WO2017138261A1 - 挿入ガイドおよび挿入ガイド装置 - Google Patents
挿入ガイドおよび挿入ガイド装置 Download PDFInfo
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- WO2017138261A1 WO2017138261A1 PCT/JP2016/087764 JP2016087764W WO2017138261A1 WO 2017138261 A1 WO2017138261 A1 WO 2017138261A1 JP 2016087764 W JP2016087764 W JP 2016087764W WO 2017138261 A1 WO2017138261 A1 WO 2017138261A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
- B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/12—Alignment of parts for insertion into bores
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D1/00—Couplings for rigidly connecting two coaxial shafts or other movable machine elements
- F16D1/10—Quick-acting couplings in which the parts are connected by simply bringing them together axially
- F16D1/108—Quick-acting couplings in which the parts are connected by simply bringing them together axially having retaining means rotating with the coupling and acting by interengaging parts, i.e. positive coupling
- F16D1/112—Quick-acting couplings in which the parts are connected by simply bringing them together axially having retaining means rotating with the coupling and acting by interengaging parts, i.e. positive coupling the interengaging parts comprising torque-transmitting surfaces, e.g. bayonet joints
Definitions
- the present invention relates to an insertion guide used at the time of insertion into a shaft hole, and an insertion guide device to which the insertion guide is applied.
- the present invention has been made to solve the above-described problems.
- the rotation correction between the shaft and the hole is accurately performed, the phase between the shaft and the hole is corrected, and the shaft is inserted into the hole.
- An object is to obtain an insertion guide that can be performed at high speed.
- An insertion guide according to the present invention is an insertion guide used when inserting a shaft into a hole, and the shaft is provided at a tip of the shaft inserted into the hole and has a first guide portion having a smaller diameter than the hole.
- a first narrow cylindrical portion provided on the proximal end side of the first guide portion and having a diameter smaller than that of the first guide portion; and provided on a proximal end side of the first narrow cylindrical portion and smaller than the diameter of the hole.
- a second guide portion having a diameter larger than the diameter of the first narrow cylindrical portion; a second narrow cylindrical portion provided on a proximal end side of the second guide portion and having a smaller diameter than the second guide portion; and a tip of the shaft
- a third guide portion that is a recess that determines a phase that is a rotation around the axis of the shaft by fitting with a convex portion provided in the hole, and the shape of the shaft is such that the third guide portion is Shake until it touches the convex part The door when inserted into the hole, a shape in contact with the hole of the shaft with tilting the two following points with respect to the hole.
- the shaft is provided at the distal end of the shaft to be inserted into the hole, and is provided on the proximal end side of the first guide portion having a smaller diameter than the hole and the first narrow cylindrical portion.
- the second guide part having a diameter smaller than the diameter of the hole and larger than the diameter of the first narrow cylindrical part, and a shaft provided by fitting with a convex part provided at the tip of the shaft and provided in the hole.
- a third guide portion that is a concave portion that determines a phase that is a rotation of the shaft, and the shape of the shaft is inclined with respect to the hole when the shaft is inserted into the hole until the third guide portion contacts the convex portion.
- the shape is in contact with the hole at two or less points. Therefore, it is possible to accurately correct the rotation of the shaft and the hole and to correct the phase of the shaft and the hole, and to insert the shaft into the hole at a high speed.
- FIG. 6 is another configuration diagram showing a shaft and a hole of the insertion guide according to Embodiments 1 to 5 of the present invention.
- FIG. 10 is still another configuration diagram showing a shaft and a hole of the insertion guide according to the first to fifth embodiments of the present invention.
- FIG. 1 is a configuration diagram showing a problem that occurs when a phase correction function is added to a conventional insertion guide.
- FIG. 1 shows a case where RX and RY rotation correction and RZ phase correction are performed with a force detection unit 1000 provided at the end of the shaft 10 as a coordinate origin. Note that “rotation” indicates rotation around the X axis and Y axis, and “phase” indicates rotation around the Z axis.
- a hole 30 is provided in the structure.
- a pin-shaped phase guide convex portion 31 is provided on a side surface inside the hole 30 provided in the structure, and a phase guide concave portion having a tapered portion 501 and a fitting portion 502 at the tip of the shaft 10. 500 is provided. Further, the shaft 10 and the hole 30 are in contact with each other at the first guide portion and the second guide portion disclosed in Patent Document 1, and are in contact at the phase guide concave portion 500 and the phase guide convex portion 31. .
- the vector LA indicates the length from the force detection unit 1000 to the contact point between the first guide unit and the hole 30, and the vector LB is the second guide unit and the hole 30 from the force detection unit 1000.
- the vector LC indicates the length from the force detection unit 1000 to the contact point between the phase guide concave portion 500 and the phase guide convex portion 31.
- the vector LA, the vector LB, and the vector LC are based on the force detection unit 1000.
- the vector is similarly based on the force detection unit 1000.
- the vector FA indicates the force generated at the contact point between the first guide portion and the hole 30
- the vector FB indicates the force generated at the contact point between the second guide portion and the hole 30
- a vector FC indicates a force generated at a contact point between the phase guide concave portion 500 and the phase guide convex portion 31.
- FIG. FIG. 2 is a configuration diagram illustrating a shaft of the insertion guide according to the first embodiment of the present invention.
- the shaft 10 is provided at the tip of the shaft 10, has a smaller diameter than the hole 30 provided in the structure, and performs a translational correction on the hole 30, and the first guide portion 100.
- the first guide portion 100 includes a tapered first translation guide 101 that guides translation, a first guide contact surface 102 that contacts an inner surface of the hole 30 provided in the structure, a first narrow cylindrical portion 200, and a first guide portion 100.
- the first connecting portion 103 that connects the one guide portion 100 and the first guide bottom portion contact surface 104 that contacts the hole bottom surface 32 of the hole 30 are provided.
- the second guide part 300 includes a second translation guide 301 that guides translation, a second guide contact surface 302 that contacts the inner surface of the hole 30 provided in the structure, and the second narrow cylindrical part 400 and the second guide.
- phase guide concave portion 500 as the third guide portion has a tapered portion 501 and a fitting portion 502 for guiding the phase between the shaft 10 and the hole 30.
- the phase guide concave portion 500 is provided in the first guide portion 100.
- FIG. 3 is a perspective view showing a hole of the insertion guide according to Embodiment 1 of the present invention.
- FIG. 4 is a sectional view showing a hole of the insertion guide according to Embodiment 1 of the present invention.
- 5 is a cross-sectional view showing the hole of the insertion guide according to Embodiment 1 of the present invention, and shows a case where the structure around the hole is smaller than that of FIG.
- the hole 30 provided in the structure has a cylindrical shape into which the first guide part 100 and the second guide part 300 of the shaft 10 can be inserted.
- a phase guide convex portion 31 for correcting the phase is provided.
- the shaft 10 and the hole 30 are in contact with each other at the first contact point 101C of the first translation guide 101, and the force FA generated at the first contact point 101C is the force detection unit. Measured at 1000.
- the position error ⁇ EXY in the XY directions can be corrected by moving the shaft 10 in the translation direction so that the X and Y components of the force FA become small.
- FIG. 7 illustrates a state in which the first contact point 101C is inserted while being in contact with the hole 30, but the second contact point is not generated and the first guide portion 100 is inserted into the hole 30. ing.
- the inner diameter of the hole 30 is set so that the shaft 10 and the hole 30 do not come into contact at two points even when the rotation error ⁇ REXY becomes the assumed maximum rotation error ⁇ REXYmax inside the hole 30.
- 30D, the height 100H of the first guide portion 100, and the maximum diameter 100D are designed. Therefore, the shaft 10 can be smoothly inserted without locking the shaft 10 only by correcting the translation according to the force FA generated at the first contact point 101C as in FIG.
- the inner diameter 30D of the hole 30, the height 100H of the first guide portion 100, and the maximum diameter 100D are expressed by the following relational expression (1). Is designed to hold. Considering the height of the first translation guide 101 and the first connecting portion 103 in the shaft axis direction, the degree of freedom in design increases.
- FIG. 8 shows a state where the shaft 10 and the hole 30 are in contact with each other at the first contact point 101C of the first translation guide 101 and the second contact point 301C of the second translation guide 301.
- the height 200H and the maximum diameter 200D of the first narrow cylindrical portion 200 are such that the rotational moment TXY1 caused by the force FA generated at the first contact point 101C and the force FB generated at the second contact point 301C is
- the force detection unit 1000 is designed to be sufficiently larger than the detection resolution 1000RES.
- the height 200H and the maximum diameter 200D of the first narrow cylindrical portion 200 are designed so that the relational expression (2) is established.
- the vector LA indicates the length from the force detection unit 1000 to the first contact point 101C
- the vector LB indicates the length from the force detection unit 1000 to the second contact point 301C
- the vector FA is the first.
- the force generated at the first contact point 101C is shown
- the vector FB shows the force generated at the second contact point 301C.
- the vector LA and the vector LB are both vectors calculated from the height 100H of the first guide portion 100 of the shaft 10, the height 200H of the first narrow cylindrical portion, and the maximum diameter 200D. Thereby, the rotation direction for correcting the rotation error ⁇ REXY can be accurately detected.
- FIG. 8 demonstrated the case where the 2nd contact point 301C exists in the 2nd translation guide 301
- the 2nd contact point 301C is the 2nd guide as shown in the 1st narrow cylindrical part 200 or FIG. It may be on the contact surface 302.
- the rotational direction for correcting the rotational moment TXY1 and the rotational error ⁇ REXY of the shaft 10 has a unique relationship, the rotational error can be corrected smoothly.
- the height 300H of the second guide part 300 is designed so that the relational expression of the following expression (3) is established.
- 300D 100D.
- the minimum rotation error ⁇ REXYmin is a rotation error remaining in a state where the second guide portion 300 shown in FIG. 9 is inserted into the hole 30.
- 100D 300D
- the minimum rotation error ⁇ REXYmin is expressed by the following equation (4).
- the height of the 2nd translation guide 301 and the 2nd connection part 303 in the shaft-axis direction is considered, these design freedom will become large.
- FIG. 10 shows a state where the rotation correction is completed and the shaft 10 is inserted into the hole 30 so that the tapered portion 501 of the phase guide concave portion 500 and the phase guide convex portion 31 are in contact with each other.
- FIG. 11 shows a cross section taken along the line AA of FIG. 10, and shows means for correcting the phase error ⁇ REZ.
- the taper portion 501 and the phase guide convex portion 31 come into contact with each other at the third contact point 501C to generate a force FC, and the force detection unit 1000 generates a rotational moment TXY2 and a phase moment TZ2.
- the second narrow cylindrical portion 400 is provided so that no contact point is generated other than the first contact point 101C, the second contact point 301C, and the third contact point 501C until the phase correction is completed. Further, the maximum diameter 400D of the second narrow cylindrical portion 400 is designed so that the following relational expression (5) is established.
- 32H is the distance between the lower end of the phase guide convex portion 31 and the hole bottom surface 32 in FIG. As a result, it is possible to prevent a new contact state from occurring during phase correction and to smoothly correct the phase.
- FIG. 12 shows a state in which the phase correction is completed and the first guide bottom contact surface 104 of the first guide portion 100 and the hole bottom surface 32 of the hole 30 are in contact with each other.
- means for correcting the position error ⁇ EXY in the XY direction and the rotation error ⁇ REXY that could not be corrected up to FIG. 9 is shown.
- first guide contact surface 102 of the first guide unit 100, the second guide contact surface 302 of the second guide unit 300, or the second guide contact surface 102 of the first guide unit 100 and the second guide unit 300 of the second guide unit 300 Since the guide contact surface 302 is in contact with the hole 30, even if the shaft 10 is tilted from the vertical direction of gravity with respect to the hole 30, line contact or surface contact is achieved, so that the load resistance can be increased.
- the shaft is provided at the distal end of the shaft inserted into the hole, and the first guide portion having a smaller diameter than the hole and the proximal end side of the first narrow cylindrical portion
- the shaft is fitted to the second guide portion having a diameter smaller than the diameter of the hole and larger than the diameter of the first narrow cylindrical portion, and a convex portion provided at the tip of the shaft and provided in the hole.
- a third guide portion that is a concave portion that determines a phase that is a rotation around the axis of the shaft, and the shape of the shaft is such that when the shaft is inserted into the hole until the third guide portion contacts the convex portion, the shaft is inserted into the hole.
- the shape of the shaft 10 is such that when the shaft 10 is inserted into the hole 30 until the third guide portion comes into contact with the convex portion, even if the shaft 10 is inclined with respect to the hole 30, the shape of the shaft 10 is two or less. It has a shape that comes into contact with.
- the shaft 10 comes into contact with the hole 30 at two or less points, and the rotation moment TXY2 and the phase moment TZ2 are obtained separately, so that phase correction can be easily performed. Can do. Therefore, it is possible to accurately correct the rotation of the shaft and the hole and to correct the phase of the shaft and the hole, and to insert the shaft into the hole at a high speed.
- FIG. FIG. 13 is a configuration diagram showing a shaft of an insertion guide according to Embodiment 2 of the present invention.
- the shaft 10 is provided on the proximal end side of the second narrow cylindrical portion 400 in addition to the shaft 10 shown in FIG. 2, has a smaller diameter than the hole 30, and performs rotation correction with respect to the hole 30.
- a four guide portion 600 is further provided.
- the fourth guide portion 600 has a fourth translation guide 601 that guides translation, and a fourth guide contact surface 602 that contacts the inner surface of the hole 30 provided in the structure.
- FIG. 14 shows a state where the phase correction is completed and the fourth translation guide 601 of the fourth guide portion 600 and the hole 30 are in contact with each other.
- means for correcting the rotation error ⁇ REXY remaining after the phase correction shown in FIG. 11 is completed is shown.
- the fourth translation guide 601 and the hole 30 come into contact with each other at the fifth contact point 601C and a force FE is generated, two points including the first contact point 101C of the first guide unit 100 are included.
- the contact is realized, and the force detection unit 1000 detects the rotational moment TXY1.
- the shape of the shaft 10 is such that when the shaft 10 is inserted into the hole 30 until the third guide portion comes into contact with the convex portion, even if the shaft 10 is inclined with respect to the hole 30, the shape of the shaft 10 is two or less. It is good to make it the shape which contacts.
- the rotation error ⁇ REXY can be further reduced by correcting the rotation of the shaft 10 so that the rotational moment TXY1 becomes small.
- the rotational moment TXY1 is expressed by the following equation (6).
- the height 400 ⁇ / b> H of the second narrow cylindrical portion 400 and the phase guide concave portion 500 are avoided in order to prevent the phase guide convex portion 31 from contacting the bottom surface of the phase guide concave portion 500.
- the depth of 500H is designed so that the following relational expression (7) is satisfied.
- the height 400H of the second narrow cylindrical portion 400 is expressed by the following equation (8). It is designed so that the following relational expression holds.
- the minimum rotation error ⁇ REXYmin in the second embodiment of the present invention can be made smaller than the minimum rotation error ⁇ REXYmin in the first embodiment.
- the degree of freedom in design increases.
- FIG. 15 shows a state where the first guide bottom portion contact surface 104 of the first guide portion 100 and the hole bottom surface 32 of the hole 30 are in contact with each other.
- means for correcting the position error ⁇ EXY in the XY direction and the rotation error ⁇ REXY that could not be corrected up to FIG. 14 is shown.
- the shaft is provided on the proximal end side of the second narrow cylindrical portion in addition to the shaft according to the first embodiment described above, and has a smaller diameter than the hole.
- the first translation guide 101 and the first connection portion 103 of the first guide portion 100 of the shaft 10 and the second of the second guide portion 300 are used.
- the translation guide 301, the second connection portion 303, and the fourth translation guide 601 of the fourth guide portion 600 are drawn with straight lines.
- the present invention is not limited to this, and the first translation guide 101 and the first connection portion 103 of the first guide portion 100, the second translation guide 301 and the second connection portion 303 of the second guide portion 300, and the fourth guide portion 600.
- the fourth translation guide 601 may have a curved shape including a sphere.
- the shaft 10 may have a shape as shown in FIGS.
- first translation guide 101 and the first connection portion 103 of the first guide portion 100, the second translation guide 301 and the second connection portion 303 of the second guide portion 300, and the fourth translation guide of the fourth guide portion 600 are arbitrarily combined.
- Embodiment 3 In the first and second embodiments, the case where the shaft 10 side has the function of performing the translation correction and the rotation correction has been described. However, the present invention is not limited to this, and the hole 30 side has the function of performing the translation correction and the rotation correction. It may be allowed.
- FIG. 20 is a block diagram showing the shaft and hole of the insertion guide according to Embodiment 3 of the present invention.
- FIG. 20 shows a case where the hole 30 side has a function of translation correction for the hole 30 realized by the first translation guide 101 of the shaft 10 described in the first embodiment.
- the first translation guide 101 of the shaft 10 shown in FIG. 2 is omitted from the shaft 10, and the hole 30 is provided with a tapered hole translation guide 33 for guiding the translation.
- FIG. 21 is another configuration diagram showing the shaft and hole of the insertion guide according to Embodiment 3 of the present invention.
- FIG. 21 shows a case where the function of the first narrow cylindrical portion 200 of the shaft 10 mentioned in the first embodiment is provided on the hole 30 side in addition to the hole translation guide 33 shown in FIG. .
- the first narrow cylindrical portion 200 of the shaft 10 has the first contact so that the rotational moment TXY1 generated by the rotational error caused by the first narrow cylindrical portion 200 is equal to or higher than the detection resolution 1000RES of the force detection unit 1000. It has a function of sufficiently separating the distance between the point 101C and the second contact point 301C.
- the first narrow cylindrical portion 200 and the second guide portion 300 of the shaft 10 shown in FIG. 2 are omitted from the shaft 10, and the hole 30 corresponds to the first narrow cylindrical portion 200 of the shaft 10.
- a wide cylindrical portion 34 is provided.
- the wide cylindrical portion 34 has a wide cylindrical portion translation guide 341 that guides translation, a wide cylindrical portion side surface 342 that contacts the shaft 10, and a wide cylindrical portion connection portion 343 that connects to the hole translation guide 33. Thereby, the rigidity of the shaft 10 can be increased.
- FIG. 22 is still another configuration diagram showing the shaft and hole of the insertion guide according to Embodiment 3 of the present invention.
- a fourth guide portion 600 having a diameter smaller than that of the hole 30 and performing rotation correction with respect to the hole 30 is provided on the proximal end side of the second narrow cylindrical portion 400. The configuration is shown.
- the fourth guide portion 600 includes a fourth translation guide 601 that guides translation, and a fourth guide contact surface 602 that contacts the inner surface of the hole 30 provided in the structure.
- FIG. 23 is a block diagram showing a shaft of an insertion guide according to Embodiment 4 of the present invention.
- a six-axis force sensor 1001 is attached as the force detection unit 1000 of the shaft 10.
- the 6-axis force sensor 1001 is connected to a force measurement logger 1002, and the force measurement logger 1002 is connected to a force measurement monitor 1003.
- the operator inserts the shaft 10 into the hole 30 while confirming the output of the six-axis force sensor 1001 with the force measurement monitor 1003.
- the load applied when the shaft 10 is inserted can be recorded using the force measurement logger 1002.
- the six-axis force sensor 1001, the force measurement logger 1002, and the force measurement monitor 1003 can be applied to any of the shafts 10 shown in the first to third embodiments.
- FIG. 24 is a block diagram showing an insertion guide device to which an insertion guide according to Embodiment 4 of the present invention is applied.
- FIG. 24 shows a configuration in which the shaft 10 is automatically inserted into the hole 30 using a robot.
- the shape of the shaft 10 may be any of those shown in the first to third embodiments.
- the robot 2000 includes a drive link 2001 and a joint angle sensor 2002 of the drive link 2001, and is attached to a base 2003. Further, the joint angle signal 2004 output from the joint angle sensor 2002 and the six-axis force sensor signal 2005 from the six-axis force sensor 1001 attached as the force detection unit 1000 of the shaft 10 are taken into the robot controller 2006 as feedback signals. Thus, a joint angle command signal 2007 is output to the drive link 2001 so as to realize the target joint angle.
- FIG. 25 is a flowchart showing the processing of the insertion guide device to which the insertion guide according to Embodiment 4 of the present invention is applied.
- the robot controller 2006 includes a CPU and a storage device, and the following processing is performed using the CPU and the storage device.
- the storage device stores signal values from external sensors, internal parameters, numerical calculation process variables, external output parameters, and the like, and the CPU performs arithmetic processing using these values.
- the robot controller 2006 determines whether or not a Z phase moment has been detected (step S1).
- step S2 If it is determined in step S1 that the Z phase moment has not been detected (ie, No), the robot controller 2006 determines whether or not an XY translational force has been detected (step S2).
- step S3 If it is determined in step S2 that the XY translation force has been detected (that is, Yes), the robot controller 2006 performs translation correction in the XY directions (step S3).
- the Z-phase phase moment is not detected, but the XY translation force is detected, so that the translation correction in the XY directions is performed.
- the translation correction here is realized by moving the robot so that the X and Y components of the 6-axis force output of the 6-axis force sensor 1001 become smaller.
- step S4 determines whether an XY rotational moment has been detected.
- step S4 If it is determined in step S4 that an XY rotation moment has been detected (ie, Yes), the robot controller 2006 performs XY rotation correction (step S5).
- step S6 the robot controller 2006 inserts the shaft 10 in the Z-axis direction (step S6).
- step S7 if it is determined in step S1 that the Z phase moment has been detected (ie, Yes), the robot controller 2006 performs phase correction (step S7).
- phase correction is performed. Further, the phase correction here is realized by moving the robot so that the rotational moment TZ around the Z-axis becomes small.
- the robot controller 2006 determines whether or not the shaft 10 has contacted the hole bottom surface 32 (step S8).
- step S8 If it is determined in step S8 that the shaft 10 is not in contact with the hole bottom surface 32 (ie, No), the process proceeds to step S1.
- step S8 determines whether or not an XY rotational moment has been detected.
- step S9 If it is determined in step S9 that an XY rotation moment has been detected (ie, Yes), the robot controller 2006 performs XY rotation correction (step S10).
- the XY rotation correction is performed.
- the XY rotation correction here is realized by moving the robot so that the rotational moments TX and TY around the X and Y axes become small.
- step S9 if it is determined in step S9 that the XY rotation moment is not detected (ie, No), the robot controller 2006 inserts the shaft 10 in the Z-axis direction (step S11).
- the robot controller 2006 determines whether or not the insertion of the shaft 10 has been completed (step S12).
- step S12 If it is determined in step S12 that the insertion of the shaft 10 has not been completed (ie, No), the process proceeds to step S9.
- step S12 determines whether the insertion of the shaft 10 has been completed (ie, Yes).
- step S8 in FIG. 25 whether or not the shaft 10 has contacted the hole bottom surface 32 depends on whether the translational force in the Z direction detected by the force detection unit 1000 is inserting the shaft 10 into the hole 30. It can be determined that the force is greater than the force generated in Further, a sensor for detecting contact or a sensor for measuring the amount of insertion may be used, or a means for recording the amount inserted by the robot may be provided.
- step S12 in FIG. 25 whether or not the insertion of the shaft 10 has been completed may be determined using a sensor for detecting the completion of insertion or a sensor for measuring the amount of insertion, or the amount inserted by the robot.
- a means for recording may be provided, and determination may be made based on the recorded amount.
- the shaft 10 can be automatically inserted into the hole 30 provided in the structure using the robot 2000 having the above-described configuration.
- phase guide convex portion 31 of the hole 30 has a pin shape
- the phase guide concave portion 500 has the tapered portion 501 and the fitting portion 502.
- phase correction may be performed by an elliptical or polygonal shaft tip phase guide convex portion 700 and a hole bottom phase guide concave portion 35.
- the operation target is the shaft 10
- the present invention is not limited to this, and the operation target may be the hall 30.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
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- Manipulator (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Automatic Assembly (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
Description
すなわち、特許文献1に記載の挿入ガイドでは、単にシャフトをホールに挿入するだけの場合には、回転補正を的確に行うことが可能であるが、ホールとシャフトとの位相を補正する場合には、回転補正を的確に行うことができないという問題がある。
そのため、シャフトとホールとの回転補正を的確に行うとともに、シャフトとホールとの位相補正を行い、シャフトのホールへの挿入を高速に行うことができる。
図2は、この発明の実施の形態1に係る挿入ガイドのシャフトを示す構成図である。図2において、シャフト10は、シャフト10の先端に設けられ、構造物に設けられたホール30よりも直径が小さく、ホール30に対する並進補正を行う第1ガイド部100と、第1ガイド部100の基端側に設けられ、第1ガイド部100よりも直径の小さい第1狭円筒部200と、第1狭円筒部200の基端側に設けられ、ホール30よりも直径が小さく、ホール30に対する回転補正を行う第2ガイド部300と、第2ガイド部300の基端側に設けられ、第2ガイド部300よりも直径の小さい第2狭円筒部400と、シャフト10の先端に設けられ、ホール30に設けられた位相ガイド凸部31と嵌合してホール30に対する位相補正を行う第3ガイド部である位相ガイド凹部500とを備えている。
言い換えると、シャフト10の形状は、第3ガイド部が凸部と接触するまでシャフト10をホール30に挿入したときに、ホール30に対してシャフト10を傾けても2つ以下の点でホール30と接触する形状となっている。第3ガイド部が凸部と接触した時点で、シャフト10は、2つ以下の点でホール30と接触し、回転モーメントTXY2および位相モーメントTZ2を切り分けて求められるから、位相補正を容易に行うことができる。
そのため、シャフトとホールとの回転補正を的確に行うとともに、シャフトとホールとの位相補正を行い、シャフトのホールへの挿入を高速に行うことができる。
図13は、この発明の実施の形態2に係る挿入ガイドのシャフトを示す構成図である。図13において、シャフト10は、図2に示されたシャフト10に加えて、第2狭円筒部400の基端側に設けられ、ホール30よりも直径が小さく、ホール30に対する回転補正を行う第4ガイド部600をさらに備えている。
そのため、シャフトとホールとの回転補正をより的確に行うことができる。
上記実施の形態1、2では、シャフト10側に並進補正および回転補正を行う機能を持たせる場合について説明したが、これに限定されず、ホール30側に並進補正および回転補正を行う機能を持たせてもよい。
図23は、この発明の実施の形態4に係る挿入ガイドのシャフトを示す構成図である。図23において、シャフト10の力検出部1000として、6軸力センサ1001が取り付けられている。また、6軸力センサ1001は、力計測ロガー1002に接続され、力計測ロガー1002は、力計測モニタ1003に接続されている。ここで、作業者は、6軸力センサ1001の出力を力計測モニタ1003で確認しながら、シャフト10をホール30に挿入する。
図24は、この発明の実施の形態4に係る挿入ガイドを適用した挿入ガイド装置を示す構成図である。図24では、ロボットを用いて、シャフト10をホール30に自動挿入する構成を示している。なお、シャフト10の形状は、実施の形態1~3に示した何れのシャフトの形状でもよい。
Claims (10)
- シャフトのホールへの挿入時に用いられる挿入ガイドであって、
前記シャフトは、
前記ホールに挿入されるシャフトの先端に設けられ、前記ホールよりも小さい直径を有する第1ガイド部と、
前記第1ガイド部の基端側に設けられ、前記第1ガイド部よりも小さい直径を有する第1狭円筒部と、
前記第1狭円筒部の基端側に設けられ、前記ホールの直径よりも小さく前記第1狭円筒部の直径よりも大きい直径を有する前記第2ガイド部と、
前記第2ガイド部の基端側に設けられ、前記第2ガイド部よりも小さい直径を有する第2狭円筒部と、
前記シャフトの先端に設けられ、前記ホールに設けられた凸部と嵌合することで前記シャフトの軸まわりの回転である位相を決める凹部である第3ガイド部と、を備え、
前記シャフトの形状は、前記第3ガイド部が前記凸部と接触するまで前記シャフトを前記ホールに挿入したときに、前記シャフトを前記ホールに対して傾けると2つ以下の点で前記ホールと接触する形状である
挿入ガイド。 - 前記シャフトは、前記第2狭円筒部の基端側に設けられ、前記ホールよりも直径が小さく、前記ホールに対する回転補正を行う第4ガイド部をさらに備え、
前記第4ガイド部は、第3ガイド部の底面に前記凸部が接触する前に前記ホールと接触するように形成されている
請求項1に記載の挿入ガイド。 - 前記第1ガイド部、前記第2ガイド部または前記第3ガイド部は、先端にテーパ状または曲率を有する形状を有する
請求項1または請求項2に記載の挿入ガイド。 - 前記ホールは、先端にテーパ状または曲率を有する形状のホール並進ガイドを有する
請求項1から請求項3までの何れか1項に記載の挿入ガイド。 - 前記第1ガイド部、前記第1狭円筒部、前記第2ガイド部、前記第2狭円筒部および前記第3ガイド部の寸法は、次式を満たすように設計されており、
30Dは前記ホールの内径を示し、30Hは前記ホールの高さを示し、31Hは前記凸部の上端と前記ホールの底面との距離を示し、32Hは前記凸部の下端と前記ホールの底面との距離を示し、
100Hは前記第1ガイド部の高さを示し、100Dは前記第1ガイド部の最大径を示し、200Hは前記第1狭円筒部の高さを示し、300Hは前記第2ガイド部の高さを示し、400Dは前記第2狭円筒部の最大径を示し、
TXY1は前記第1ガイド部と前記ホールとの第1接触点で発生する力FA、および前記第2ガイド部と前記ホールとの第2接触点で発生する力FBを起因とする回転モーメントであり、ベクトルLAは力検出部から前記第1接触点までの長さを示し、ベクトルLBは前記力検出部から前記第2接触点までの長さを示し、1000RESは前記力検出部の検出分解能を示し、
ΔREXYmaxは前記シャフトと前記ホールとの回転誤差の最大値を示し、
ΔREXYminは前記第2ガイド部の回転補正の結果残る回転誤差を示す
請求項1または請求項2に記載の挿入ガイド。 - 請求項1から請求項6までの何れか1項に記載の挿入ガイドと、
前記シャフトの力検出部に設けられた力センサと、
前記力センサに接続された力計測ロガーと、
前記力計測ロガーに接続された力計測モニタと、を備えた
挿入ガイド装置。 - 請求項7に記載された前記力センサからの出力をフィードバックしてロボットを制御することで、前記シャフトを前記ホールに挿入するロボット制御器を備えた挿入ガイド装置であって、
前記ロボット制御器は、
前記第1ガイド部が前記ホールと接触している場合には、シャフト軸方向を鉛直とする平面内の並進力が小さくなるように前記ロボットを制御し、
前記第1ガイド部および前記第2ガイド部が前記ホールとそれぞれ接触している場合には、シャフト軸方向を鉛直とする平面を形成する2つの軸周りの回転モーメントが小さくなるように前記ロボットを制御し、
前記第3ガイド部が前記凸部と接触している場合には、シャフト軸方向周りの回転モーメントを小さくなるように前記ロボットを制御し、
前記シャフトの先端が前記ホールの底面と接触している場合には、シャフト軸方向を鉛直とする平面を形成する2つの軸周りの回転モーメントが小さくなるように前記ロボットを制御する
挿入ガイド装置。 - 請求項8に記載の挿入ガイド装置において、操作対象がホールである
挿入ガイド装置。 - シャフトのホールへの挿入時に用いられる挿入ガイドであって、
前記シャフトは、
前記ホールに挿入されるシャフトの先端に設けられ、前記ホールよりも小さい直径を有する第1ガイド部と、
前記第1ガイド部の基端側に設けられ、前記第1ガイド部よりも小さい直径を有する第1狭円筒部と、
前記シャフトの先端に設けられ、前記ホールに設けられた凸部と嵌合することで前記シャフトの軸まわりの回転である位相を決める凹部である第3ガイド部と、を備え、
前記ホールは、
前記ホールの直径よりも広い側面を有する広円筒部を備え、
前記シャフトの形状は、前記第3ガイド部が前記凸部と接触するまで前記シャフトを前記ホールに挿入したときに、前記シャフトを前記ホールに対して傾けると2つ以下の点で前記ホールと接触する形状である
挿入ガイド。
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JP2020059066A (ja) * | 2018-10-05 | 2020-04-16 | 株式会社Fuji | ピッキング装置 |
JP2021045824A (ja) * | 2019-09-19 | 2021-03-25 | 株式会社安川電機 | 搬送システム、搬送方法、ロボット |
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JP6881361B2 (ja) * | 2018-03-14 | 2021-06-02 | オムロン株式会社 | ロボットの制御装置、ロボットのおよび制御方法 |
CN110253250B (zh) * | 2019-06-25 | 2020-11-03 | 武汉库柏特科技有限公司 | 一种机器人自动分步装配插销方法、系统和双臂机器人 |
CN112454211A (zh) * | 2020-11-25 | 2021-03-09 | 安徽字母表工业设计有限公司 | 一种用于车辆工具生产装配的螺纹孔和通孔对心找准的方法 |
CN112536598B (zh) * | 2020-11-25 | 2021-11-26 | 安徽字母表工业设计有限公司 | 一种车辆零件自动化装配用螺纹孔找准的机构 |
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