JPS6322229A - Fitting device - Google Patents

Abstract

PURPOSE:To make it possible to fit parts to be fitted with each other with a high degree of accuracy even they have a slight fitting gap, by providing a drive mechanism for rotating a plurality of rotary members in the circumferential direction along the upper surface of one of the parts to be fitted, and feeding them toward the other one of the parts to be fitted. CONSTITUTION:When a motor 38 is driven, a ram is rotated through a pinion 39 and a gear 37 so that rollers 23, 24 are rotated in the circumferential direction on the upper surface 8 of the projection of an upper cylinder 1 while they press the upper cylinder downward. Then, a hole 6 in the cylinder is fitted onto a fitting surface 7 on a disc 2 by the pressing force of the rollers 23, 24. Further, estimating that a gap is formed between the hole 6 in the upper cylinder 1 and the fitting surface on the disc 2, the two rollers 23, 24 press the upper cylinder 1 downward while they are rotated in the circumferential direction, and therefore, the hole 6 in the upper cylinder 1 is fitted onto the fitting surface 7 on the disc 2 while the center line of the upper cylinder 1 is corrected toward the center line of the disc 2.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a fitting device for fitting an upper cylinder of a VTR cylinder and a disk of a lower cylinder, particularly having a fitting gap of about several μm. The present invention relates to a fitting device suitable for fitting in cases.

[Conventional technology]

In a conventional precision fitting insertion device, for example, as described in Japanese Patent Application Laid-Open No. 58-211877, a parallel spring mechanism is constructed at the tip of a horizontal multi-jointed robot called a SCARA type robot. It has been proposed that the hole can be inserted even if the center of the workpiece and the center of the hole are misaligned.

For example, ``Automation System'' published by Nikkan Kogyo Shimbun.
As described in "Wrist combination license - Principles and applications of RCC disks" in Volume 30, Issue 2, special feature "Sensing technology for automation and its examples", positional deviation in the horizontal and angular directions. In contrast, a method has been proposed that uses a special rubber component with an elastic function, which is made by laminating a large number of rubber and metal layers, and is inserted with a compliance function.

[Problem that the invention seeks to solve]

In the former prior art, a horizontal positional deviation between a hole and a shaft that fit into each other is corrected and fitted using a reaction force generated when fitting together due to the positional deviation.

Therefore, when the present invention is applied to a workpiece, the components of the chuck become thicker, the overall weight becomes larger, and the reaction force described above becomes extremely large.

Also, the entire chuck is shaped like a spring.

It is difficult to control the speed during fitting.

It can become a big focus.

Furthermore, the tolerance range for positional deviation in the angular direction is small.

In the latter conventional technology, the permissible range for angular positional deviation is large, but since it is made of an elastic body and is tolerated by elastic force (reaction force) against positional deviation, misfitting is prevented. At some point, K will always be inserted with a force equivalent to the reaction force being applied to the workpiece.

Therefore, as shown in FIG. 5, which shows the fitting part between the VTR cylinder and the disk, which is the object of the present invention, the gap between the hole 6 of the upper cylinder 10 and the fitting surface 7 of the disk 6 is 1.
The disk 2 is inserted between the shaft 4 and the lower cylinder 3, which are small in size and have a diameter of ~3 μm, and are supported by two precision bearings 5, and the disk 2 has a vertical force of 3 kg or less. If a force of 1mmKg is required.

In the latter prior art, it is difficult to maintain the horizontal and angular misalignment between the hole 6 of the upper cylinder 10 and the fitting surface 7 of the disk 2 within 1 to 5 um;
Moreover, even if they are fitted together with a slight positional deviation, twisting may occur and a large insertion force and reaction force will be generated, making it difficult to minutely control the force and speed of fitting.

In addition, 8 shown in FIG. 5 is the upper surface of the protrusion of the upper cylinder 1, 9 is the inner peripheral surface of the protrusion of the upper cylinder 1, 10 is the contact surface of the upper cylinder 1 that is in contact with the stepped surface 11 of the disk 2, and 12 is the support. It is a stand.

An object of the present invention is to solve the problems of the prior art described above and to provide a fitting device that enables high-precision fitting and automation.

[Means for solving problems]

The above purpose is to provide a plurality of rotating members arranged in the circumferential direction so as to have preset steps, and to rotate the rotating members in the circumferential direction by placing these rotating members on the upper surface of the fitting part -1. This is accomplished by feeding the -1 fitting part in the direction of the -1 fitting part while causing the -1 fitting part to fit into the other fitting part.

[Effect]

According to the present invention, steps are formed on the rollers, which are a plurality of rotating members arranged so as to be rotatable in the circumferential direction, as described above. The reason for this is as follows.

That is, when two parts are fitted together, it is generally considered that the ideal fitting is such that the two fitting surfaces do not come into contact with each other at two points geometrically. Therefore, the present invention provides - The inclination angle of the surface that contacts the roller is assumed to be within a range where one fitting part does not contact the other fitting part at two points, and the step of the roller is set to match this inclination angle.

Therefore, after positioning the -10,000 mating part on the other mating part, the plurality of rollers were rotated circumferentially on the -1, mating part, so that the -10,000 mating part was It can be fitted into the other fitting part with a small force without causing twisting or impact force, and is a relatively simple operation that can be automated.

〔Example〕

1 to 4 showing one embodiment of the present invention will be described below.

Fig. 1 is a sectional view of a cylinder fitting device for 'l/TR which is an embodiment of the present invention, Fig. 2 is an enlarged sectional view of the fitting part between the cylinder and disk shown in Fig. 1, and Fig. 3 figure(
a) to (e) are fitting process diagrams of the fitting device according to the present invention, and FIGS. 4(a) and (1)) are enlarged process diagrams of FIG.

In FIG. 1, reference numeral 13 is a base and is fixed to a transport device (not shown). The pace 13 also has a plurality of guide shafts 14 fixed in parallel at intervals on its lower surface, a ball screw shaft 15 rotatably supported parallel to the guide shaft 14, and an upper end of the ball screw shaft 15. The motor 18 has a pinion 16 fixedly supported on the upper end thereof, and a motor 18 fixedly supporting a gear 17 meshing with the pinion 16 on the upper end thereof. Reference numeral 19 is a movable plate, and the plurality of guide holes 20 in which the plurality of guide shafts 14 are slidably inserted in the vertical direction are inserted into the peripheral end thereof, and the ball screw shaft 15 is screwed and supported via a nut 21. A hole +9a is formed. Reference numeral 22 denotes a ram formed into two halves on the inside surface, and is firmly fitted and supported in the center of the movable plate 19, respectively, and has two rows 223 and 24 protruding downward from the lower surface of the pin 25 and 26. It is rotatably supported through. These two rollers 2
3 and 24 have a step h in the vertical direction on the lower end surface as shown in Fig. 2.
It is formed to have a. This step ha is provided in the upper cylinder 1 so that the two surfaces 6.7 do not come into geometric contact at two points in the fit between the hole diameter H7 of the hole 6 of the upper cylinder 1 and the shaft diameter H2 of the fitting surface 7 of the disk 2. Assuming an angle of inclination of the upper surface 8 of the protrusion, the angle of inclination of the upper surface 8 of the protrusion is assumed to be approximately 1
027 is set to 06mm) on the other hand (91
11) as a chuck.

The lower part 27a fixed to each other as one body is connected to the upper part 827b.
and a horizontal portion 27c, and is rotatably supported via a pin 29 by one of the fixed bases 28 fixed to the upper surface of the movable plate 19 at the joining position thereof. The lower portion 27a is formed to pass vertically through the inside of the ram 22, bend its lower end portion outward at right angles, and have its tip surface contact and separate from the inner circumferential surface 9 of the protrusion of the upper cylinder 1. The upper part 27b has its upper end bent outward in a right angle direction, and a spring 30 is installed between its lower end face and the one fixing base 28, which presses the tip of the upper part 271 upward by an elastic force. The piston rod 32 is inserted, and its lower end surface is fixed to the upper end of a piston rod 32 that slides vertically within a cylinder 31 fixed to the movable plate 19 . The horizontal portion 27c has a cutout groove 33 formed at its distal end into which the bottle 64 is slidably inserted in the longitudinal direction. 3
Reference numeral 5 designates the other chuck (on the right side of the figure), which is formed from a lower part 35a and a horizontal part 351) fixed to each other as one body, and the other chuck is fixed to the upper surface of the movable plate 19 near the joint thereof. It is rotatably supported on a fixed base 66 via a bin 37. The lower part 135a is formed symmetrically with the lower part 27a of the -1000 chuck 27, and its tip surface is brought into contact with and away from the inner circumferential surface 9 of the protrusion of the upper cylinder 1. The horizontal portion 35b is connected to the -10,000 chuck 2.
7, and the bottle 54 is fixed to its tip. The position of this bin 34 is located at the center between the two bins 2337 at the center of rotation of the two chucks 27. The tips of the two rotate by the same amount. Numeral 37 is a gear, which is firmly fitted and supported on the outer circumference of the ram 22 and meshes with a pinion 39 that is firmly fitted and supported on the shaft end of a motor 38 fixed to the movable plate 19. 40 is a V block formed to position the lower cylinder 3. Reference numeral 41 denotes a push shaft, which is placed opposite the V block 40 and is driven by a drive device (not shown).
The lower cylinder 6 is fixed to the V block 40 by moving in the horizontal direction toward the lower cylinder 6.

Since the VTR cylinder fitting device according to the present invention has four components as described above, the operation thereof will now be explained in the sixth section.
This will be explained with reference to the drawings and FIG.

In FIG. 5(a), the cylinder 31 is driven, and the tip of the upper part 271) of one chuck 27 is rotated upward around the bottle 29 via the piston rod 32, and the upper part 271) and 1 The protrusion inner circumferential surface 9 of the upper cylinder 1 is pressed and held by the leaking part of the lower part 27b fixed to the body, and at the same time, the horizontal part 27 is fixed to the upper part 27b as one body.
The horizontal part 3 of the other chuck 65 moves the bottle 64 downward and fixes the bottle 34 with the notch mechanism 33 at the tip of c.
Rotate the tip of 5b downward to connect this horizontal part 35b and 1.
Since the inner circumferential surface 9 of the protrusion of the upper cylinder 1 is pressed and held at the tip of the 275 part 55a fixed to the body, the upper cylinder 1 is held horizontally by the two chucks 27 and 35. .

In this state, the upper cylinder 1 reaches a position above the lower cylinder 3 and the disk 4, which are waiting to be transferred by the transport device. In other words, the lower cylinder 3 and the disk 2 are fixed together via the shaft 4 and are positioned by the V block 40 and the push shaft 41.

Thereafter, when the motor 18 is driven, the pole screw shaft 15 rotates via the pair of caps 17 and the pinion 16, and the movable plate 19 descends using the plurality of guide shafts 14 as guides. chuck 27.3
The upper cylinder 1 held at 5 is lowered toward the lower cylinder 3. After that, the upper cylinder 10 is lowered as shown in Fig. 3 (1)).
When the lower end of the hole A reaches the upper end of the fitting surface 7 of the disk 2, when the motor 61 is driven in the opposite direction to the above case, the -1 chuck 2 is moved through the piston rod 32.
7 rotates around the bottle 29, and the tip of the lower part 27& is separated from the inner circumferential surface 9 of the protrusion of the upper cylinder 1. At the same time, the other chuck 55 rotates around the pin 67, and the tip of the lower part 55a of the other chuck 55 rotates so that the tip of the lower part 55a is attached to the protrusion inner circumferential surface of the upper cylinder 1.
be further apart.

Therefore, the lower end of the upper cylinder 1 is placed on the upper end of the fitting surface 7 of the disk 2.

Then, when the motor 68 is driven, the pair of pinions 59
As the ram 22 rotates via the gear 67 and the ram 22, the rollers 25 and 24 rotate in the circumferential direction on the protrusion upper surface 8 of the upper cylinder 1 as shown in FIG. 3(C). while pressing the upper cylinder 1 downward.

Therefore, the hole 6 of the upper cylinder 1 is
(by the pressing force) is fitted onto the fitting surface 7 of the disk 2. At this time, a gap hlh2 is generated between the hole 6 of the upper cylinder 1 and the fitting surface 7 of the disk 2, as shown in FIGS. 4(a) and 4(b). Since the center line is parallel to the mating surface 7 of the disk 2, a so-called offset phenomenon occurs, which causes positional deviation.As shown in Figure 1, the hole 6 of the upper cylinder 1
(to prevent twisting due to inclination with respect to the fitting surface 7)
When the projection upper surface 8 of the upper cylinder 1 contacts two rollers 23j24 at the same time due to this gap h2,
Since the rollers 23 and 24 rotate in the circumferential direction and press the upper cylinder 1 downward, the center line of the upper cylinder 1 is not corrected in the direction of the center line of the disk 2.
The hole 6 is fitted into the fitting surface 7 of the disk 2.

Thereafter, as shown in FIG. 3(e), when the hole 6 of the upper cylinder 1 is fitted into the fitting surface 7 of the disk 2 and the upper cylinder 10 surface 10 and the stepped surface 11 of the disk 2 are brought into contact with each other, the above-mentioned Since the motor 18 is driven in the opposite direction to the above case and the movable grate 19 is raised, the two chucks 27, 35 and the two rows 223, 24 are raised accordingly, and the next upper cylinder 1 is moved up. I'm waiting until it arrives.

Therefore, in the present invention, it is possible to fit two fitting parts with a minute fitting gap together without causing twisting or impact force, and automation is possible. As described above, according to the present invention, the other fitting part on the fitting part -1 is fitted to the rotating member which is placed on the upper surface of the fitting part and pressed while rotating in the circumferential direction. Therefore, even if there is a minute fitting gap of about 3 um, fitting can be performed with high precision without causing twisting or impact force, and automation is possible.

[Brief explanation of the drawing]

Fig. 1 is a sectional view showing a cylinder-cylinder fitting device for '/TR which is an embodiment of the present invention, Fig. 2 is an enlarged sectional view of the fitting part between the cylinder and disk shown in Fig. 1, and Fig. 3 ( a) ~ (θn is a fitting process diagram of the fitting device according to the present invention, Fig. 4 (&), (Oil is Fig. 6 (dL (e)
FIG. 5 is a cross-sectional view showing a fitting portion between a VTR cylinder and a disk, which is the object of the present invention. DESCRIPTION OF SYMBOLS 1... Upper cylinder, 2... Disc, 3... Lower cylinder, 6... Upper cylinder hole, 7... Disc fitting surface, 14... Guide shaft, 15... Pole screw shaft, 19...Movable plate, 25.24...Roller, 27.35...Chuck.

Claims (1)

[Claims] A plurality of rotating members are arranged in the circumferential direction so as to have a step on the other fitting part to be fitted into one fitting part, and the plurality of rotating members are rotated in the circumferential direction and the other fitting part is rotated in the circumferential direction. A fitting device characterized by being provided with a drive mechanism for feeding in the direction of fitting parts.