JP5593679B2 - Component fitting apparatus and method - Google Patents

Description

  The present invention relates to a component fitting apparatus and method for fitting a component having a hole shape to be inserted into a component that matches the shape of the hole.

  Automating the fitting and assembly of parts is an issue that has been addressed in the field of manufacturing technology for decades, and has a wide variety of unique features depending on the accuracy of fitting, insertion speed, shape, angle of pull, and material hardness. Automatic fitting mechanisms have been proposed and implemented.

  Among these, a device called a remote center compliance mechanism (RCC mechanism: Remote Center Compliance mechanism) is generally used for component insertion using a compliance mechanism. The RCC mechanism is an apparatus having a configuration as shown in FIG. 7 that uses an axial reaction force generated by contact between components that are fitted during an insertion operation to perform fitting (for example, Patent Documents). 1).

In FIG. 7, a hand 4 is attached to a member 2 that moves in a vertical direction with respect to a structural member 1 via two links 3 having the same length. Here, the link 3 is rotatably supported with respect to the member 2 and the hand 4, and the quadrilateral shape formed by the member 2, the link 3, and the hand 4 always maintains a parallelogram. The hand 4 grips the fitting shaft part 6 with the provided claw 5, and the member 2, the link 3, the hand 4, the claw 5 and the fitting shaft part 6 are integrated with the structural member 1 vertically downward. It has a structure that moves and fits the fitting shaft part 6 into the fitting hole 7a of the part 7 to be fitted.

  Next, the operation of the apparatus having the configuration shown in FIG. 7 will be described.

  In FIG. 7, the position of the broken line is the standby position, the position of the solid line is the operating position, and at the standby position, both of the links 3 are suspended vertically downward. Then, when the member 2 moves downward in the drawing, as a whole, until the lower edge of the fitting shaft part 6 comes into contact with the chamfered portion A formed on the upper end face of the fitting hole 7a of the fitting part 7. Move without changing the initial posture.

  When the fitting shaft part 6 comes into contact with the chamfered portion A here, stress is applied to the fitting shaft part 6 in a direction perpendicular to the chamfered part A of the fitting part 7, and the hand 4 and the claw 5 are fitted. The coaxial shaft component 6 moves to the right side in FIG.

  On the other hand, since the postures of the hand 4 and the claw 5 do not tilt even when receiving a force, the fitting shaft part 6 moves so that the lower edge thereof is along the chamfer A of the fitting part 7, When it leaves | separates from the chamfering part A before long, the fitting shaft component 6 will fall along the side surface of the fitting hole 7a of the to-be-fitted part 7, and the fitting with respect to the fitting hole 7a will be completed.

  In addition to the conventional device shown in FIG. 7, a press-fitting device configured as shown in FIG. 8 has been proposed as a conventional device for component insertion (see, for example, Patent Document 2).

  In FIG. 8, 11 is a table, 12 is a through-hole formed in the table 11, and 13 is a workpiece. 14 is a press-fit hole formed in the work 13 and having a slightly smaller diameter than the through-hole 12, 15 is two temporary positioning pins provided on the upper side of the table 11, and 16 is a pin insertion hole provided on the opening side of the press-fit hole 14. is there.

  Reference numeral 17 denotes a press cylinder disposed opposite to the table 11. The press cylinder 17 includes a spring 18 inside, and a hook portion for locking the press ram 19 and the press ram 19 on the upper opening side so as not to escape upward. 20.

  Further, a main positioning pin 22 that is mounted on the moving body 21 and has a diameter substantially the same as the diameter of the press-fitting hole 14 is provided below the table 11, and a tapered portion 23 is formed at the tip of the main positioning pin 22. ing. Furthermore, a cylindrical member 24 as a press-fitting member that is press-fitted into the press-fitting hole 14 is attached to the moving body 21.

  Next, the operation of the press-fitting device having the configuration shown in FIG. 8 will be described.

  In the apparatus shown in FIG. 8, the temporary positioning pin 15 and the pin insertion hole 16 are characterized in that they can be displaced relative to the horizontal direction (arrow X direction in FIG. 8). The main positioning pin 22 is inserted into the press-fitting hole 14 of the work 13, and the position of the work 13 is shifted in the horizontal direction by the taper 23 at the tip of the main positioning pin 22. Next, the main positioning pin 22 is once pulled out, the cylindrical member 24 is opposed to the press-fitting hole 14, and the work 13 is moved by the lowering of the press ram 19, so that the cylindrical member 24 is press-fitted into the press-fitting hole 14.

JP-A-6-186362 JP-A-11-90740

  However, in the apparatus having the configuration shown in FIG. 7, the surface accuracy of the chamfered portion A where the fitting shaft part 6 contacts the fitting shaft part 6 when the lowering speed of the fitting shaft part 6 is different in a series of operations. When the fitting shaft part 6 and the fitting hole 7a of the fitting part 7 are displaced too much, the chamfer A and the lower edge of the fitting shaft part 6 come into contact with each other. The friction between these parts or the frictional force increases, and a force to rotate the fitting shaft part 6 is applied, which may cause a problem that the parts 6 and 7 cannot move.

  In addition, the apparatus having the configuration shown in FIG. 8 employs a method of preparing a member for position correction and correcting the positional deviation, but after performing the correction once, the positioning operation is performed again to perform the positioning operation. There is a problem that it is not possible to compensate for the variation due to accuracy, and it is necessary to perform the fitting operation twice for one press-fitting operation, which is troublesome.

  An object of the present invention is to solve these problems of the prior art and to provide a component fitting apparatus and method capable of fitting components accurately and reliably without complicated operations.

The component fitting device of the present invention is a component fitting device that performs fitting by moving the other component relative to one component in the fitting direction, and the first vertical movable member movable in the fitting direction. And a guide member whose position is corrected by the one component, a wire member connecting the first vertically movable member and the guide member, and the fitting along the guide shaft member provided on the guide member A slide member movable in a direction , a block member supported by a spring arranged in a direction perpendicular to the fitting direction from the slide member and movable in the fitting direction, and provided in the block member and a holding member for holding the other part, while holding the one component in advance the guide member, with the actuators of the first upper and lower movable member, and held by the holding member and the Square parts of relatively moving with respect to one of the parts characterized in that said and a control unit for performing fit.

The component fitting method of the present invention is a component fitting method in which fitting is performed by moving the other component relative to one component in the fitting direction. The guide member connected via the movable member and the wire member is moved by following the shape of the one component while being moved by the first vertical movable member, and the one component is held by the guide member. It is held by a holding member provided on a block member supported by a spring disposed in a direction perpendicular to the fitting direction from a slide member movable in the fitting direction along a guide shaft member on the guide member. The other component is moved relative to the one component by using an actuator provided on the first vertically movable member, and is fitted.

According to the present invention, in the assembly of the fitting part, when the operating speed of one of the components to be fitted are different, or if the surface accuracy of the surface both parts are in contact during mating is not rough, or mating hole Even when the amount of deviation between the shaft portion and the shaft portion is too large, the components can be fitted accurately and reliably without complicated operations.

The top view of the state which removed the up-and-down movable member in Embodiment 1 of the components fitting apparatus which concerns on this invention Sectional drawing which shows the structure of the front state in Embodiment 1 Front sectional view showing the downward movement of the vertically movable member in the first embodiment Front sectional view showing the operation of the first RCC mechanism in the first embodiment Front sectional view showing the operation end state of the first RCC mechanism in the first embodiment Front sectional view showing the operation of the second RCC mechanism in the first embodiment Front sectional view showing the operation end state of the second RCC mechanism in the first embodiment Front sectional view showing the ascending operation of the vertically movable member in the first embodiment The flowchart which concerns on operation | movement of the structural member of Embodiment 1. FIG. Sectional drawing which shows the structure of the front state in Embodiment 2 of the components fitting apparatus which concerns on this invention Sectional drawing which shows the structure of the modification of Embodiment 2 of the components fitting apparatus which concerns on this invention Sectional drawing which shows the structure in the conventional apparatus Sectional drawing which shows the structure in the other conventional apparatus

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Embodiment 1)
FIG. 1 is a plan view of a component fitting device according to Embodiment 1 of the present invention in a state in which the vertically movable member is removed, and FIG. 2 is a cross-sectional view showing the configuration of the front state of Embodiment 1.

  1 and 2, 30 is a vertically movable member (first vertically movable member) that is moved and driven by a drive member (not shown), 31 is a guide member, and 32 is between the vertically movable member 30 and the guide member 31. A plurality of wire members which are fixed to each other and are equal in length to each other, and are composed of three wires in the first embodiment.

  In addition, the guide member 31 has a force toward the reference point as the distance from the reference point increases, with the position where the three wire members 32 extend vertically downward and balance each other as a reference point. The first RCC mechanism is configured by three parts including the vertically movable member 30, the wire member 32, and the guide member 31.

  Further, the guide member 31 includes a guide shaft member 33 and a pair of slide bush members 34 that move along the guide shaft member 33 to form a second vertically movable member.

A block member 36 is supported between the slide bush members 34 by springs 35 in the horizontal direction on the slide bush member 34. The top of the block member 3 6 supporting member 37 is provided to connect the actuating member 38a of the actuator 38 provided vertically movable member 30 constitute a movable coupling mechanisms in the horizontal direction.

  The block member 36, the spring 35, and the slide bush member 34 generate a force to return to the reference position as they move away from the reference position with the balance point of the spring 35 supported in the horizontal direction as a reference position. In other words, the second RCC mechanism is configured by three members including the slide bush member 34, the spring 35, and the block member 36.

  In addition, a finger member 39 is provided at the lower portion of the block member 36 so as to be able to open and close, and constitutes a holding member for gripping the fitting shaft component 40.

  In FIG. 2, a fitted component 42, which is one member to be fitted and has a fitting hole 42 a, is placed on a table 41. And the to-be-fitted part 42 is distribute | arranged to the position facing the fitting shaft component 40 which is the other member to fit, and has the protrusion shaft part 40a.

  Next, the operation of the first embodiment will be described with reference to cross-sectional views showing the operation states of the respective parts in FIGS. 3A to 3F and the flowchart in FIG. 4 (step S1 to step S11). To do.

  First, as shown in FIG. 3A, the initial state in the first embodiment is such that the fitted component 42 is fixed on the table 41, and the vertically movable member 30, Each member such as the guide member 31 is located. Here, the center axis 43 of the vertically movable member 30 and the center axis 44 of the fitting shaft part 40 coincide with each other, and only the center axis 45 of the part 42 to be fitted is shifted to the left. From this state, the vertically movable member 30 is started to descend (step S1 in FIG. 4). The operation of the apparatus in the first embodiment, such as the lowering of the vertically movable member 30, is controlled by a control device (not shown).

When the vertically movable member 30 is lowered until the guide member 31 comes into contact with the table 41, the center axis 43 of the vertically movable member 30 among the vertically movable member 30, the guide member 31, and the wire member 32, which is the first RCC mechanism, If the center axis 45 of the fitting part 42 is deviated, the center axis 44 of the guide member 31 is similarly shifted with respect to the center axis 45 of the fitting part 42 . Therefore, as shown in FIG. 3B, the tapered guide surface 46 formed in the concave portion of the guide member 31 and the edge B of the fitted part 42 come into contact with each other (step S2 in FIG. 4).

  When the vertically movable member 30 is further lowered, a force toward the central axis 43 is generated in the vertically movable member 30 by the first RCC mechanism including the vertically movable member 30, the wire member 32, and the guide member 31. Therefore, the taper guide surface 46 and the edge B of the guide member 31 slide, and the guide member 31 descends while moving to the left in FIG. 3C while maintaining the same posture along the taper guide surface 46. . As a result, the wire member 32 is deformed into an S-shape, and the central axis 44 of the guide member 31 approaches the central axis 45 of the mated component 42 (step S3 in FIG. 4).

  When the vertically movable member 30 is further lowered, the contact portion between the guide member 31 and the mated component 42 deviates from the taper guide surface 46, and the outer portion of the mated component 42 and the concave portion of the taper guide surface 46 of the guide member 31. And fit. Then, as shown in FIG. 3C, the guide member 31 is in a state where a slight gap corresponding to the fitting clearance remains between the concave portion of the guide member 31 and the outer portion of the mated component 42. Is in contact with the upper surface of the table 41 (step S4 in FIG. 4).

  In the state shown in FIG. 3C, the block member 36, the guide shaft member 33, the slide bush member 34, the spring 35, the finger member 39, and the fitting shaft component 40 constituting the second RCC mechanism are the guide member. In this state, the center axis 43 of the vertically movable member 30 and the center axis 44 of the fitting shaft part 40 are greatly displaced. On the other hand, the center axis 44 of the fitting shaft member 40 and the center axis 45 of the fitting part 42 are fitted between the concave portion of the tapered guide surface 46 of the guide member 31 and the outer part of the fitting part 42. It is in a state shifted by a gap corresponding to the clearance. In this state, the descent of the vertically movable member 30 stops (step S5 in FIG. 4).

  Next, as shown in FIG. 3D, the actuator 38 is operated, and the block member 36, the finger member 39, and the fitting shaft part 40 are moved downward in the figure by the operating member 38a (FIG. 4). Step S6). The fitting shaft part 40 is lowered by this movement and comes into contact with the tapered surface 47 provided on the guide member 31 at the edge C (step S7 in FIG. 4).

When further lower the fitting shaft part 40 by the actuator 3 8, the second RCC mechanism consisting of slide bush member 34 and the spring 35 and the block member 36., a force toward the center axis 44 of the guide member 31 is generated The spring 35 is bent, the taper surface 47 and the edge C of the fitting shaft part 40 slip, and the fitting shaft part 40 keeps the same posture along the taper surface 47 while moving to the left in FIG. It descends (step S8 in FIG. 4).

  Further, when the fitting shaft part 40 is lowered by the actuator 38, the fitting shaft part 40 comes off the tapered surface 47 of the guide member 31 as shown in FIG. The fitting hole 42a is reached, and a predetermined position is reached to complete the fitting (step S9 in FIG. 4). At this time, the lowering operation of the actuator 38 stops (step S10 in FIG. 4).

  Thereafter, the finger member 39 is opened to release the fitting shaft part 40, and the actuator 38 and the vertically movable member 30 are moved upward (step S11 in FIG. 4), as shown in FIG. Each member returns to the initial state.

  Here, the dimensions of the chamfered portion A required for the fitting hole 42a of the fitted part 42 are estimated in comparison with the conventional example.

  First, consider the case of the configuration shown in FIG. 7 as a conventional example. In this case, the dimension of the chamfered portion A formed on the upper end surface of the fitting hole 7a of the fitting part 7 is such that the center axis is misaligned between the fitting hole 7a of the fitting part 7 and the fitting shaft part 6. Only minutes are needed. That is, when the misalignment is 1 mm, the chamfered portion A of the mated component 7 needs to be at least 1 mm.

  On the other hand, in the present embodiment, it is assumed that the misalignment of the center axes 44 and 45 between the mated component 42 and the mating shaft component 40 is 1 mm, and the horizontal component of the taper dimension of the concave portion of the guide member 31 is calculated. Set to 1 mm or more. When the concave portion of the guide member 31 has a diameter of 30 mm, there is a fitting error of about 30 μm, and when the minimum diameter of the central hole having the tapered surface 47 of the guide member 31 is 10 mm, there is a fitting error of about 20 μm. . Further, assuming that the position accuracy of the concave portion and the center axis hole of the guide member 31, the position accuracy and outer shape error of the fitting shaft component 40, and the hole position accuracy and outer shape error of the mated component 42 are within 10 μm, respectively. When the position error between the central axes 44 and 45 of the part 40 and the fitted part 42 is roughly calculated, the following equation (Equation 1) is obtained using the root mean square.

  In this case, if the dimension of the chamfered portion A of the center hole of the fitted part 42 is 0.03 mm or more, the fitting shaft part 40 is inserted.

  As described above, according to the configuration of the first embodiment, it is possible to absorb the error due to the provision position of the fitting component and complete the fitting by one fitting operation.

  Further, according to the configuration of the first embodiment, unlike the conventional example, it is not necessary to consider an error due to variation due to positioning accuracy caused by performing a positioning operation again after correcting once. Furthermore, since it is not necessary to perform the fitting operation twice for one fitting, the components can be fitted accurately and reliably without complicated operations.

(Embodiment 2)
FIG. 5 is a cross-sectional view showing the configuration of the front state in the second embodiment of the component fitting device according to the present invention. In the following description of the second embodiment, members corresponding to those described in the first embodiment in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed description thereof is omitted as appropriate.

  In FIG. 5, 51 is a compression spring, 52 is a sliding member, 53 is a plate slidable in the vertical direction, and the plate 53 slides up and down with respect to the sliding member 52. The compression spring 51 is disposed between the vertically movable member 30 and the plate 53. When a force greater than the force from the compression spring 51 is applied via the wire member 32 from below, the plate 53 moves in a direction in which the compression spring 51 is further compressed (that is, upward). In this configuration, buckling of the wire member 32 can be prevented by appropriately selecting the pressure and spring constant of the compression spring 51.

  By the way, when not using the configuration of the second embodiment but adopting a cylinder or the like in which the vertical movement drive of each part is performed by applying air pressure or the like, the force received by the guide member 31 against the table 41 until reaching the stroke end Is the same as the force causing the vertical drive operation. That is, the total reaction force is a force applied to the wire member 32.

  However, in the case of the second embodiment, the buckling force of the three wires of the wire member 32 that continues to receive the force is 5 kg, and the spring constant when the three wires are combined and replaced as one spring is 0.2 kg. / Mm and a pressure of 2 kg, when used in a compressed state, the plate 53 is not displaced relative to the vertically movable member 30 until the force from the guide member 31 received via the wire member 32 exceeds 2 kg. If it exceeds 2 kg, the plate 53 is displaced in the direction in which the compression spring 51 is further compressed.

  Thus, before the wire member 32 is buckled, the compression spring 51 can be further reduced by 15 mm, and if the stroke end is designed within the remaining 15 mm, the wire member 32 will not buckle. . Therefore, in Embodiment 2, it is preferable to use three wire members.

  Furthermore, as in the modification of the second embodiment shown in FIG. 6, the actuator 38 that drives in the vertical direction can be omitted.

  5 includes the vertically movable member 30 and the actuator 38 attached to the vertically movable member 30, but includes the buckling avoidance structure for the wire member 32 as described in FIG. Then, as shown in FIG. 6, the functions of the vertically movable member 30 and the actuator 38 can be shared.

  As described above, in the second embodiment, when one part of the two parts to be fitted is placed on the table and the other part is fitted from top to bottom, the part moves from top to bottom. First, a guide member having a first RCC mechanism provided between the movable member and a part on the table is fitted, and a second RCC mechanism is further provided on the guide member. Is fitted to one of the parts on the table, and the second RCC mechanism is used for the clearance corresponding to the clearance between the guide member that cannot be removed only by the first RCC mechanism and the part to be fitted. It can be corrected and fitted.

  Depending on the positional accuracy of the parts to be fitted and the desired fitting accuracy, the compliance constant for the first RCC mechanism, the compliance constant for the second RCC mechanism, and the angle of the taper surface of the guide member, If the surface accuracy and the like are appropriately selected, it is possible to perform a fitting operation according to the situation, and further stable operation is possible.

  The present invention is a fitting mechanism that is required when a part that fits the shape of the fitting hole is automatically inserted into a predetermined fitting hole, such as fitting and assembly of parts or coupling of a dedicated connector. Or it is applicable to an assembly mechanism.

30 Vertically movable member 31 Guide member 32 Wire member 33 Guide shaft member 34 Slide bush member 35 Spring 36 Block member 37 Support member 38 Actuator 38a Actuating member 39 Finger member 40 Fitting shaft component 41 Table 42 Part to be fitted 43 Vertically movable member central axis 44 fitting shaft component center axis 45 central axis 51 compression spring 52 sliding member 53 plates of the fitting parts of

Claims (5)

In a component fitting device that performs fitting by moving the other component relative to one component in the fitting direction,
A first vertically movable member movable in the fitting direction;
A guide member whose position is corrected by the one component;
A wire member connecting the first vertically movable member and the guide member;
A slide member movable in the fitting direction along a guide shaft member provided on the guide member;
A block member that is supported by a spring disposed in a direction perpendicular to the fitting direction from the slide member and is movable in the fitting direction ;
A holding member that is provided on the block member and holds the other component;
With the one part held in advance by the guide member, the other part held by the holding member is moved relative to the one part by using an actuator provided on the first vertically movable member. And a control device that performs the fitting. The block member is movable in the fitting direction by an operating member;
The size of the actuating member is smaller than the size of the hole of the support member provided at the top of the block member,
The said control apparatus displaces the said block member to the said fitting direction via the coupling mechanism which supports the said block member so that a movement to a direction perpendicular | vertical to the said fitting direction is possible. Part fitting device. The component fitting device according to claim 1, wherein the first vertically movable member and the guide member are connected by three or more wire members. 4. A plate for elastically supporting the first vertically movable member via an elastic body is provided, and the first vertically movable member is configured to be displaceable with respect to the compression direction of the wire member. Any one of the component fitting apparatuses. In the component fitting method in which the other component is relatively moved in the fitting direction with respect to one component,
A guide member connected via a wire member and a first vertically movable member movable in the fitting direction is moved along the shape of the one component while being moved by the first vertically movable member, and the guide After holding the one part with a member,
It is held by a holding member provided on a block member supported by a spring disposed in a direction perpendicular to the fitting direction from a slide member movable in the fitting direction along a guide shaft member on the guide member. The component fitting method is characterized in that the other component is moved relative to the one component by using an actuator provided on the first movable member.