TW202227215A - Supply device of embedding member enables the embedding member to be screwed to an inserting tool of embedding member, and makes the notch to be accurately engaged with a hook to prevent the damage of the embedding member - Google Patents

Abstract

The present invention provides a supply device of embedding member, which enables the embedding member to be screwed to an inserting tool of embedding member, and makes the notch to be accurately engaged with a hook, so as to prevent the damage of the embedding member and the like. The supply device of embedding member of the invention is a device that supplies a coil-shaped embedding member having a notch on the inner side to the inserting tool of embedding member. The inserting tool of embedding member comprises a hook that is engaged with the notch by rotating with respect to the embedding member. The feature of the supply device of embedding member is that it includes a pressing part, which is in a pressing state of pressing against the peripheral surface of the embedding member prior to the engagement of the hook with the notch, and is in a separated state of separating from the peripheral surface of the embedding member at the stage after the hook is engaged with the notch.

Description

Insert Feeder

The present invention relates to an insert supply device for supplying an insert having a notch inside to an insert insertion tool.

For example, when a member is fastened with a screw to a relatively weak base material such as a light metal such as aluminum or a resin, an insert may be attached to the female screw portion of the workpiece as the base material in advance. Such an insert can reduce the load received by the workpiece from the screw, and thus can prevent breakage of the workpiece that occurs when the screw is tightened, and can increase the tightening force by the screw.

A variety of inserts have been used, and as one of them, there is known a coil-shaped insert which, by winding a steel wire having a diamond-shaped cross-section into a coil shape, makes the outer side a male thread shape and the inner side a female thread shape, In addition, a concave hook portion called a cutout is provided inside the vicinity of the end portion (for example, refer to Patent Document 1). When attaching the said insert to the female thread part of a workpiece|work, as shown in patent document 1, the insert insertion tool formed in the shape of a male thread including a hook which engages with a notch is used. When the insert tool is rotated relative to the insert, the insert is screwed with the insert tool, and the hook is engaged with the notch. Therefore, when the insert is attached to the workpiece by the insert tool, the insert is threaded with respect to the insert tool. There is no idling, and it can be securely attached to the workpiece.

As a device for supplying such an insert to an insert insertion tool, for example, an insert supply device such as Patent Document 2 is known. The insert supply device has the function of supplying the insert to a predetermined place in a predetermined posture, and must have a means for holding the insert in order to prevent the insert and the insert tool from co-rotating when the insert tool is relatively rotated with respect to the insert. Function. Furthermore, if the insert is deflected radially outward due to the nature of the spring and the hook goes over the notch, the notch and the hook will fail to engage. Therefore, it is necessary to have the function of supporting from the outside to prevent the insert from being deflected radially outward. song. Therefore, in the insert supply device of Patent Document 2, the discharger (holding disk 11 ) is provided with a slit slightly smaller than the outer diameter of the insert, and the insert is held by pressing into it. [Prior Art Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open No. 2000-356212 [Patent Document 2] Japanese Patent Laid-Open No. 2016-7695

[Problems to be Solved by Invention]

However, in the insert supply device of Patent Document 2, it is necessary to separately provide a mechanism for pressing the insert into the slit. In addition, when the insert screwed to the insertion tool is moved to the workpiece, when the insert is detached from the slit, the holding force generated by the press-fitting acts as an unnecessary resistance instead, so there is a concern that the following problems may occur : The insert or slit is damaged, or the engagement between the notch and the hook falls off.

In view of such a problem, the object of the present invention is to provide an insert supply device, which can prevent the insert and the insert tool from co-rotating when the insert is screwed to the insert insert tool, and the notch and the hook can be securely engaged, In addition, when the insert is moved to the workpiece, damage to the insert or the like can be prevented. [Technical means to solve the problem]

The present invention is an insert supply device for supplying a coil-shaped insert having a notch on the inside to an insert insertion tool, the insert insertion tool including the insert inserted into the notch by relatively rotating with respect to the insert. An engaging hook, the insert feeding device is characterized in that it includes a pressing portion, and the pressing portion is pressed against the outer peripheral surface of the insert at a stage before the hook is engaged with the notch. The pressed state is a separation state in which the hook is separated from the outer peripheral surface of the insert at a stage after the hook is engaged with the notch.

Preferably, such an insert supply device further includes: a bottom on which the insert is placed; a side wall part facing the outer peripheral surface of the insert placed on the bottom; and a moving part for pressing the insert against The moving part approaches and separates from the side wall part, and the moving part switches the pressing state and the separation state with respect to the outer peripheral surface of the insert by making the pressing part approach and separate from the side wall part .

In addition, it is preferable that such an insert supply device further includes a pressing force changing mechanism for pressing the pressing part against the outer peripheral surface of the insert, which is generated when the pressing part is pressed against the insert. force changes.

Furthermore, it is preferable to further comprise: a bottom part on which the said insert is mounted; and a holding part which hold|maintains the lower end part of the said insert mounted on the said bottom so that rotation is prevented. [Effect of invention]

The insert supply device of the present invention includes a pressing portion that is pressed against the outer peripheral surface of the insert in a stage before the hook is engaged with the notch, and is in a state of being pressed against the outer peripheral surface of the insert in a stage after the hook is engaged with the notch. Since the outer peripheral surface of the insert is separated, the insert can be prevented from co-rotating with the insert tool when the insert is screwed to the insert insert tool. In addition, the notch and the hook can be surely engaged, and the insert or the like can be prevented from being damaged when the insert is moved to the workpiece.

Hereinafter, an embodiment of the insert supply device of the present invention will be described with reference to the drawings. In addition, in the following description, for the sake of convenience, description is made according to the directions of right, left, front, rear, up, down, and X, Y, and Z shown in the drawings.

1 to 4 show an insert insertion device 2A including the first embodiment (the insert supply device 1A) of the insert supply device of the present invention. The insert insertion device 2A includes, in addition to the insert supply device 1A, an insert insertion tool 3 and an insert insertion robot 4 that moves the insert insertion tool 3 with respect to the workpiece W three-dimensionally.

First, the insert insertion tool 3 will be described. As shown in FIGS. 1 and 4( a ), the insert insertion tool 3 includes a male screw portion 3 a and a rotary driver portion 3 c. The male thread portion 3a has a male thread shape adapted to a female thread-shaped portion provided on the inner side of the insert 1, and has a shape that engages with a concave notch N provided on the inner side of the insert 1 at the front end. Hook 3b. The hook 3b is movable radially inward and outward with respect to the insert I, and is urged radially outward. Moreover, the rotary motor 6a which rotates the male screw part 3a, and the torque sensor 6b which detects the torque at this time are provided in the rotary actuator part 3c.

As shown in FIG. 1 , the insert insertion robot 4 includes an X stage 5 for moving the workpiece W in the X-axis direction, a Z unit 7 for moving the insert insertion tool 3 in the Z-axis direction, and the Z unit 7 along the Y unit 8 that moves in the Y-axis direction.

Furthermore, the insert insertion robot 4 includes the robot control unit 9 shown in FIG. 3 . The robot control unit 9 is electrically connected to the X drive motor 5a, the Z drive motor 7a, and the Y drive motor 8a provided in the X stage 5, the Z unit 7, and the Y unit 8 described above. Moreover, the rotation motor 6a and the torque sensor 6b provided in the rotation driver part 3c of the insert insertion tool 3 are electrically connected to the robot control part 9. As shown in FIG. Furthermore, the robot control unit 9 is electrically connected to the teaching/operating device 10 used when the operator inputs teaching data (teaching data) or performs various operations, and a device that stores the input teaching data or operates the insert insertion device 2A. The program/teaching data storage unit 11 of the program.

Next, the insert supply device 1A will be described. As shown in FIG. 2 , the insert feeding device 1A includes a bowl feeder 12 , a straight feeder 13 , a discharger 14 , an insert pressing member 15 , a connecting member 16 , an elastic body (compression spring) 17 , and a discharger rotation motor 18 . The pressing member drives the motor 19 .

The bowl feeder 12 accommodates the bulk inserts I in the inner side thereof, and supplies the inserts I to the straight feeder 13 by vibration. In addition, the straight feeder 13 has a function of aligning the postures of the inserts 1 and supplying them to the discharger 14 by aligning the postures of the inserts 1 with the function of aligning the postures of the inserts 1 with the function of dropping the inserts 1 out of the predetermined postures and returning them to the bowl feeder 12.

The discharger 14 has a circular shape, and includes a plurality of notches 14a at intervals along the circumferential direction at the outer edge thereof. The ejector 14 is rotated in a predetermined direction by the ejector rotation motor 18, receives one insert I from the straight feeder 13 at the position where the cutout portion 14a faces the straight feeder 13, and moves the insert I to the standby position (In the first embodiment, the position is shifted by 180° in the circumferential direction with respect to the straight feeder 13 ).

The insert pressing member 15 corresponds to the "pressing portion" in this specification, and has a function of pressing the outer peripheral surface of the insert I moved to the standby position through the cutout portion 14a. In the first embodiment, the connecting member 16 is attached to the pressing member driving motor 19 that drives the insert pressing member 15 with a set screw or the like. In addition, the pressing member drive motor 19 corresponds to the "moving part" in this specification. In addition, the insert pressing member 15 is rotatably attached to the shaft portion of the pressing member drive motor 19, and is stopped by an E ring or the like. Furthermore, an elastic body 17 is provided between the insert pressing member 15 and the connecting member 16 . When the connecting member 16 is rotated forward or reverse by the pressing member driving motor 19, the insert pressing member 15 configured as described above approaches or deviates from the insert I along the solid line and the broken line in FIG. 2 . move in the direction. Here, when the insert pressing member 15 is moved in the direction of approaching the insert I, if the pressing member driving motor 19 is rotated even after the insert pressing member 15 comes into contact with the insert I, the pressing member driving motor 19 is connected with the pressing member driving motor 19. The coupling member 16 that rotates together deflects the elastic body 17, and therefore the insert pressing member 15 can be pressed against the outer peripheral surface of the insert I by the elastic force corresponding to the deflection amount. As described above, the connecting member 16 , the elastic body 17 , and the pressing member drive motor 19 of the first embodiment have the pressing force against the outer peripheral surface of the insert I which is generated when the insert pressing member 15 is pressed against the insert I. The function of changing the pressing force is equivalent to the "pressing force changing mechanism" in this manual.

4, the notch portion 14a includes a bottom portion 14b extending on the X-Y plane on which the insert 1 is placed, and a bottom portion 14b standing vertically from the bottom portion 14b and facing the outer peripheral surface of the insert 1 placed on the bottom portion 14b. side wall portion 14c.

In addition, the insert supply device 1A includes the supply device control unit 20 shown in FIG. 3 . The feeding device control unit 20 is electrically connected to the vibration device 21 that vibrates the bowl feeder 12 and the linear feeder 13 in addition to the above-described discharger rotation motor 18 and pressing member drive motor 19 . In addition, the supply device control unit 20 is also connected to the robot control unit 9 . Thereby, the insert feeding device 1A and the insert inserting robot 4 can be cooperatively operated.

Such an insert inserting device 2A can supply inserts 1 to the insert inserting tool 3 in the sequence shown in FIG. 4 .

First, as shown in FIG. 4( a ), based on the control by the robot controller 9 , the insert insertion tool 3 is moved directly above the insert I moved to the standby position by the cutout portion 14 a . Next, the insert pressing member 15 is moved to the outer peripheral surface of the insert I based on the control by the supply device control unit 20 . As a result, in a state where the insert I is placed on the bottom portion 14b of the notch portion 14a, the insert pressing member 15 is pressed against the outer peripheral surface thereof, or as shown in FIG. The pressing member 15 is clamped. In addition, the pressing force of the insert pressing member 15 may not be so strong that the insert 1 does not idling at all with respect to the side wall portion 14c and the insert pressing member 15 . That is, as will be described later, when the male thread portion 3a of the insert insertion tool 3 is rotated with respect to the insert 1, the two may be finally screwed together. When the insert I rotates and comes into contact, the insert I may be a force of such a magnitude that the insert I idly rotates with some resistance with respect to the side wall portion 14c and the insert pressing member 15 .

Next, as shown in FIG.4(c), the male thread part 3a of the insert insertion tool 3 is rotated and moved downward. Then, as described above, since the outer peripheral surface of the insert 1 is sandwiched by the side wall portion 14c and the insert pressing member 15, the inner female thread-shaped portion of the insert 1 is screwed with the male thread portion 3a of the insert insertion tool 3 . In addition, the hook 3b provided in the insert insertion tool 3 moves radially inward against the applied elastic force, and therefore does not hinder when the male screw portion 3a and the insert I are screwed together.

As described above, the outer peripheral surface of the insert I is pushed toward the side wall portion 14c and the insert pressing member 15, and the deflection of the insert I outward in the radial direction is suppressed. Therefore, if the insert insertion tool 3 continues to rotate, as shown in FIG. 4 As shown in (d) of , the hook 3b can be surely engaged with the notch N provided at the end of the insert I. That is, after the hook 3b is engaged with the notch N, even if the insert insertion tool 3 is further rotated, the deflection of the insert I outward in the radial direction is suppressed, so that the hook 3b can prevent the inconvenience that the hook 3b goes over the notch N. Therefore, it is of course possible to detect the engagement between the notch N and the hook 3b by detecting the change in torque due to the engagement with the torque sensor 6b, for example, when the insert insertion tool 3 starts to rotate until the hook 3b is engaged with the notch. During the estimated time to N (for example, a time obtained by adding a margin time to the necessary engagement time calculated from the rotational speed of the insert insertion tool 3 and the number of pitches of the insert 1), the insert insertion tool 3 is rotated by action to indirectly detect the engagement between the notch N and the hook 3b.

After detecting the engagement between the notch N and the hook 3 b, as shown in FIG. 4( e ), the robot control unit 9 and the supply device control unit 20 reversely rotate the pressing member drive motor 19 to cause the insert pressing member 15 to The outer peripheral surface of the piece I faces away. Then, as shown in FIG.4(f), the insert insertion tool 3 is moved upward. The insert I at the standby position is picked up by the insert insertion tool 3 in this procedure, moved to the workpiece W shown in FIG.

As described above, according to the insert supply device 1A of the first embodiment, when the insert insertion tool 3 is moved upward by engaging the hook 3 b with the notch N, the insert pressing member 15 does not apply force to the insert. Since I acts, it is possible to prevent the damage of the insert I or the misalignment of the engagement between the notch N and the hook 3b at the time of picking up.

Next, a second embodiment (insert supply device 1B) of the insert supply device of the present invention will be described with reference to FIGS. 5 to 7 . The insert supply device 1B of the second embodiment is mounted on the insert insertion device 2B including the insert insertion tool 3 and the insert insertion robot 4 described above. In addition, in the following description, about the part common to the said insert insertion apparatus 2A, the same code|symbol is attached|subjected to a figure, and description is abbreviate|omitted.

As shown in FIG. 6 , the insert supply device 1B of the second embodiment includes an insert supply bracket 22 and an insert pressing member 23 .

In the second embodiment, the insert supply bracket 22 includes a plurality of insert insertion holes 22a arranged in a row along the Y-axis direction, and a rear side of the insert insertion holes 22a for inserting these insert insertion holes 22a. A part of the recessed part 22b is cut away. One insert I can be accommodated in the insert insertion hole 22a. The insert insertion hole 22a includes a bottom portion 22c extending on the X-Y plane on which the insert 1 is placed, and a side wall portion 22d standing vertically from the bottom portion 22c and facing the insert 1 placed on the bottom portion 22c.

The insert pressing member 23 is arranged in the recessed portion 22b, and is held so as to be rotatable with respect to the insert supply bracket 22 about the Y-axis direction. The insert pressing member 23 drives the motor 19 by the pressing member shown in FIG. 7 , and moves toward or away from the insert insertion hole 22 a as shown by the solid line and the broken line in the partially enlarged view of FIG. 6 . In addition, the insert pressing member 23 corresponds to the "pressing part" in this specification.

As shown in FIG. 7 , the electrical structure of the insert insertion device 2B according to the second embodiment is the same as the insert insertion device 2A described above, but each insert insertion hole is stored in the program/teaching data storage unit 11 The position of 22a serves as the standby position.

When the insert I is supplied to the insert insertion tool 3 by the insert supply device 1B configured as described above, the insert I is stored in the insert insertion hole 22 a in advance, and is stored in the program/teaching data storage unit 11 based on the The position information of the insert inserting hole 22a in the insert inserting tool 3 is moved directly above any one of them. In addition, the insert pressing member 23 is rotated in the direction approaching the insert insertion hole 22a by the pressing member driving motor 19, and the outer periphery of the insert I placed on the bottom portion 22c is sandwiched by the side wall portion 22d and the insert pressing member 23 noodle.

Then, by rotating the male thread portion 3a of the insert insertion tool 3 and moving it downward, the inner female thread portion of the insert 1 can be screwed with the male thread portion 3a of the insert insertion tool 3 , and the hook 3b is further engaged with the notch N. In addition, when the hook 3b is engaged with the notch N, the insert insertion tool 3 can be rotated during the estimated time before the hook 3b is engaged with the notch N, as in the insert insertion device 2B described above, The insert insertion tool 3 may also be rotated until the value of the torque detected by the torque sensor 6b changes.

After the hook 3b is engaged with the notch N, the pressing member driving motor 19 is rotated in the reverse direction, and the insert pressing member 23 and the outer peripheral surface of the insert I are separated from each other. Then, by moving the insert insertion tool 3 upward, the insert I accommodated in the insert insertion hole 22a is picked up, moved toward the workpiece W shown in FIG. 1, and the insert I can be mounted on the The female thread part where the workpiece W is set.

In addition, in the second embodiment, all the inserts I accommodated in the respective insert insertion holes 22a are pressed by one insert pressing member 23, but may be pressed by a plurality of insert pressing members 23 divided into a plurality of shortened lengths Insert I. In addition, the insert pressing member 23 is directly rotated by the pressing member driving motor 19, but like the elastic body 17, a member having an elastic force may be arranged inside the insert pressing member 23, and the relative relative to the insert pressing member 23 may be changed. The pressing force of the insert pressing member 23 on the outer peripheral surface of the insert 1.

Next, the third embodiment (the insert supply device 1C) of the insert supply device of the present invention will be described with reference to FIGS. 8 to 11 . The insert supply device 1C of the third embodiment is mounted on the insert insertion device 2C including the insert insertion tool 3 and the insert insertion robot 4 described above.

As shown in FIG. 9 , the insert supply device 1C of the third embodiment includes an insert supply tray 24 .

In the third embodiment, the insert supply bracket 24 includes a plurality of hole portions 24a arranged in a row along the Y-axis direction. The hole portion 24a includes a bottom portion 24b extending downward on the X-Y plane and on which the insert I is placed, a cylindrical lower peripheral wall portion 24c extending upward from the bottom portion 24b, and a cylindrical lower peripheral wall portion 24c extending upward in diameter from the lower peripheral wall portion 24c. The enlarged diameter portion 24d and the cylindrical upper peripheral wall portion 24e extending upward from the enlarged diameter portion 24d. The inner diameter of the lower peripheral wall portion 24c is substantially the same as the outer diameter of the insert I, and the lower end portion of the insert I is lightly fitted to the lower peripheral wall portion 24c. Thereby, the insert I can be held in a non-rotational manner with respect to the insert supply bracket 24 . On the other hand, the inner diameter of the upper peripheral wall portion 24e is larger than the outer diameter of the insert 1 . In addition, the lower side peripheral wall part 24c corresponds to the "holding part" of this specification, and the upper side peripheral wall part 24e corresponds to the "pressing part" of this specification.

As will be described later, the insert supply bracket 24 preferably has a higher coefficient of friction in the region from the bottom portion 24b to the upper peripheral wall portion 24e (may be a part thereof). Therefore, it is preferable that the entire insert supply bracket 24, the entire hole portion 24a, or a part of the hole portion 24a be formed of a material with a relatively high friction coefficient (eg, rubber, hard sponge, etc.).

In addition, since 1C of insert supply apparatuses do not include electrical components, such as a motor, as shown in FIG. 10, the said supply apparatus control part 20 etc. are unnecessary (refer FIG. 3). The electrical configuration of the insert insertion device 2C is the same as that of the insert insertion device 2A shown in FIG.

Such an insert inserting device 2C can supply inserts 1 to the insert inserting tool 3 in the sequence shown in FIG. 11 . 11 is a cross-sectional view taken along the Y-Z plane and showing a state in which the insert I accommodated in the hole portion 24a is picked up by the insert insertion tool 3, as viewed from the front.

First, as shown in FIG. 11( a ), based on the position of the hole portion 24 a stored in the program/teaching data storage unit 11 and the control of the robot control unit 9 , the insert insertion tool 3 is moved to be accommodated in the hole portion Directly above insert I in 24a. Further, the insert I is accommodated in the hole portion 24a, and the lower end portion of the insert I is lightly fitted to the lower peripheral wall portion 24c with the insert I placed on the bottom portion 24b, and is held in a non-rotational manner.

Next, as shown in FIG. 11( b ), the male screw portion 3 a of the insert insertion tool 3 is rotated and moved downward. As described above, the lower end portion of the insert 1 is lightly fitted to the lower peripheral wall portion 24c to be held in a non-rotational manner. Therefore, the inner female thread-shaped portion of the insert 1 is screwed with the male thread portion 3a of the insert insertion tool 3. combine. Here, if the portion constituting at least a part of the hole portion 24a (the bottom portion 24b or the upper peripheral wall portion 24e ) is formed of rubber, hard sponge, or the like, the function of preventing the rotation of the insert I can be more effectively exhibited. Moreover, since the hook 3b provided in the insert insertion tool 3 moves radially inward against the elastic force applied, it does not become an obstacle when the insert 1 and the insert insertion tool 3 are screwed together. In addition, the insert insertion tool 3 is not screwed to the end of the insert I, and the range for screwing the insert insertion tool 3 to the insert I is, for example, about the depth D of the upper peripheral wall portion 24e as shown in the figure. .

After that, the rotation of the insert insertion tool 3 is temporarily stopped, and as shown in FIG. 11( c ), the insert insertion tool 3 is moved upward, and the lower end portion of the insert 1 is pulled out from the lower peripheral wall portion 24 c . As described above, the insert insertion tool 3 is not screwed to the end with respect to the insert 1, and does not reach the lower end of the insert 1 which is held by the lower peripheral wall portion 24c in a non-rotational manner. That is, the lower end portion of the insert 1 can be deformed radially inward by the property of its own spring, and it is only lightly fitted to the lower peripheral wall portion 24c, so that the insert insertion tool 3 can be prevented from being pushed upward. Damage to the insert I or the hole portion 24a when the square moves.

Next, as shown in FIG.11(d), the insert insertion tool 3 is moved by a predetermined amount in the left-right direction, and the lower end part of the insert 1 is pressed against the upper side peripheral wall part 24e.

Then, as shown in FIG.11(e), the male screw part 3a of the insert insertion tool 3 is rotated. At this time, since the insert I receives resistance from the pressed upper peripheral wall portion 24e, the male screw portion 3a rotates with respect to the insert I. Here, when the upper peripheral wall portion 24e is formed of rubber or the like, resistance from the upper peripheral wall portion 24e can be further increased. In addition, the resistance force from the upper side peripheral wall part 24e can also be changed according to the pressing amount of the insert insertion tool 3 with respect to the upper side peripheral wall part 24e. In addition, by pressing the outer peripheral surface of the insert 1 against the upper peripheral wall portion 24e, the insert 1 can be prevented from being deflected radially outward. Therefore, when the male screw portion 3a is rotated relative to the insert 1, the hook can be 3b is surely engaged with the notch N provided at the end of the insert I.

In addition, the upper peripheral wall portion 24e is not pressed over the entire circumference with respect to the lower end portion of the insert 1. Therefore, if the position of the notch N is shifted in the circumferential direction with respect to the upper peripheral wall portion 24e (for example, if the notch N is displaced relative to the upper peripheral wall portion 24e) On the opposite side), there is a possibility that the effect of preventing the deflection of the insert I outward in the radial direction cannot be sufficiently exerted. Therefore, when the insert I is pressed against the upper peripheral wall portion 24e by the insert insertion tool 3, the pressing amount is adjusted in advance so that the insert I also rotates a little by the rotation of the insert insertion tool 3 (the insert I is relatively The upper peripheral wall portion 24e idly rotates with some resistance). That is, since the insert 1 is slightly idling relative to the upper peripheral wall portion 24e, even if the insert 1 deflects radially outward, the outer peripheral surface of the insert 1 is periodically pressed against the upper peripheral wall portion 24e. Therefore, irrespective of the circumferential position of the first notch N when the insert I is pressed against the upper peripheral wall portion 24e, the notch N and the hook 3b can be surely engaged with each other.

In addition, when the hook 3b is engaged with the notch N, as described above, it is possible to estimate the time until the hook 3b is engaged with the notch N when the insert insertion tool 3 starts to rotate (for example, according to the rotation of the insert insertion tool 3) The insert insertion tool 3 may be rotated while the speed and the necessary engagement time calculated from the pitch number of the insert 1 plus the margin time), or the insert insertion tool 3 may be rotated until the torque sensor The value of the torque obtained by 6b is detected until the hook 3b is engaged with the notch N.

Thereafter, as shown in FIG. 11( f ), the insert insertion tool 3 is moved so that the insert I and the upper peripheral wall portion 24e are separated from each other and moved upward, whereby the insert accommodated in the hole portion 24a can be picked up. Piece I. That is, when the insert insertion tool 3 is moved upward by engaging the hook 3b with the notch N, the force from the upper peripheral wall portion 24e does not act on the insert I, so that the third embodiment can also prevent picking up. When the insert I is damaged or the engagement between the notch N and the hook 3b falls off.

Next, a fourth embodiment (insert supply device 1D) of the insert supply device of the present invention will be described with reference to FIGS. 12 to 14 . The insert supply device 1D of the fourth embodiment is mounted on the insert insertion device 2D including the insert insertion tool 3 and the insert insertion robot 4 described above.

As shown in FIG. 13 , the insert feeding device 1D includes a bowl feeder 12 , a straight feeder 13 , a discharger 14 , and a discharger rotation motor 18 provided in the above-described insert feeding device 1A. In addition, as shown in FIG. 14 , in the insert supply device 1D, the pressing member drive motor 19 (see FIG. 3 ) provided in the insert supply device 1A is not required, and the discharger rotation motor 18 is electrically connected to the supply device control unit 20 . with vibration device 21.

As shown in FIG. 13 , the discharger 14 of the fourth embodiment includes notches 14d provided at intervals along the circumferential direction. The cutout portion 14d includes a bottom portion 14e extending downward on the X-Y plane and on which the insert 1 is placed, a cylindrical lower peripheral wall portion 14f extending upward from the bottom portion 14e, and extending from the lower peripheral wall portion 14f on the X-Y plane The extended stepped portion 14g, and the semi-cylindrical upper peripheral wall portion 14h extending upward from the stepped portion 14g. The inner diameter of the lower peripheral wall portion 14f is substantially the same as the outer diameter of the insert I, and the lower end portion of the insert I is lightly fitted to the lower peripheral wall portion 14f. As a result, the insert I can be held in a non-rotational manner with respect to the discharger 14 . On the other hand, the inner diameter of the semi-cylindrical upper peripheral wall portion 14h is larger than the outer diameter of the insert I. In addition, the lower side peripheral wall part 14f corresponds to the "holding part" of this specification, and the upper side peripheral wall part 14h corresponds to the "pressing part" of this specification.

When the insert I is supplied to the insert insertion tool 3 by the insert supply device 1D configured as described above, the bulk insert I is accommodated inside the bowl feeder 12 as in the insert supply device 1A. The accommodated inserts I are lined up in the straight feeder 13 and fed to the discharger 14, and one of the inserts I received by the cutout portion 14a is rotated by the discharger 14 and deviated in the circumferential direction with respect to the straight feeder 13. 180° standby position movement.

Thereafter, in the same manner as in the procedure shown in FIGS. 11( a ) to 11 ( c ), the male thread portion 3 a of the insert insertion tool 3 is screwed to the insert by the depth D of the upper peripheral wall portion 14 h I. Then, in the same manner as in the procedure shown in FIGS. 11( d ) to 11 ( e ), the lower end portion of the insert I is pressed against the upper peripheral wall portion 14 h , and the insert insertion tool 3 is rotated, thereby causing The hook 3b is engaged with the notch N. Then, the insert insertion tool 3 is moved so that the insert 1 moves away from the upper peripheral wall portion 14h and moves upward, whereby the insert can be picked up from the notch portion 14d without receiving resistance from the upper peripheral wall portion 14h. Piece I.

As mentioned above, the embodiment for realizing the present invention has been illustrated, but the present invention is not limited to the relevant specific embodiment, and the scope of the gist of the present invention described in the scope of the patent application is possible as long as the description is not particularly limited. Various deformations and changes are made. In addition, the effects in the above-described embodiments are merely examples of the effects produced by the present invention, and do not mean that the effects based on the present invention are limited to the above-described effects.

For example, in the insert supply device 1C of the third embodiment shown in FIGS. 8 to 11 , the lower peripheral wall portion 24c that holds the lower end portion of the insert I and the upper peripheral wall portion 24e that presses against the outer peripheral surface of the insert I include: One hole portion 24a may be configured like the insert supply device 1E of the fifth embodiment shown in FIG. 15 . The insert supply device 1E includes an insert supply bracket 25, and a bottom portion and a lower peripheral wall similar to the bottom portion 24b and the lower peripheral wall portion 24c described above are provided in the plurality of hole portions 25a provided in the insert supply bracket 25. However, the portion corresponding to the enlarged diameter portion 24d or the upper peripheral wall portion 24e is omitted. On the other hand, in the insert supply device 1E, a semi-cylindrical peripheral wall portion 25b having an inner diameter larger than the outer diameter of the insert 1 (corresponding to the "pressing part"). That is, like the upper peripheral wall portion 14h, the hook 3b can be engaged with the notch N by pressing the outer peripheral surface of the insert I against the peripheral wall portion 25b.

In addition, the insert supply device 1A of the first embodiment may be configured to control the amount of rotation of the pressing member drive motor 19 when changing the pressing force of the insert pressing member 15 with respect to the outer peripheral surface of the insert I In this way, the amount of deflection of the elastic body 17 compressed by the connecting member 16 is changed to change the pressing force, but the elastic body 17 can be omitted, and the insert pressing member 15 can be directly rotated by the pressing member driving motor 19, and The pressing force is changed based on the current value when the pressing member drives the motor 19 . In addition, the pressing force may be changed by replacing the motor represented by the pressing member driving motor 19 with another driving mechanism (for example, an air cylinder) to drive the motor, and changing the air pressure thereof.

In addition, although the cylindrical hole shape is formed by the bottom part 24b and the lower side peripheral wall part 24c in the insert supply apparatus 1C of 3rd Embodiment, the structure which maintains a cylindrical hole shape at all times may not be necessary. For example, the bottom 24b may be a plate-shaped sponge that deforms under a small load. In this case, in addition to the self-weight of the insert 1, a small downward direction is applied by the approach of the insert 1 with a rotary tool. As a result of the pressing force, the sponge is deformed to generate a dimple, and the dimple becomes the lower peripheral wall portion 24c, and as a result, the lower end portion of the insert I can be held in a non-rotational manner.

In addition, in the first to fifth embodiments, the supply device for supplying an insert including a notch as an engaging portion, an insert called a so-called non-threaded insert, was described, but the insert supply of the present invention The inserts that can be supplied by the device are not limited to the so-called backless inserts, and other types of inserts may be used. For example, as proposed in Japanese Patent Laid-Open No. 2008-38937, even if an engaging portion called a tongue piece is included, there is a risk that the engaging portion of the insertion tool will pass over the engaging portion (the tongue piece) of the insert. Therefore, the effect of the present invention can be effectively exerted.

1A to 1E: Insert supply device 2A to 2D: Insert Insertion Device 3: Insert Insertion Tool 3a: Male thread part 3b: Hook 3c: Rotary drive section 4: Insert Insert Robot 5:X Platform 5a: X drive motor 6a: Rotary motor 6b: Torque sensor 7: Z unit 7a: Z drive motor 8: Y unit 8a: Y drive motor 9: Robot Control Department 10: Teaching/operating device 11: Program/teaching data storage 12: Bowl Feeder 13: Straight feeder 14: Discharger 14a, 14d: Cutout part 14b, 14e, 22c, 24b: Bottom 14c, 22d: side wall 14f, 24c: Lower peripheral wall portion (holding portion) 14g: Step part 14h, 24e: Upper peripheral wall part (pressing part) 15, 23: Insert pressing member (pressing part) 16: Connecting member (pressing force changing mechanism) 17: Elastomer (compression spring, pressing force changing mechanism) 18: Ejector rotation motor 19: Pressing member drive motor (moving part, pressing force changing mechanism) 20: Supply device control unit 21: Vibration device 22, 24, 25: Insert supply bracket 22a: Insert insertion hole 22b: Recess 24a, 25a: Hole 24d: Expansion part 25b: Peripheral wall part (pressing part) D: depth I: Insert N: Notch W: workpiece

FIG. 1 is a schematic view of an insert insertion device including a first embodiment of the insert supply device of the present invention. FIG. 2 is a schematic view of the insert supply device shown in FIG. 1 . FIG. 3 is a block diagram of the insert feeding device and the insert inserting device shown in FIG. 1 . FIG. 4 is an explanatory view showing a state in which an insert is picked up by the insert insertion tool shown in FIG. 1 . 5 is a schematic view of an insert insertion device including a second embodiment of the insert supply device of the present invention. FIG. 6 is a schematic view of the insert supply device shown in FIG. 5 . FIG. 7 is a block diagram of the insert feeding device and the insert inserting device shown in FIG. 6 . 8 is a schematic view related to an insert insertion device including a third embodiment of the insert supply device of the present invention. FIG. 9 is a schematic view of the insert supply device shown in FIG. 8 . FIG. 10 is a block diagram of the insert insertion device shown in FIG. 8 . FIG. 11 is an explanatory diagram showing a state in which an insert is picked up by the insert insertion tool shown in FIG. 8 . 12 is a schematic view related to an insert insertion device including a fourth embodiment of the insert supply device of the present invention. FIG. 13 is a schematic view of the insert supply device shown in FIG. 12 . FIG. 14 is a block diagram of the insert feeding device and the insert inserting device shown in FIG. 12 . FIG. 15 is a schematic diagram related to a fifth embodiment of the insert supply device of the present invention.

1A: Insert supply device

12: Bowl Feeder

13: Straight feeder

14: Discharger

14a: Incision part

15: Insert pressing member (pressing part)

16: Connecting member (pressing force changing mechanism)

17: Elastomer (compression spring, pressing force changing mechanism)

18: Ejector rotation motor

19: Pressing member drive motor (moving part, pressing force changing mechanism)

I: Insert

Claims (4)

An insert supply device for supplying a coil-shaped insert having a notch on the inner side to an insert insertion tool, the insert insert tool including engaging with the notch by relatively rotating with respect to the insert The hook, the insert feeding device is characterized by comprising: The pressing part is pressed against the outer peripheral surface of the insert at a stage before the hook is engaged with the notch, and after the hook is engaged with the notch The stage is a disengaged state from the outer peripheral surface of the insert. The insert supply device according to claim 1, further comprising: a bottom for placing the insert; a side wall portion facing the outer peripheral surface of the insert placed on the bottom; and a moving part that makes the pressing part approach and deviate from the side wall part, and The moving portion switches between a pressing state and a separation state with respect to the outer peripheral surface of the insert by causing the pressing portion to approach and separate from the side wall portion. The insert supply device according to claim 2, further comprising: The pressing force changing mechanism changes the pressing force with respect to the outer peripheral surface of the insert which is generated when the pressing part is pressed against the insert. The insert supply device according to claim 1, further comprising: A bottom part on which the insert is placed; and a holding part for holding the lower end of the insert placed on the bottom so as to prevent rotation.

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