KR20190094760A - An assembly device capable of adjusting accordance - Google Patents

Abstract

The present invention relates to a component assembly device for assembling a small component vulnerable to damage, such as a vehicle lamp bulb to be smoothly inserted into a socket portion of an object to be assembled, which comprises a tong portion, a drive system, and an adjusting portion. The tong portion is formed to pick up a component. The drive system controls a position and a posture of the tong portion for a component to be inserted into the socket portion. The adjusting portion is installed with a predetermined rotation range between the tong portion and the drive system to adjust entering accordance of a component. As stated above, according to the present invention, in a process of inserting a component into the socket portion, the tong portion is rotated in the predetermined rotation range for an entering direction of the component and a forming direction of the socket portion to correspond with each other.

Description

An assembly device capable of adjusting according}

The present invention relates to a component assembly apparatus, and more particularly, to a component assembly apparatus that can accommodate an error for smoothly fitting a small component vulnerable to damage, such as a vehicle lamp bulb to the socket portion of the assembly object.

An assembly device is a device that is composed of one or more shafts and joints and performs work functions such as moving loading, assembling, and separating required for assembling parts. Industrial articulated robots are a representative example of such assembly devices.

The assembly apparatus is classified into various parts, such as assembly of parts, disassembly of parts, coating of adhesives and sealing materials, soldering, SMD, and other assembly and disassembly, depending on the purpose of use.

Assembly is typically a matter of position and attitude determination and therefore very sensitive to geometrical errors. This geometric error can be divided into systematic error and random error. The systematic error is caused by system geometry, jig and fixture model inaccuracy, and actuating teaching inaccuracy. Random error is caused by system control and component tolerances.

Geometric errors have the characteristic of changing temporally and spatially and are also correlated with each other. Therefore, it is not easy to clearly understand these characteristics and measure their size.

Most of the assembly apparatuses currently used in the industrial field are taught by the senses using the teaching pendant (receiving and controlling the status information of the assembly apparatus). The assembly must be taught once it has been taught and will continue to operate as long as the operator does not modify it. In addition, accurate teaching is a very important task to increase assembly quality and minimize assembly reaction to improve assembly quality.

For accurate teaching, the characteristics of geometrical errors must be taken into consideration. It is impossible to accurately grasp geometrical errors that interfere with assembly by hand and teach them at once. As a result, the teaching location needs to be modified several times in order to obtain accurate teaching, which is not only time-consuming but also expensive. In particular, the more complex the system configuration and the greater the workload, the more likely it will be.

Moreover, if the assembly line has been in operation for a long time, the position error will inevitably occur due to the wear or deformation of the tool, jig and fixtures. In addition, the parts are also made of different tolerances for each lot, the position is changed by the vibration and impact during the conveyance of parts.

As far as the assembly device is disclosed in the Patent Publication No. 10-2017-0103376 ("Primer clip assembly process and assembly device") simply assembled the parts to the assembly through a multi-axis linear drive method, the machining error of the parts, There was no means for smoothly accommodating assembly errors caused by the attitude error of the actuator and the position error in the conveying process.

For this reason, in the process of fitting the part into the socket part of the assembly object, the part is severely rubbed and damaged, thereby degrading the quality, the part hits the socket part, and the part is broken or the non-assembled part causes a problem. As the object was pushed, the position was changed and broken parts (lamp glass fragments, etc.) were generated, causing a momentary stop.

In addition, if left unattended for a long time, the entire system will be damaged and eventually cause a system failure. Therefore, in the industrial field, workers will always make data on the operation status of the assembly device to determine whether to re-teaching based on the result and take necessary measures. I put a lot of effort into taking it.

Republic of Korea Patent Application Publication No. 10-2017-0103376 (Published September 13, 2017, the title of the invention: primer clip assembly process and assembly device) Republic of Korea Patent Application Publication No. 10-2014-0083548 (July 04, 2014, published, name of the invention: lamp bulb assembly of the vehicle)

Therefore, the problem to be solved by the present invention is to solve such a conventional problem, a component assembly apparatus that can accommodate the error that can be assembled into the socket of the assembly to be smoothly assembled without damaging the small components without additional correction To provide.

In order to achieve the above object, the component assembly apparatus that can accommodate the error of the present invention is a component assembly apparatus for mounting the component 20 to the socket portion 11 provided in the assembly object 10, the component 20 Nippers (100) to pick up); A drive system (200) for manipulating the position and posture of the forceps (100) such that the component (20) is inserted into the socket (11); And an adjusting unit 300 installed to have a predetermined rotation range between the forceps unit 100 and the drive system 200 to accommodate the entry error of the component 20. The adjusting unit 300 includes: The first shaft 310 is coupled to the drive system 200 and the first shaft 310 is coupled to the forceps 100 and is spaced apart from the first block 310 to intersect the entry direction of the component 20. A second block 320 hinged to the first block 310 and a first block 310 and the second block 320 so that (X1) is the center of rotation; A pair of first elastic members 330 are provided to provide an elastic restoring force so that the second block 320 pivoting on the basis of the 310 may be returned to its original position. In the process of being inserted into, the tong portion 100 is rotated with respect to the first axis (X1) while the entry direction of the component 20 and the formation of the socket portion 11 Direction is coincided with each other.

In the part assembly apparatus that can accommodate the error according to the present invention, the adjustment unit 300 is interposed between the drive system 200 and the first block 310, one surface is coupled to the drive system 200 and the other surface is A third block 340 which is spaced apart from the first block 310 and hinged to the first block 310 so that the second axis X2 crossing the first axis X1 intersects the center of rotation; A pair of elastic restoring force is provided between the first block 310 and the third block 340 to provide the first block 310 rotated relative to the third block 340 to the original position. Further provided with a second elastic member (not shown), while the component 20 is inserted into the socket portion 11, while the tong portion 100 is rotated relative to the second axis (X2) The entry direction of the component 20 and the formation direction of the socket portion 11 may be matched with each other.

In the component assembly apparatus that can accommodate the error according to the present invention, the direction of the socket portion 11 forms an oblique line with a bottom surface of the stage 30 on which the assembly object 10 is placed, and the drive system 200. Is coupled to the x-axis drive unit 210 and the x-axis drive unit 210 for moving the tongs unit 100 to the assembly object 10 side of the tongs unit 100 of the socket portion 11 And a y-axis driver 230 coupled to the rotation driver 220 to rotate in parallel with the forming direction, and coupled to the rotary driver 220 to lower the forceps 100 toward the socket 11. The component 20 gripped by the forceps part 100 may be inserted into the socket part 11 in an oblique direction and assembled.

In the component assembly apparatus that can accommodate the error according to the present invention, the direction in which the socket portion 11 is formed forms an oblique line toward one side of the assembly object 10, and the component 20 is the socket portion 11. In the process of being inserted in), the assembly object 10 is temporarily fixed to the temporarily fixed unit 400 by pressing the assembly object 10 so as not to be pushed to the other side; the temporarily fixing unit 400, the On the support 410 and the inclined surface 411 of the support 410, the inclined surface 411 is formed on the other side of the assembly object 10 and the upper end is cut inclined downward toward the assembly object 10. The sliding drive unit 420 is coupled to the drive shaft of the sliding drive unit 420 is coupled to the reciprocating linear motion, but the end surface 431 is in close contact with the other side of the assembly object 10 is the appearance of the assembly object 10 Fixing jig 430 forming the same shape as the Can be.

According to the component assembly apparatus that can accommodate the error of the present invention, by mounting the adjustment unit between the forceps and the drive system, it is possible to achieve the effect of assembling small parts smoothly into the socket of the assembly without damage without additional correction. Through this, the assembly quality can be improved and the yield of the process can be improved.

In particular, by configuring the tongs to swing up, down, left and right simultaneously, an effect of more smoothly accommodating the assembly error can be obtained.

In addition, by pressing and fixing the other side of the assembly object through the temporary fixing unit, it is possible to suppress the positional variation of the assembly object in the assembly process of the parts, thereby enabling the assembly operation to be stably performed.

1 is a perspective view of a part assembly apparatus capable of receiving an error according to an embodiment of the present invention.
2 is a side view of FIG. 1;
Figure 3a is a perspective view showing in three dimensions the main portion of the component assembly that can accommodate the error of FIG.
Figure 3b is an exploded perspective view of Figure 3a.
4 is
5A and 5B are process diagrams illustrating a process of assembling a component assembly apparatus capable of receiving an error of FIG. 1.
6 is a perspective view showing a modification of the adjustment unit included in the component assembly apparatus that can accommodate the error of FIG.
7 is a view for explaining the shape of the assembly and the part to be assembled through the component assembly that can accommodate the error of FIG.

Hereinafter, with reference to the accompanying drawings embodiments of the assembly device that can accommodate the error according to the present invention will be described in detail. If it is determined that the description of the known technology in connection with the present invention may obscure the gist of the present invention, the detailed description of the known technology will be omitted.

1 is a perspective view of an error-acceptable component assembly apparatus according to an embodiment of the present invention, FIG. 2 is a side view of FIG. 1, and FIG. 4 is an exploded perspective view of FIG. 3, FIGS. 5A and 5B are process diagrams illustrating a process of assembling a component assembly apparatus capable of accommodating errors of FIG. 1, and FIG. This is a perspective view showing a modification of the adjustment unit included in the possible parts assembly apparatus, Figure 7 is a view for explaining the shape of the component and the assembly object assembled through the component assembly apparatus that can accommodate the error of FIG.

1 to 7, a part assembly apparatus capable of accommodating an error according to an exemplary embodiment of the present invention may smoothly fit a small part 20, which is vulnerable to damage, such as a vehicle lamp bulb, to a socket part of an assembly object 10. An apparatus for assembling a component (11) for assembly, includes a forceps unit (100), a drive system (200), and an adjusting unit (300).

The tongs unit 100 is a component for picking up and transporting the components 20 one by one. As shown in FIG. 3A or FIG. 3B, the body 110 having a guide groove formed in the left and right width directions on the lower side and the guide groove are mutually disposed. The linear driving method includes a pair of connecting shoes 120 which are inserted to face each other and move closer to or away from each other by driving in an opposite direction by an actuator driving, and a pair of grip bars 130 which are respectively coupled to the connecting shoes 120. It may be configured as.

Alternatively, as illustrated in FIG. 4, the forceps part 100 may include a driving bar 150, a joint bar 160, a pair of forceps bars 170, a forceps housing 180, and a forceps cylinder 190. have. Drive bar 150 is the upper end is hinged to the lower end of the joint bar 160, the lower end is fixed to the axis of the forceps cylinder 190, the upper end of the joint bar 160 is hinged to the bottom of the forceps bar 170 Combined. When the center of the forceps bar 170 is hinged to the forceps housing 180, when the drive bar 150 is moved back and forth by the linear drive of the forceps cylinder 190 coupled to the rear of the forceps housing 180, the forceps bar ( 170) is pulled up and retracted to move the forceps in the rotary drive method.

Since the parts 20 made of glass, such as a vehicle lamp bulb, are vulnerable to breakage, they are shown in FIG. 3A to stably approach both sides of the parts 20 rather than the torsion part 100 of the rotation drive method. It is preferable to use the pincer part 100 of the linear drive system.

As shown in FIG. 1 or FIG. 2, the drive system 200 includes a preliminary step to insert the component 20 mounted on the shelf 5 into the socket 11. It is a configuration to manipulate position and posture. Here, since the direction of the socket portion 11 (the direction in which the groove into which the component is inserted) forms an oblique line with respect to the bottom surface of the stage 30 on which the assembly object 10 is placed, the component held by the tongs portion 100 ( 20) should be inserted into the socket portion 11 in an oblique direction and assembled.

To this end, the drive system 200 is coupled to the x-axis driving unit 210 and the x-axis driving unit 210 to primarily move the forceps unit 100 toward the assembly object 10, and the forceps unit 100 is connected to the socket unit ( 11 and the y-axis drive unit 230 for secondary rotation so as to be parallel to the direction of formation, and coupled to the rotary drive unit 220 to lower the forceps portion 100 to the socket portion 11 three times. It consists of.

In this case, as described in the background art, the machining error of the component 20, the driving error of the x-axis driver 210, the rotation driver 220, and the y-axis driver 230, and the position of the component 20 in the conveying process are described. Due to errors, assembly errors will inevitably occur.

For this reason, in the process of fitting the part 20 to the socket part 11 of the assembly object 10, the part 20 is severely rubbed and damaged, and the quality deteriorates, and the part 20 is a socket part ( 11) The problem of breakage due to hitting or failure of the parts 20 is not assembled, the position of the assembly 10 is pushed, the position is misplaced, or the parts of the broken parts (lamp glass fragments, etc.) due to the momentary stop of the system There was a chronic problem that the yield of the process is lowered due to the assembly error, such as a problem that occurs.

In order to improve this problem, the adjustment unit 300 is additionally configured in the present invention.

The adjusting part 300 is installed between the tong part 100 and the drive system 200 to accommodate the entry error of the component 20 inserted into the socket 11 as shown in Figure 3a or 3b The first block 310, the second block 320, and a pair of first elastic members 330 are configured to have a predetermined rotation range.

The first block 310 is coupled to the slide plate of the y-axis driver 230 in a plate shape. The second block 320 is spaced apart from the first block 310 to face the first block 310 so that the first axis X1 (in the present embodiment, the horizontal direction in the left and right directions) intersecting with the entry direction of the component 20 becomes the center of rotation. The block 310 is hinged through the shaft pin. The forceps part 100 is coupled to the second block 320. Accordingly, the tong part 100 is rotated about the first axis X1 together with the second block 320. That is, tongs 100 is rotated within a predetermined range in the same direction as the rotational direction of the rotary drive unit 220 introduced for the diagonal assembly of the component 20.

A pair of first elastic members 330 are installed between the first block 310 and the second block 320 so that the tongs part 100 does not shake. The first elastic member 330 provides an elastic restoring force so that the second block 320 pivoting with respect to the first block 310 is in the original position so as to face the first block 310.

Reference numeral 231 denotes a sensing unit for checking whether the part 20 is properly gripped by the tong part 100, and is a proximity part which is embedded in one side of the extension extending downward and the extension facing the part 20. It consists of a sensor.

5A is a process diagram illustrating a process in which the component 20 is assembled to the socket part 11 while the forceps 100 are lowered toward the socket part 11 by the driving of the y-axis driving part 230. The formation direction of the part 11 forms an oblique line toward one side of the assembly object 10.

With respect to the socket portion 11, the component 20 gripped by the tongs portion 100 is close to the socket portion 11 by the x-axis drive portion 210 (see FIG. 2) as shown in the upper side of FIG. 5A. After being transferred, the rotary driving unit 220 is disposed in parallel with the direction in which the socket 11 is formed by the rotating operation.

In this process, due to the machining error of the component 20, the driving error of the x-axis drive unit 210 and the rotary drive unit 220, the position error of the component 20 in the conveying process, etc. The formation direction f2 of f1) and the socket part 11 are inconsistent with each other by a slight angle θ.

In this state, the component 20 is inserted into the socket part 11 while the tong part 100 is lowered by the y-axis driving part 230, and the tong part 100 is shown in FIG. 5A and as shown in FIG. 5B. ) Rotates with the second block 320 about the first axis (X1) to coincide with the entry direction of the component 20 and the forming direction of the socket portion (11).

As a result, the parts 20 can be smoothly assembled to the socket 11 without being affected by various errors generated in the assembling process of the parts 20, and all the above-described problems can be solved.

If, as shown in FIG. 1, the number of parts 20 assembled at a time is large, each of the tongs 100 may be individually rotated according to an error, thereby smoothly assembling the parts 20 to the socket part 11. And, since the angle of the clamped tong portion 100 is turned back by the first elastic member 330, the grip operation of the component 20 to be assembled later can be smoothly without problems.

More specifically with respect to the shape of the assembly object 10 and the component 20 according to the present embodiment, as shown in the upper side of FIG. 7, the assembly object 10 is a lamp bulb housing used for an interior lamp of a vehicle, and a lamp The bulb housing has a shape in which the upper part is opened and the socket part 11 is diagonally coupled therein.

The component 20 is a lamp bulb made of glass with a filament mounted therein as shown in the lower side of FIG. 7, and a narrow terminal 21 is formed at an end of the component 20. A pair of guide pieces 11a are opposed to each other in the form of narrower widths extending in parallel to each other on both sides of the inlet of the socket part 11 so that the terminal 21 can be crimped at the end after the terminal 21 is leisurely entered. Is formed. That is, when the terminal 21 is inserted into the inlet side of the socket portion 11, the pair of guide pieces 11a are elastically opened and the terminal 21 is crimped and fixed therebetween.

The shape of the guide piece 11a of the socket portion 11 has a design significance for accommodating the assembly error to some extent, and by doubling the advantages of the parts assembly apparatus of the present invention that can accommodate the assembly error, 10) can be assembled more stably.

Thus far, the embodiment has a structure in which the tongs unit 100 swings up and down with respect to the first axis X1 as shown in FIG. 5B to accommodate assembly errors. Can be accommodated more smoothly.

To this end, the adjusting unit 300 may further include a third block 340 and a pair of second elastic members (not shown) as shown in FIG. 6. The third block 340 is interposed between the slide plate of the y-axis drive unit 230 and the first block 310 so that one surface is coupled to the slide plate and the other surface is spaced apart from the first block 310 so as to be spaced apart from the first block 310. ) Is hinged to the first block 310 such that the second axis X2 (up-down vertical direction) intersecting with () is the center of rotation.

The pair of second elastic members (not shown) may be installed in close contact with both ends between the first block 310 and the third block 340 to rotate based on the third block 340. It provides elastic restoring force so that it can be returned to its original position.

In this way, while the component 20 is inserted into the socket portion 11, the tong portion 100 is rotated up and down based on the first axis (X1), of the component 20 relative to the vertical direction The entry direction of the socket portion 11 coincides with each other, and at the same time the tongs portion 100 is rotated from side to side with respect to the second axis X2, and the entry of the component 20 is based on the left and right directions. The directions coincide with each other in the direction in which the socket portions 11 are formed. The assembly error can be accommodated more smoothly.

On the other hand, as the forming direction of the socket portion 11 is formed obliquely toward one side of the assembly object 10, in the process of inserting the component 20 into the socket portion 11, the assembly object 10 is Can be pushed to the other side. In order to prevent this, the present embodiment further includes a temporarily fixed unit 400 for temporarily fixing the other side of the assembly object 10 as shown in Figure 5a.

The temporary fixing unit 400 is provided on the other side of the assembly object 10 and the support 410 in which the inclined surface 411 is formed in a shape in which the upper end is inclined downwardly toward the assembly object 10 and the support 410. Sliding drive unit 420 is coupled to the inclined surface 411, the end surface 431 is coupled to the drive shaft of the sliding drive unit 420 to perform a reciprocating linear movement in close contact with the other side of the assembly object 10, the assembly object 10 It may be configured to include a fixing jig 430 to form the same shape as the.

The error assembly of the present invention configured as described above can accommodate the error between the clamping part and the drive system by mounting the adjustment part, so that the small parts can be smoothly assembled into the socket of the assembly without damage without additional correction. It can be obtained through this, it is possible to improve the assembly quality and the yield of the process.

In particular, by configuring the tongs to swing up, down, left and right simultaneously, an effect of more smoothly accommodating the assembly error can be obtained.

In addition, by pressing and fixing the other side of the assembly object through the temporary fixing unit, it is possible to suppress the positional variation of the assembly object in the assembly process of the parts, thereby enabling the assembly operation to be stably performed.

The scope of the present invention is not limited to the above-described embodiments and modifications, but may be embodied in various forms of embodiments within the scope of the appended claims. Without departing from the gist of the invention claimed in the claims, it is intended that any person skilled in the art to which the present invention pertains falls within the scope of the claims described in the present invention to various extents which can be modified.

10: assembly object
11: socket
20: parts
100: tongs
200: drive system
300: adjusting unit
310: first block
320: second block
330: a pair of first elastic member
X1: 1st axis

Claims (4)

As a component assembly apparatus for mounting the component 20 in the socket portion 11 provided in the assembly object 10,
Tongs unit (100) for picking up the component (20);
A drive system (200) for manipulating the position and posture of the forceps (100) such that the component (20) is inserted into the socket (11); And
And an adjusting unit 300 installed to have a predetermined rotation range between the forceps unit 100 and the drive system 200 to accommodate the entry error of the component 20.
The adjustment unit 300, the first block 310 is coupled to the drive system 200, the forceps 100 is coupled and spaced apart from the first block 310, the entrance direction of the component 20 A second block 320 hinged to the first block 310 so that the first axis X1 intersecting with the first axis X1 is a rotational center, and between the first block 310 and the second block 320. It is provided with a pair of first elastic member 330 is provided to provide an elastic restoring force so that the second block 320 is rotated relative to the first block 310, the original position,
In the process of inserting the component 20 into the socket portion 11, the tong portion 100 is rotated with respect to the first axis (X1) while the entrance direction of the component 20 and the socket portion ( 11) parts assembly apparatus that can accommodate the error, characterized in that the formation direction of each other. The method of claim 1,
The adjusting unit 300 is interposed between the driving system 200 and the first block 310 so that one surface is coupled to the driving system 200 and the other surface is spaced apart from the first block 310 so that the first shaft A third block 340 hinged to the first block 310 so that the second axis X2 intersecting with (X1) is the center of rotation, the first block 310 and the third block 340; And a pair of second elastic members (not shown) which are installed between the two members to provide an elastic restoring force so that the first block 310 rotated with respect to the third block 340 can be returned to its original position.
In the process of inserting the component 20 into the socket portion 11, the tong portion 100 is rotated about the second axis (X2) while the entry direction of the component 20 and the socket portion ( 11) parts assembly apparatus that can accommodate the error, characterized in that the formation direction of each other. The method of claim 1,
The direction of the socket portion 11 is oblique to the bottom surface of the stage 30 on which the assembly object 10 is placed,
The drive system 200 is coupled to the x-axis drive unit 210 and the x-axis drive unit 210 for moving the forceps unit 100 toward the assembly object 10, and the forceps unit 100 is connected to the socket. Rotation driving unit 220 to rotate in parallel with the forming direction of the unit 11, y-axis driving unit 230 coupled to the rotation driving unit 220 to lower the forceps unit 100 toward the socket portion (11) ),
Component assembly apparatus that can accommodate the error, characterized in that the component (20) gripped by the tongs part 100 is inserted into the socket portion (11) in an oblique direction. The method of claim 1,
Forming direction of the socket portion 11, forming an oblique line toward one side of the assembly object 10,
In the process of inserting the component 20 into the socket portion 11, the temporarily fixed unit 400 for temporarily pressing the assembly object 10 so that the assembly object 10 is not pushed to the other side; ,
The temporary fixing unit 400, the support 410 is provided on the other side of the assembly object 10 and the inclined surface 411 is formed in a form in which the upper end is inclined downward toward the assembly object 10, and the Sliding drive unit 420 is coupled to the inclined surface 411 of the support 410, and the end surface 431 is coupled to the drive shaft of the sliding drive unit 420 to reciprocate linear movement in close contact with the other side of the assembly object 10 ) Is a component assembly apparatus that can accommodate the error, characterized in that it comprises a fixing jig (430) forming the same shape as the external shape of the assembly object (10).

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