JPS5828058B2 - Assembly device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an assembly device for mechanically assembling a part to be assembled, such as a socket, to a part to be assembled, such as a base pin of a color cathode ray tube.

For example, the base pin of a color cathode ray tube (hereinafter referred to as the CPT base pin).

Conventionally, fitting of the part to be assembled into the socket to the part to be assembled has been done manually.

SUMMARY OF THE INVENTION An object of the present invention is to provide an assembling device that can automatically perform assembly such as fitting of a part to be assembled, such as a socket, to a part to be assembled, such as a CPT base pin.

That is, the present invention provides an operating device including an arm mechanism that moves in three dimensions, a gripping member at the tip of the arm mechanism that is rotatably driven around a predetermined axis and holds a long-wave assembly component, and the operating device. a pressing force detection means for detecting a pressing force applied in the assembling direction at the tip of the arm mechanism; and a pressing force detecting means for detecting a pressing force applied in the assembling direction; After relatively aligning the positions, the arm mechanism is moved to press the assembled part against the assembly part so that the signal detected by the pressing force detection means becomes a predetermined value, and the gripping member is rotated to It is characterized by being equipped with a control means that stops when the signal detected from the pressing force detection means decreases, and then moves the arm mechanism in the assembly direction to assemble the part to be assembled to the part to be assembled. It is an assembly device.

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

A table that can be moved forward, backward, left and right (hereinafter referred to as X-
An arm 5 is supported on a Y table (referred to as Y table) 4 via a guide shaft 12 and a feed screw 11.

The feed screw 11 was installed on the XY table 4.

The drive motor 10 is connected to the drive motor 10.
By turning the arm 5, the arm 5 is raised and lowered.

These tables 4 and arms 5 constitute an arm mechanism, and 3
It is designed to be able to move within dimensions.

A grip support 6 is connected to the arm 5 via a cross plate spring 7, and a strain gauge 8 is attached to the cross plate spring 7.

A grip part 9 is rotatably supported on the grip part support 6, and a rotation motor 13 and a transmission gear 14 for rotating the grip part 9 are installed.

A socket 1, which is a part to be assembled and which is fitted into a CPT base pin, which is an assembly part, is attached to a grip part 9.

The grip portion support 6 and the grip portion 9 constitute a grip member.

As shown in FIG. 2, a protrusion 3 is formed on the CPT base pin 2, and as shown in FIG.
A hole 1a and a groove 1b are provided in which the PT base pin 2 and the protrusion 3 are fitted, respectively.

With the socket 1, which is the part to be assembled, attached to the grip part 9, the X-Y table 4 is adjusted according to a command from a control device (not shown), and the CPT, which is the part to be assembled (not shown), is adjusted.
The axes of the base pin 2 and the socket 1, which is the part to be assembled, are aligned.

In this state, if the drive motor 10 is driven by a command from a control device (not shown) to turn the feed screw 11 and raise the arm 5, the socket 1 will come into contact with the CPT base pin 2,
A strain gauge (pressing force detection means) 8 attached to the cross plate spring 7 detects the contact force.

Note that the cross leaf spring 7 also serves as a relief when the socket axis and the CPT base pin axis do not exactly match.

When contact between socket 1 and CPT base pin 2 begins,
The output of the strain gauge 8 is detected, and the upward movement of the arm 5 is controlled by a command from the control device so that the output of the strain gauge 8 is at a predetermined value.

That is, when the output of the strain gauge 8 is smaller than the set value, the arm 5 is raised, and when it is larger than the set value, the arm 5 is lowered.

When the output of the strain gauge 8 is maintained at a constant level, the rotation motor 13 is driven to rotate the socket grip part 9.

Then, the protrusion 3 of the CPT pin 2 and the groove 1b of the socket 1 are aligned, the socket 1 rises rapidly, and the output of the strain gauge 8 suddenly decreases.

Figure 4 shows a state in which the output of the strain gauge 8 suddenly decreases when the alignment between the socket 1 and the CPT base pin 2 is misaligned as described above, with time on the horizontal axis and time on the vertical axis. is the output of the strain gauge 8.

Therefore, when the output of the strain gauge 8 suddenly decreases,
An operation signal is generated by a differential circuit as shown in FIG.

That is, the output of the strain gauge 8 is delayed by a delay element 15, and the difference between this and the original signal is calculated by a subtracter 16.
The output is as shown in Figure 6, and the strain gauge 8
Generates a pulse when the output of

In FIG. 6, the horizontal axis shows time and the vertical axis shows the output of the subtracter 16.

In response to this pulse signal, the rotation of the socket gripping part 9 is stopped, and from then on, the socket 1 is pressed against the CPT base pin 2 with a constant force, that is, the output of the strain gauge 8 is constant. Insert into 2.

As explained above, according to the present invention, by simply aligning the axes of the to-be-assembled part and the to-be-assembled part, whose rotational directions are regulated during assembly, and driving the arm mechanism, the to-be-assembled part This has the effect of automatically assembling the parts to the parts to be assembled.

[Brief explanation of drawings]

1 is a perspective view showing a socket, FIG. 2 is a perspective view showing a base pin of a color cathode ray tube, FIG. 3 is a perspective view showing an apparatus according to the present invention, and FIG. 4 is a perspective view of a strain gauge in the apparatus of FIG. FIG. 5 is a graph showing the output signal of the strain gauge output processing circuit, and FIG. 6 is a graph showing the output signal of the circuit of FIG. 1...Socket, 2...Base pin of color cathode ray tube, 3...Protrusion, 4...
...Table, 5...Arm, 6...Gripper support, 7...Cross leaf spring, 8...
・Strain gauge, 9...Gripping part, 10...
Drive motor, 11...Feed screw, 12...
... Guide shaft, 13 ... Rotating motor, 14 ...
...Transmission gear.

Claims (1)

[Scope of Claims] An operating device including an arm mechanism that moves within 13 dimensions, and a grasping member that is rotatably driven around a predetermined axis at the end of the arm mechanism and holds a long-wave assembly part, and the operating device. pressing force detection means for detecting a pressing force applied in the installation direction at the tip of the arm mechanism;
The part to be assembled is held in the grip member and the arm mechanism is moved to relatively align the part to be assembled and the part to be assembled, and the signal detected by the pressing force detection means is detected at a predetermined level. The arm mechanism is moved to press the part to be assembled against the part to be assembled, the grip member is rotated and stopped when the signal detected by the pressing force detection means decreases, and then the arm mechanism is moved. An assembling device characterized by being equipped with a control means for assembling the to-be-assembled part to the to-be-assembled part by moving it in the assembling direction. 2. The assembly apparatus according to claim 1, wherein the pressing force detection means is constructed by mounting a strain gauge on a leaf spring that connects the arm mechanism and the gripping member.