CN102441790A - Component assembling device and component assembling method - Google Patents
Component assembling device and component assembling method Download PDFInfo
- Publication number
- CN102441790A CN102441790A CN2011102783835A CN201110278383A CN102441790A CN 102441790 A CN102441790 A CN 102441790A CN 2011102783835 A CN2011102783835 A CN 2011102783835A CN 201110278383 A CN201110278383 A CN 201110278383A CN 102441790 A CN102441790 A CN 102441790A
- Authority
- CN
- China
- Prior art keywords
- bolt
- parts
- hole
- robot
- assembling device
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Images
Landscapes
- Automatic Assembly (AREA)
Abstract
The present invention provides a component assembling device and a manufacturing method of mechanical components, wherein a bolt can be inserted into a mounting hole of the mechanical component. Furthermore the components can be assembled when an air source is not used. More specifically, the component assembling device is provided with a multi-joint robot with a bolt holding part which is provided with a hole for holding the bolt head through magnet. The multi-joint robot inserts the top end of the bolt which is held at the bolt holding part into the mounting hole of a fixed component (C) that is placed on a fixed component (A). The bolt is separated from the bolt holding part through inclining the bolt. Furthermore the component assembling device is provided with the following components: a first robot which uses a first hand for holding a first component; and a second robot which uses a second hand for holding a second component that is assembled on the first component. The first hand is provided with a pressing component which presses the first component or the second component from upper part. The second hand is provided with a supporting pin which is inserted into a through hole that is formed on the second component and holds the second component.
Description
Technical field
The present invention relates to a kind of member assembling device and parts assembling method.
Background technology
In patent documentation 1, record following articulated robot, be equipped with the permanent magnet operating mechanism that constitutes by permanent magnet, carry out the taking-up operation and the fixed operation of parts in top ends.
This articulated robot moves as follows.
Articulated robot moves and makes operating mechanism relative with the parts feed appliance, and parts are adsorbed on the permanent magnet of permanent magnet operating mechanism.Next, articulated robot is moved and the parts that will be adsorbed on the permanent magnet are placed on the carriage of anchor clamps.At last, permanent magnet is moved in the horizontal direction from parts and be located away from parts.
In addition, in patent documentation 1, record the taking-up parts that are equipped in the robot and the parts that are fixed in the fixed position fixedly used operating unit.These parts are fixing to be possessed with operating unit: take out parts through vacuum suction, remove vacuum suction and the vacuumizing mechanism of parts being fixed in the fixed position; And after the top of coming adsorption element through permanent magnet is taken out parts and is fixed on the fixed position, make permanent magnet be located away from the permanent magnet operating mechanism of parts keeping out of the way from the direction of component top crosscut absorption direction.
Patent documentation 1: real the opening of Japan put down the 8-497 communique
But, only use the permanent magnet operating mechanism that constitutes by permanent magnet, then can think and can't bolt remained on the position that is predetermined and is inserted in the installing hole of mechanical part.
The object of the present invention is to provide and a kind ofly can bolt be inserted in member assembling device and parts assembling method in the installing hole of mechanical part.
In addition, in the operation field of assembling parts, as assembling operation with and generally use air source.But this air source was in the tendency that is excluded owing to reasons such as energy loss are bigger in recent years.
Summary of the invention
The object of the present invention is to provide a kind of member assembling device and parts assembling method that can assembling parts under the situation of not using air source.
It is following to invent the member assembling device that relates to according to the 1st of said purpose, possesses the articulated robot with the bolt maintaining part that is formed with the hole of using magnet to keep bolt head,
The top ends that said articulated robot will remain on the said bolt on the said bolt maintaining part is inserted in the installing hole that is placed in the fixed part on the fixed part, through this bolt that tilts this bolt is left from this bolt retaining part.
It is following to invent the member assembling device that relates to according to the 2nd of said purpose, possesses the articulated robot with the bolt maintaining part that is formed with the hole of using magnet to keep bolt head,
The top ends that said articulated robot will remain on the said bolt on the said bolt maintaining part is inserted in the installing hole that is placed in the fixed part on the fixed part; Make the axial region of this bolt contact the inner peripheral surface of said installing hole through this bolt that tilts; Move through on the direction of this bolt that further tilts, said bolt maintaining part being rotated, thereby this bolt is left from this bolt retaining part.
It is following to invent the member assembling device that relates to according to the 3rd of said purpose, possesses the articulated robot with the bolt maintaining part that is formed with the hole of using magnet to keep bolt head,
The top ends that said articulated robot will remain on the said bolt on the said bolt maintaining part is inserted in the installing hole that is placed in the fixed part on the fixed part; Make the axial region of this bolt contact the inner peripheral surface of said installing hole through this bolt that tilts afterwards; Through make said bolt maintaining part from the installing hole of said fixed part away from direction move; So that become friction that the contact owing to this axial region produces state, thereby this bolt left from this bolt retaining part greater than the absorption affinity of said magnet.
In the member assembling device that the 1st, the 2nd and the 3rd invention relates to, preferred said bolt maintaining part is formed by nonmagnetic substance as follows, and said magnet is located at the bottom in said hole.
In the member assembling device that the 1st, the 2nd and the 3rd invention relates to, preferred said bolt is 6 corner bolts as follows, and the diameter in said hole is greater than the outermost size of the head of this 6 corner bolt.
In the member assembling device that the 1st, the 2nd and the 3rd invention relates to, preferably as follows, the depth direction size in said hole is less than the height of the head of said 6 corner bolts.
In the 1st, the 2nd and the 3rd member assembling device that relates to of invention, preferably on the inner peripheral surface of the peristome side in said hole, be provided with the tapering as follows, form the bottom of diameter greater than this hole.
In the 1st, the 2nd and the 3rd member assembling device that relates to of invention, preferred as follows, be below half of depth direction size in said hole except the depth direction size in the said hole of the part that is provided with said tapering.
The 4th member assembling device that relates to of invention according to said purpose does, preferred said articulated robot also possesses the installing hole that is inserted in said fixed part and reaches corresponding to the alignment pin in the installing hole of the said fixed part of this installing hole as follows,
Said articulated robot is inserted in said alignment pin in the installing hole of said fixed part and said fixed part, thereby this fixed part and this fixed part are positioned.
Inventing the member assembling device that relates to according to the 5th of said purpose is the member assembling device that uses the 1st to the 4th invention,
Said articulated robot also possesses: the top ends at the 1st arm has the 1st hand and uses the 1st hand to keep the 1st robot of the 1st parts;
And have the 2nd hand and use the 2nd hand to keep being assembled in the 2nd robot of the 2nd parts on said the 1st parts in the top ends of the 2nd arm,
Said the 1st hand has the pressing member of pushing said the 1st parts or said the 2nd parts from the top,
Said the 2nd hand has the supporting pin that is inserted in the through hole that is formed on said the 2nd parts and keeps the 2nd parts.
In the member assembling device that the 5th invention relates to, preferred said the 1st parts are formed by magnetic material as follows,
Said the 1st hand also has the adsorption section of said the 1st parts of absorption.
In the 5th member assembling device that relates to of invention, can be following, said the 2nd robot is inserted in said supporting pin in the through hole that is formed on said the 2nd parts and carries the 2nd parts, after the 2nd parts are placed on the position that is predetermined,
Said the 1st parts or said the 2nd parts are pushed through said pressing member by said the 1st robot, and said supporting pin is extracted by said the 2nd robot from said through hole.
In the 5th member assembling device that relates to of invention, can be following, the said adsorption section that said the 1st robot uses said the 1st hand with said the 1st component-assembled on the 3rd parts,
Said the 2nd robot is inserted in the said supporting pin of said the 2nd hand in the through hole that is formed on said the 2nd parts and carries the 2nd parts; At said the 1st parts of sandwich and with the 2nd component placement on said the 3rd parts; Said the 2nd parts are pushed through said pressing member by said the 1st robot, and said supporting pin is extracted by said the 2nd robot from said through hole.
Inventing the parts assembling method that relates to according to the 6th of said purpose is to comprise: use to be formed with through magnetic force to keep the bolt maintaining part in the hole of bolt head to keep the step of this bolt head;
And the top ends that will remain on the said bolt on the said bolt maintaining part is inserted in the installing hole that is placed in the fixed part on the fixed part, makes this bolt from this bolt maintaining part separation steps through this bolt that tilts afterwards.
Inventing the parts assembling method that relates to according to the 7th of said purpose is to comprise: use to be formed with through magnetic force to keep the bolt maintaining part in the hole of bolt head to keep the step of this bolt head;
The top ends that remains on the said bolt on the said bolt maintaining part is inserted in the installing hole that is placed in the fixed part on the fixed part, makes the axial region of this bolt contact the step of the inner peripheral surface of said installing hole through this bolt that tilts afterwards;
And mobile, thereby make this bolt from this bolt maintaining part separation steps through on the direction of the said bolt that further tilts, said bolt maintaining part being rotated.
Inventing the parts assembling method that relates to according to the 8th of said purpose is to comprise: use to be formed with through magnetic force to keep the bolt maintaining part in the hole of bolt head to keep the step of this bolt head;
The top ends that remains on the said bolt on the said bolt maintaining part is inserted in the installing hole that is placed in the fixed part on the fixed part, makes the axial region of this bolt contact the step of the inner peripheral surface of said installing hole through this bolt that tilts afterwards;
And through make said bolt maintaining part from the installing hole of said fixed part away from direction move; So that become friction that the contact owing to this axial region produces state, thereby make this bolt from this bolt maintaining part separation steps greater than the absorption affinity of said magnetic force.
The 9th parts assembling method that relates to of invention according to said purpose is to comprise: the 1st robot with the 1st hand uses and is located at the 1st step that the 1st parts are adsorbed in the 1st on hand adsorption section;
Said the 1st robot is released in the 1st parts that adsorb in said the 1st step and is assembled in the 2nd step on the 3rd parts;
The 2nd robot with the 2nd hand will be arranged on the 2nd on hand supporting pin and be inserted in the through hole that is formed on the 2nd parts and carry the 2nd parts, at said the 1st parts of sandwich and with 3rd step of the 2nd component placement on said the 3rd parts;
Said the 1st robot is through being located at the 4th step that the said the 1st on hand pressing member is pushed said the 1st parts or said the 2nd parts;
Reach the 5th step that the said supporting pin that is inserted in the said through hole is extracted by said the 2nd robot.
In member assembling device that the present invention relates to and parts assembling method, articulated robot can use the bolt maintaining part that bolt is inserted in the installing hole of fixed part.
In member assembling device that the present invention relates to and parts assembling method, the 1st and the 2nd robot uses the 1st and the 2nd hand respectively and can assembling parts under the situation of not using air source in addition.
Description of drawings
Fig. 1 is the structure chart of the member assembling device that relates to of an embodiment of the invention.
Fig. 2 is the stereogram of components A.
Fig. 3 is the stereogram that is assembled in the part B on the components A.
Fig. 4 is the stereogram that is assembled in the parts C on components A and the part B.
Fig. 5 is provided in a side of the three-view diagram of the 2nd hand in the 2nd robot of this member assembling device.
Fig. 6 is the enlarged drawing of bolt maintaining part.
Fig. 7 (A), (B) are provided in a side of the side view and the upward view of the 1st hand in the 1st robot of this member assembling device respectively.
Fig. 8 is that the 2nd robot of this member assembling device of expression inserts the sketch map of the action of alignment pin.
Fig. 9 (A) to (D) is the sketch map that the 2nd robot of this member assembling device of expression carries out the action of inserting bolt.
Symbol description
The 10-member assembling device; 11a-the 1st robot; 11b-the 2nd robot; 12a-the 1st arm; 12b-the 2nd arm; The 15-conveyer belt; 16-parts feeder; 17-parts feeder; The 19-controller; The 20-base component; The 21-fitting portion; The 37-through hole; The 39-embedded hole; The 40-base component; The 41-member; 51a-the 1st hand; 51b-the 2nd hand; 55,56-supporting pin; The 57-alignment pin; 58-bolt maintaining part; The 59-carriage; The 61-base component; The 62-carriage; The 65-hole; 66-magnet; The 71-electromagnet; The 74-alignment pin; HA1, HA2, HA3, HA4-screwed hole; HB1, HB2, HB3, HB4-installing hole; HC1, HC2, HC3, HC4-installing hole; HC5, HC6-through hole.
The specific embodiment
Next,, supply the embodiment that the present invention specializes with reference to description of drawings in understanding the present invention.And, for the ease of explanation, the tool coordinates system with 1st and 2nd hand activity of definition shown in Fig. 5 and Fig. 7 difference.Each of tool coordinates system not necessarily must quadrature.And, in each figure, there is the situation of omitting diagram and the uncorrelated part of explanation.
As shown in Figure 1, the member assembling device 10 that an embodiment of the invention relate to possesses the 1st and the 2nd 11a of robot, 11b.Below the 1st and the 2nd 11a of robot, 11b, be provided with the conveyer belt 15 of operation handling article A (example of fixed part) in the past.Around conveyer belt 15, be provided with: the parts feeder 16 of supply part B (with reference to Fig. 3); The parts feeder 17 that is used for supply part C (example of fixed part is with reference to Fig. 4); And the bolt feed appliance (not shown) of supply bolt.At this, this bolt for example is 6 corner bolts.The position of the position of the carrying face of conveyer belt 15, parts feeder 16 supply part B and parts feeder 17 supply part C is in the movable range of the 1st and the 2nd 11a of robot, 11b.In addition, the 1st and the 2nd 11a of robot, 11b are provided with the controller 19 that is connected and controlled the action of the 1st and the 2nd 11a of robot, 11b by cable (not shown).
At this, as shown in Figure 2, components A has: discoid base component 20; Reach the outstanding and columned fitting portion 21 chimeric with the part B that is installed in components A top from the central part of base component 20.On discoid base component 20, at central shaft S be with base component 20 be formed with on the circumference at center at least 4 to above screwed hole (installing hole) HA1, HA2, HA3, the HA4 (all being same size) of opening.And components A is not limited to the parts of shape as shown in Figure 2.
Part B is formed by magnetic material, is mounted in the parts on components A top.As shown in Figure 3, be formed with the through hole 37 of the fitting portion 21 of insertion parts A at the central part of part B.Around through hole 37,4 installing hole HB1, HB2, HB3, HB4 (all being same size) are respectively formed at the position corresponding to the screwed hole HA1～HA4 of components A.And part B is not limited to the parts of shape as shown in Figure 3, so long as formed and the parts that are formed with installing hole in the position corresponding to the screwed hole HA1～HA4 of components A get final product by magnetic material.
As shown in Figure 4, parts C has base component 40 and the rectangular-shaped parts of giving prominence to the top from base component 40 41.Below base component 40, be formed with the chimeric embedded hole 39 of fitting portion 21 of the components A of above part B, coming out.Around this embedded hole 39,4 installing hole HC1, HC2, HC3, HC4 (all being same size) are respectively formed at the position corresponding to the installing hole HB1～HB4 of the screwed hole HA1～HA4 of components A and part B.On member 41, be formed with 2 the through hole HC5, the HC6 that run through member 41 in the horizontal direction side by side.And parts C is not limited to the parts of shape as shown in Figure 4, so long as be formed with the parts of installing hole in the position corresponding to the installing hole HB1～HB4 of the screwed hole HA1～HA4 of components A and part B, then can be arbitrary shape.
As shown in Figure 1, the 1st and the 2nd 11a of robot, 11b for example are respectively 7 articulated robots.Hang each 11a of robot, 11b are set.
The 1st 11a of robot has the 1st hand 51a in the top ends of the 1st arm 12a.
Shown in Fig. 7 (A), (B), the 1st hand 51a has 71 and 2 alignment pins of 3 electromagnet (example of adsorption section) (example of pressing member) 74.
2 alignment pins 74 are respectively at Z
T1Pros extend upward.Each alignment pin 74 is configured to top ends and can be inserted in respectively among the installing hole HB1, HB3 of part B.
The 2nd 11b of robot has the 2nd hand 51b in the top ends of the 2nd arm 12b.As shown in Figure 5, the 2nd hand 51b has: a pair of supporting pin 55,56; Alignment pin 57; And bolt maintaining part 58.
A pair of supporting pin 55,56 is fixed on the base component 61 through carriage 59, respectively at Y
T2The pros of axle project upwards.The spacing and the shape of a pair of supporting pin 55,56 are configured to as follows, and each supporting pin 55,56 can be inserted among 2 through hole HC5 on the member 41 that is formed on parts C, the HC6.
Bolt maintaining part 58 is fixed on the base component 61 through carriage 62.Bolt maintaining part 58 is cylindric, is formed with to Z below
T2The hole 65 of the positive direction opening of axle.Bolt maintaining part 58 can remain on bolt head in this hole 65.As shown in Figure 6, the diameter R of the bottom in this hole 65 (top) is greater than the outermost diameter Rb of bolt head.In addition, the depth direction size H in hole 65 is less than the height H b of bolt head.On the inner peripheral surface of the peristome side in hole 65, be provided with the tapering, form the bottom (top) of diameter greater than hole 65.And, be below depth direction size H half the in hole, more preferably below 1/3 preferably except the depth direction size H0 in the hole of the part that is provided with the tapering.65 bottom is built-in with magnet 66 in the hole.In addition, the part beyond the magnet 66 of bolt maintaining part 58 is formed by nonmagnetic substance.Therefore, bolt maintaining part 58 can be adsorbed bolt head through magnetic force, so as bolt axially become Z
T2Axially.And, because the diameter R of the bottom (top) in hole 65 is greater than the outermost diameter Rb of bolt head, even therefore bolt is 6 corner bolts, bolt do not receive yet brilliance portion towards influence and be maintained on the bolt maintaining part 58.
Next, manufacturing approach (the step S1～S13) of the mechanical part with components A, B, C that carries out through member assembling device 10 is described in order.Each step S1～S13 of explanation controls and is performed through 19 pairs the 1st of controllers and the 2nd 11a of robot, 11b below.
Step S1
Components A be placed on the conveyer belt 15 and in the past operation be handled upside down.
Step S2
The 2nd 11b of robot with the mode of top towards the below of alignment pin 57 change the 2nd hand 51b towards, move to the position that is predetermined and standby near the components A.
Step S3
The 1st 11a of robot reaches the part B of being supplied with by parts feeder 16 with the represented action of the step S2 of the 2nd 11b of robot is parallel.
The 1st 11a of robot makes each alignment pin 74 of the 1st hand 51a descend from the installing hole HB1 of part B, the top of HB3.
Next, the 1st 11a of robot is inserted in each alignment pin 74 among installing hole HB1, the HB3.
After being inserted in each alignment pin 74 among installing hole HB1, the HB3, the 1st 11a of robot carries out excitation to electromagnet 71.Its result, the 1st hand 51a comes adsorption element B through the magnetic force of electromagnet 71.Like this, the 1st hand 51a can come holding member B stably by enough 3 points (3 electromagnet 71).
Step S4
The 1st 11a of robot moves to part B the top of components A.When the 1st 11a of robot removed the excitation to electromagnet 71 with the Centered mode that on components A, makes central shaft S and through hole 37, part B was released, and part B is placed in (with reference to Fig. 3) on the components A.Components A is positioned in advance; Therefore by position and the posture supply part B of parts feeder 16, can make the position of screwed hole HA1～HA4 of components A roughly consistent with position corresponding to the installing hole HB1～HB4 of the part B of this screwed hole HA1～HA4 to be predetermined.
Step S5
The 2nd 11b of robot reaches the parts C that is supplied with by parts feeder 17 with the represented action of the step S4 of the 1st 11a of robot is parallel.The 2nd 11b of robot pushes up supporting pin 55,56 on the side of member 41 of parts C, thereby parts C is positioned on the position that is predetermined.
The 2nd 11b of robot is inserted in 1 pair of supporting pin 55,56 among 2 the through hole HC5, HC6 of parts C.The 2nd 11b of robot hangs over 1 pair of supporting pin 55,56 among 2 the through hole HC5, HC6 of parts C, hangs holding member C, is transported to the top that is placed in the part B on the components A.The 2nd 11b of robot mentions the top of supporting pin 55,56 and handling article C to oblique upper, so that parts C does not drop from supporting pin 55,56.
The 2nd 11b of robot descends parts C, and parts C is placed on the components A (part B).Components A such as aforementioned ground are positioned in advance; Therefore by position and the posture supply part C of parts feeder 17, can make the position of screwed hole HA1～HA4 of components A roughly consistent with position corresponding to installing hole HC1～HC4 of the parts C of this screwed hole HA1～HA4 to be predetermined.That is, become roughly consistent state respectively corresponding to the installing hole HB1～HB4 of the part B of the screwed hole HA1～HA4 of components A and installing hole HC1～HC4 of parts C.
Step S6
The 1st 11a of robot from the top with one in 2 alignment pins 74 withstand on parts C above on, with inactive mode fixed part C.And the 1st 11a of robot also can withstand in 2 alignment pins 74 on part B top, thus fixed part C indirectly.
The 2nd 11b of robot extracts 1 pair of supporting pin 55,56 from the parts C that is fixed by the 1st 11a of robot.
Step S7
The 1st 11a of robot makes the 1st hand 51a keep out of the way from parts C.
The 2nd 11b of robot is inserted in alignment pin 57 among the installing hole HC2 of parts C.As shown in Figure 8, alignment pin 57 is inserted into installing hole HC2, installing hole HB2 that is positioned at the part B under the parts C that is arranged in parts C and the screwed hole HA2 that more is positioned at the components A under it.Its result, but be positioned with the precision of inserting bolt degree corresponding to installing hole HC1～HC4 of the installing hole HB1～HB4 of the part B of the screwed hole HA1～HA4 of components A and parts C.Afterwards, the 2nd 11b of robot extracts alignment pin 57 from installing hole HC2.
Step S8
The 1st 11a of robot uses the alignment pin 74 of the 1st hand 51a to come the suitable position above the pressing component C.
Step S9
The 2nd 11b of robot will be remained on the bolt maintaining part 58 by the bolt that the bolt feed appliance is supplied with.
Step S10
The 2nd 11b of robot is inserted in the bolt that keeps among the installing hole HC1 (the installing hole HB1 of part B) of parts C.
In detail, shown in Fig. 9 (A), the 2nd 11b of robot with the top of bolt towards the direction of installing hole HC1 and bolt maintaining part 58 is descended.Shown in Fig. 9 (B), the 2nd 11b of robot mode with the inclination bolt head after the top ends of inserting bolt moves 58 rotations of bolt maintaining part.When the inclination bolt, shown in Fig. 9 (C), the inner peripheral surface of bolt axial region contact installing hole HB1, HC1.Shown in the arrow of Fig. 9 (C), begin the 2nd 11b of robot from bolt state of contact and 58 rotations of bolt maintaining part are moved, thereby shown in Fig. 9 (D), pull down bolt from bolt maintaining part 58 through direction at further inclination bolt.Like this, bolt is inserted among installing hole HB1, the HC1.
If describe from other viewpoints, then the 2nd 11b of robot tilts to make the inner peripheral surface of axial region contact installing hole HB1, HC1 through the inserting bolt top ends.The 2nd 11b of robot through make bolt maintaining part 58 from installing hole HB1, HC1 away from direction move so as to become since the friction that the contact of axial region produces greater than the state of the absorption affinity of magnet 66, thereby make bolt from 58 separation of bolt maintaining part.
Like this, the 2nd 11b of robot can be inserted in bolt in the installing hole through less action under the situation of the drive source that does not use the special use that keeps bolt or inserting bolt.
And,, then might not need part B if be confined to insert the action (step S10) of the bolt that keeps by the 2nd 11b of robot use bolt maintaining part 58.That is, also can be under the situation of the inner peripheral surface of the installing hole HC1 that makes a bolt axial region contact component C inserting bolt.That is to say,, then can bolt is inserted in the screwed hole that is formed on the components A and be formed on corresponding in the installing hole on the parts C of this screwed hole if according to step S10.
The bolt that is inserted among installing hole HB1, the HC1 is tightened in the back operation that carry out in the downstream of conveyer belt 15.
The 2nd 11b of robot keeps out of the way bolt from conveyer belt 15 after bolt maintaining part 58 is separated.
Step S11
The 2nd 11b of robot will be remained on the bolt maintaining part 58 by the bolt that the bolt feed appliance is supplied with once more.The 2nd 11b of robot is inserted in the 2nd bolt among the installing hole HB2 of installing hole HC2 and part B of parts C.
The detailed bolt insert action of the 2nd 11b of robot is identical with step S10, so detailed.
Step S12
The 2nd 11b of robot will be remained on the bolt maintaining part 58 by the bolt that the bolt feed appliance is supplied with once more.The 2nd 11b of robot is inserted in the 3rd bolt among the installing hole HB3 of installing hole HC3 and part B of parts C.
The detailed bolt insert action of the 2nd 11b of robot is identical with step S10, so detailed.
Step S13
The 2nd 11b of robot will be remained on the bolt maintaining part 58 by the bolt that the bolt feed appliance is supplied with once more.The 2nd 11b of robot is inserted in the 4th bolt among the installing hole HB4 of installing hole HC4 and part B of parts C.
The detailed bolt insert action of the 2nd 11b of robot is identical with step S10, so detailed.
Like this, through step S1～S13, member assembling device 10 can be assembled in parts C on the components A in the sandwich part B.And these series of steps are not carried out in order, under possible situation, can walk abreast yet and carry out.
And the present invention is not limited to aforesaid embodiment, in the scope that does not change main idea of the present invention, can change.For example, be also contained in the technical scope of the present invention under the situation of formation invention a part of or whole of aforesaid embodiment of combination or variation.
The supporting pin that the 2nd hand 51b is had also can be 1.
In addition, 71 at least 3 of electromagnet being had of the 1st hand 51a get final product.
Even be not just to be placed under the situation on the operation post by conveyer belt 15 carryings can use the present invention obviously in components A yet.
It is respectively 4 that the quantity of the installing hole of the screwed hole of components A, the installing hole of part B and parts C is not limited to.That is, the quantity of the installing hole of the installing hole of the screwed hole of components A, part B and parts C is any amount.In addition, the size that is formed on the through hole (installing hole and screwed hole) of a plurality of fixedly usefulness on each parts does not need to be respectively same size.
The the 1st and the 2nd 11a of robot, 11b are not limited to 7 articulated robots, so long as the articulated robot more than 7 gets final product.
Claims (27)
1. member assembling device, it possesses the articulated robot with the bolt maintaining part that is formed with the hole of using magnet to keep bolt head, it is characterized by,
The top ends that said articulated robot will remain on the said bolt on the said bolt maintaining part is inserted in the installing hole that is placed in the fixed part on the fixed part, through this bolt that tilts this bolt is left from this bolt retaining part.
2. member assembling device according to claim 1 is characterized by,
Said bolt maintaining part is formed by nonmagnetic substance, and said magnet is located at the bottom in said hole.
3. member assembling device according to claim 1 and 2 is characterized by,
Said bolt is 6 corner bolts, and the diameter in said hole is greater than the outermost size of the head of this 6 corner bolt.
4. member assembling device according to claim 3 is characterized by,
The depth direction size in said hole is less than the height of the head of said 6 corner bolts.
5. member assembling device according to claim 4 is characterized by,
On the inner peripheral surface of the peristome side in said hole, be provided with the tapering, form the bottom of diameter greater than this hole.
6. member assembling device according to claim 5 is characterized by,
Be below depth direction size half the in said hole except the depth direction size in the said hole of the part that is provided with said tapering.
7. member assembling device, it possesses the articulated robot with the bolt maintaining part that is formed with the hole of using magnet to keep bolt head, it is characterized by,
The top ends that said articulated robot will remain on the said bolt on the said bolt maintaining part is inserted in the installing hole that is placed in the fixed part on the fixed part; Make the axial region of this bolt contact the inner peripheral surface of said installing hole through this bolt that tilts; Move through on the direction of this bolt that further tilts, said bolt maintaining part being rotated, thereby this bolt is left from this bolt retaining part.
8. member assembling device according to claim 7 is characterized by,
Said bolt maintaining part is formed by nonmagnetic substance, and said magnet is located at the bottom in said hole.
9. according to claim 7 or 8 described member assembling devices, it is characterized by,
Said bolt is 6 corner bolts, and the diameter in said hole is greater than the outermost size of the head of this 6 corner bolt.
10. member assembling device according to claim 9 is characterized by,
The depth direction size in said hole is less than the height of the head of said 6 corner bolts.
11. member assembling device according to claim 10 is characterized by,
On the inner peripheral surface of the peristome side in said hole, be provided with the tapering, form the bottom of diameter greater than this hole.
12. member assembling device according to claim 11 is characterized by,
Be below depth direction size half the in said hole except the depth direction size in the said hole of the part that is provided with said tapering.
13. a member assembling device, it possesses the articulated robot with the bolt maintaining part that is formed with the hole of using magnet to keep bolt head, it is characterized by,
The top ends that said articulated robot will remain on the said bolt on the said bolt maintaining part is inserted in the installing hole that is placed in the fixed part on the fixed part; Make the axial region of this bolt contact the inner peripheral surface of said installing hole through this bolt that tilts afterwards; Through make said bolt maintaining part from the installing hole of said fixed part away from direction move; So that become friction that the contact owing to this axial region produces state, thereby this bolt left from this bolt retaining part greater than the absorption affinity of said magnet.
14. member assembling device according to claim 13 is characterized by,
Said bolt maintaining part is formed by nonmagnetic substance, and said magnet is located at the bottom in said hole.
15. according to claim 13 or 14 described member assembling devices, it is characterized by,
Said bolt is 6 corner bolts, and the diameter in said hole is greater than the outermost size of the head of this 6 corner bolt.
16. member assembling device according to claim 15 is characterized by,
The depth direction size in said hole is less than the height of the head of said 6 corner bolts.
17. member assembling device according to claim 16 is characterized by,
On the inner peripheral surface of the peristome side in said hole, be provided with the tapering, form the bottom of diameter greater than this hole.
18. member assembling device according to claim 17 is characterized by,
Be below depth direction size half the in said hole except the depth direction size in the said hole of the part that is provided with said tapering.
19. a member assembling device, it is any described member assembling device in the claim 1 to 18, it is characterized by,
Said articulated robot also possesses the installing hole that is inserted in said fixed part and corresponding to the alignment pin in the installing hole of the said fixed part of this installing hole,
Said articulated robot is inserted in said alignment pin in the installing hole of said fixed part and said fixed part, thereby this fixed part and this fixed part are positioned.
20. a member assembling device, it is any described member assembling device in the claim 1 to 19, it is characterized by,
Said articulated robot also possesses: the top ends at the 1st arm has the 1st hand and uses the 1st hand to keep the 1st robot of the 1st parts;
And have the 2nd hand and use the 2nd hand to keep being assembled in the 2nd robot of the 2nd parts on said the 1st parts in the top ends of the 2nd arm,
Said the 1st hand has the pressing member of pushing said the 1st parts or said the 2nd parts from the top,
Said the 2nd hand has the supporting pin that is inserted in the through hole that is formed on said the 2nd parts and keeps the 2nd parts.
21. member assembling device according to claim 20 is characterized by,
Said the 1st parts are formed by magnetic material,
Said the 1st hand also has the adsorption section of said the 1st parts of absorption.
22. according to claim 20 or 21 described member assembling devices, it is characterized by,
Said the 2nd robot is inserted in said supporting pin in the through hole that is formed on said the 2nd parts and carries the 2nd parts, after the 2nd parts are placed on the position that is predetermined,
Said the 1st parts or said the 2nd parts are pushed through said pressing member by said the 1st robot, and said supporting pin is extracted by said the 2nd robot from said through hole.
23. according to claim 20 or 21 described member assembling devices, it is characterized by,
The said adsorption section that said the 1st robot uses said the 1st hand with said the 1st component-assembled on the 3rd parts,
Said the 2nd robot is inserted in the said supporting pin of said the 2nd hand in the through hole that is formed on said the 2nd parts and carries the 2nd parts; At said the 1st parts of sandwich and with the 2nd component placement on said the 3rd parts; Said the 2nd parts are pushed through said pressing member by said the 1st robot, and said supporting pin is extracted by said the 2nd robot from said through hole.
24. a parts assembling method, it is the assemble method of parts, it is characterized by,
Comprise: use to be formed with to keep the bolt maintaining part in the hole of bolt head to keep the step of this bolt head through magnetic force;
And the top ends that will remain on the said bolt on the said bolt maintaining part is inserted in the installing hole that is placed in the fixed part on the fixed part, makes this bolt from this bolt maintaining part separation steps through this bolt that tilts afterwards.
25. a parts assembling method, it is the assemble method of parts, it is characterized by,
Comprise: use to be formed with to keep the bolt maintaining part in the hole of bolt head to keep the step of this bolt head through magnetic force;
The top ends that remains on the said bolt on the said bolt maintaining part is inserted in the installing hole that is placed in the fixed part on the fixed part, makes the axial region of this bolt contact the step of the inner peripheral surface of said installing hole through this bolt that tilts afterwards;
And mobile, thereby make this bolt from this bolt maintaining part separation steps through on the direction of the said bolt that further tilts, said bolt maintaining part being rotated.
26. a parts assembling method, it is the assemble method of parts, it is characterized by,
Comprise: use to be formed with to keep the bolt maintaining part in the hole of bolt head to keep the step of this bolt head through magnetic force;
The top ends that remains on the said bolt on the said bolt maintaining part is inserted in the installing hole that is placed in the fixed part on the fixed part, makes the axial region of this bolt contact the step of the inner peripheral surface of said installing hole through this bolt that tilts afterwards;
And through make said bolt maintaining part from the installing hole of said fixed part away from direction move; So that become friction that the contact owing to this axial region produces state, thereby make this bolt from this bolt maintaining part separation steps greater than the absorption affinity of said magnetic force.
27. a parts assembling method, it is any described parts assembling method in the claim 24 to 26, it is characterized by,
Comprise: the 1st robot with the 1st hand uses and to be located at the 1st step that the 1st parts are adsorbed in the 1st on hand adsorption section;
Said the 1st robot is released in the 1st parts that adsorb in said the 1st step and is assembled in the 2nd step on the 3rd parts;
The 2nd robot with the 2nd hand will be arranged on the 2nd on hand supporting pin and be inserted in the through hole that is formed on the 2nd parts and carry the 2nd parts, at said the 1st parts of sandwich and with 3rd step of the 2nd component placement on said the 3rd parts;
Said the 1st robot is through being located at the 4th step that the said the 1st on hand pressing member is pushed said the 1st parts or said the 2nd parts;
Reach the 5th step that the said supporting pin that is inserted in the said through hole is extracted by said the 2nd robot.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010217473A JP5413346B2 (en) | 2010-09-28 | 2010-09-28 | Part assembling apparatus and method for manufacturing machine part |
| JP2010-217473 | 2010-09-28 | ||
| JP2010-219276 | 2010-09-29 | ||
| JP2010219276A JP5413348B2 (en) | 2010-09-29 | 2010-09-29 | Part assembling apparatus and method for manufacturing machine part |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102441790A true CN102441790A (en) | 2012-05-09 |
Family
ID=46004988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102783835A Pending CN102441790A (en) | 2010-09-28 | 2011-09-19 | Component assembling device and component assembling method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102441790A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103209810A (en) * | 2011-07-08 | 2013-07-17 | 库卡***有限责任公司 | Working device and method |
| CN104625676A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Shaft hole assembly industrial robot system and working method thereof |
| CN105082125A (en) * | 2015-08-05 | 2015-11-25 | 华南理工大学 | Droplet microoperation mechanical hand structure and posture controlling method thereof |
| CN106891140A (en) * | 2017-03-22 | 2017-06-27 | 武汉昱升光器件有限公司 | A kind of sleeve and the full-automatic compression bonding apparatus of lock pin |
| CN108098774A (en) * | 2017-12-25 | 2018-06-01 | 重庆厚朴开物科技有限公司 | A kind of assembling manipulator |
| CN109262643A (en) * | 2018-11-01 | 2019-01-25 | 上海天永智能装备股份有限公司 | A kind of cover inner and outer plates fastening equipment |
| CN109909732A (en) * | 2019-04-22 | 2019-06-21 | 清华大学 | Bolt pose detector and bolt pose detect device for screwing up |
| CN110573309A (en) * | 2017-04-23 | 2019-12-13 | 富兰卡爱米卡股份有限公司 | Device and method for inserting a plug card into a plug connector |
| CN113084501A (en) * | 2021-03-25 | 2021-07-09 | 中国航发南方工业有限公司 | Electromagnetic antigravity assembly device |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS645778A (en) * | 1987-06-29 | 1989-01-10 | Nippon Steel Corp | Converter constructing device |
| CN1055136A (en) * | 1990-03-26 | 1991-10-09 | 青山好高 | Bar for spares feeding |
| JPH03256629A (en) * | 1990-03-08 | 1991-11-15 | Canon Inc | Commodity feeding method by transfer of commodity feeding member |
| JPH06297361A (en) * | 1993-04-07 | 1994-10-25 | Matsushita Electric Works Ltd | Robot device and cooperation of robot |
| JPH08497U (en) * | 1993-03-31 | 1996-03-12 | 株式会社タチエス | Handling unit for parts set |
| JP2000006078A (en) * | 1998-06-25 | 2000-01-11 | Mitsubishi Electric Corp | Robot hand device |
| JP2006035346A (en) * | 2004-07-23 | 2006-02-09 | Toyota Motor Corp | Parts installing method |
| CN101293352A (en) * | 2007-04-24 | 2008-10-29 | 发那科株式会社 | Fitting device |
| JP2008279549A (en) * | 2007-05-10 | 2008-11-20 | Honda Motor Co Ltd | Workpiece conveying system and workpiece conveying method |
| JP2010099784A (en) * | 2008-10-24 | 2010-05-06 | Honda Motor Co Ltd | Pin fitting method and pin pulling out method |
| JP2010194657A (en) * | 2009-02-24 | 2010-09-09 | Honda Motor Co Ltd | Workpiece assembling device and workpiece assembling method |
-
2011
- 2011-09-19 CN CN2011102783835A patent/CN102441790A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS645778A (en) * | 1987-06-29 | 1989-01-10 | Nippon Steel Corp | Converter constructing device |
| JPH03256629A (en) * | 1990-03-08 | 1991-11-15 | Canon Inc | Commodity feeding method by transfer of commodity feeding member |
| CN1055136A (en) * | 1990-03-26 | 1991-10-09 | 青山好高 | Bar for spares feeding |
| JPH08497U (en) * | 1993-03-31 | 1996-03-12 | 株式会社タチエス | Handling unit for parts set |
| JPH06297361A (en) * | 1993-04-07 | 1994-10-25 | Matsushita Electric Works Ltd | Robot device and cooperation of robot |
| JP2000006078A (en) * | 1998-06-25 | 2000-01-11 | Mitsubishi Electric Corp | Robot hand device |
| JP2006035346A (en) * | 2004-07-23 | 2006-02-09 | Toyota Motor Corp | Parts installing method |
| CN101293352A (en) * | 2007-04-24 | 2008-10-29 | 发那科株式会社 | Fitting device |
| JP2008279549A (en) * | 2007-05-10 | 2008-11-20 | Honda Motor Co Ltd | Workpiece conveying system and workpiece conveying method |
| JP2010099784A (en) * | 2008-10-24 | 2010-05-06 | Honda Motor Co Ltd | Pin fitting method and pin pulling out method |
| JP2010194657A (en) * | 2009-02-24 | 2010-09-09 | Honda Motor Co Ltd | Workpiece assembling device and workpiece assembling method |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103209810A (en) * | 2011-07-08 | 2013-07-17 | 库卡***有限责任公司 | Working device and method |
| CN103209810B (en) * | 2011-07-08 | 2016-04-27 | 库卡***有限责任公司 | Equipment and method |
| CN104625676B (en) * | 2013-11-14 | 2016-09-14 | 沈阳新松机器人自动化股份有限公司 | Peg-in-hole assembly industrial robot system and method for work thereof |
| CN104625676A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Shaft hole assembly industrial robot system and working method thereof |
| CN105082125B (en) * | 2015-08-05 | 2017-09-26 | 华南理工大学 | A kind of attitude control method of drop microoperation robot manipulator structure |
| CN105082125A (en) * | 2015-08-05 | 2015-11-25 | 华南理工大学 | Droplet microoperation mechanical hand structure and posture controlling method thereof |
| CN106891140A (en) * | 2017-03-22 | 2017-06-27 | 武汉昱升光器件有限公司 | A kind of sleeve and the full-automatic compression bonding apparatus of lock pin |
| CN110573309A (en) * | 2017-04-23 | 2019-12-13 | 富兰卡爱米卡股份有限公司 | Device and method for inserting a plug card into a plug connector |
| CN110573309B (en) * | 2017-04-23 | 2023-02-17 | 富兰卡爱米卡股份有限公司 | Device and method for inserting a plug card into a plug connector |
| CN108098774A (en) * | 2017-12-25 | 2018-06-01 | 重庆厚朴开物科技有限公司 | A kind of assembling manipulator |
| CN109262643A (en) * | 2018-11-01 | 2019-01-25 | 上海天永智能装备股份有限公司 | A kind of cover inner and outer plates fastening equipment |
| CN109262643B (en) * | 2018-11-01 | 2024-04-12 | 上海天永智能装备股份有限公司 | Equipment for buckling inner plate and outer plate of machine cover |
| CN109909732A (en) * | 2019-04-22 | 2019-06-21 | 清华大学 | Bolt pose detector and bolt pose detect device for screwing up |
| CN109909732B (en) * | 2019-04-22 | 2020-06-12 | 清华大学 | Bolt position appearance detector and bolt position appearance detect tightening device |
| CN113084501A (en) * | 2021-03-25 | 2021-07-09 | 中国航发南方工业有限公司 | Electromagnetic antigravity assembly device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102441790A (en) | Component assembling device and component assembling method | |
| KR101188244B1 (en) | Work transfer apparatus | |
| KR102337111B1 (en) | Workpiece retainer | |
| US9278410B2 (en) | System for assembly of a component on a motor-vehicle body structure | |
| JP6026340B2 (en) | Assembly apparatus and control method | |
| KR200468690Y1 (en) | Die ejecting apparatus | |
| KR101271291B1 (en) | Die ejecting apparatus | |
| JP5746440B2 (en) | Work apparatus and control method | |
| CN103910194B (en) | Fitting turnover unit | |
| TW201835588A (en) | Handler and part inspection apparatus | |
| KR20170136541A (en) | A loading line system for loading blanking shears or blanks ejected from a press, and method | |
| CN109449476A (en) | A kind of automatic assemble method of battery | |
| JP2023521282A (en) | Conveyor | |
| CN109128610A (en) | welding mechanism | |
| CN109128495A (en) | welding system | |
| CN109128494A (en) | welding system | |
| CN110355558A (en) | A kind of assembly equipment of return unit and reset spring | |
| CN209503228U (en) | Welding system | |
| CN104275567B (en) | The stationary fixture of part, fixing device and fixed carrier | |
| KR101248313B1 (en) | Apparatus for exchanging a head and system for bonding dies having the apparatus | |
| CN109175679A (en) | welding system | |
| CN209503274U (en) | Welding mechanism | |
| CN209303895U (en) | Welding system | |
| CN209303896U (en) | Welding system | |
| CN109128496A (en) | welding system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120509 |