook 41. From this state, spindle 1
4 is rotated in the spring gripping direction, as described above, the light irradiation to the light receiving element 66 of the second photointerrupter 62 is interrupted, and this signal is transmitted to the industrial robot l.
output to the control unit.

As a result, in the control unit of the industrial robot 1, the other arm portion 71b of the torsion spring 69 is the member to which this is to be engaged. Since it is detected that the spring engaging block 78 is engaged, the rotation of the tool mounting shaft 11 in the first R direction is stopped.

This time, as shown in FIG. 13(D), the tool mounting shaft 11 reaches a predetermined position, that is, one arm portion 7La held by the flap 41 of the torsion spring 69. is moved upward until it is at a position higher than the upper surface of the spring locking pin 81, which is the member to be locked.

Then, from the state shown in FIG. 13 CD), the tool mounting shaft 11 is rotated by a predetermined angle in the first R direction.

The main shaft 14 and the working shaft 25 are rotated in the spring gripping direction.

At this point, the work shaft 25 is rotated together with the main shaft 14 because the pressed surface 32 of the pressed portion 29 is directly pressed by one of the pressing surfaces 22 a of the pressing walls 21 of the main shaft 14 . However, as shown in Figure 13(E), the talk.

One arm portion 71a of the spring 69 passes above the spring locking pin 81 and comes to a position corresponding to the position near the spring locking pin 81 between the spring locking block 78 and the spring locking pin 81. Become.

Then, the tool mounting shaft 11 is moved to the preset lowermost position, and as a result, as shown in FIG. It comes to the same height as the engagement groove 82 of 81.

Therefore, from the state shown in FIG. 13(F), the tool mounting shaft 11 moves in the R direction in a direction that rotates the spring gripping mechanism 13 in the spring release direction, that is, in the preset R direction. The main shaft 14 and the working shaft 25 are thereby rotated in the spring release direction. As a result, as shown in FIG. 13CD), the tip of one arm portion 71a of the torsion spring 69 is elastically engaged with the engagement groove 82 of the spring engagement pin 81, and the hook 41 is It will come off from one arm portion 71a.

Then, since the tool mounting shaft 11 is moved upward from the state shown in FIG. 13(G), the guide 44 is removed from the spring support bin 75 as shown in FIG. 13(H). It turns out.

In addition, in FIG. 13(H), 83 is the spring support pin 7.
This is an E-ring that is engaged in a groove 77 formed in the groove 5. That is, after the torsion spring 69 has been assembled as described above, the E-ring 83 is engaged with the groove 77 of the spring support pin 75, so that the torsion spring 69
The state in which it is incorporated in a predetermined position is stably maintained.

Effects of the Invention As is clear from the above-described features, the spring gripping mechanism of the present invention includes a coil portion and at least one arm portion integrally formed with the coil portion, and the spring gripping mechanism of the present invention has a coil portion and at least one arm portion integrally formed with the coil portion. A substantially sleeve-shaped guide inserted into the coil portion of the spring arranged in the above-mentioned shape, and a holding means disposed on the side of and close to the guide and holding the arm portion of the spring. shall be.

That is, the spring gripping mechanism of the present invention grips the spring by inserting a guide into the coil portion of the spring and holding the arm portion of the spring by a holding means. Therefore, since the spring is supported at two points by the spring gripping mechanism, the spring can be held substantially horizontally and stably gripped.

Therefore, according to the spring gripping mechanism of the present invention, it is possible to stably grab and take out the spring arranged in the component storage section, and by rotating the holding means that holds the arm portion of the spring, the spring can be given a predetermined elasticity. It can be installed at a predetermined installation position in a state in which it is bent so that a force is generated.

Since the guide is formed into a substantially sleeve shape, especially when assembling the spring, the guide can be externally fitted onto a predetermined shaft-like member to which the coil portion of the spring is to be externally fitted. In this state, the arm can be moved to engage with a predetermined engagement member, so whether the arm is moved horizontally or vertically during the assembly process, it is also referred to as the reference point for spring installation. Therefore, the spring can be assembled into a predetermined installation position accurately and quickly. In addition, by making the guide substantially on the sleeve, even if the axial length of the shaft-like member to which the coil portion of the spring is to be fitted is limited to a certain extent, the coil portion can be reliably fitted onto the shaft-like member. You can force it.

The spring gripping mechanism of the present invention includes only a guide, at least the part of which directly grips the spring, which has an outer diameter approximately equal to the inner diameter of the coiled portion of the spring, and a holding means disposed close to the side of the guide. Therefore, this portion can be formed to the minimum size. Therefore, the spring gripping mechanism of the present invention can be easily installed even when a spring such as a torsion spring is installed in an extremely narrow space in a mechanism or device with a high component mounting density.

In the above-mentioned embodiment, a hook member bent in an abbreviated shape and a pressing rod that comes into elastic contact with the hook member from above are used as the holding means for holding the arm portion of the spring. By doing this, the arm part of the spring can be easily and securely held, and
The arm portion can be held without selecting the wire diameter and cross-sectional shape of the spring. In addition, by configuring the holding means for holding the arm in this way, there is no need to get used to holding the arm in an unstable state even if the arm is moved horizontally or vertically. There is no chance of parts coming off.

In addition, when carrying out the present invention, when the suppression rod shown in the above embodiment is used as a holding means for holding the arm portion of the spring, the shape of the suppression rod is not necessarily a hemispherical shape as shown in the drawings. It is not necessary, and it is sufficient if the shape is such that when the arm portion of the spring comes into contact with this, the outer circumferential surface of the arm portion causes the spring to be displaced upwardly.

In the above embodiment, the spring gripping mechanism of the present invention was applied as a spring gripping mechanism mounted on an industrial robot that performs assembly work, but the present invention is not necessarily applied as a spring gripping mechanism for assembly. However, it can be applied in various ways depending on various purposes of use.

Further, the spring that can be gripped by the spring gripping mechanism of the present invention is not limited to the torsion spring shown in the above embodiment, and any spring can be used as long as it has a coil portion and at least one arm portion. You can grasp it no matter what type or shape it is.

[Brief explanation of the drawing]

The drawings show an example of an embodiment in which the spring gripping mechanism of the present invention is applied as a spring gripping mechanism in an industrial robot. Figure 3 is an exploded perspective view, Figure 4 is an enlarged perspective view of the main parts, Figure 5 is a vertical side view, and Figure 6 is a diagram of ■-■ in Figure 5.
7 is a bottom view, FIG. 8 is an enlarged perspective view of a part of the component tray, and FIGS. 9 (A) to (D)
FIG. 10 is an enlarged perspective view of the main parts showing the operation process in which the spring gripping mechanism grabs the spring placed on the component tray from (A) to (D). FIG. 10 shows the initial operation of the spring gripping mechanism to grip the spring. The enlarged plan view of the main parts shown in Fig. 11 is XI of Fig. 810.
12 (A) to (C) are cross-sectional views taken along line -
13 (A) to (H) are enlarged cross-sectional views of main parts shown sequentially from (A) to (C), and FIGS. ), and FIG. 14 is an enlarged longitudinal sectional side view showing the main parts in an initial state of the spring assembly operation. Explanation of symbols 13...Spring gripping mechanism, 41.48...Holding means, 4411...Guide, 69...-Spring, 70...
Coil part, 71ae... Arm part, 72 shaft Φ, parts storage part Fang 4 Fig. Fang 6] b Fang 7 Fig. Fang 9 Fig. (A) Fang 9 Fig. (B) Fang 9 Fig. (C) Fang 9 Fig. (D ) Fang 11 diagram t6σ b So /U 15 (715D4+b
15c tusk 12 figure 13 figure CB> year 13 figure (C) year 3 European F) tree 3 figure (H)

Claims (1)

[Claims] a coil portion and at least one unit integrally formed with the coil portion;
a substantially sleeve-shaped guide which is inserted into the coil part of the spring which is arranged in a predetermined attitude in the parts storage part and which has two arm parts; A spring gripping mechanism characterized by comprising a holding means for holding an arm portion.