WO2018047371A1 - Gripping and inserting device for plugging member - Google Patents

Gripping and inserting device for plugging member Download PDF

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Publication number
WO2018047371A1
WO2018047371A1 PCT/JP2017/005270 JP2017005270W WO2018047371A1 WO 2018047371 A1 WO2018047371 A1 WO 2018047371A1 JP 2017005270 W JP2017005270 W JP 2017005270W WO 2018047371 A1 WO2018047371 A1 WO 2018047371A1
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WO
WIPO (PCT)
Prior art keywords
closing member
gripping
magnetic
lid
unit
Prior art date
Application number
PCT/JP2017/005270
Other languages
French (fr)
Japanese (ja)
Inventor
修平 宮崎
Original Assignee
トヨタ車体株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by トヨタ車体株式会社 filed Critical トヨタ車体株式会社
Priority to CN201780002577.8A priority Critical patent/CN108076634B/en
Publication of WO2018047371A1 publication Critical patent/WO2018047371A1/en

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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
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors

Definitions

  • the present invention grips a closing member that closes the opening hole in an opening hole formed in a vehicle body or the like, and holds the closing member that can inspect the gripped / inserted state.
  • -It relates to an insertion device.
  • Patent Document 1 discloses that the closing member mounting device pushes the closing member into the opening hole while vacuum-sucking the closing member. Is disclosed.
  • the attachment device 100 of Patent Document 1 includes a drive source (linear servo motor) 102 attached to the tip of a robot arm 101, and a linear device.
  • a suction member 104 attached to the tip of the drive shaft 103 of the servo motor 102, a pressing member 105 that supports the suction member 104, and a suction pump 106 that sucks air in the suction member via the drive shaft 103 are provided.
  • the adsorbing member 104 is formed of a conical cup portion 104a and a peripheral edge portion 104b provided continuously to the peripheral edge of the cup portion 104a.
  • the pressing member 105 is provided on the back surface of the cup portion 104a and the back surface of the peripheral edge portion 104b. It is formed to contact and support.
  • the robot arm 101 is operated to bring the peripheral edge 104b of the cup 104a into contact with the large diameter part G1 of the closing member G, and the suction pump 106 is operated.
  • the cup member is operated to create a negative pressure, and the closing member G is sucked and held (see FIG. 12A).
  • the robot arm 101 is operated to position the closing member G directly above the opening hole WH of the workpiece W, and then the large diameter portion G2 of the closing member G is brought into contact with the periphery of the opening hole WH of the workpiece.
  • the drive shaft 103 is moved forward (see FIG. 12B).
  • the peripheral part of the pressing member 105 presses the peripheral part 104b of the cup part 104a, and the large-diameter part G of the closing member G 1 and G2 are deformed so as to protrude upward following the shape of the cup portion, and the outer diameters of the large diameter portions G1 and G2 are reduced (see FIG. 12C).
  • the outer diameter of the large-diameter portion G2 becomes small enough to be able to be inserted through the opening hole WH
  • the lower large-diameter portion G2 in a pressed state with respect to the workpiece W is inserted through the opening hole WH.
  • the closing member G is restored to the original state and is press-fitted into the opening hole WH (see FIG. 12D).
  • the mounting device 100 of Patent Document 1 has the following problems. That is, in the attachment device 100 of Patent Document 1, the suction pump 106 is operated to make the inside of the cup portion 104a have a negative pressure and the closing member G is sucked and held, so that the peripheral edge portion 104b of the cup portion cannot be in close contact with the closing member G. If the suction force decreases and the closing member G cannot be gripped stably, and if the closing member G cannot be gripped stably, the closing member G may fall or be displaced. There was a problem that proper insertion was not possible.
  • the attachment device 100 of Patent Document 1 since the attachment device 100 of Patent Document 1 has a structure in which the inside of the cup portion 104a is negatively sucked and gripped by the closing member G, whether or not the closing member G is properly gripped is determined. It was not easy to confirm whether or not the WH could be reliably inserted. For example, even if an attempt is made to inspect the gripping state and insertion state of the closing member G by an image sensor or the like, the gripping state and insertion state of the closing member G are usually blocked by the mounting device 100 or the work W and confirmed from the appearance. It is difficult.
  • the present invention has been made to solve the above-described problems, and easily and stably grips the closing member, properly inserts it into the opening hole, and easily confirms the gripped / inserted state.
  • An object of the present invention is to provide a closing / gripping / inserting device.
  • a closure member having a lid part and a latching part holds the lid part and inserts the latching part into an opening hole of a workpiece.
  • a closing member gripping / inserting device that closes the opening hole with the lid portion, wherein an insertion hole through which the lid portion is inserted in the axial direction is formed at a front end portion, and the insertion hole
  • a first pushing portion formed so that the lid portion inserted and gripped in the outer tube portion is pushed out of the outer hole from the insertion hole and the locking portion can be inserted into the opening hole; and the first pushing portion.
  • a main body having a second pushing portion that pushes forward by a magnetic repulsive force, an operation portion that increases or decreases the magnetic repulsive force by moving the second pushing portion in the axial direction, and is attached to the outer cylinder portion.
  • the strength of the magnetic repulsive force is determined based on the magnetic signal from the magnetic detection unit, and the lid portion And purpose that a grip-insertion inspection apparatus for inspecting the appropriateness of insertion state of lifting condition and the locking portion.
  • the magnetic detection unit is formed between a magnet attached to the first pusher and a magnet attached to the second pusher. It is preferable to detect the magnetic flux density of the magnetic field.
  • the operation unit includes a drive motor for moving the second push-out unit in the axial direction, It is preferable that the gripping / insertion inspection apparatus outputs a signal for starting or stopping the drive motor when the magnetic signal reaches a predetermined threshold value.
  • the closing member that closes the opening hole of the workpiece can be easily and stably gripped, and can be properly inserted into the opening hole, and the held / inserted state can be easily confirmed.
  • a device for gripping and inserting a closing member can be provided.
  • FIG. 2 is an exploded view of components in the closing member gripping / inserting device shown in FIG. 1.
  • FIG. 2 is a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state before the closing member is gripped).
  • FIG. 2 is a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state before the closing member is gripped).
  • FIG. 2 is a cross-sectional view of the closing member gripping / inserting device shown in FIG.
  • FIG. 2 is a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state before the closing member is inserted into the opening hole of the workpiece).
  • FIG. 1 is an exploded view of components in the closing member gripping / inserting device shown in FIG. 1.
  • FIG. 2 is a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state before the closing member is gripped).
  • FIG. 2 is a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state in which the closing member is completely inserted into the opening hole of the workpiece).
  • FIG. 3 is a correlation diagram between a magnet separation distance and a magnetic flux density shown in FIG. 2.
  • It is a side view of the closure member shown in FIG. It is a perspective view of another closure member. 1 shows a mounting device for a closing member described in Patent Document 1, wherein (a) is a partially sectional front view, (b) is an AA sectional arrow view, and (c) is B It is an arrow view.
  • a closing / gripping / inserting device as an example of an embodiment according to the present invention will be described in detail with reference to the drawings.
  • the structure of the main body of the grasping / inserting device for the closing member and the structure of the grasping / insertion inspection device according to the present embodiment will be described.
  • an operation method when the gripping / inserting apparatus grips and inserts the closing member will be described.
  • types of closing members to which the present gripping / inserting apparatus can be applied will be described.
  • FIG. 1 shows a perspective view of a grasping / inserting device for a closing member, which is an example of an embodiment according to the present invention.
  • FIG. 2 shows an exploded view of the components in the closing member gripping / inserting apparatus shown in FIG.
  • FIG. 3 shows a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state before the closing member is gripped).
  • the closure member gripping / inserting device 10 includes a lid portion 11 and a closure member 1 that stands on the back side of the lid portion 11. On the other hand, it is a device that holds the lid 11, inserts the locking portion 12 into the opening hole WH of the workpiece W, and closes the opening hole WH with the lid 11.
  • the main body portion 10A of the gripping / inserting device 10 has an outer cylindrical portion 2 in which an insertion hole 211 for inserting the lid portion 11 in the axial direction (front-rear direction) is formed in the front end portion 21, and an inside of the outer cylindrical portion from the insertion hole 211.
  • the lid portion 11 inserted and gripped is pushed out from the insertion hole 211 to the outside of the outer cylinder portion, the first pushing portion 3 formed so that the locking portion 12 can be inserted into the opening hole WH, and the first pushing portion 3 is magnetically repelled. It has the 2nd extrusion part 4 pressed ahead with the force mf, and the operation part 5 which increases / decreases the magnetic repulsion force mf by moving the 2nd extrusion part 4 to an axial direction (front-back direction).
  • the operation unit 5 includes a drive motor 6 that moves the second extrusion unit 4 in the axial direction.
  • the outer cylinder portion 2 is a substantially cylindrical cylindrical body, and an insertion hole 211 through which the lid portion 11 of the closing member 1 is inserted in the axial direction is formed in the front end portion 21 thereof.
  • the insertion hole 211 is formed with a claw portion 211T that protrudes radially inward.
  • a plurality of claw portions 211T are provided at a predetermined interval in the circumferential direction of the insertion hole 211, and the lip portion 111 formed on the outer peripheral side of the lid portion 11 of the closing member 1 is elastically deformed, and the gap between the claw portions 211T is elastically deformed. It is formed so as to be restored and locked after passing.
  • the claw portion 211T is formed in a trapezoidal shape whose inner side in the radial direction is tapered, and the adjacent claw portions are connected in an arc shape.
  • an annular shelf 221 that contacts the shoulder 33 of the first pushing portion 3 is formed on the inner peripheral surface 22 side of the front end portion 21 of the outer cylinder portion 2.
  • the shelf 221 functions as a stopper member when the first pusher 3 is moved to the forward end in the axial direction.
  • the rear end portion 23 of the outer cylinder portion 2 is opened in a cylindrical shape with a predetermined length from the front end portion 21.
  • the first extruding portion 3 is a substantially cylindrical tubular body that is in sliding contact with the inner peripheral surface 22 of the outer tubular portion 2, and the front end portion 32 abuts on the surface of the lid portion 11 of the closing member 1 and is substantially in contact therewith.
  • a circular seat portion 321 formed in an arcuate concave surface is provided.
  • the seat portion 321 is formed so as to protrude slightly forward from the front end portion 21 of the outer cylinder portion 2 when the first pushing portion 3 moves to the forward end.
  • the rear end portion of the first push-out portion 3 is provided with a pair of legs 34 having a predetermined width extending rearward at an axially symmetric position of the outer peripheral surface and formed in an arc shape along the outer peripheral surface.
  • a permanent magnet (magnet) 31 formed in a columnar shape is embedded in the front end portion 32 of the first pushing portion 3 so as to be flush with the rear end surface 322 of the front end portion 32.
  • the rear end surface 322 is formed to be orthogonal to the axial direction.
  • the permanent magnet 31 is magnetized to the S pole on the front end side and magnetized to the N pole on the rear end side.
  • the outer cylinder part 2 and the 1st extrusion part 3 are a lightweight and highly rigid nonmagnetic body, for example, the product made from an aluminum alloy.
  • the second extruding portion 4 is a substantially cylindrical tubular body that is in sliding contact with the inner peripheral surface 35 of the first extruding portion 3, and a permanent magnet (magnet) 41 formed in a columnar shape at the front end portion 42 thereof.
  • the same shape as the permanent magnet 31 is embedded so as to be flush with the front end surface 421.
  • the front end surface 421 is formed to be orthogonal to the axial direction.
  • the permanent magnet 41 is magnetized at the front end side to the N pole and the rear end side is magnetized to the S pole. Therefore, permanent magnets (magnets) 31 and 41 with the same poles facing each other in parallel are mounted on the first pusher 3 and the second pusher 4, respectively.
  • the second pushing portion 4 includes a guide portion 44 that extends backward from the front end portion 42 and has a pair of guide surfaces 441 that are parallel to each other.
  • a through hole 43 that penetrates the front end portion 42 and the guide portion 44 in the axial direction is formed in the axial center portion of the second pushing portion 4.
  • a plurality of fastening holes 45 are formed in the vicinity of the outer periphery of the second pushing portion 4 so as to penetrate the front end portion 42 and the guide portion 44 in the axial direction.
  • the operation unit 5 includes a screw shaft portion 51 and a nut portion 52 that moves the second push-out portion 4 in the axial direction (front-rear direction) by rotating the screw shaft portion 51 around the axis. Yes.
  • a drive shaft 61 of the drive motor 6 is connected to the rear end portion 511 of the screw shaft portion 51.
  • the drive motor 6 is preferably a stepping motor with a built-in programming that can control the rotational torque, rotational speed, and the like of the drive shaft 61.
  • the operation unit 5 includes a collar unit 53, a guide unit 54, a base tube unit 55, and a presser unit 56.
  • a male screw 512 is formed on the outer periphery of the screw shaft portion 51, and a female screw 524 that engages with the male screw 512 is formed on the inner periphery of the nut portion 52.
  • the nut portion 52 includes a nut body portion formed in a cylindrical shape, and a flange portion 521 formed in the same cross section as the guide portion 44 of the second pushing portion 4 is formed on the front end side thereof.
  • the flange portion 521 is formed with a guide surface 522 that is flush with the guide surface 441 of the guide portion 44 of the second extruding portion 4.
  • the flange portion 521 is formed with an escape hole 523 communicating with each tightening hole 45 of the second push-out portion 4.
  • the collar portion 53 is formed with an insertion hole 531 through which the nut body portion of the nut portion 52 is inserted in the axial direction.
  • the collar portion 53 is formed in the same cross section as the flange portion 521 of the nut portion 52. Therefore, a guide surface 532 that is flush with the guide surface 441 of the guide portion 44 of the second pushing portion 4 is formed on the collar portion 53.
  • the collar portion 53 is formed with a screw hole 533 that accumulates with a tightening bolt inserted from the tightening hole 45 of the second push-out portion 4, and the second push-out portion 4, the nut portion 52, and the collar portion 53 are formed. It is fastened together.
  • a guide groove 542 having a U-shaped cross section is formed in the guide portion 54 in the axial direction.
  • the guide portion 54 includes an outer peripheral surface formed to have the same diameter as the outer peripheral surface of the second push-out portion 4.
  • An axial hole portion 541 is formed in the axial direction of the guide portion 54 so as to communicate with the guide groove 542 and through which the drive shaft 61 of the drive motor 6 is inserted.
  • the guide portion 54 is fitted on the inner peripheral surface 553 of the base tube portion 55.
  • the base tube portion 55 is a substantially cylindrical tubular body, and has an inner diameter and an outer diameter that are the same as the inner diameter and the outer diameter of the leg portion 34 of the first extruding portion 3.
  • a guide groove 551 having a U-shaped cross section is formed in the base cylinder portion 55 at a position orthogonal to the guide groove 542 of the guide portion 54 in the axial direction.
  • the guide groove 551 is formed to have the same width as the leg portion 34 of the first pushing portion 3 and guides the leg portion 34 in the axial direction.
  • An annular fastening seat portion 552 that is fastened to the arm tip portion 71 of the robot apparatus 7 is formed at the rear end portion of the base tube portion 55.
  • the holding portion 56 is an annular member having the same diameter as the fastening seat portion 552, and a plurality of fastening holes 562 for fastening the fastening seat portion 552 to the arm tip portion 71 of the robot apparatus 7 in the vicinity of the outer periphery thereof. Is formed.
  • An escape hole 561 through which the drive shaft 61 of the drive motor 6 is inserted is formed in the axial center portion of the presser portion 56 in the axial direction.
  • FIG. 1 shows a perspective view of a gripping / inserting device for a closing member according to an embodiment of the present invention.
  • FIG. 3 shows a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state before the closing member is gripped).
  • FIG. 7 shows a block diagram of the gripping / insertion inspection apparatus in the closing member gripping / inserting apparatus shown in FIG.
  • FIG. 8 shows a correlation diagram between the magnet separation distance and the magnetic flux density shown in FIG.
  • the gripping / insertion inspection device 8 of the gripping / inserting device 10 is based on a magnetic signal from a magnetic detection unit 81 attached to the outer cylinder portion 2.
  • This is a device for determining the strength of the magnetic repulsive force between the permanent magnets (magnets) 41 and 41 and inspecting the suitability of the gripping state of the lid portion 11 and the insertion state of the locking portion 12.
  • the gripping / insertion inspection apparatus 8 includes a magnetic detection unit 81, a magnetic signal amplification unit 82, a storage unit 83, a calculation / determination unit 84, a motor control unit 85, a robot control unit 86, and a display unit 87. And an operation unit 88.
  • the magnetic detection unit 81 is mounted on the outer peripheral surface of the outer cylindrical portion 2 and detects the magnetic flux density of a magnetic field formed between permanent magnets (magnets) 31 and 41 with the same poles facing each other in parallel to detect a magnetic signal. Is provided (for example, a circuit including a Hall element).
  • the magnetic detection unit 81 is formed in an elongated shape in the axial direction, and is disposed so as to cover the movement range of the permanent magnets (magnets) 31 and 41.
  • the magnetic signal amplification unit 82 includes a circuit that converts the magnetic signal output from the magnetic detection unit 81 into a digital signal that can be logically operated and amplifies it.
  • the storage unit 83 includes a circuit that stores magnetic flux density (magnetic signal) threshold values b1, b2, and b3 for a plurality of types of closing members 1 that are targets of the gripping / inserting device 10. Specifically, as shown in FIG. 8, a magnetic flux density threshold value b ⁇ b> 1 in a state before the lid 11 is gripped (when the distance d ⁇ b> 1 between the permanent magnets 31 and 41: see FIG. 3), Threshold value b2 of the magnetic flux density in the gripping state of the lid portion 11 (when the separation distance d2 between the permanent magnets 31 and 41: see FIGS. 4 and 5) and the insertion state of the locking portion (permanent magnet (magnet))
  • the threshold value b3 of the magnetic flux density at the separation distance d3 of 31 and 41 is stored for each closing member 1.
  • the calculation / determination unit 84 compares the digital signal, which can be logically calculated, output from the magnetic signal amplification unit 82 with each of the threshold values b1, b2, b3 stored in the storage unit 83, and compares the digital signal with the outer cylinder unit 2
  • the lid portion 11 of the closing member 1 is not gripped between the extruding portion 3 (see FIG. 3) and the lid portion 11 of the closing member 1 is properly gripped (see FIGS. 4 and 5). And a circuit for determining that the lid portion 11 of the closing member 1 is pushed out and the locking portion 12 is properly inserted into the opening hole WH (see FIG. 6).
  • the digital signal capable of logical operation output from the magnetic signal amplifying unit 82 substantially coincides with the threshold value b1 stored in the storage unit 83, the interval between the outer cylinder unit 2 and the first pushing unit 3 is increased. Then, it is determined that the lid portion 11 of the closing member 1 is not gripped. Further, when the digital signal capable of logical operation output from the magnetic signal amplifying unit 82 substantially matches the threshold value b2 stored in the storage unit 83, it is blocked between the outer cylinder unit 2 and the first pushing unit 3. It determines with the cover part 11 of the member 1 being hold
  • the digital signal capable of logical operation output from the magnetic signal amplifying unit 82 substantially matches the threshold value b3 stored in the storage unit 83, the digital signal is gripped between the outer tube unit 2 and the first pushing unit 3. The lid 11 that has been pushed out is pushed out, and it is determined that the locking portion 12 is properly inserted into the opening hole WH of the workpiece W.
  • the motor control unit 85 includes a circuit that controls the start / stop of the drive motor 6 based on the determination result of the calculation / determination unit 84 and the like. For example, the motor control unit 85 confirms the state in which the lid portion 11 of the closing member 1 is properly gripped between the outer cylinder portion 2 and the first extrusion portion 3 from the determination result of the calculation / determination portion 84 and drives From the determination result of the calculation / determination unit 84, a start signal for starting the motor 6 is output, and after the locking portion 12 is inserted into the opening hole WH of the workpiece W, the state where the locking portion 12 is properly inserted is determined. Confirm and output a stop signal of the drive motor 6.
  • the robot control unit 86 includes a circuit that controls the start and stop of the robot apparatus 7 based on the determination result of the calculation / determination unit 84 and the like. For example, the robot controller 86 confirms the state in which the lid 11 of the closing member 1 is properly gripped between the outer cylinder 2 and the first pusher 3 from the determination result of the calculation / determination unit 84 and drives In addition to outputting an activation signal for activating the robot device 7 in conjunction with the activation of the motor 6, after the locking portion 12 is inserted into the opening hole WH of the workpiece W, the state where the locking portion 12 is properly inserted is displayed. It confirms from the determination result of the arithmetic / determination unit 84 and outputs a stop signal of the robot apparatus 7.
  • the display unit 87 includes a circuit that displays the determination result of the calculation / determination unit 84.
  • the display unit 87 displays, as the determination result of the calculation / determination unit 84, the non-holding state of the lid unit 11, the proper holding state of the lid unit 11, the proper insertion state of the locking unit 12, and the like.
  • the operation unit 88 includes a circuit that performs operations such as turning on / off the power of the gripping / inserting device 10 and emergency stop.
  • FIG. 3 shows a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state before the closing member is gripped).
  • FIG. 4 is a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state in which the closing member is gripped).
  • FIG. 5 shows a cross-sectional view of the closing member gripping / inserting apparatus shown in FIG. 1 (a state before the closing member is inserted into the opening hole of the workpiece).
  • FIG. 6 shows a cross-sectional view of the closing member gripping / inserting apparatus shown in FIG.
  • the closing member 1 is arranged in a predetermined storage location Z with the surface of the lid portion 11 facing upward.
  • the robot device 7 is activated, and the front end portion 21 of the outer cylinder portion 2 in the main gripping / inserting device 10 attached to the arm tip portion 71 is moved downward (in the direction of arrow P) to approach the closing member 1.
  • the shoulder portion 33 of the first pushing portion 3 is in contact with the shelf portion 221 of the outer cylinder portion 2, and the first pushing portion 3 is at the forward end position.
  • the 2nd extrusion part 4 exists in the position of a backward end.
  • the display unit 87 displays the unheld state of the lid unit 11 as the determination result of the calculation / determination unit 84.
  • the display unit 87 displays an appropriate gripping state of the lid unit 11 as a determination result of the calculation / determination unit 84.
  • the difference between the initial separation distance d1 and the separation distance d2 after moving in the direction of the arrow Q corresponds to the stroke amount ST of the first extruding unit 3.
  • the magnetic repulsive force mf2 between the magnets is balanced with the elastic force of the lip portion 111. Therefore, the gripping force with respect to the lid portion 11 does not become excessive, and the gripping force can be approximated to the gripping force of the operator's palm or fingertip.
  • the drive motor 6 is operated to adjust the axial position of the second pushing portion 4 so that the gripping force on the lid portion 11 is not excessive, It is easy to balance the magnetic repulsive force mf2 between the magnets with the elastic force of the lip 111. This can be dealt with by storing the magnetic flux density threshold value b ⁇ b> 2 for each closing member 1.
  • the locking portion 12 of the closing member 1 protrudes forward from the insertion hole 211 of the outer cylinder portion 2, so the robot device 7 is operated to move the locking portion 12 to the workpiece.
  • the outer cylinder portion 2 is brought close to the workpiece W from below (in the direction of arrow R) while being adapted to the hole center of the W opening hole WH. Since the front end portion 32 of the first pushing portion 3 is provided with a seat portion 321 formed in a substantially arc-shaped concave surface that comes into contact with the lid portion 11 of the closing member 1, the axial direction of the outer cylinder portion 2 is the workpiece W.
  • the substantially arcuate concave surface of the seat portion 321 is formed.
  • the direction of the locking portion 12 can be corrected so as to match the normal direction in the opening hole WH of the workpiece W.
  • the robot apparatus 7 is operated to bring the front end portion 21 of the outer cylinder portion 2 closer to the work W from below (in the direction of the arrow V), while driving the drive shaft 61 of the drive motor 6. Is rotated, and the second extruding part 4 is moved in the direction approaching the first extruding part 3 (the direction of the arrow X). At this time, the separation distance d2 (see FIG. 5) between the permanent magnet 31 attached to the first pushing portion 3 and the permanent magnet 41 attached to the second pushing portion 4 further decreases to the separation distance d3.
  • the mutual magnetic repulsive force mf3 increases accordingly.
  • the display unit 87 displays an appropriate insertion state of the locking unit 12 as a determination result of the calculation / determination unit 84.
  • the drive motor 6 When the shape and hardness of the closing member 1 are different, the drive motor 6 is operated so that the pressing force of the lid portion 11 and the locking portion 12 does not become excessive, so that the axial position of the second pushing portion 4 is increased. Can be adjusted. In addition, by controlling the rotational torque and rotational speed of the drive shaft 61 of the drive motor 6, it is possible to perform speed control for moving the second pushing portion 4 in the axial direction. This can be dealt with by storing the magnetic flux density threshold value b3 for each closing member 1.
  • FIG. 9 shows a side view of the closing member shown in FIG.
  • FIG. 10 is a perspective view of another closing member.
  • the closing member 1 includes a lid portion 11 and a locking portion 12 that stands vertically on the back side of the lid portion 11.
  • the lid portion 11 and the locking portion 12 are each formed to be elastically deformable.
  • a thin lip portion 111 is provided on the outer peripheral side of the lid portion 11.
  • the lip portion 111 is formed so as to surround the periphery of the opening hole of the workpiece, and its tip portion elastically contacts the workpiece surface to ensure a sealing property.
  • the surface 112 of the lid portion 11 is formed in a hemispherical shape here, but may be formed in various shapes such as a rectangular planar shape or a concave shape.
  • the locking portion 12 is formed in a substantially cylindrical shape, and has a plurality of locking claws 121 that can be elastically deformed on the outer peripheral side thereof. Note that one or more locking claws 121 may be provided.
  • the other closing member 1B includes a lid portion 11B and a locking portion 12B that stands upright on the back surface side of the lid portion 11B, and the locking claw 122B of the locking portion 12B is engaged.
  • the locking claw 122B is formed so as to protrude from the locking body 121B to the outer peripheral side by pressing the operating portion 123B that is divided from the locking body 121B and protrudes to the surface side of the lid portion 11B.
  • the lid part 11 ⁇ / b> B and the operating part 123 ⁇ / b> B protruding to the surface side of the lid part 11 ⁇ / b> B are simultaneously gripped, and the locking main body 121 ⁇ / b> B is opened to the workpiece W.
  • the 2nd extrusion part 4 can be moved to the direction which adjoins the 1st extrusion part 3, and the latching claw 122B can be protruded to the outer peripheral side of the latching main body 121B.
  • the closing members 1 and 1B shown in FIGS. 9 and 10 are examples, and the gripping / inserting device 10 can be applied to closing members having various shapes and hardnesses other than these.
  • the outer cylinder portion 2 in which the insertion hole 211 through which the lid portion 11 is inserted in the axial direction is formed in the front end portion 21.
  • the strength of the magnetic repulsive force mf is determined on the basis of the magnetic signal from the part 10A and the magnetic detection part 81 attached to the outer cylinder part 2, and whether the cover part 11 is gripped and the locking part 12 is inserted properly Since it is provided with a gripping / insertion inspection device 8 for inspecting With the lid portion 11 inserted through the insertion hole 211 of the front end portion 21 into the outer cylinder portion and the locking portion 12 protruding forward from the front end portion 21 of the outer cylinder portion 2, the outer cylinder portion 2 and the first extrusion portion 3, the lid 11 of the closing member 1 can be gripped (the gripping state of the lid).
  • the second pushing portion 4 presses the first pushing portion 3 forward by the magnetic repulsive force mf, and the strength of the magnetic repulsive force mf is from the magnetic detecting portion 81 attached to the outer cylinder portion 2. Since the determination is made based on the magnetic signal and the suitability of the gripping state of the lid portion 11 is inspected, it can be easily confirmed that the gripping force of the lid portion 11 is appropriate.
  • the locking portion 12 of the closing member 1 is brought into contact with the opening hole WH of the workpiece W in a state where the lid portion 11 of the closing member 1 is properly gripped between the outer cylinder portion 2 and the first pushing portion 3.
  • the first pushing part 3 causes the lid part 11 of the closing member 1 to move to the outer cylinder. It is possible to push forward from the insertion hole 211 of the portion 2 to insert the locking portion 12 of the closing member 1 into the opening hole WH of the workpiece W and to bring the lid portion 11 into close contact with the workpiece W (insertion of the locking portion) Status).
  • the strength of the magnetic repulsive force mf is determined based on the magnetic signal from the magnetic detection unit 81 attached to the outer cylinder portion 2, and the suitability of the insertion state of the locking portion 12 is inspected. It can be easily confirmed that the insertion force of the locking portion 12 is appropriate.
  • the closing member 1 can be easily and stably gripped and properly inserted into the opening hole WH of the workpiece W, and the gripping / inserted state can be easily inspected.
  • a gripping / inserting device 10 for the member 1 can be provided.
  • magnets 31 and 41 having the same polarity opposed to each other are mounted on the first pusher 3 and the second pusher 4, respectively, the first pusher 3 and the second pusher 4, the magnetic repulsive force mf can be stably applied.
  • Magnets 31 and 41 are preferably permanent magnets. In the case of a permanent magnet, the magnetic repulsive forces mf1, mf2, and mf3 can be easily adjusted simply by changing the magnet separation distances d1, d2, and d3. Moreover, if it is a permanent magnet, a coil etc. will become unnecessary like an electromagnet, and the size reduction and cost reduction of an apparatus will be attained.
  • the magnetic detection unit 81 detects the magnetic flux density of the magnetic field formed between the magnet 31 attached to the first pusher 3 and the magnet 41 attached to the second pusher 4. Therefore, the separation distances d1, d2, and d3 between the magnets that are substantially inversely proportional to the magnetic flux density can be more accurately identified, and the magnets attached to the first pusher 3 that is substantially inversely proportional to the separation distance.
  • the magnetic repulsive forces mf1, mf2, and mf3 between the magnet 31 and the magnet 41 attached to the second pushing portion 4 can be identified more accurately. Therefore, it can confirm more simply and correctly that the holding state of the cover part 11 and the insertion state of the latching
  • the operation unit 5 includes the drive motor 6 that moves the second push-out unit 4 in the axial direction
  • the gripping / insertion inspection device 8 has a magnetic signal with predetermined threshold values b1, b2, When b3 is reached, a signal for starting or stopping the drive motor 6 is output, so that the gripping state of the lid portion 11 and the insertion state of the locking portion 12 are recognized appropriately and quickly, and the insertion work of the closing member 1 is performed. It can be completed properly and quickly.
  • a threshold value b2 of the gripping state of each lid portion 11 and a threshold value b3 of an insertion state of each locking portion 12 for a plurality of types of the closing members 1 each closing member 1 is set to the outer cylinder portion. 2 and the first extruding part 3 can be freely gripped, and the gripped closing member 1 can be freely inserted into the opening hole WH of the workpiece W.
  • the embodiment described above can be changed without changing the gist of the present invention.
  • the gripping / inserting device 10 is mounted on the arm tip 71 of the robot device 7, but it is not always necessary to mount the robot device 7.
  • the operator may directly operate by holding the base tube portion 55 of the gripping / inserting device 10.
  • the present invention grips a closing member that closes the opening hole in an opening hole formed in a vehicle body or the like, and holds the closing member that can inspect the gripped / inserted state.
  • -It can be used as an insertion device.

Abstract

Provided is a gripping and inserting device (10), which is for a plugging member (1) having a cover part and a locking part, and which grips the cover part, inserts the locking part into an opening (WH) of a workpiece, and plugs the opening with a cover. The present invention is provided with: an outer tubular part (2) having, on a front end thereof, a through hole through which the cover part is axially inserted; a first extrusion part (3) configured to be able to extrude the cover part from the through hole out of the outer tubular part and insert the locking part into the opening; a second extrusion part (4) which presses the first extrusion part toward the front side by means of magnetic repulsive force (mf); and an operation part (5) which increases/decreases the magnetic repulsive force by axially moving the second extrusion part. On the basis of a magnetic signal from a magnetism detecting part (81) mounted on the outer tubular part, the strength of the magnetic repulsive force is identified, and the suitability of the gripping state of the cover part and the insertion state of the locking part are examined.

Description

閉塞部材の把持・挿入装置Occlusion member gripping and insertion device
　本発明は、例えば、車両のボディ等に形成された開口孔に、当該開口孔を閉塞する閉塞部材を把持し、挿入することができるとともに、上記把持・挿入した状態を検査できる閉塞部材の把持・挿入装置に関する。 The present invention, for example, grips a closing member that closes the opening hole in an opening hole formed in a vehicle body or the like, and holds the closing member that can inspect the gripped / inserted state. -It relates to an insertion device.
　一般に、車両のボディにおいては、水抜き用又は電着塗装用の開口孔などが、数多く形成されている。上記開口孔は、樹脂部品又はゴム部品等からなる弾性変形可能な閉塞部材（グロメットなど）が挿入され、封止されている。従来、閉塞部材をボディ等の開口孔に挿入する作業は、開口孔が作業者から見えにくい床下等にあるため、作業者のカンコツを頼りとし、掌や指先の微妙な押圧力によって行われていた。しかし、そのような作業は、作業者に対する負担が過大となるので、これを解消すべく、例えば、特許文献１には、閉塞部材を真空吸着しつつ、開口孔に押し込む、閉塞部材の取付装置が開示されている。 Generally, in the body of a vehicle, many opening holes for draining or electrodeposition coating are formed. The opening hole is sealed by inserting an elastically deformable closing member (such as a grommet) made of a resin component or a rubber component. Conventionally, the operation of inserting the closing member into the opening hole of the body or the like has been performed by the delicate pressing force of the palm or fingertip, relying on the operator's knack, because the opening hole is under the floor where it is difficult for the operator to see it. It was. However, such an operation causes an excessive burden on the operator. For example, Patent Document 1 discloses that the closing member mounting device pushes the closing member into the opening hole while vacuum-sucking the closing member. Is disclosed.
　特許文献１の取付装置１００は、図１１（ａ）、図１１（ｂ）、図１１（ｃ）に示すように、ロボットアーム１０１の先端に装着した駆動源（リニアサーボモータ）１０２と、リニアサーボモータ１０２の駆動軸１０３の先端に取り付けた吸着部材１０４と、吸着部材１０４を支持する押圧部材１０５と、駆動軸１０３を介して吸着部材内の空気を吸引する吸引ポンプ１０６を備えている。また、吸着部材１０４は、円錐形状のカップ部１０４ａと、このカップ部１０４ａの先端周縁に連設する周縁部１０４ｂから形成され、押圧部材１０５は、カップ部１０４ａの裏面及び周縁部１０４ｂの裏面に当接して支持するように形成されている。 As shown in FIGS. 11 (a), 11 (b), and 11 (c), the attachment device 100 of Patent Document 1 includes a drive source (linear servo motor) 102 attached to the tip of a robot arm 101, and a linear device. A suction member 104 attached to the tip of the drive shaft 103 of the servo motor 102, a pressing member 105 that supports the suction member 104, and a suction pump 106 that sucks air in the suction member via the drive shaft 103 are provided. The adsorbing member 104 is formed of a conical cup portion 104a and a peripheral edge portion 104b provided continuously to the peripheral edge of the cup portion 104a. The pressing member 105 is provided on the back surface of the cup portion 104a and the back surface of the peripheral edge portion 104b. It is formed to contact and support.
　上記取付装置１００によれば、図１１、図１２に示すように、ロボットアーム１０１を操作してカップ部１０４ａの周縁部１０４ｂを閉塞部材Ｇの大径部Ｇ１に当接させ、吸引ポンプ１０６を作動させてカップ部内を負圧にして、閉塞部材Ｇを吸着把持する（図１２（ａ）を参照）。次に、ロボットアーム１０１を操作して、閉塞部材ＧをワークＷの開口孔ＷＨの真上に位置決めした後、閉塞部材Ｇの大径部Ｇ２をワークの開口孔ＷＨ周縁に当接させた状態で、駆動軸１０３を前進させる（図１２（ｂ）を参照）。すると、押圧部材１０５の周縁部がカップ部１０４ａの周縁部１０４ｂを押圧して、閉塞部材Ｇの大径部Ｇ
１、Ｇ２がカップ部の形状に倣って上方に突出するように変形し、大径部Ｇ１、Ｇ２の外径が小さくなる（図１２（ｃ）を参照）。大径部Ｇ２の外径が開口孔ＷＨを挿通できる程度に小さくなると、ワークＷに対して押圧状態にある下側の大径部Ｇ２は、開口孔ＷＨを挿通する。次いで、吸引ポンプ１０６を停止すると、閉塞部材Ｇは元の状態に復元し、開口孔ＷＨに圧入される（図１２（ｄ）を参照）。 According to the mounting device 100, as shown in FIGS. 11 and 12, the robot arm 101 is operated to bring the peripheral edge 104b of the cup 104a into contact with the large diameter part G1 of the closing member G, and the suction pump 106 is operated. The cup member is operated to create a negative pressure, and the closing member G is sucked and held (see FIG. 12A). Next, the robot arm 101 is operated to position the closing member G directly above the opening hole WH of the workpiece W, and then the large diameter portion G2 of the closing member G is brought into contact with the periphery of the opening hole WH of the workpiece. Then, the drive shaft 103 is moved forward (see FIG. 12B). Then, the peripheral part of the pressing member 105 presses the peripheral part 104b of the cup part 104a, and the large-diameter part G of the closing member G
1 and G2 are deformed so as to protrude upward following the shape of the cup portion, and the outer diameters of the large diameter portions G1 and G2 are reduced (see FIG. 12C). When the outer diameter of the large-diameter portion G2 becomes small enough to be able to be inserted through the opening hole WH, the lower large-diameter portion G2 in a pressed state with respect to the workpiece W is inserted through the opening hole WH. Next, when the suction pump 106 is stopped, the closing member G is restored to the original state and is press-fitted into the opening hole WH (see FIG. 12D).
特開２０１１－５１０５４号公報JP 2011-51054 A
　しかしながら、特許文献１の取付装置１００には、以下のような問題があった。すなわち、特許文献１の取付装置１００では、吸引ポンプ１０６を作動させてカップ部１０４ａ内を負圧にして、閉塞部材Ｇを吸着把持するので、カップ部の周縁部１０４ｂが閉塞部材Ｇに密着できないと、吸着力が低下して、閉塞部材Ｇを安定して把持することができず、また、閉塞部材Ｇを安定して把持することができないと、閉塞部材Ｇの落下や位置ズレが生じて適正な挿入作業ができないという問題があった。 However, the mounting device 100 of Patent Document 1 has the following problems. That is, in the attachment device 100 of Patent Document 1, the suction pump 106 is operated to make the inside of the cup portion 104a have a negative pressure and the closing member G is sucked and held, so that the peripheral edge portion 104b of the cup portion cannot be in close contact with the closing member G. If the suction force decreases and the closing member G cannot be gripped stably, and if the closing member G cannot be gripped stably, the closing member G may fall or be displaced. There was a problem that proper insertion was not possible.
　また、特許文献１の取付装置１００は、カップ部１０４ａ内を負圧にして、閉塞部材Ｇを吸着把持する構造であるので、閉塞部材Ｇを適正に把持したか否か、ワークＷの開口孔ＷＨに確実に挿入できたか否かを確認することも容易ではなかった。例えば、画像センサ等によって、上記閉塞部材Ｇの把持状態及び挿入状態を検査しようとしても、通常、閉塞部材Ｇの把持状態及び挿入状態は、取付装置１００やワークＷによって遮られ、外観からは確認しがたいものである。 In addition, since the attachment device 100 of Patent Document 1 has a structure in which the inside of the cup portion 104a is negatively sucked and gripped by the closing member G, whether or not the closing member G is properly gripped is determined. It was not easy to confirm whether or not the WH could be reliably inserted. For example, even if an attempt is made to inspect the gripping state and insertion state of the closing member G by an image sensor or the like, the gripping state and insertion state of the closing member G are usually blocked by the mounting device 100 or the work W and confirmed from the appearance. It is difficult.
　本発明は、上記問題点を解決するためになされたものであり、閉塞部材を簡単かつ安定して把持し、開口孔に対して適正に挿入させ、かつ、把持・挿入した状態を簡単に確認できる閉塞部材の把持・挿入装置を提供することを目的とする。 The present invention has been made to solve the above-described problems, and easily and stably grips the closing member, properly inserts it into the opening hole, and easily confirms the gripped / inserted state. An object of the present invention is to provide a closing / gripping / inserting device.
（１）上記課題を解決するための本発明の一態様は、蓋部と係止部とを有する閉塞部材に対して、前記蓋部を把持し、ワークの開口孔に前記係止部を挿入して前記開口孔を前記蓋部で閉塞する閉塞部材の把持・挿入装置であって、前記蓋部を軸方向へ挿通させる挿通孔が前端部に形成された外筒部と、前記挿通孔から外筒部内に挿入され把持された前記蓋部を前記挿通孔から外筒部外へ押出し前記開口孔に前記係止部を挿入可能に形成された第１押出部と、前記第１押出部を磁気反発力によって前方へ押圧する第２押出部と、前記第２押出部を軸方向へ移動させることによって前記磁気反発力を増減させる操作部とを有する本体部と、前記外筒部に装着された磁気検出部からの磁気信号に基づいて前記磁気反発力の強さを判定して前記蓋部の把持状態及び前記係止部の挿入状態の適否を検査する把持・挿入検査装置とを備えたことを趣旨とする。 (1) One aspect of the present invention for solving the above-described problem is that a closure member having a lid part and a latching part holds the lid part and inserts the latching part into an opening hole of a workpiece. A closing member gripping / inserting device that closes the opening hole with the lid portion, wherein an insertion hole through which the lid portion is inserted in the axial direction is formed at a front end portion, and the insertion hole A first pushing portion formed so that the lid portion inserted and gripped in the outer tube portion is pushed out of the outer hole from the insertion hole and the locking portion can be inserted into the opening hole; and the first pushing portion. A main body having a second pushing portion that pushes forward by a magnetic repulsive force, an operation portion that increases or decreases the magnetic repulsive force by moving the second pushing portion in the axial direction, and is attached to the outer cylinder portion. The strength of the magnetic repulsive force is determined based on the magnetic signal from the magnetic detection unit, and the lid portion And purpose that a grip-insertion inspection apparatus for inspecting the appropriateness of insertion state of lifting condition and the locking portion.
（２）（１）に記載された閉塞部材の把持・挿入装置において、前記第１押出部及び前記第２押出部には、同極同士を対向させた磁石をそれぞれ装着したことが好ましい。 (2) In the grasping / inserting device for a closing member described in (1), it is preferable that a magnet having the same polarity opposed to each other is attached to each of the first pushing portion and the second pushing portion.
（３）（２）に記載された閉塞部材の把持・挿入装置において、前記磁気検出部は、前記第１押出部に装着した磁石と前記第２押出部に装着した磁石との間に形成される磁界の磁束密度を検出することが好ましい。 (3) In the gripping / inserting device for a closing member described in (2), the magnetic detection unit is formed between a magnet attached to the first pusher and a magnet attached to the second pusher. It is preferable to detect the magnetic flux density of the magnetic field.
（４）（１）乃至（３）のいずれか１つに記載された閉塞部材の把持・挿入装置において、前記操作部には、前記第２押出部を軸方向に移動させる駆動モータを備え、前記把持・挿入検査装置は、前記磁気信号が所定の閾値に到達したとき前記駆動モータの起動又は停止の信号を出力することが好ましい。 (4) In the grasping / inserting device for a closing member described in any one of (1) to (3), the operation unit includes a drive motor for moving the second push-out unit in the axial direction, It is preferable that the gripping / insertion inspection apparatus outputs a signal for starting or stopping the drive motor when the magnetic signal reaches a predetermined threshold value.
　本発明によれば、ワークの開口孔を閉塞する閉塞部材を簡単かつ安定して把持し、上記開口孔に対して適正に挿入させることができるとともに、上記持・挿入した状態を簡単に確認できる閉塞部材の把持・挿入装置を提供することができる。 According to the present invention, the closing member that closes the opening hole of the workpiece can be easily and stably gripped, and can be properly inserted into the opening hole, and the held / inserted state can be easily confirmed. A device for gripping and inserting a closing member can be provided.
本発明に係る実施形態の一例である閉塞部材の把持・挿入装置の斜視図である。It is a perspective view of a grasping / inserting device of a closure member which is an example of an embodiment concerning the present invention. 図１に示す閉塞部材の把持・挿入装置における構成部品の分解・組立て図である。FIG. 2 is an exploded view of components in the closing member gripping / inserting device shown in FIG. 1. 図１に示す閉塞部材の把持・挿入装置の断面図（閉塞部材を把持する前の状態）である。FIG. 2 is a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state before the closing member is gripped). 図１に示す閉塞部材の把持・挿入装置の断面図（閉塞部材を把持した状態）である。FIG. 2 is a cross-sectional view of the closing member gripping / inserting device shown in FIG. 図１に示す閉塞部材の把持・挿入装置の断面図（閉塞部材をワークの開口孔に挿入する前の状態）である。FIG. 2 is a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state before the closing member is inserted into the opening hole of the workpiece). 図１に示す閉塞部材の把持・挿入装置の断面図（閉塞部材をワークの開口孔に挿入完了した状態）である。FIG. 2 is a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state in which the closing member is completely inserted into the opening hole of the workpiece). 図１に示す閉塞部材の把持・挿入装置における把持・挿入検査装置のブロック図である。It is a block diagram of the holding | gripping and insertion test | inspection apparatus in the holding / inserting apparatus of the obstruction | occlusion member shown in FIG. 図２に示す磁石離間距離と磁束密度との相関図である。FIG. 3 is a correlation diagram between a magnet separation distance and a magnetic flux density shown in FIG. 2. 図１に示す閉塞部材の側面図である。It is a side view of the closure member shown in FIG. 他の閉塞部材の斜視図である。It is a perspective view of another closure member. 特許文献１に記載された閉塞部材の取付装置を示し、（ａ）は、一部断面の正面図であり、（ｂ）は、Ａ－Ａ断面矢視図であり、（ｃ）は、Ｂ矢視図である。1 shows a mounting device for a closing member described in Patent Document 1, wherein (a) is a partially sectional front view, (b) is an AA sectional arrow view, and (c) is B It is an arrow view. 特許文献１に記載された閉塞部材の取付装置における作用説明図を示し、（ａ）は、グロメットを吸着した状態の一部断面であり、（ｂ）は、グロメットをワークに当接させた状態の一部断面図であり、（ｃ）は、グロメットを変形させた状態の一部断面図であり、（ｄ）は、グロメットを挿入した状態の一部断面図である。The operation explanatory view in the attachment device of the closure member indicated in patent documents 1 is shown, (a) is a partial section of the state where the grommet was adsorbed, and (b) is the state where the grommet was contacted with the work (C) is a partial cross-sectional view of the state where the grommet is deformed, and (d) is a partial cross-sectional view of the state where the grommet is inserted.
　次に、本発明に係る実施形態の一例である閉塞部材の把持・挿入装置について、図面を参照して詳細に説明する。はじめに、本実施形態に係る閉塞部材の把持・挿入装置の本体部の構造と把持・挿入検査装置の構造とを説明する。次に、本把持・挿入装置が閉塞部材を把持し、挿入する時の動作方法を説明する。更に、本把持・挿入装置が適用できる閉塞部材の種類について説明する。 Next, a closing / gripping / inserting device as an example of an embodiment according to the present invention will be described in detail with reference to the drawings. First, the structure of the main body of the grasping / inserting device for the closing member and the structure of the grasping / insertion inspection device according to the present embodiment will be described. Next, an operation method when the gripping / inserting apparatus grips and inserts the closing member will be described. Further, types of closing members to which the present gripping / inserting apparatus can be applied will be described.
＜閉塞部材の把持・挿入装置の本体部の構造＞
　まず、本実施形態に係る閉塞部材の把持・挿入装置の本体部の構造を、図１～図３を用いて説明する。図１に、本発明に係る実施形態の一例である閉塞部材の把持・挿入装置の斜視図を示す。図２に、図１に示す閉塞部材の把持・挿入装置における構成部品の分解・組立て図を示す。図３に、図１に示す閉塞部材の把持・挿入装置の断面図（閉塞部材を把持する前の状態）を示す。 <Structure of body part of gripping / inserting device for closing member>
First, the structure of the main body of the closing / gripping / holding device according to this embodiment will be described with reference to FIGS. FIG. 1 shows a perspective view of a grasping / inserting device for a closing member, which is an example of an embodiment according to the present invention. FIG. 2 shows an exploded view of the components in the closing member gripping / inserting apparatus shown in FIG. FIG. 3 shows a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state before the closing member is gripped).
　図１～図３に示すように、本実施形態に係る閉塞部材の把持・挿入装置１０は、蓋部１１と当該蓋部１１の裏面側に起立する係止部１２とを有する閉塞部材１に対して、蓋部１１を把持し、係止部１２をワークＷの開口孔ＷＨに挿入して開口孔ＷＨを蓋部１１で閉塞する装置である。本把持・挿入装置１０の本体部１０Ａには、蓋部１１を軸方向（前後方向）へ挿通させる挿通孔２１１が前端部２１に形成された外筒部２と、挿通孔２１１から外筒部内に挿入され把持された蓋部１１を挿通孔２１１から外筒部外へ押出し開口孔ＷＨに係止部１２を挿入可能に形成された第１押出部３と、第１押出部３を磁気反発力ｍｆによって前方へ押圧する第２押出部４と、第２押出部４を軸方向（前後方向）へ移動させることによって磁気反発力ｍｆを増減させる操作部５とを有する。操作部５には、第２押出部４を軸方向に移動させる駆動モータ６を備えている。 As shown in FIGS. 1 to 3, the closure member gripping / inserting device 10 according to the present embodiment includes a lid portion 11 and a closure member 1 that stands on the back side of the lid portion 11. On the other hand, it is a device that holds the lid 11, inserts the locking portion 12 into the opening hole WH of the workpiece W, and closes the opening hole WH with the lid 11. The main body portion 10A of the gripping / inserting device 10 has an outer cylindrical portion 2 in which an insertion hole 211 for inserting the lid portion 11 in the axial direction (front-rear direction) is formed in the front end portion 21, and an inside of the outer cylindrical portion from the insertion hole 211. The lid portion 11 inserted and gripped is pushed out from the insertion hole 211 to the outside of the outer cylinder portion, the first pushing portion 3 formed so that the locking portion 12 can be inserted into the opening hole WH, and the first pushing portion 3 is magnetically repelled. It has the 2nd extrusion part 4 pressed ahead with the force mf, and the operation part 5 which increases / decreases the magnetic repulsion force mf by moving the 2nd extrusion part 4 to an axial direction (front-back direction). The operation unit 5 includes a drive motor 6 that moves the second extrusion unit 4 in the axial direction.
　外筒部２は、略円筒状の筒状体であって、その前端部２１には、閉塞部材１の蓋部１１を軸方向へ挿通させる挿通孔２１１が形成されている。挿通孔２１１には、径方向内側に突出する爪部２１１Ｔが形成されている。爪部２１１Ｔは、挿通孔２１１の周方向に所定の間隔を開けて複数個備え、閉塞部材１の蓋部１１における外周側に形成されたリップ部１１１が、弾性変形しながら爪部２１１Ｔの隙間を通過し、通過後に復元して係止されるように形成されている。なお、爪部２１１Ｔは、径方向内側が先細りとなる台形状に形成され、隣接する爪部同士の間は、円弧状に連接されている。また、外筒部２の前端部２１の内周面２２側には、第１押出部３の肩部３３と当接する円環状の棚部２２１が形成されている。棚部２２１は、第１押出部３が軸方向の前進端へ移動したときのストッパ部材として機能する。外筒部２の後端部２３は、前端部２１から所定の長さで円筒状に開放されている。 The outer cylinder portion 2 is a substantially cylindrical cylindrical body, and an insertion hole 211 through which the lid portion 11 of the closing member 1 is inserted in the axial direction is formed in the front end portion 21 thereof. The insertion hole 211 is formed with a claw portion 211T that protrudes radially inward. A plurality of claw portions 211T are provided at a predetermined interval in the circumferential direction of the insertion hole 211, and the lip portion 111 formed on the outer peripheral side of the lid portion 11 of the closing member 1 is elastically deformed, and the gap between the claw portions 211T is elastically deformed. It is formed so as to be restored and locked after passing. Note that the claw portion 211T is formed in a trapezoidal shape whose inner side in the radial direction is tapered, and the adjacent claw portions are connected in an arc shape. In addition, an annular shelf 221 that contacts the shoulder 33 of the first pushing portion 3 is formed on the inner peripheral surface 22 side of the front end portion 21 of the outer cylinder portion 2. The shelf 221 functions as a stopper member when the first pusher 3 is moved to the forward end in the axial direction. The rear end portion 23 of the outer cylinder portion 2 is opened in a cylindrical shape with a predetermined length from the front end portion 21.
　第１押出部３は、外筒部２の内周面２２に摺接する略円筒状の筒状体であって、その前端部３２には、閉塞部材１の蓋部１１の表面と当接し略円弧状凹面に形成された円形状の座部３２１を備えている。座部３２１は、第１押出部３が前進端へ移動したとき、外筒部２の前端部２１より僅かに前方へ突出するように形成されている。また、第１押出部３の後端部には、外周面の軸対称位置で後方へ延設され、外周面に沿って円弧状に形成された所定幅の脚部３４を一対備えている。第１押出部３の前端部３２には、円柱状に形成された永久磁石（磁石）３１が、前端部３２の後端面３２２と面一となるように埋設されている。後端面３２２は、軸方向と直交するように形成されている。永久磁石３１は、前端側がＳ極に着磁され、後端側がＮ極に着磁されている。なお、外筒部２及び第１押出部３は、軽量・高剛性の非磁性体である、例えばアルミ合金製であることが好ましい。外筒部２及び第１押出部３を非磁性体とすることによって、磁石間における磁力線の拡散を抑制して磁気反発力を高めることができる。 The first extruding portion 3 is a substantially cylindrical tubular body that is in sliding contact with the inner peripheral surface 22 of the outer tubular portion 2, and the front end portion 32 abuts on the surface of the lid portion 11 of the closing member 1 and is substantially in contact therewith. A circular seat portion 321 formed in an arcuate concave surface is provided. The seat portion 321 is formed so as to protrude slightly forward from the front end portion 21 of the outer cylinder portion 2 when the first pushing portion 3 moves to the forward end. Further, the rear end portion of the first push-out portion 3 is provided with a pair of legs 34 having a predetermined width extending rearward at an axially symmetric position of the outer peripheral surface and formed in an arc shape along the outer peripheral surface. A permanent magnet (magnet) 31 formed in a columnar shape is embedded in the front end portion 32 of the first pushing portion 3 so as to be flush with the rear end surface 322 of the front end portion 32. The rear end surface 322 is formed to be orthogonal to the axial direction. The permanent magnet 31 is magnetized to the S pole on the front end side and magnetized to the N pole on the rear end side. In addition, it is preferable that the outer cylinder part 2 and the 1st extrusion part 3 are a lightweight and highly rigid nonmagnetic body, for example, the product made from an aluminum alloy. By making the outer cylinder part 2 and the 1st extrusion part 3 into a nonmagnetic body, spreading | diffusion of the magnetic force line between magnets can be suppressed and a magnetic repulsive force can be raised.
　第２押出部４は、第１押出部３の内周面３５に摺接する略円筒状の筒状体であって、その前端部４２には、円柱状に形成された永久磁石（磁石）４１（永久磁石３１と同一形状）が、前端面４２１と面一となるように埋設されている。前端面４２１は、軸方向と直交するように形成されている。永久磁石４１は、前端側がＮ極に着磁され、後端側がＳ極に着磁されている。したがって、第１押出部３及び第２押出部４には、同極同士を平行に対向させた永久磁石（磁石）３１、４１がそれぞれ装着されている。また、第２押出部４には、前端部４２から後方へ延設され、互いに平行な一対のガイド面４４１が形成されたガイド部４４を備えている。また、第２押出部４の軸心部には、前端部４２及びガイド部４４を軸方向へ貫通する貫通孔４３が形成されている。さらに、第２押出部４の外周近傍には、前端部４２及びガイド部４４を軸方向へ貫通する締付孔４５が複数個形成されている。 The second extruding portion 4 is a substantially cylindrical tubular body that is in sliding contact with the inner peripheral surface 35 of the first extruding portion 3, and a permanent magnet (magnet) 41 formed in a columnar shape at the front end portion 42 thereof. The same shape as the permanent magnet 31 is embedded so as to be flush with the front end surface 421. The front end surface 421 is formed to be orthogonal to the axial direction. The permanent magnet 41 is magnetized at the front end side to the N pole and the rear end side is magnetized to the S pole. Therefore, permanent magnets (magnets) 31 and 41 with the same poles facing each other in parallel are mounted on the first pusher 3 and the second pusher 4, respectively. The second pushing portion 4 includes a guide portion 44 that extends backward from the front end portion 42 and has a pair of guide surfaces 441 that are parallel to each other. In addition, a through hole 43 that penetrates the front end portion 42 and the guide portion 44 in the axial direction is formed in the axial center portion of the second pushing portion 4. Furthermore, a plurality of fastening holes 45 are formed in the vicinity of the outer periphery of the second pushing portion 4 so as to penetrate the front end portion 42 and the guide portion 44 in the axial direction.
　また、操作部５には、ネジ軸部５１と、当該ネジ軸部５１の軸周りへの回動動作によって第２押出部４を軸方向（前後方向）に移動させるナット部５２とを備えている。また、ネジ軸部５１の後端部５１１には、駆動モータ６の駆動軸６１が連結されている。駆動モータ６は、駆動軸６１の回転トルクや回転速度等を制御することができるプログラミングを内蔵したステッピングモータが好ましい。また、操作部５には、カラー部５３と、案内部５４と、基筒部５５と、押え部５６とを備えている。 In addition, the operation unit 5 includes a screw shaft portion 51 and a nut portion 52 that moves the second push-out portion 4 in the axial direction (front-rear direction) by rotating the screw shaft portion 51 around the axis. Yes. A drive shaft 61 of the drive motor 6 is connected to the rear end portion 511 of the screw shaft portion 51. The drive motor 6 is preferably a stepping motor with a built-in programming that can control the rotational torque, rotational speed, and the like of the drive shaft 61. The operation unit 5 includes a collar unit 53, a guide unit 54, a base tube unit 55, and a presser unit 56.
　ネジ軸部５１の外周には、雄ネジ５１２が形成され、ナット部５２の内周には、雄ネジ５１２と係合する雌ネジ５２４が形成されている。ナット部５２は、円筒状に形成されたナット本体部を備え、その前端側には、第２押出部４のガイド部４４と同一断面に形成されたフランジ部５２１が形成されている。フランジ部５２１には、第２押出部４のガイド部４４のガイド面４４１と面一となるガイド面５２２が形成されている。また、フランジ部５２１には、第２押出部４の各締付孔４５と連通する逃し孔５２３が形成されている。 A male screw 512 is formed on the outer periphery of the screw shaft portion 51, and a female screw 524 that engages with the male screw 512 is formed on the inner periphery of the nut portion 52. The nut portion 52 includes a nut body portion formed in a cylindrical shape, and a flange portion 521 formed in the same cross section as the guide portion 44 of the second pushing portion 4 is formed on the front end side thereof. The flange portion 521 is formed with a guide surface 522 that is flush with the guide surface 441 of the guide portion 44 of the second extruding portion 4. In addition, the flange portion 521 is formed with an escape hole 523 communicating with each tightening hole 45 of the second push-out portion 4.
　カラー部５３には、ナット部５２のナット本体部が軸方向へ挿通される挿通孔５３１が形成されている。カラー部５３は、ナット部５２のフランジ部５２１と同一断面に形成されている。そのため、カラー部５３には、第２押出部４のガイド部４４のガイド面４４１と面一となるガイド面５３２が形成されている。また、カラー部５３には、第２押出部４の締付孔４５から挿通する締付ボルトと累合するネジ穴５３３が形成され、第２押出部４とナット部５２とカラー部５３とが一体に締結されている。 The collar portion 53 is formed with an insertion hole 531 through which the nut body portion of the nut portion 52 is inserted in the axial direction. The collar portion 53 is formed in the same cross section as the flange portion 521 of the nut portion 52. Therefore, a guide surface 532 that is flush with the guide surface 441 of the guide portion 44 of the second pushing portion 4 is formed on the collar portion 53. Further, the collar portion 53 is formed with a screw hole 533 that accumulates with a tightening bolt inserted from the tightening hole 45 of the second push-out portion 4, and the second push-out portion 4, the nut portion 52, and the collar portion 53 are formed. It is fastened together.
　案内部５４には、コの字状断面の案内溝５４２が軸方向に形成されている。案内溝５４２内には、第２押出部４のガイド部４４とナット部５２とカラー部５３とが一体に締結された状態で、軸方向へ移動可能に収納されている。案内部５４は、第２押出部４の外周面と同一径に形成された外周面を備えている。案内部５４の軸心部には、案内溝５４２と連通し、駆動モータ６の駆動軸６１が挿通する逃し孔５４１が軸方向に形成されている。案内部５４は、基筒部５５の内周面５５３に嵌装されている。 A guide groove 542 having a U-shaped cross section is formed in the guide portion 54 in the axial direction. In the guide groove 542, the guide portion 44, the nut portion 52, and the collar portion 53 of the second push-out portion 4 are accommodated so as to be movable in the axial direction while being integrally fastened. The guide portion 54 includes an outer peripheral surface formed to have the same diameter as the outer peripheral surface of the second push-out portion 4. An axial hole portion 541 is formed in the axial direction of the guide portion 54 so as to communicate with the guide groove 542 and through which the drive shaft 61 of the drive motor 6 is inserted. The guide portion 54 is fitted on the inner peripheral surface 553 of the base tube portion 55.
　基筒部５５は、略円筒状の筒状体であって、その内径及び外径が、第１押出部３の脚部３４の内径及び外径と同一径に形成されている。基筒部５５には、案内部５４の案内溝５４２と直交する位置に、コの字状断面の案内溝５５１が軸方向に形成されている。案内溝５５１は、第１押出部３の脚部３４と同一幅に形成され、当該脚部３４を軸方向に案内する。基筒部５５の後端部には、ロボット装置７のアーム先端部７１に締結する円環状の締結用座部５５２が形成されている。押え部５６は、締結用座部５５２と同一径の円環状部材であって、その外周近傍には、締結用座部５５２をロボット装置７のアーム先端部７１に締結する複数の締付孔５６２が形成されている。押え部５６の軸心部には、駆動モータ６の駆動軸６１が挿通する逃し孔５６１が軸方向に形成されている。 The base tube portion 55 is a substantially cylindrical tubular body, and has an inner diameter and an outer diameter that are the same as the inner diameter and the outer diameter of the leg portion 34 of the first extruding portion 3. A guide groove 551 having a U-shaped cross section is formed in the base cylinder portion 55 at a position orthogonal to the guide groove 542 of the guide portion 54 in the axial direction. The guide groove 551 is formed to have the same width as the leg portion 34 of the first pushing portion 3 and guides the leg portion 34 in the axial direction. An annular fastening seat portion 552 that is fastened to the arm tip portion 71 of the robot apparatus 7 is formed at the rear end portion of the base tube portion 55. The holding portion 56 is an annular member having the same diameter as the fastening seat portion 552, and a plurality of fastening holes 562 for fastening the fastening seat portion 552 to the arm tip portion 71 of the robot apparatus 7 in the vicinity of the outer periphery thereof. Is formed. An escape hole 561 through which the drive shaft 61 of the drive motor 6 is inserted is formed in the axial center portion of the presser portion 56 in the axial direction.
＜把持・挿入検査装置の構造＞
　次に、本把持・挿入装置１０の把持・挿入検査装置８の構造を、図１、図３、図７、図８を用いて説明する。図１に、本発明に係る実施形態である閉塞部材の把持・挿入装置の斜視図を示す。図３に、図１に示す閉塞部材の把持・挿入装置の断面図（閉塞部材を把持する前の状態）を示す。図７に、図１に示す閉塞部材の把持・挿入装置における把持・挿入検査装置のブロック図を示す。図８に、図２に示す磁石離間距離と磁束密度との相関図を示す。 <Structure of gripping / insertion inspection device>
Next, the structure of the gripping / insertion inspection apparatus 8 of the gripping / inserting apparatus 10 will be described with reference to FIGS. 1, 3, 7, and 8. FIG. 1 shows a perspective view of a gripping / inserting device for a closing member according to an embodiment of the present invention. FIG. 3 shows a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state before the closing member is gripped). FIG. 7 shows a block diagram of the gripping / insertion inspection apparatus in the closing member gripping / inserting apparatus shown in FIG. FIG. 8 shows a correlation diagram between the magnet separation distance and the magnetic flux density shown in FIG.
　図１、図３、図７、図８に示すように、本把持・挿入装置１０の把持・挿入検査装置８は、外筒部２に装着された磁気検出部８１からの磁気信号に基づいて永久磁石（磁石）３１、４１同士の磁気反発力の強さを判定して蓋部１１の把持状態及び係止部１２の挿入状態の適否を検査する装置である。把持・挿入検査装置８には、磁気検出部８１と、磁気信号増幅部８２と、記憶部８３と、演算・判定部８４と、モータ制御部８５と、ロボット制御部８６と、表示部８７と、操作部８８とを有している。 As shown in FIGS. 1, 3, 7, and 8, the gripping / insertion inspection device 8 of the gripping / inserting device 10 is based on a magnetic signal from a magnetic detection unit 81 attached to the outer cylinder portion 2. This is a device for determining the strength of the magnetic repulsive force between the permanent magnets (magnets) 41 and 41 and inspecting the suitability of the gripping state of the lid portion 11 and the insertion state of the locking portion 12. The gripping / insertion inspection apparatus 8 includes a magnetic detection unit 81, a magnetic signal amplification unit 82, a storage unit 83, a calculation / determination unit 84, a motor control unit 85, a robot control unit 86, and a display unit 87. And an operation unit 88.
　磁気検出部８１は、外筒部２の外周面に装着され、同極同士を平行に対向させた永久磁石（磁石）３１、４１の間に形成される磁界の磁束密度を検出して磁気信号を出力する回路（例えば、ホール素子を含む回路）を備えている。磁気検出部８１は、軸方向で長尺状に形成され、永久磁石（磁石）３１、４１の移動範囲をカバーするように配置されている。磁気信号増幅部８２は、磁気検出部８１から出力される磁気信号を論理演算可能なデジタル信号に変換して増幅する回路を備えている。 The magnetic detection unit 81 is mounted on the outer peripheral surface of the outer cylindrical portion 2 and detects the magnetic flux density of a magnetic field formed between permanent magnets (magnets) 31 and 41 with the same poles facing each other in parallel to detect a magnetic signal. Is provided (for example, a circuit including a Hall element). The magnetic detection unit 81 is formed in an elongated shape in the axial direction, and is disposed so as to cover the movement range of the permanent magnets (magnets) 31 and 41. The magnetic signal amplification unit 82 includes a circuit that converts the magnetic signal output from the magnetic detection unit 81 into a digital signal that can be logically operated and amplifies it.
　記憶部８３は、本把持・挿入装置１０の対象となる複数種類の閉塞部材１に対して、磁束密度（磁気信号）の閾値ｂ１、ｂ２、ｂ３を記憶する回路を備えている。具体的には、図８に示すように、蓋部１１を把持する前の状態（永久磁石（磁石）３１、４１の離間距離ｄ１のとき：図３を参照）の磁束密度の閾値ｂ１と、蓋部１１の把持状態（永久磁石（磁石）３１、４１の離間距離ｄ２のとき：図４、図５を参照）の磁束密度の閾値ｂ２と、係止部の挿入状態（永久磁石（磁石）３１、４１の離間距離ｄ３のとき：図６を参照）の磁束密度の閾値ｂ３とを、各閉塞部材１毎に記憶する。 The storage unit 83 includes a circuit that stores magnetic flux density (magnetic signal) threshold values b1, b2, and b3 for a plurality of types of closing members 1 that are targets of the gripping / inserting device 10. Specifically, as shown in FIG. 8, a magnetic flux density threshold value b <b> 1 in a state before the lid 11 is gripped (when the distance d <b> 1 between the permanent magnets 31 and 41: see FIG. 3), Threshold value b2 of the magnetic flux density in the gripping state of the lid portion 11 (when the separation distance d2 between the permanent magnets 31 and 41: see FIGS. 4 and 5) and the insertion state of the locking portion (permanent magnet (magnet)) The threshold value b3 of the magnetic flux density at the separation distance d3 of 31 and 41 (see FIG. 6) is stored for each closing member 1.
　演算・判定部８４は、磁気信号増幅部８２から出力される論理演算可能なデジタル信号を、記憶部８３に記憶された各閾値ｂ１、ｂ２、ｂ３と比較して、外筒部２と第１押出部３との間に、閉塞部材１の蓋部１１が把持されていないこと（図３を参照）、閉塞部材１の蓋部１１が適正に把持されていること（図４、図５を参照）、閉塞部材１の蓋部１１が押し出されて係止部１２が開口孔ＷＨに適正に挿入されていること（図６を参照）を判定する回路を備えている。具体的には、磁気信号増幅部８２から出力される論理演算可能なデジタル信号が、記憶部８３に記憶された閾値ｂ１に略一致するとき、外筒部２と第１押出部３との間に、閉塞部材１の蓋部１１が把持されていないと判定する。また、磁気信号増幅部８２から出力される論理演算可能なデジタル信号が、記憶部８３に記憶された閾値ｂ２に略一致するとき、外筒部２と第１押出部３との間に、閉塞部材１の蓋部１１が適正に把持されていると判定する。また、磁気信号増幅部８２から出力される論理演算可能なデジタル信号が、記憶部８３に記憶された閾値ｂ３に略一致するとき、外筒部２と第１押出部３との間に把持されていた蓋部１１が押し出され、係止部１２がワークＷの開口孔ＷＨに適正に挿入されていると判定する。 The calculation / determination unit 84 compares the digital signal, which can be logically calculated, output from the magnetic signal amplification unit 82 with each of the threshold values b1, b2, b3 stored in the storage unit 83, and compares the digital signal with the outer cylinder unit 2 The lid portion 11 of the closing member 1 is not gripped between the extruding portion 3 (see FIG. 3) and the lid portion 11 of the closing member 1 is properly gripped (see FIGS. 4 and 5). And a circuit for determining that the lid portion 11 of the closing member 1 is pushed out and the locking portion 12 is properly inserted into the opening hole WH (see FIG. 6). Specifically, when the digital signal capable of logical operation output from the magnetic signal amplifying unit 82 substantially coincides with the threshold value b1 stored in the storage unit 83, the interval between the outer cylinder unit 2 and the first pushing unit 3 is increased. Then, it is determined that the lid portion 11 of the closing member 1 is not gripped. Further, when the digital signal capable of logical operation output from the magnetic signal amplifying unit 82 substantially matches the threshold value b2 stored in the storage unit 83, it is blocked between the outer cylinder unit 2 and the first pushing unit 3. It determines with the cover part 11 of the member 1 being hold | gripped appropriately. Further, when the digital signal capable of logical operation output from the magnetic signal amplifying unit 82 substantially matches the threshold value b3 stored in the storage unit 83, the digital signal is gripped between the outer tube unit 2 and the first pushing unit 3. The lid 11 that has been pushed out is pushed out, and it is determined that the locking portion 12 is properly inserted into the opening hole WH of the workpiece W.
　モータ制御部８５は、演算・判定部８４の判定結果等に基づいて駆動モータ６の起動停止を制御する回路を備えている。例えば、モータ制御部８５は、外筒部２と第１押出部３との間に閉塞部材１の蓋部１１が適正に把持された状態を演算・判定部８４の判定結果から確認し、駆動モータ６を起動させる起動信号を出力するとともに、係止部１２をワークＷの開口孔ＷＨに挿入させた後、係止部１２が適正に挿入された状態を演算・判定部８４の判定結果から確認し、駆動モータ６の停止信号を出力する。 The motor control unit 85 includes a circuit that controls the start / stop of the drive motor 6 based on the determination result of the calculation / determination unit 84 and the like. For example, the motor control unit 85 confirms the state in which the lid portion 11 of the closing member 1 is properly gripped between the outer cylinder portion 2 and the first extrusion portion 3 from the determination result of the calculation / determination portion 84 and drives From the determination result of the calculation / determination unit 84, a start signal for starting the motor 6 is output, and after the locking portion 12 is inserted into the opening hole WH of the workpiece W, the state where the locking portion 12 is properly inserted is determined. Confirm and output a stop signal of the drive motor 6.
　ロボット制御部８６は、演算・判定部８４の判定結果等に基づいてロボット装置７の起動停止を制御する回路を備えている。例えば、ロボット制御部８６は、外筒部２と第１押出部３との間に閉塞部材１の蓋部１１が適正に把持された状態を演算・判定部８４の判定結果から確認し、駆動モータ６の起動と連動してロボット装置７を起動させる起動信号を出力するとともに、係止部１２をワークＷの開口孔ＷＨに挿入させた後、係止部１２が適正に挿入された状態を演算・判定部８４の判定結果から確認し、ロボット装置７の停止信号を出力する。 The robot control unit 86 includes a circuit that controls the start and stop of the robot apparatus 7 based on the determination result of the calculation / determination unit 84 and the like. For example, the robot controller 86 confirms the state in which the lid 11 of the closing member 1 is properly gripped between the outer cylinder 2 and the first pusher 3 from the determination result of the calculation / determination unit 84 and drives In addition to outputting an activation signal for activating the robot device 7 in conjunction with the activation of the motor 6, after the locking portion 12 is inserted into the opening hole WH of the workpiece W, the state where the locking portion 12 is properly inserted is displayed. It confirms from the determination result of the arithmetic / determination unit 84 and outputs a stop signal of the robot apparatus 7.
　表示部８７は、演算・判定部８４の判定結果を表示する回路を備えている。例えば、表示部８７は、演算・判定部８４の判定結果として、蓋部１１の未把持状態、蓋部１１の適正な把持状態、係止部１２の適正な挿入状態等を表示する。また、操作部８８は、本把持・挿入装置１０の電源入切り、非常停止等の操作を行う回路を備えている。 The display unit 87 includes a circuit that displays the determination result of the calculation / determination unit 84. For example, the display unit 87 displays, as the determination result of the calculation / determination unit 84, the non-holding state of the lid unit 11, the proper holding state of the lid unit 11, the proper insertion state of the locking unit 12, and the like. The operation unit 88 includes a circuit that performs operations such as turning on / off the power of the gripping / inserting device 10 and emergency stop.
＜閉塞部材を把持し、挿入する時の動作方法＞
次に、本把持・挿入装置１０を使用して、閉塞部材１を把持し、ワークＷの開口孔ＷＨに挿入する時の動作方法を、図３～図６を用いて説明する。図３に、図１に示す閉塞部材の把持・挿入装置の断面図（閉塞部材を把持する前の状態）を示す。図４に、図１に示す閉塞部材の把持・挿入装置の断面図（閉塞部材を把持した状態）を示す。図５に、図１に示す閉塞部材の把持・挿入装置の断面図（閉塞部材をワークの開口孔に挿入する前の状態）を示す。図６に、図１に示す閉塞部材の把持・挿入装置の断面図（閉塞部材をワークの開口孔に挿入完了した状態）を示す。 <Operation method when grasping and inserting the closing member>
Next, an operation method when the closing member 1 is gripped and inserted into the opening hole WH of the workpiece W using the gripping / inserting device 10 will be described with reference to FIGS. FIG. 3 shows a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state before the closing member is gripped). FIG. 4 is a cross-sectional view of the closing member gripping / inserting device shown in FIG. 1 (a state in which the closing member is gripped). FIG. 5 shows a cross-sectional view of the closing member gripping / inserting apparatus shown in FIG. 1 (a state before the closing member is inserted into the opening hole of the workpiece). FIG. 6 shows a cross-sectional view of the closing member gripping / inserting apparatus shown in FIG.
　図３に示すように、閉塞部材１は、所定の保管場所Ｚに蓋部１１の表面を上方に向けて配置されている。ロボット装置７を起動して、そのアーム先端部７１に装着されている本把持・挿入装置１０における外筒部２の前端部２１を下方（矢印Ｐの方向）へ移動させ、閉塞部材１に近接させる。このとき、第１押出部３の肩部３３は、外筒部２の棚部２２１と当接した状態であり、第１押出部３は前進端の位置にある。また、第２押出部４は、後退端の位置にある。ここで、第１押出部３に装着された永久磁石３１と第２押出部４に装着された永久磁石４１との離間距離ｄ１は最大となっているので、磁石同士の磁気反発力ｍｆ１は最小となっている。このとき、表示部８７は、演算・判定部８４の判定結果として、蓋部１１の未把持状態を表示する。 As shown in FIG. 3, the closing member 1 is arranged in a predetermined storage location Z with the surface of the lid portion 11 facing upward. The robot device 7 is activated, and the front end portion 21 of the outer cylinder portion 2 in the main gripping / inserting device 10 attached to the arm tip portion 71 is moved downward (in the direction of arrow P) to approach the closing member 1. Let At this time, the shoulder portion 33 of the first pushing portion 3 is in contact with the shelf portion 221 of the outer cylinder portion 2, and the first pushing portion 3 is at the forward end position. Moreover, the 2nd extrusion part 4 exists in the position of a backward end. Here, since the separation distance d1 between the permanent magnet 31 attached to the first pusher 3 and the permanent magnet 41 attached to the second pusher 4 is the maximum, the magnetic repulsive force mf1 between the magnets is the minimum. It has become. At this time, the display unit 87 displays the unheld state of the lid unit 11 as the determination result of the calculation / determination unit 84.
　この最小の磁気反発力ｍｆ１の状態で、ロボット装置７を作動させて、さらに下方（矢印Ｐの方向）に外筒部２を移動させると、図４に示すように、第１押出部３だけが上方（矢印Ｑの方向）へ移動する。移動前では、磁石同士の磁気反発力ｍｆ１は最小となっているので、閉塞部材１の蓋部１１を、挿通孔２１１から外筒部２の内方へ簡単に挿通できる。すなわち、閉塞部材１の蓋部１１における外周側に形成されたリップ部１１１が、弾性変形しながら爪部２１１Ｔの隙間を速やかに通過し、通過後に速やかに復元する。このように、閉塞部材１の蓋部１１が外筒部２の内方へ挿通されると、第１押出部３に装着された永久磁石３１と第２押出部４に装着された永久磁石４１との離間距離ｄ１（図３を参照）が離間距離ｄ２へ減少するので、磁石同士の磁気反発力ｍｆ２はその分増加して、閉塞部材１の蓋部１１を外筒部２と第１押出部３との間で弾発的に把持する。このとき、表示部８７は、演算・判定部８４の判定結果として、蓋部１１の適正な把持状態を表示する。 When the robot apparatus 7 is operated in the state of the minimum magnetic repulsive force mf1 and the outer cylinder portion 2 is further moved downward (in the direction of the arrow P), only the first pushing portion 3 is obtained as shown in FIG. Moves upward (in the direction of arrow Q). Before the movement, the magnetic repulsive force mf1 between the magnets is minimum, so that the lid portion 11 of the closing member 1 can be easily inserted from the insertion hole 211 into the outer cylinder portion 2. That is, the lip portion 111 formed on the outer peripheral side of the lid portion 11 of the closing member 1 quickly passes through the gap between the claw portions 211T while being elastically deformed, and quickly recovers after passing. As described above, when the lid portion 11 of the closing member 1 is inserted inward of the outer cylinder portion 2, the permanent magnet 31 attached to the first pushing portion 3 and the permanent magnet 41 attached to the second pushing portion 4. The distance d1 (see FIG. 3) from the magnet decreases to the distance d2, so that the magnetic repulsive force mf2 between the magnets increases accordingly, and the lid portion 11 of the closing member 1 is moved to the outer cylinder portion 2 and the first extrusion. Grasping it with the part 3 in a resilient manner. At this time, the display unit 87 displays an appropriate gripping state of the lid unit 11 as a determination result of the calculation / determination unit 84.
　なお、当初の離間距離ｄ１と矢印Ｑの方向へ移動後の離間距離ｄ２との差が、第１押出部３のストローク量ＳＴに相当する。第１押出部３がストローク量ＳＴだけ移動したとき、磁石同士の磁気反発力ｍｆ２は、リップ部１１１の弾発力と均衡する。したがって、蓋部１１に対する把持力が過大とならず、その把持力を作業者の掌や指先の把持力に近似させることができる。また、閉塞部材１の形状や硬さが異なる場合には、蓋部１１に対する把持力が過大とならないように、駆動モータ６を作動させて第２押出部４の軸方向位置を調節して、磁石同士の磁気反発力ｍｆ２をリップ部１１１の弾発力と均衡させることが、簡単にできる。これは、磁束密度の閾値ｂ２を各閉塞部材１毎に記憶することによって対応できる。 In addition, the difference between the initial separation distance d1 and the separation distance d2 after moving in the direction of the arrow Q corresponds to the stroke amount ST of the first extruding unit 3. When the first pushing portion 3 moves by the stroke amount ST, the magnetic repulsive force mf2 between the magnets is balanced with the elastic force of the lip portion 111. Therefore, the gripping force with respect to the lid portion 11 does not become excessive, and the gripping force can be approximated to the gripping force of the operator's palm or fingertip. When the shape and hardness of the closing member 1 are different, the drive motor 6 is operated to adjust the axial position of the second pushing portion 4 so that the gripping force on the lid portion 11 is not excessive, It is easy to balance the magnetic repulsive force mf2 between the magnets with the elastic force of the lip 111. This can be dealt with by storing the magnetic flux density threshold value b <b> 2 for each closing member 1.
　次に、図５に示すように、閉塞部材１の係止部１２は、外筒部２の挿通孔２１１から前方へ突出しているので、ロボット装置７を操作して、係止部１２をワークＷの開口孔ＷＨの孔中心に適合させながら、外筒部２をワークＷに下方（矢印Ｒの方向）から近接させる。第１押出部３の前端部３２には、閉塞部材１の蓋部１１と当接する略円弧状凹面に形成された座部３２１を備えているので、外筒部２の軸方向がワークＷの開口孔ＷＨにおける法線方向に対して多少傾斜していても、第１押出部３の座部３２１が閉塞部材１の蓋部１１を押圧するとき、座部３２１の略円弧状凹面に沿って蓋部１１が移動することよって、係止部１２の向きをワークＷの開口孔ＷＨにおける法線方向に合致させるように修正することができる。 Next, as shown in FIG. 5, the locking portion 12 of the closing member 1 protrudes forward from the insertion hole 211 of the outer cylinder portion 2, so the robot device 7 is operated to move the locking portion 12 to the workpiece. The outer cylinder portion 2 is brought close to the workpiece W from below (in the direction of arrow R) while being adapted to the hole center of the W opening hole WH. Since the front end portion 32 of the first pushing portion 3 is provided with a seat portion 321 formed in a substantially arc-shaped concave surface that comes into contact with the lid portion 11 of the closing member 1, the axial direction of the outer cylinder portion 2 is the workpiece W. Even if the opening WH is slightly inclined with respect to the normal direction, when the seat portion 321 of the first pushing portion 3 presses the lid portion 11 of the closing member 1, the substantially arcuate concave surface of the seat portion 321 is formed. By moving the lid portion 11, the direction of the locking portion 12 can be corrected so as to match the normal direction in the opening hole WH of the workpiece W.
　次に、図６に示すように、ロボット装置７を操作して、外筒部２の前端部２１をワークＷに下方（矢印Ｖの方向）から更に近接させつつ、駆動モータ６の駆動軸６１を回転させ、第２押出部４を第１押出部３に近接する方向（矢印Ｘの方向）へ移動させる。このとき、第１押出部３に装着された永久磁石３１と第２押出部４に装着された永久磁石４１との離間距離ｄ２（図５を参照）が離間距離ｄ３へ更に減少するので、磁石同士の磁気反発力ｍｆ３はその分増加する。磁気反発力ｍｆ３が増加することによって、ワークＷの開口孔ＷＨに対する係止部１２の挿入抵抗に打ち勝って、第１押出部３が閉塞部材１の蓋部１１を外筒部２の挿通孔２１１から前方へ押出して、閉塞部材１の係止部１２をワークＷの開口孔ＷＨに挿入させるとともに、蓋部１１をワークＷに密着させる。このとき、表示部８７は、演算・判定部８４の判定結果として、係止部１２の適正な挿入状態を表示する。 Next, as shown in FIG. 6, the robot apparatus 7 is operated to bring the front end portion 21 of the outer cylinder portion 2 closer to the work W from below (in the direction of the arrow V), while driving the drive shaft 61 of the drive motor 6. Is rotated, and the second extruding part 4 is moved in the direction approaching the first extruding part 3 (the direction of the arrow X). At this time, the separation distance d2 (see FIG. 5) between the permanent magnet 31 attached to the first pushing portion 3 and the permanent magnet 41 attached to the second pushing portion 4 further decreases to the separation distance d3. The mutual magnetic repulsive force mf3 increases accordingly. As the magnetic repulsive force mf3 increases, the insertion resistance of the locking portion 12 with respect to the opening hole WH of the workpiece W is overcome, and the first push-out portion 3 passes the lid portion 11 of the closing member 1 through the insertion hole 211 of the outer cylinder portion 2. Then, the locking portion 12 of the closing member 1 is inserted into the opening hole WH of the workpiece W, and the lid portion 11 is brought into close contact with the workpiece W. At this time, the display unit 87 displays an appropriate insertion state of the locking unit 12 as a determination result of the calculation / determination unit 84.
　なお、閉塞部材１の形状や硬さが異なる場合には、蓋部１１及び係止部１２の押圧力が過大とならないように、駆動モータ６を作動させて第２押出部４の軸方向位置を調節することができる。また、駆動モータ６の駆動軸６１の回転トルクや回転速度等を制御することによって、第２押出部４を軸方向に移動させる速度制御を行うことができる。これは、磁束密度の閾値ｂ３を各閉塞部材１毎に記憶することによって対応できる。 When the shape and hardness of the closing member 1 are different, the drive motor 6 is operated so that the pressing force of the lid portion 11 and the locking portion 12 does not become excessive, so that the axial position of the second pushing portion 4 is increased. Can be adjusted. In addition, by controlling the rotational torque and rotational speed of the drive shaft 61 of the drive motor 6, it is possible to perform speed control for moving the second pushing portion 4 in the axial direction. This can be dealt with by storing the magnetic flux density threshold value b3 for each closing member 1.
＜閉塞部材の種類＞
次に、本把持・挿入装置が適用できる閉塞部材の種類について、図９、図１０を用いて説明する。図９に、図１に示す閉塞部材の側面図を示す。図１０に、他の閉塞部材の斜視図を示す。 <Type of closure member>
Next, the types of closing members to which the present gripping / inserting apparatus can be applied will be described with reference to FIGS. FIG. 9 shows a side view of the closing member shown in FIG. FIG. 10 is a perspective view of another closing member.
　図９に示すように、閉塞部材１には、蓋部１１と、蓋部１１の裏面側に垂直状に起立する係止部１２とを備えている。蓋部１１及び係止部１２は、それぞれ弾性変形可能に形成されている。具体的には、蓋部１１の外周側には、薄肉状のリップ部１１１を備えている。リップ部１１１は、ワークの開口孔周縁を包囲するように形成され、その先端部が弾発的にワーク面に接触して、シール性を確保する。蓋部１１の表面１１２は、ここでは半球状に形成されているが、矩形平面状又は凹面状など各種形状に形成されていてもよい。係止部１２は、略円筒状に形成され、その外周側に弾性変形可能な係止爪１２１を複数個有する。なお、係止爪１２１は、１個でも複数個でもよい。 As shown in FIG. 9, the closing member 1 includes a lid portion 11 and a locking portion 12 that stands vertically on the back side of the lid portion 11. The lid portion 11 and the locking portion 12 are each formed to be elastically deformable. Specifically, a thin lip portion 111 is provided on the outer peripheral side of the lid portion 11. The lip portion 111 is formed so as to surround the periphery of the opening hole of the workpiece, and its tip portion elastically contacts the workpiece surface to ensure a sealing property. The surface 112 of the lid portion 11 is formed in a hemispherical shape here, but may be formed in various shapes such as a rectangular planar shape or a concave shape. The locking portion 12 is formed in a substantially cylindrical shape, and has a plurality of locking claws 121 that can be elastically deformed on the outer peripheral side thereof. Note that one or more locking claws 121 may be provided.
　図１０に示すように、他の閉塞部材１Ｂは、蓋部１１Ｂと、蓋部１１Ｂの裏面側に垂直状に起立する係止部１２Ｂとを備え、係止部１２Ｂの係止爪１２２Ｂが係止本体１２１Ｂと分割され、蓋部１１Ｂの表面側に突出する作動部１２３Ｂを押圧することによって、係止爪１２２Ｂが係止本体１２１Ｂから外周側へ突出するように形成されている。この場合、外筒部２と第１押出部３との間には、蓋部１１Ｂと蓋部１１Ｂの表面側に突出する作動部１２３Ｂとを同時に把持し、係止本体１２１ＢをワークＷの開口孔ＷＨに挿入させたうえで、第２押出部４を第１押出部３に近接する方向へ移動させて、係止爪１２２Ｂを係止本体１２１Ｂの外周側へ突出させることができる。なお、図９、図１０に示す閉塞部材１、１Ｂは、例示であって、本把持・挿入装置１０は、これ以外の各種形状及び硬さの閉塞部材に適用することができる。 As shown in FIG. 10, the other closing member 1B includes a lid portion 11B and a locking portion 12B that stands upright on the back surface side of the lid portion 11B, and the locking claw 122B of the locking portion 12B is engaged. The locking claw 122B is formed so as to protrude from the locking body 121B to the outer peripheral side by pressing the operating portion 123B that is divided from the locking body 121B and protrudes to the surface side of the lid portion 11B. In this case, between the outer cylinder part 2 and the first pushing part 3, the lid part 11 </ b> B and the operating part 123 </ b> B protruding to the surface side of the lid part 11 </ b> B are simultaneously gripped, and the locking main body 121 </ b> B is opened to the workpiece W. After inserting into the hole WH, the 2nd extrusion part 4 can be moved to the direction which adjoins the 1st extrusion part 3, and the latching claw 122B can be protruded to the outer peripheral side of the latching main body 121B. Note that the closing members 1 and 1B shown in FIGS. 9 and 10 are examples, and the gripping / inserting device 10 can be applied to closing members having various shapes and hardnesses other than these.
＜作用効果＞
　以上、詳細に説明したように、本実施形態に係る閉塞部材の把持・挿入装置１０によれば、蓋部１１を軸方向へ挿通させる挿通孔２１１が前端部２１に形成された外筒部２と、挿通孔２１１から外筒部内に挿入され把持された蓋部１１を挿通孔２１１から外筒部外へ押出し開口孔ＷＨに係止部１２を挿入可能に形成された第１押出部３と、第１押出部３を磁気反発力ｍｆによって前方へ押圧する第２押出部４と、第２押出部４を軸方向へ移動させることによって磁気反発力ｍｆを増減させる操作部５とを有する本体部１０Ａと、外筒部２に装着された磁気検出部８１からの磁気信号に基づいて磁気反発力ｍｆの強さを判定して蓋部１１の把持状態及び係止部１２の挿入状態の適否を検査する把持・挿入検査装置８とを備えたので、閉塞部材１の蓋部１１を前端部２１の挿通孔２１１から外筒部内へ挿通させ、係止部１２を外筒部２の前端部２１から前方へ突出させた状態で、外筒部２と第１押出部３との間に閉塞部材１の蓋部１１を把持することができる（蓋部の把持状態）。このとき、第２押出部４が第１押出部３を磁気反発力ｍｆによって前方へ押圧するが、その磁気反発力ｍｆの強さは、外筒部２に装着された磁気検出部８１からの磁気信号に基づいて判定され、蓋部１１の把持状態の適否を検査しているので、蓋部１１の把持力が適正であることを、簡単に確認できる。 <Effect>
As described above in detail, according to the closure member gripping / inserting device 10 according to the present embodiment, the outer cylinder portion 2 in which the insertion hole 211 through which the lid portion 11 is inserted in the axial direction is formed in the front end portion 21. And the first extruding part 3 formed so that the lid part 11 inserted and held in the outer cylinder part from the insertion hole 211 is pushed out of the outer cylinder part from the insertion hole 211 and the locking part 12 can be inserted into the opening hole WH. A main body having a second pushing portion 4 that pushes the first pushing portion 3 forward by the magnetic repulsive force mf, and an operation portion 5 that increases or decreases the magnetic repelling force mf by moving the second pushing portion 4 in the axial direction. The strength of the magnetic repulsive force mf is determined on the basis of the magnetic signal from the part 10A and the magnetic detection part 81 attached to the outer cylinder part 2, and whether the cover part 11 is gripped and the locking part 12 is inserted properly Since it is provided with a gripping / insertion inspection device 8 for inspecting With the lid portion 11 inserted through the insertion hole 211 of the front end portion 21 into the outer cylinder portion and the locking portion 12 protruding forward from the front end portion 21 of the outer cylinder portion 2, the outer cylinder portion 2 and the first extrusion portion 3, the lid 11 of the closing member 1 can be gripped (the gripping state of the lid). At this time, the second pushing portion 4 presses the first pushing portion 3 forward by the magnetic repulsive force mf, and the strength of the magnetic repulsive force mf is from the magnetic detecting portion 81 attached to the outer cylinder portion 2. Since the determination is made based on the magnetic signal and the suitability of the gripping state of the lid portion 11 is inspected, it can be easily confirmed that the gripping force of the lid portion 11 is appropriate.
　また、外筒部２と第１押出部３との間で閉塞部材１の蓋部１１を適正に把持した状態で、閉塞部材１の係止部１２をワークＷの開口孔ＷＨに当接させ、外筒部２をワーク側へ移動させるとともに第２押出部４を軸方向へ移動させて磁気反発力ｍｆを増加させることによって、第１押出部３が閉塞部材１の蓋部１１を外筒部２の挿通孔２１１から前方へ押出して、閉塞部材１の係止部１２をワークＷの開口孔ＷＨに挿入させるとともに、蓋部１１をワークＷに密着させることができる（係止部の挿入状態）。このときも、磁気反発力ｍｆの強さは、外筒部２に装着された磁気検出部８１からの磁気信号に基づいて判定され、係止部１２の挿入状態の適否を検査しているので、係止部１２の挿入力が適正であることを、簡単に確認できる。 Further, the locking portion 12 of the closing member 1 is brought into contact with the opening hole WH of the workpiece W in a state where the lid portion 11 of the closing member 1 is properly gripped between the outer cylinder portion 2 and the first pushing portion 3. By moving the outer cylinder part 2 to the workpiece side and moving the second pushing part 4 in the axial direction to increase the magnetic repulsive force mf, the first pushing part 3 causes the lid part 11 of the closing member 1 to move to the outer cylinder. It is possible to push forward from the insertion hole 211 of the portion 2 to insert the locking portion 12 of the closing member 1 into the opening hole WH of the workpiece W and to bring the lid portion 11 into close contact with the workpiece W (insertion of the locking portion) Status). Also at this time, the strength of the magnetic repulsive force mf is determined based on the magnetic signal from the magnetic detection unit 81 attached to the outer cylinder portion 2, and the suitability of the insertion state of the locking portion 12 is inspected. It can be easily confirmed that the insertion force of the locking portion 12 is appropriate.
　よって、本実施形態によれば、閉塞部材１を簡単かつ安定して把持し、ワークＷの開口孔ＷＨに対して適正に挿入させることができるとともに、把持・挿入した状態を簡単に検査できる閉塞部材１の把持・挿入装置１０を提供することができる。 Therefore, according to the present embodiment, the closing member 1 can be easily and stably gripped and properly inserted into the opening hole WH of the workpiece W, and the gripping / inserted state can be easily inspected. A gripping / inserting device 10 for the member 1 can be provided.
　また、本実施形態によれば、第１押出部３及び第２押出部４には、同極同士を対向させた磁石３１、４１をそれぞれ装着したので、第１押出部３と第２押出部４との間で、磁気反発力ｍｆを安定的に作用させることができる。なお、磁石３１、４１は、永久磁石であることが好ましい。永久磁石であれば、磁石離間距離ｄ１、ｄ２、ｄ３を変更するだけで、その磁気反発力ｍｆ１、ｍｆ２、ｍｆ３を簡単に調節することができる。また、永久磁石であれば、電磁石のようにコイル等が不要となり、装置の小型化や低コスト化が可能となる。 Moreover, according to this embodiment, since the magnets 31 and 41 having the same polarity opposed to each other are mounted on the first pusher 3 and the second pusher 4, respectively, the first pusher 3 and the second pusher 4, the magnetic repulsive force mf can be stably applied. Magnets 31 and 41 are preferably permanent magnets. In the case of a permanent magnet, the magnetic repulsive forces mf1, mf2, and mf3 can be easily adjusted simply by changing the magnet separation distances d1, d2, and d3. Moreover, if it is a permanent magnet, a coil etc. will become unnecessary like an electromagnet, and the size reduction and cost reduction of an apparatus will be attained.
　また、本実施形態によれば、磁気検出部８１は、第１押出部３に装着した磁石３１と第２押出部４に装着した磁石４１との間に形成される磁界の磁束密度を検出するので、当該磁束密度と略反比例の関係にある磁石同士の離間距離ｄ１、ｄ２、ｄ３をより正確に認定でき、また、当該離間距離と略反比例の関係にある第１押出部３に装着した磁石３１と第２押出部４に装着した磁石４１との間の磁気反発力ｍｆ１、ｍｆ２、ｍｆ３をより正確に認定できる。そのため、蓋部１１の把持状態及び係止部１２の挿入状態がそれぞれ適正であることを、より簡単かつ正確に確認できる。 Further, according to the present embodiment, the magnetic detection unit 81 detects the magnetic flux density of the magnetic field formed between the magnet 31 attached to the first pusher 3 and the magnet 41 attached to the second pusher 4. Therefore, the separation distances d1, d2, and d3 between the magnets that are substantially inversely proportional to the magnetic flux density can be more accurately identified, and the magnets attached to the first pusher 3 that is substantially inversely proportional to the separation distance. The magnetic repulsive forces mf1, mf2, and mf3 between the magnet 31 and the magnet 41 attached to the second pushing portion 4 can be identified more accurately. Therefore, it can confirm more simply and correctly that the holding state of the cover part 11 and the insertion state of the latching | locking part 12 are respectively appropriate.
　また、本実施形態によれば、操作部５には、第２押出部４を軸方向に移動させる駆動モータ６を備え、把持・挿入検査装置８は、磁気信号が所定の閾値ｂ１、ｂ２、ｂ３に到達したとき駆動モータ６の起動又は停止の信号を出力するので、蓋部１１の把持状態と係止部１２の挿入状態とを適正かつ迅速に認定して、閉塞部材１の挿入作業を適正かつ迅速に完了させることができる。また、複数種類の閉塞部材１に対して、各蓋部１１の把持状態の閾値ｂ２と各係止部１２の挿入状態の閾値ｂ３とをそれぞれ設定することによって、各閉塞部材１を外筒部２と第１押出部３との間で自在に把持し、把持した閉塞部材１をワークＷの開口孔ＷＨに自在に挿入させることができる。 Further, according to the present embodiment, the operation unit 5 includes the drive motor 6 that moves the second push-out unit 4 in the axial direction, and the gripping / insertion inspection device 8 has a magnetic signal with predetermined threshold values b1, b2, When b3 is reached, a signal for starting or stopping the drive motor 6 is output, so that the gripping state of the lid portion 11 and the insertion state of the locking portion 12 are recognized appropriately and quickly, and the insertion work of the closing member 1 is performed. It can be completed properly and quickly. Further, by setting a threshold value b2 of the gripping state of each lid portion 11 and a threshold value b3 of an insertion state of each locking portion 12 for a plurality of types of the closing members 1, each closing member 1 is set to the outer cylinder portion. 2 and the first extruding part 3 can be freely gripped, and the gripped closing member 1 can be freely inserted into the opening hole WH of the workpiece W.
　上述した実施形態は、本発明の要旨を変更しない範囲で変更することができる。例えば、上記実施形態では、本把持・挿入装置１０をロボット装置７のアーム先端部７１に装着しているが、必ずしもロボット装置７に装着する必要はない。例えば、作業者が、本把持・挿入装置１０の基筒部５５を直接持って操作してもかまわない。 The embodiment described above can be changed without changing the gist of the present invention. For example, in the above embodiment, the gripping / inserting device 10 is mounted on the arm tip 71 of the robot device 7, but it is not always necessary to mount the robot device 7. For example, the operator may directly operate by holding the base tube portion 55 of the gripping / inserting device 10.
　本発明は、例えば、車両のボディ等に形成された開口孔に、当該開口孔を閉塞する閉塞部材を把持し、挿入することができるとともに、上記把持・挿入した状態を検査できる閉塞部材の把持・挿入装置として利用できる。 The present invention, for example, grips a closing member that closes the opening hole in an opening hole formed in a vehicle body or the like, and holds the closing member that can inspect the gripped / inserted state. -It can be used as an insertion device.
　１、１Ｂ　　　　　閉塞部材
　２　　　　　　　　外筒部
　３　　　　　　　　第１押出部
　４　　　　　　　　第２押出部
　５　　　　　　　　操作部
　６　　　　　　　　駆動モータ
　８　　　　　　　　把持・挿入検査装置
　１０　　　　　　　把持・挿入装置
　１０Ａ　　　　　　本体部
　１１、１１Ｂ　　　蓋部
　１２、１２Ｂ　　　係止部
　２１　　　　　　　前端部
　３１、４１　　　　永久磁石（磁石）
　８１　　　　　　　磁気検出部
　２１１　　　　　　挿通孔
　Ｗ　　　　　　　　ワーク
　ＷＨ　　　　　　　開口孔
　ｂ１、ｂ２、ｂ３　閾値
　ｍｆ、ｍｆ１　　　磁気反発力
　ｍｆ２、ｍｆ３　　磁気反発力
  DESCRIPTION OF SYMBOLS 1, 1B Closure member 2 Outer cylinder part 3 1st extrusion part 4 2nd extrusion part 5 Operation part 6 Drive motor 8 Gripping / insertion inspection apparatus 10 Gripping / insertion apparatus 10A Main body part 11, 11B Lid part 12, 12B Locking part 21 Front end 31, 41 Permanent magnet (magnet)
81 Magnetic detector 211 Insertion hole W Workpiece WH Opening hole b1, b2, b3 Threshold value mf, mf1 Magnetic repulsive force mf2, mf3 Magnetic repulsive force

Claims (4)

  1. 　蓋部と係止部とを有する閉塞部材に対して、前記蓋部を把持し、ワークの開口孔に前記係止部を挿入して前記開口孔を前記蓋部で閉塞する閉塞部材の把持・挿入装置であって、
    　前記蓋部を軸方向へ挿通させる挿通孔が前端部に形成された外筒部と、前記挿通孔から外筒部内に挿入され把持された前記蓋部を前記挿通孔から外筒部外へ押出し前記開口孔に前記係止部を挿入可能に形成された第１押出部と、前記第１押出部を磁気反発力によって前方へ押圧する第２押出部と、前記第２押出部を軸方向へ移動させることによって前記磁気反発力を増減させる操作部とを有する本体部と、前記外筒部に装着された磁気検出部からの磁気信号に基づいて前記磁気反発力の強さを判定して前記蓋部の把持状態及び前記係止部の挿入状態の適否を検査する把持・挿入検査装置とを備えたことを特徴とする閉塞部材の把持・挿入装置。     For a closing member having a lid portion and a locking portion, gripping the closing member that grips the lid portion, inserts the locking portion into an opening hole of a work, and closes the opening hole with the lid portion. An insertion device,
    An outer tube portion in which a through hole for inserting the lid portion in the axial direction is formed at a front end portion, and the lid portion inserted and held in the outer tube portion from the insertion hole is pushed out of the outer tube portion from the insertion hole. A first pushing portion formed so that the locking portion can be inserted into the opening hole, a second pushing portion that presses the first pushing portion forward by a magnetic repulsive force, and the second pushing portion in the axial direction. Determining the strength of the magnetic repulsive force based on a magnetic signal from a main body unit having an operation unit that increases or decreases the magnetic repulsive force by moving the magnetic repulsive force, and a magnetic detection unit mounted on the outer cylinder unit; A gripping / inserting device for a closing member, comprising: a gripping / insertion inspecting device that inspects whether the lid is gripped and whether the locking portion is inserted.
  2. 　請求項１に記載された閉塞部材の把持・挿入装置において、
    　前記第１押出部及び前記第２押出部には、同極同士を対向させた磁石をそれぞれ装着したことを特徴とする閉塞部材の把持・挿入装置。     The grasping / inserting device for a closing member according to claim 1,
    A closing / gripping / inserting device according to claim 1, wherein magnets having opposite polarities are mounted on the first push-out portion and the second push-out portion, respectively.
  3. 　請求項２に記載された閉塞部材の把持・挿入装置において、
    　前記磁気検出部は、前記第１押出部に装着した磁石と前記第２押出部に装着した磁石との間に形成される磁界の磁束密度を検出することを特徴とする閉塞部材の把持・挿入装置。     The grasping / inserting device for an occluding member according to claim 2,
    The magnetic detecting unit detects a magnetic flux density of a magnetic field formed between a magnet attached to the first pusher and a magnet attached to the second pusher. apparatus.
  4. 　請求項１乃至請求項３のいずれか１項に記載された閉塞部材の把持・挿入装置において、
    　前記操作部には、前記第２押出部を軸方向に移動させる駆動モータを備え、前記把持・挿入検査装置は、前記磁気信号が所定の閾値に到達したとき前記駆動モータの起動又は停止の信号を出力することを特徴とする閉塞部材の把持・挿入装置。
          The grasping / inserting device for a closing member according to any one of claims 1 to 3,
    The operation unit includes a drive motor for moving the second push-out unit in the axial direction, and the gripping / insertion inspection device is a signal for starting or stopping the drive motor when the magnetic signal reaches a predetermined threshold value. A device for grasping and inserting a closing member, characterized in that
PCT/JP2017/005270 2016-09-12 2017-02-14 Gripping and inserting device for plugging member WO2018047371A1 (en)

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CN108076634B (en) 2019-08-09
CN108076634A (en) 2018-05-25
JP2018043295A (en) 2018-03-22

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