JPH0422899Y2 - - Google Patents
Info
- Publication number
- JPH0422899Y2 JPH0422899Y2 JP18195087U JP18195087U JPH0422899Y2 JP H0422899 Y2 JPH0422899 Y2 JP H0422899Y2 JP 18195087 U JP18195087 U JP 18195087U JP 18195087 U JP18195087 U JP 18195087U JP H0422899 Y2 JPH0422899 Y2 JP H0422899Y2
- Authority
- JP
- Japan
- Prior art keywords
- tool holder
- axis
- movable plate
- axes
- pin
- 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.)
- Expired
Links
- 238000004904 shortening Methods 0.000 description 2
- JOYRKODLDBILNP-UHFFFAOYSA-N Ethyl urethane Chemical compound CCOC(N)=O JOYRKODLDBILNP-UHFFFAOYSA-N 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Landscapes
- Automatic Assembly (AREA)
Description
【考案の詳細な説明】
（産業上の利用分野）
本考案は、自動組付け等を行う自動機における
ツールホルダの位置決め装置に関する。[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a tool holder positioning device in an automatic machine that performs automatic assembly and the like.
（従来の技術）
従来、この種装置として、ロボツトアーム等に
取付けられるベース枠に、直交３軸方向をＸ軸、
Ｙ軸、Ｚ軸として、ワーク把持具等のツールを保
持するツールホルダをＸ軸とＹ軸との２軸方向に
フローテイング自在に支持させると共に、該ツー
ルホルダにシリンダ等の駆動源によりＺ軸方向に
進退されるロケートピンを設け、ロボツトの動作
によりベース枠を定位置に移動して停止させた
後、該ロケートピンをＺ軸方向一方に前進させて
ワーク取付物等の対象物に形成した基準穴に嵌合
させ、ツールホルダを対象物に対しＸ軸とＹ軸と
の２軸方向に位置めするようにしたものは知ら
れ、この場合ベース枠にツールホルダを定位置に
拘束すべくシリンダ等の駆動源により作動される
ロツク部材を設け、常時はツールホルダが勝手に
動かないようにしている。(Prior art) Conventionally, as this type of device, three orthogonal axes are arranged on a base frame attached to a robot arm, etc.
As the Y-axis and Z-axis, a tool holder that holds a tool such as a workpiece gripper is supported so as to be floating in two axes, the X-axis and the Y-axis, and the tool holder is connected to the Z-axis by a drive source such as a cylinder. A locating pin that moves forward and backward in the direction is provided, and after the base frame is moved to a fixed position and stopped by the operation of the robot, the locating pin is advanced in one direction in the Z-axis direction to form a reference hole in a target object such as a workpiece attachment. It is known that the tool holder is fitted into the base frame to position the tool holder in two axes, the X-axis and the Y-axis, with respect to the object. A locking member operated by a drive source is provided to prevent the tool holder from moving freely at all times.
（考案が解決しようとする問題点）
上記のものでは、ロケートピン用の駆動源とロ
ツク部材用の駆動源とを必要として、装置が高価
となり、又ツールホルダを対象物に対し位置決め
する際、ロツク部材の作動解除とロケートピンの
前進との２段階の動作が必要となつて、位置決め
作業に要する時間が多少とも長くなり、サイクル
タイムの短縮を図る上で障害となつている。(Problems to be solved by the invention) The above device requires a drive source for the locating pin and a drive source for the lock member, making the device expensive. Since a two-step operation of deactivating the member and advancing the locating pin is required, the time required for the positioning operation becomes somewhat longer, which is an obstacle to shortening the cycle time.
本考案は、かかる問題点を解決すべく、単一の
駆動源によりツールホルダのロツクと対象物に対
する位置決めとを行い得られるようにした装置を
提供することをその目的とする。 SUMMARY OF THE INVENTION In order to solve these problems, it is an object of the present invention to provide an apparatus in which a tool holder can be locked and positioned relative to an object using a single drive source.
（問題点を解決するための手段）
本考案は、上記目的を達成すべく、直交３軸方
向をＸ軸、Ｙ軸、Ｚ軸として、ベース枠にツール
ホルダをＸ軸とＹ軸との２軸方向にフローテイン
グ自在に支持させ、該ツールホルダにＺ軸方向に
進退自在なロケートピンを設け、該ロケートピン
をＺ軸方向一方への前進で対象物に形成した基準
穴に嵌合させて、該ツールホルダを対象物に対し
Ｘ軸とＹ軸との２軸方向に位置決めするものにお
いて、該ツールホルダに駆動源によりＺ軸方向に
進退される可動板を設けて、該可動板に前記ロケ
ートピンを植設すると共に、該可動板に該可動板
のＺ軸方向他方への進退で前記ベース枠に形成し
たロツク穴に嵌合するロツクピンを植設したこと
を特徴とする。(Means for Solving the Problems) In order to achieve the above object, the present invention sets the three orthogonal axes to the The tool holder is supported so that it can float freely in the axial direction, and a locate pin that can move forward and backward in the Z-axis direction is provided on the tool holder, and the locate pin is fitted into a reference hole formed in the target object by advancing in one direction in the Z-axis direction. In a device for positioning a tool holder with respect to an object in the two-axis directions of the X-axis and the Y-axis, the tool holder is provided with a movable plate that is moved forward and backward in the Z-axis direction by a drive source, and the locating pin is attached to the movable plate. The movable plate is also provided with a lock pin that fits into a lock hole formed in the base frame when the movable plate moves back and forth in the other direction of the Z-axis.
（作用）
駆動源の作動により可動板をＺ軸方向一方に前
進させると、ロツクピンがロツク穴から離脱する
と共にロケートピンが対象物の基準穴に嵌合し、
ツールホルダのベース枠に対するロツク解除と対
象物に対する位置決めとがワンモーシヨンで連続
して行われる。(Function) When the movable plate is moved forward in one direction in the Z-axis direction by the operation of the drive source, the lock pin separates from the lock hole and the locate pin fits into the reference hole of the object.
Unlocking the tool holder relative to the base frame and positioning the tool holder relative to the object are performed continuously in one motion.
（実施例）
図面は、車体ａにインストルメントパネルｂを
組付ける自動機に本考案を適用した実施例を示
し、第１図乃至第３図を参照して、１はロボツト
アーム、２は該アーム１にシリンダ２ａにより左
右一対のガイドバー２ｂ，２ｂを介して前後方向
に進退し得るように支持させた第１アーム、３は
第１アーム２にスライダ３ａを介して横方向に摺
動自在に支持させた横長の第２アームを示し、該
第２アーム３の両端に夫々ベース枠４，４を固設
し、該両ベース枠４，４に夫々ツールホルダ５，
５を介してインストルメントパネルｂをその横方
向両端で挟持するクランプ板６，６と、該パネル
ｂを車体ａ側に締結するナツトランナ７，７とを
取付けた。(Embodiment) The drawings show an embodiment in which the present invention is applied to an automatic machine for assembling an instrument panel b to a vehicle body a. A first arm 3 is supported by a cylinder 2a on the arm 1 so as to be able to move back and forth in the front and back direction via a pair of left and right guide bars 2b, 2b, and a first arm 3 is slidable in the lateral direction on the first arm 2 via a slider 3a. A horizontally long second arm supported by the second arm 3 is shown, and base frames 4, 4 are fixed to both ends of the second arm 3, respectively, and tool holders 5, 4 are attached to both base frames 4, 4, respectively.
Clamp plates 6, 6 that clamp the instrument panel b at both lateral ends thereof via the clamp plates 5, and nut runners 7, 7 that fasten the panel b to the vehicle body a side were attached.
これを詳述するに、第４図乃至第６図に明示す
る如く、各ツールホルダ５の横方向（Ｚ軸）内側
に、インストルメントパネルｂの端壁外面の窪み
に嵌合するウレタンパツド６ａを取付けたクラン
プ板６をシリンダ６ｂによりガイドバー６ｃ，６
ｃを介して横方向に開閉自在に支持させると共
に、各ツールホルダ５の横方向外側に、該ガイド
バー６ｃ，６ｃに沿つてシリンダ７ａにより横方
向に進退される取付板７ｂを設けて、該取付板７
ｂにアングル型のナツトランナ７を取付け、更に
該各ツールホルダ５に、車室の前部両側に設けた
パネル取付用のブラケツトa1の外面に横方向から
当接する先端のガイドローラ８ａを有する押圧シ
リンダ８を取付けた。 To explain this in detail, as shown in FIGS. 4 to 6, a urethane pad 6a is provided on the inside of each tool holder 5 in the lateral direction (Z axis) to fit into a recess on the outer surface of the end wall of the instrument panel b. The installed clamp plate 6 is connected to the guide bars 6c, 6 by the cylinder 6b.
A mounting plate 7b is provided on the outside of each tool holder 5 in the lateral direction to be moved laterally by a cylinder 7a along the guide bars 6c, 6c. Mounting plate 7
An angle type nut runner 7 is attached to b, and each tool holder 5 has a guide roller 8a at the tip that comes into contact with the outer surface of the panel mounting bracket a1 provided on both sides of the front part of the vehicle compartment from the side. Cylinder 8 was installed.
インストルメントパネルｂの組付けに際して
は、各クランプ板６をシリンダ６ｂの作動で閉じ
てインストルメントパネルｂを挟持し、この状態
でロボツトアーム１の動きにより該パネルｂを車
体ａのドア開口を通して車室内に挿入して定位置
まで前進させ、次いで各押圧シリンダ８を作動さ
せて各ガイドローラ８ａを各ブラケツトa1の外面
に圧接させ、この圧接反力により第２アーム３を
横動させてインストルメントパネルｂとブラケツ
トa1との横方向の位置を合わせ、この状態で第１
アーム２をシリンダ２ａの作動で前進させてイン
ストルメントパネルｂを横方向両端の端壁が各ブ
ラケツトa1の外面に添うように装着し、次いで各
ナツトランナ７をシリンダ７ａの作動で横方向内
方に前進させて、該ナツトランナ７の出力軸７ｃ
の先端に予めセツトしたボルトｃを締込んで該パ
ネルｂの端壁をブラケツトa1に締結するようにし
た。 When assembling the instrument panel b, each clamp plate 6 is closed by the operation of the cylinder 6b to clamp the instrument panel b, and in this state, the robot arm 1 moves to insert the panel b into the vehicle through the door opening of the vehicle body a. It is inserted into the chamber and advanced to a fixed position, and then each pressure cylinder 8 is operated to press each guide roller 8a against the outer surface of each bracket A1 , and the second arm 3 is moved laterally by the reaction force of this pressure to perform the installation. Align the horizontal position of the maintenance panel b and bracket a1 , and in this state
The arm 2 is moved forward by the actuation of the cylinder 2a to mount the instrument panel b so that the end walls at both lateral ends are along the outer surface of each bracket a1 , and then each nut runner 7 is moved laterally inward by the actuation of the cylinder 7a. the output shaft 7c of the nut runner 7.
The end wall of the panel b was fastened to the bracket a1 by tightening a bolt c previously set at the tip of the panel b.
この際、ツールホルダ５がブラケツトa1に対し
前後方向（Ｘ軸）及び上下方向（Ｙ軸）に正確に
位置決めされていないと、インストルメントパネ
ルｂの締付不良を生ずるため、ツールホルダ５を
ベース枠４に対し前後方向及び上下方向にフロー
テイング自在に支持させると共に、該ツールホル
ダ５に横方向に進退自在なロケートピン９を設
け、上記したナツトランナ７の締付前に該ピン９
を横方向内方に前進させてブラケツトa1に形成し
た基準穴a2に嵌合させ、該ツールホルダ５をブラ
ケツトa1に対し前後方向及び上下方向に位置決め
するようにした。 At this time, if the tool holder 5 is not positioned accurately in the longitudinal direction (X-axis) and vertical direction (Y-axis) with respect to the bracket a1 , instrument panel b will not be tightened properly. The tool holder 5 is provided with a locating pin 9 which is supported by the base frame 4 so as to be freely floating in the longitudinal and vertical directions, and which is movable laterally.
The tool holder 5 is moved laterally inward and fitted into the reference hole a2 formed in the bracket a1 , thereby positioning the tool holder 5 in the front-rear direction and the vertical direction with respect to the bracket a1 .
これを更に詳述するに、ベース枠４に固定のレ
ール４ａにスライダ１０ａを介して前後方向に摺
動自在に支持されるスライド枠１０を設け、該ス
ライド枠１０にツールホルダ５をガイドバー５
ａ，５ａを介して上下方向に摺動自在に且つ該各
バー５ａを上方に付勢するばね５ｂにより該ツー
ルホルダ５の重量を受けられるように支持させ、
かくて該ツールホルダ５に該ベース枠４に対する
前後方向と上下方向とへのフローテイング動作を
与えられるようにし、又該ツールホルダ５の横方
向内側にシリンダ１１ａによりガイドバー１１
ｂ，１１ｂを介して横方向に進退される可動板１
１を設けて、該可動板１１の横方向内側面に前記
ロケートピン９を植設し、更にツールホルダ５よ
りも上方に張出した可動板１１の上端部分の横方
向外側面に先端側を小径とした段付形状のロツク
ピン１２を植設すると共に、ベース枠４に該ロツ
クピン１２に対向する下方への延出部４ｂを形成
し、該廷出部４ｂに該ロツクピン１２の大径部１
２ａが嵌合可能なロツク穴１３を形成した。 To explain this in more detail, a slide frame 10 is provided on a rail 4a fixed to the base frame 4 via a slider 10a so as to be slidable in the front and back direction, and a tool holder 5 is attached to the slide frame 10 on a guide bar 5.
a, 5a so as to be slidable in the vertical direction and supported so as to receive the weight of the tool holder 5 by a spring 5b that biases each bar 5a upward;
In this way, the tool holder 5 can be given a floating motion in the front-back direction and the up-down direction with respect to the base frame 4, and the guide bar 11 is provided inside the tool holder 5 in the lateral direction by the cylinder 11a.
Movable plate 1 that moves laterally through b and 11b
1, and the locate pin 9 is implanted on the inner side surface in the lateral direction of the movable plate 11, and furthermore, on the outer side surface in the lateral direction of the upper end portion of the movable plate 11 extending above the tool holder 5, the tip side is made with a small diameter. At the same time, a downwardly extending portion 4b facing the lock pin 12 is formed in the base frame 4, and a large diameter portion 1 of the lock pin 12 is installed in the protruding portion 4b.
A lock hole 13 into which 2a can be fitted is formed.
該可動板１１は、常時は横方向外方に後退され
ており、これによればロツクピン１２の大径部１
２ａがロツク穴１３に嵌合して、ツールホルダ５
はベース枠４に対し定位置にロツクされるが、該
可動板１１を横方向内方に前進させると、ロツク
ピン１２の大径部１２ａがロツク穴１３から離脱
して、ツールホルダ５がベース枠４に対し前後方
向及び上下方向にフローテイングし得る状態とな
り、この状態でロケートピン９がブラケツトa1の
基準穴a2に嵌合して、ツールホルダ５のブラケツ
トa1に対する前後方向及び上下方向の位置決めが
為される。 The movable plate 11 is normally retracted laterally outward, so that the large diameter portion 1 of the lock pin 12
2a fits into the lock hole 13, and the tool holder 5
is locked in a fixed position relative to the base frame 4, but when the movable plate 11 is moved laterally inward, the large diameter portion 12a of the lock pin 12 is disengaged from the lock hole 13, and the tool holder 5 is moved to the base frame. In this state, the locating pin 9 fits into the reference hole A2 of the bracket A1 , and the tool holder 5 is floated in the longitudinal and vertical directions with respect to the bracket A1 . Positioning is done.
この際、ロツクピン１２はその先端の小径部１
２ｂがロツク穴１３に挿入された状態に存するよ
うにし、上記したインストルメントパネルｂの締
付後可動板１１を横方向外方に後退させたとき、
小径部１２ｂに連続するテーパ部１２ｃをガイド
にして該ピン１２の大径部１２ａが該ロツク穴１
３を嵌合されるようにする。 At this time, the lock pin 12 has a small diameter portion 1 at its tip.
2b remains in the state inserted into the lock hole 13, and when the movable plate 11 is retreated laterally outward after the instrument panel b has been tightened,
The large diameter portion 12a of the pin 12 is inserted into the lock hole 1 using the tapered portion 12c continuous with the small diameter portion 12b as a guide.
3 so that they are fitted.
図面で１４は両端のツールホルダ５，５を連結
するバーを示し、該バー１４の中間部に第１図及
び第３図に示す如くインストルメントパネルｂの
中間部を車体ａに締結するナツトランナ１５を搭
載した。 In the drawings, reference numeral 14 indicates a bar that connects the tool holders 5, 5 at both ends, and in the middle of the bar 14 there is a nut runner 15 that fastens the middle part of the instrument panel b to the vehicle body a, as shown in FIGS. 1 and 3. Equipped with.
（考案の効果）
以上の如く本考案によるときは、可動板の進退
動作によりツールホルダのベース枠に対するロツ
クと対象物に対する位置決めとを行い得られ、可
動板を進退する単一の駆動源でロツク用と位置決
め用の駆動源を兼用できて、構成が簡単となり、
而もツールホルダのロツク解除と対象物に対する
位置決めとを可動板のワンモーシヨンで能率良く
行い得られ、サイクルタイムの短縮を図れる効果
を有する。(Effects of the invention) As described above, according to the present invention, the tool holder can be locked with respect to the base frame and positioned with respect to the object by moving the movable plate back and forth, and can be locked with a single drive source that moves the movable plate back and forth. The drive source can be used for both purpose and positioning, simplifying the configuration.
Moreover, the tool holder can be unlocked and positioned relative to the object efficiently with one motion of the movable plate, and this has the effect of shortening the cycle time.
第１図は本案装置を具備する自動機の１例の正
面図、第２図はその平面図、第３図はその側面
図、第４図はその要部の拡大側面図、第５図は第
４図の−線截断面図、第６図は第４図の一部
を截除した平面図である。
a1……ブラケツト（対象物）、a2……基準穴、
４……ベース枠、５……ツールホルダ、９……ロ
ケートピン、１１……可動板、１２……ロツクピ
ン、１３……ロツク穴。
Fig. 1 is a front view of an example of an automatic machine equipped with the proposed device, Fig. 2 is a plan view thereof, Fig. 3 is a side view thereof, Fig. 4 is an enlarged side view of its main parts, and Fig. 5 is a FIG. 4 is a sectional view taken along the line --, and FIG. 6 is a partially cutaway plan view of FIG. 4. a 1 ... Bracket (object), a 2 ... Reference hole,
4...Base frame, 5...Tool holder, 9...Locate pin, 11...Movable plate, 12...Lock pin, 13...Lock hole.
Claims (1)
ス枠にツールホルダをＸ軸とＹ軸との２軸方向に
フローテイング自在に支持させ、該ツールホルダ
にＺ軸方向に進退自在なロケートピンを設け、該
ロケートピンをＺ軸方向一方への前進で対象物に
形成した基準穴に嵌合させて、該ツールホルダを
対象物に対しＸ軸とＹ軸との２軸方向に位置決め
するものにおいて、該ツールホルダに駆動源によ
りＺ軸方向に進退される可動板を設けて、該可動
板に前記ロケートピンを植設すると共に、該可動
板に該可動板のＺ軸方向他方への進退で前記ベー
ス枠に形成したロツク穴に嵌合するロツクピンを
植設したことを特徴とする自動機におけるツール
ホルダの位置決め装置。 The three orthogonal axes are the X, Y, and Z axes, and the tool holder is supported by the base frame so that it can float in the two axes, the X and Y axes, and the tool holder can move forward and backward in the Z-axis direction. A tool holder is provided with a locate pin, and the tool holder is positioned relative to the target object in two axes, the X-axis and the Y-axis, by moving the locate pin forward in one direction in the Z-axis direction and fitting it into a reference hole formed in the target object. The tool holder is provided with a movable plate that is moved forward and backward in the Z-axis direction by a drive source, the locating pin is implanted in the movable plate, and the movable plate is moved forward and backward in the other Z-axis direction. 1. A tool holder positioning device for an automatic machine, characterized in that a lock pin is installed to fit into a lock hole formed in the base frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18195087U JPH0422899Y2 (en) | 1987-12-01 | 1987-12-01 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18195087U JPH0422899Y2 (en) | 1987-12-01 | 1987-12-01 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0187835U JPH0187835U (en) | 1989-06-09 |
| JPH0422899Y2 true JPH0422899Y2 (en) | 1992-05-27 |
Family
ID=31473412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18195087U Expired JPH0422899Y2 (en) | 1987-12-01 | 1987-12-01 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0422899Y2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2711466B2 (en) * | 1989-01-23 | 1998-02-10 | 株式会社ダイフク | Door holding method in door assembly process |
-
1987
- 1987-12-01 JP JP18195087U patent/JPH0422899Y2/ja not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0187835U (en) | 1989-06-09 |
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