JPS58171226A - Fitting device - Google Patents

Abstract

PURPOSE:To enable to fit axial parts in a hole provided on a substance by giving only insertion force through lowering a guide jig, by providing the inserting guide jig provided with a controlling hole which holds the axial parts and controls a posture of a cylindrical component. CONSTITUTION:As for a substance 1, a hole 2 is provided precisely to a knock pin hole 4, whose entrance is chamfered 3. This device is for fitting axial parts 11, which is an object, in the hole 2, an inserting jig 14 is connected with a piston rod of a cylinder, guide pins 18 whose tips are sharpened are set up on both ends of a lower end of the jig 14 and a control hole 19, which makes a play fit by keeping a gap on an axial part of the axial parts 11, is provided so as to control a posture of the axial parts 11. A knock pin 8 of a substance grasping table component 5 is fitted in the knock pin hole 4 for positioning and the component 5 is moved to a fitting station for suspension. When the jig 14 is lowered it is positioned by fitting the pins 18 in holes 9, through which the parts 11 are inserted into the hole 2.

Description

【発明の詳細な説明】 〔発明の利用分野〕 本発明は、軸受と軸受箱、ピストンとシリンダ等のよう
に軸部品を物体に穿設された穴に精密はめめいを行うよ
うにしたはめあい装置に関る場合も含む）従来技術とし
ては、以下のものがある。軸Ｓをバネ等の柔軟物体と触
覚センサによって構成されるつかみ部によってつかみ、
＠部と穴部との接触状況をセンサによって検知し、軸部
と穴部との位置・姿勢関係を算出し、この関係に応じて
予め定められた探索動作を行ない、細部を穴部にのぞか
せる。次に軸部を穴部に押し付け、センサによって挿入
が進行しているか否かを判定し、もし挿入されていない
時は、再び予め定められた軸部を穴部へ挿入させるため
の探索動作を行ない、細部を穴部に挿入させる。このよ
うな、バネ拳センサによって構成される軸つかみ部と、
センサとＸ−Ｙテープ４３　。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a fitting device that precisely fits a shaft part such as a bearing and a bearing box, a piston and a cylinder, etc. into a hole drilled in an object. Conventional technologies (including those related to the above) include the following. The shaft S is gripped by a gripping part composed of a flexible object such as a spring and a tactile sensor,
A sensor detects the contact status between the @ part and the hole, calculates the position/attitude relationship between the shaft and the hole, performs a predetermined search operation according to this relationship, and reveals the details in the hole. . Next, the shaft is pressed into the hole, and the sensor determines whether insertion is progressing. If it is not inserted, a search operation is performed to insert the shaft into the hole again at a predetermined time. and insert the details into the holes. A shaft gripping portion configured by such a spring fist sensor,
Sensor and X-Y tape 43.

ル等を用いた探索制御を複合した方式によって、即ち触
覚ロホットによって一軸の一つの穴への、ミクロンオー
ダの間隙のはめめいが行なわれていた。ところがこの触
覚ロボットはセンサとＸ−Ｙテーブル等の制御によって
探索動作を行なってはめあいに行なうため、Ｘ−Ｙテー
ブル等のａ′禁動作のための機構が必要であると共にセ
ンサとＸ−Ｙテーブル等の複雑な制御が必要であり、信
相性が悪いと共に非常に高価なものになってしまう欠廓
を壱する。Fitting of a gap on the order of microns into a hole on one axis was performed by a method that combined search control using a tactile sensor, that is, by using a tactile robot. However, since this tactile robot performs search motions and matches by controlling sensors, X-Y tables, etc., it requires a mechanism such as an X-Y table for the a' prohibited motion, and also requires This method requires complicated control such as the following, and has the drawback of poor reliability and being extremely expensive.

また、上記従来の触覚ロボットにおいである程度の機械
的拘束を相互に待った２軸以上の多軸を相互に内定され
たそれぞれ対応する穴に同時にはめあわせるいわゆる多
軸はめあいを行うことは、各ｓｓがバネ等の柔軟物体で
構成でれる各つかみ部で自由に移動可能に保持されてい
る関係で十分な位置決め稍曳ができないことからして不
可能であった。仮りにこの触覚ロボットによる多１１Ｉ
ＩＩはめあいにおいて、順次はめあいを行う場合でも、
最初の一軸のはめあいＦｉ司可能あるが、２査目以後の
はめあいになると、上記の如く多軸が相互にある程度の
機械的拘束を持っていて、且多軸の各つかみ部が相互に
バネ等の柔軟物体を介して結合されている関係で探信軸
性の高い簡素化された機構をもって対象物体である軸部
品を物体に穿設された穴にはめあわせる尚度なはめめい
を可能にしたはめあい装のいずれか一方を規制穴に嵌合
させて予め設定された許容範囲内で自由に動き得るよう
に姿勢を規制して保持する挿入用治具を設け、上記物体
または軸部品の他方を精密に位置決めして搭載するテー
ブル部材を少くとも微小量水平方向に移動できるように
構成し、上記物体の穴に軸部品を挿入するとき上記挿入
用治具を単純に垂直方向に互いに接近するように下降ま
たは上昇移動させるだけで上記テーブル部材と挿入用油
・　　４　・ 具とに各々設けられたカイト部材と抜力づド部材とを互
いに保合案内させてテーブル部材を水平方向に微動させ
て各々面取りの鞍囲内に相対的に水平方向に位置決めし
、その後史に挿入用治具を単純に垂直方向に下１ｆ＊ま
たは上昇移動させるたけで挿入力をかみつき憤域以外か
ら与えて軸部品を上記物体の穴にはめあわせるようにし
たことを特徴とするものである。また本発明は従来の触
覚ロボットでは不可能であった複数のｍ部品と物体に穿
設された狽数個の穴との多軸はめおいをほぼ同時に行え
るようにしたこと具体的に説明する。第１図は本発明の
一軸はめあい装置の一実施例を示した概略構成斜視図、
第２図は第１図の中央１ｌｉｌ′ｒｌｌＩｏ図である。In addition, in the conventional tactile robot described above, performing so-called multi-axis fitting in which two or more multiple axes that are mutually subjected to a certain degree of mechanical restraint are simultaneously fitted into corresponding holes that have been determined mutually, means that each ss This was not possible because sufficient positioning was not possible since the grips were held so as to be freely movable using flexible objects such as springs. If this tactile robot were to
In II fitting, even when fitting is performed sequentially,
It is possible to fit one shaft at the beginning, but when it comes to fitting after the second inspection, as mentioned above, the multiple shafts have some degree of mechanical restraint on each other, and the gripping parts of the multiple shafts are attached to each other by springs, etc. A simple mechanism with a high degree of axial property is connected through a flexible object, making it possible to fit the shaft part of the target object into a hole drilled in the object. An insertion jig is provided to fit one of the fittings into the regulation hole and to regulate and hold the posture so that it can move freely within a preset allowable range, and the other of the above objects or shaft parts is The table member, which is precisely positioned and mounted, is configured to be able to move horizontally by at least a minute amount, and when inserting the shaft component into the hole of the object, the insertion jig is simply moved vertically closer to each other. By simply moving the table member downward or upward, the table member and the insertion oil 4. The kite member and the extraction force member provided respectively on the table member and the extraction force member are mutually secured and guided, and the table member is slightly moved in the horizontal direction. Position the shaft parts relatively horizontally within the chamfered saddle area, and then simply move the insertion jig vertically down 1f* or up, and apply insertion force from outside the gripping area to insert the shaft part. The device is characterized in that it fits into a hole in the object. Furthermore, it will be specifically explained that the present invention enables multi-axis fitting of a plurality of m parts and a small number of holes drilled in an object almost simultaneously, which was impossible with conventional tactile robots. FIG. 1 is a schematic perspective view showing an embodiment of the uniaxial fitting device of the present invention;
FIG. 2 is the central 1lil'rllIo diagram of FIG.

ｌは、物体にして、深さに比較して大きい直径Ｄ、例え
はＡθ〜１００　ｓｎ程度の穴２を、基準となる例えは
ノ、クビン穴４に対して高精度に穿設し、且入口のとこ
ろに聞取り３を施したものである。５は物体１に穿設さ
れたノックビン穴４にしっくり嵌め込むことによって物
体１を高精度に位置決めする細径の対なるノックビン８
を中央の凹み部分１０に植設した物体つかみテーブル部
材にして、両端に対なるカイトビン用穴９を一体的に穿
設し、ベース６上を所定の範囲内をもってベアリング７
によって水平方向に摺動自在に支持されている。１１は
＠坏１の穴２にはめ合せる直径ｄなる寸法を有する対象
物体である。軸部品である。１２１１’ｌｊスプリング
１３によって水平方向に自由に移動円−能に保持されて
いるチャックにして、軸部品１１の上端を真空吸着、ま
たは電磁吸着等で保持している。１４は上側のベース１
５にガイドレール１６に沿って上下に移動自在に支持さ
れた挿入用治具にして、シリンダ１６のピストンロンド
に連結され、下端の両端に先端を尖せたカイトビン１８
を植設し、軸部品１１の動き即ち姿勢を規制するように
軸部品１１の軸部を所定のすきまをもって遊嵌する規制
穴１９を穿設している。l is an object, and a hole 2 with a diameter D that is large compared to the depth, for example, about Aθ ~ 100 sn, is drilled with high precision with respect to the standard hole 4, and Interview 3 was given at the entrance. Reference numeral 5 denotes a knock pin 8 with a small diameter that positions the object 1 with high precision by fitting snugly into the knock pin hole 4 drilled in the object 1.
is an object gripping table member that is implanted in the central concave portion 10, holes 9 for kite bins are integrally bored at both ends, and the bearing 7 is held within a predetermined range on the base 6.
It is supported slidably in the horizontal direction. Reference numeral 11 denotes a target object having a diameter d that fits into the hole 2 of the box 1. It is a shaft part. The upper end of the shaft component 11 is held by vacuum suction, electromagnetic suction, etc. using a chuck which is held by a spring 13 so as to be freely movable in the horizontal direction. 14 is the upper base 1
A kite bin 18 is connected to the piston rond of the cylinder 16 and has sharp tips at both lower ends.
A regulating hole 19 is drilled into which the shaft portion of the shaft component 11 is loosely fitted with a predetermined clearance so as to restrict the movement or posture of the shaft component 11.

そこでまず、はめめいを実行する物体１を物体つかみデ
ーフル部材５の凹み１０に手動または自動的に搭載し、
物体１を下方へ押圧して物体１のノックピン穴４に物体
つかみテーブル部材５のノックビン８をしつくり嵌合さ
せて位置決めする。次にこの物体つかみチーフル部材５
を第１図に示す矢印方向からベース６の溝端１９のはめ
合いステーションまで移動させて停止させる。またベー
ス１５は対象物体１１の供給ステーション（図示せず）
からこのはめ合いステーションまで水平往復移動するよ
うに構成されている。Therefore, first, the object 1 to be fitted is manually or automatically mounted in the recess 10 of the object gripping member 5.
The object 1 is pressed downward and the knock pin 8 of the object gripping table member 5 is tightly fitted into the knock pin hole 4 of the object 1 to position it. Next, this object grasping chiful member 5
is moved in the direction of the arrow shown in FIG. 1 to the fitting station at the groove end 19 of the base 6 and stopped. The base 15 is also a supply station for the target object 11 (not shown).
It is configured to horizontally reciprocate from to this mating station.

然るに例えばパーツフィーダ等によって供給ステーショ
ンに搬送された対象物体である軸部品１１の上端は、シ
リンダ１７の下方への駆動によって規制穴１９を通して
挿入され、チャック１２によって保持される。次にベー
ス１５が供給ステーションからはめあいステーションま
で移動して停止し、物体１の上方に軸部品１１が位置し
たことなる。次にシリンダ１７を駆動して挿入用治具１
４を工師させるとカイトビン１８の先端の尖った円錐部
がカイトビン用穴９の人口にはいり込むと・　７　・ 同時に円錐部によって物体つかみテーブル部材５の位置
が水平方向に移動修正される。更に挿入用治具１４が下
降すると、ガイドビン１８の細部がガイドビン用穴９に
しつくり嵌合し、物体１と挿入用治具１４とは水平方向
に対して位置決めされる。このとき軸部品１１の位置は
規制穴１９で動き首が却制されているので先端の面取り
と入口の面取り３とで導びかれ、穴２の中へ挿入されは
めあいが完了する。However, the upper end of the shaft component 11, which is a target object conveyed to the supply station by, for example, a parts feeder, is inserted through the regulation hole 19 by the downward drive of the cylinder 17, and is held by the chuck 12. The base 15 then moves from the supply station to the fitting station and stops, so that the shaft part 11 is positioned above the object 1. Next, drive the cylinder 17 to insert the insertion jig 1.
4, the sharp conical part at the tip of the kite bin 18 enters the hole 9 for the kite bin 7. At the same time, the position of the object gripping table member 5 is moved and corrected in the horizontal direction by the conical part. When the insertion jig 14 is further lowered, the detail of the guide bin 18 is tightly fitted into the guide bin hole 9, and the object 1 and the insertion jig 14 are positioned in the horizontal direction. At this time, the position of the shaft part 11 is controlled by the regulating hole 19, so that it is guided by the chamfer at the tip and the chamfer 3 at the entrance, and is inserted into the hole 2 to complete the fitting.

ここで主として問題となるのは、挿入用治具の規制穴１
９の精度である。要するに軸部品１１を穴２にはめあわ
せるための条件は以下の４点である。ところで条件の対
象となるものを次のように定義する。The main problem here is the regulation hole 1 of the insertion jig.
The accuracy is 9. In short, the conditions for fitting the shaft component 11 into the hole 2 are the following four points. By the way, the object of the condition is defined as follows.

←）軸部品１１の軸部外住敢太値はｄｍａｘ。←) The shaft part outer diameter value of shaft part 11 is dmax.

（ｂｌ軸部品１１の軸部外径最小値はｄｍｉｎ、（ｃｌ
　ｍ　ｍ　品１１　（’）　Ｎ　ｍ　ノ長さは　Ｌ、（
ｄｉ軸部品１１の軸部先端の面取量は　Ｃ１、（ｅ）物
体１の穴２の内径最大値はＤｍａｘ。(The minimum value of the shaft outer diameter of the bl shaft component 11 is dmin, (cl
m m product 11 (') N m length is L, (
The amount of chamfering at the tip of the shaft of the di-axis component 11 is C1, and (e) the maximum inner diameter of the hole 2 of the object 1 is Dmax.

ｉｆｌ　物体１の穴２の内径蝦小値はＤｍｉｎ、・　８
　・ （２））物体ｌの穴２と基準となるノックピン穴との位
置誤差はＥｌ （ｈ）ガイドビン１８及びカイトビン用穴９ｆ介してノ
ックビン８と規制穴１９との相対的位置誤差はＥ２、 （ｉｌ物体１の穴２の入口の面取１は０２、Ｕ）規制穴
１９の内径はＤ′、 （ｋ）規制穴１９の長さく幅）はＷ。ifl The minimum inner diameter of hole 2 in object 1 is Dmin,・8
(2)) The positional error between the hole 2 of the object l and the reference dowel pin hole is El (h) The relative positional error between the dowel bin 8 and the regulation hole 19 via the guide bin 18 and the kite bin hole 9f is E2, (The chamfer 1 at the entrance of the hole 2 of the object 1 is 02, U) The inner diameter of the regulation hole 19 is D', (k) The length and width of the regulation hole 19) is W.

（１１Ｍ擦角はλ（＝Ｌａｎ’Ａ、μは静摩擦係数）と
する。(11M The friction angle is λ (=Lan'A, μ is the coefficient of static friction).

囚位置決め条件 対象物体である軸部品１１の軸部の先端が物体ｌの穴２
の人口に接触するとき各々面域内に入ること。即ち軸部
品１１の先端の面取部を除いた＠部の長さＬ′は上記定
義から次の（１）式の関係が成立する。The tip of the shaft part of the shaft part 11, which is the target object of the prisoner positioning condition, is the hole 2 of the object l.
each within the area when contacting the population. That is, the length L' of the @ portion excluding the chamfered portion at the tip of the shaft component 11 satisfies the relationship expressed by the following equation (1) from the above definition.

Ｌ’＝　Ｌ　−２Ｃ１・　・　・　・　・（１）また規
制穴１９と軸部品１１の細部との間隙によって軸部の傾
き角の最大イぼψ’ｍａｘは上記定義から次の（２）式
の関係が成立する。L'= L -2C1 ・ ・ ・ ・ ・ (1) Also, the maximum wart ψ'max of the inclination angle of the shaft due to the gap between the regulating hole 19 and the details of the shaft component 11 is calculated from the above definition by the following equation (2). The relationship holds true.

ｑ’ｍａｘ＝　（１）’−ｄｍｉｎ　　）／Ｗ　−−−
−（２）然るに規制穴の間隙による軸部品１１０＝Ｓ先
端部の位置誤差Ｅ５は上記（１）　、　＋２１式より（
３）式の関係となる。q'max= (1)'-dmin)/W ---
-(2) However, the positional error E5 of the tip of the shaft component 110=S due to the gap between the regulating holes is calculated from the above (1) and +21 formula (
3) The relationship is as shown in Eq.

ｋ！Ｊ３＝　Ｌ’Ｘ　ｔｐ’ｍａｘ　−（１）’　−ｄ
ｍｉｎ　）　／　２＝　（Ｌ　−２ＣＩ　）　（、Ｌｌ
’　−ｄｍｉｎ　）　／　Ｗ−（Ｄ’−ｄ■１１ｉｎ）
／２・・・・（３） よって位置誤差の累計が面取部に入ることかの（４）式
を満足させる必要がある。k! J3= L'X tp'max -(1)' -d
min)/2=(L-2CI)(,Ll
'-dmin) / W-(D'-d■11in)
/2...(3) Therefore, it is necessary to satisfy the equation (4) that the cumulative total of positional errors is included in the chamfered portion.

Ｉ　ｎｕ　＋ｌ　ｈ２１　＋　ｌ　％ｌ≦ＣＩ＋０２・
・・・（４）（Ｂ）姿勢決め条件 、　規制穴１９によって軸部品１１に許容しうる傾きは
必ず軸部品１１の先端の細部が穴２の人口にのぞくこと
ができる大きさｆ有することである。I nu +l h21 + l %l≦CI+02・
(4) (B) Attitude determining condition: The allowable inclination of the shaft component 11 by the regulating hole 19 must be such that the tip of the shaft component 11 has a size f that allows the details of the tip to be seen into the hole 2. be.

即ち第３図（ｂｌに示すように軸部品１１の先端部が穴
２の入口に挿入しうる傾き角の最大値ψ。ｍａｘは前記
定義より次の（５）式の関係を有する。That is, as shown in FIG. 3 (bl), the maximum value ψ of the inclination angle at which the tip of the shaft component 11 can be inserted into the entrance of the hole 2. max has the relationship of the following equation (5) from the above definition.

ｇ＋ｏｍａＸ　：ω「１（ｄｍａｘ／）・・・・（５）
　ｍ　ｌｎ よって前記（２）式の関係から規制穴１９によって与え
られる軸部品１１の傾き角！’ｍａｘが上記（５）式で
定められる？ｍａｘより次の（６）式で示すように小さ
くして姿勢決めをしておく必要がある。g+omaX: ω"1 (dmax/)...(5)
m ln Therefore, from the relationship of equation (2) above, the inclination angle of the shaft component 11 given by the regulation hole 19! 'max is determined by the above formula (5)? It is necessary to determine the posture by making it smaller than max as shown in the following equation (6).

ｔｐ’　ｎ１ａＸ＝　９１　ｍａＸ　争１１　ａ　−・
（６１０挿入条件 軸部品１１の先端の細部が穴２の入口にのぞいた後は、
軸部品１１を下方へ押すだけでかみっきがなく円滑に仲
人が運行するような力学的なはめあい条件を満たしてい
ること。即ち１１１部品１１と物体ｌの穴は剛体とみな
し、両者をはめあわせるとき、軸部品１１には外力Ｆが
作用し、Ａ点。tp' n1aX= 91 maX conflict 11 a -・
(610 Insertion Conditions After the details of the tip of the shaft component 11 are seen at the entrance of the hole 2,
It satisfies the mechanical fitting conditions such that the matchmaker can be operated smoothly without any jamming by simply pushing the shaft part 11 downward. That is, the hole in part 111 and object l are considered to be rigid bodies, and when they are fitted together, external force F acts on shaft part 11, and point A is reached.

Ｂ点から反力”ａｔ　”ｂが生じる。ところでこの軸部
品１１が穴２にかみついて静止してしまう必要条件は第
４図（５）に示すように上記３つの力）゛。A reaction force "at"b is generated from point B. By the way, the necessary conditions for the shaft part 11 to bite into the hole 2 and come to a standstill are the three forces mentioned above, as shown in FIG. 4 (5).

Ｒａ、Ｒｂの作用線が一点で交わることである。もう少
し具体的に説明すると、第４図（Ｈに示すように対象物
体１１が穴２と接触しながら運動するときの瞬間中心Ｉ
ｃ点とすると、外力Ｆが０点に関して左回り（反時計方
向）のモーメントをなすとき、反力比ａｓ”ｂの作用線
は、それぞれ摩擦角λで制限される右下がり、右上がり
の斜線で示す節回しか取り得ない。なぜなら反力比ａ。The lines of action of Ra and Rb intersect at one point. To explain more specifically, the instantaneous center I when the target object 11 moves while contacting the hole 2 as shown in FIG.
Assuming point c, when the external force F forms a counterclockwise moment with respect to the 0 point, the line of action of the reaction force ratio as''b is a diagonal line that slopes downward to the right and upward to the right, respectively, limited by the friction angle λ. Only the knot shown is possible because the reaction force ratio a.

曜、それぞれ、上向きの摩擦力ｆａ、ｆｂと垂直抗力Ｎ
ａ、Ｎｂに分解されるからである。よって反力Ｉｔａと
Ｒｂの作用線の交点の存在する範囲は、この２つの斜線
部の共通領域であるから、この領域を外力Ｆの作用線が
通過しないときは、かみあわず、はめあいが進行する。y, upward frictional forces fa and fb and normal force N, respectively.
This is because it is decomposed into a and Nb. Therefore, since the range where the intersection of the lines of action of the reaction forces Ita and Rb exists is the common area of these two hatched areas, if the line of action of the external force F does not pass through this area, there will be no engagement and the fit will progress. .

また通過するときは３力のｆ「用＃ｌは１点で父わり、
かつ３力の合力は零となり、かみつく。これは、摩轡力
がその摩擦角の範囲内で外力に対向して変化しうる性質
による。よって第４図０に示すようにＬは、外力Ｆが瞬
間中心Ｃ点に関して左回りのかみつき領域であり、Ｒは
同様にして右回りのかみつき領域である。Also, when passing, the three forces f "use #l is stale at one point,
And the resultant force of the three forces becomes zero, and it bites. This is due to the property that the friction force can vary within its friction angle in opposition to the external force. Therefore, as shown in FIG. 40, L is a biting area where the external force F turns counterclockwise with respect to the instantaneous center point C, and R is a biting area where the external force F turns clockwise as well.

ところで４１１部品１１の細部の最大の傾きは規制穴１
９との間隙によって与えられるので、第５図に示す如く
挿入深さｅ及びｈになる点まで挿入されて初めて軸部品
１１と穴２とはＡ点及びＢ点で接触してかみつきが生じ
るかどうかという状態になる。なおその挿入深さになる
までは、軸部品１１を下降させれば軸部品１１と穴２と
はＡ点またはＢ点接触だけであるのでかみつきが生じる
ことなく円滑に物体１の穴２に挿入することができる。By the way, the maximum inclination of the detail of 411 part 11 is regulation hole 1
9, the shaft part 11 and the hole 2 come into contact at points A and B only after the shaft part 11 and the hole 2 are inserted to the insertion depths e and h as shown in FIG. I'm in a situation where I don't know what to do. Note that until the insertion depth is reached, if the shaft component 11 is lowered, the shaft component 11 and the hole 2 are in contact only at point A or B, so the object can be inserted smoothly into the hole 2 of the object 1 without any jamming. can do.

まず挿入深さｅ及びｈは、軸部品１１の軸部の厳大傾き
ｑ’ｍａｘと、Ｄｍｉｎ　、　ｄｍａｘとの関係から次
のように（力式、及び（８）式によって求まる。First, the insertion depths e and h are determined from the relationship between the severe inclination q'max of the shaft portion of the shaft component 11 and Dmin, dmax as follows (force formula and formula (8)).

ｅ　　＝　　（Ｊｊｎｉｎ　　−山ｎａｘ−ｃｏｓ　　
ψ’１ｎａＸ　　）　　／　ｓｉｎ　　ｙ’ｍａｘ＊　
・（７１またＢ点をＸ、Ｙ座標の原点としてかみつき領
域の直線Ｎａ十と直線Ｎｂとの交点のＸ座像Ｘａ十すは
次の（９）式の関係を有し、直＃Ｎａ十と直線Ｎｂ＋と
の交点のＸ座憚Ｘａ＋、ｂｌは次の（１０式の関係を有
する。e = (Jjnin - mountain nax - cos
ψ'1naX) / sin y'max*
・(71 Furthermore, with point B as the origin of the The X a+, bl at the point of intersection with the straight line Nb+ has the following relationship (10).

Ｘａ＋、ｂ　＝　−（１ｋｎｉｎ・ｔａｎ　Ｊ　−ｈ　
）　／　（ｔａｎ　λ十＋ａｏｙ’ｍａｘ　）ａ　（９
）Ｘａ十、　ｂ十＝　−（Ｄｍ　ｉ　ｎ　１１ｔａＩＩ
λ　−ｈ　）　／　ｌ　ｔａａλ十ｔａｎ　（ｐ’ｍａ
ｘ＋λ））・・・・（１０） そこで挿入深さｅ、ｈ以上に軸部品１１を挿入するとき
かみつくことなく挿入できるためには、軸部品１１に作
用する力のＸ座標Ｘｆが次の（１１）式の関係ｔｍ足し
ていればよい。Xa+, b = −(1knin・tan J −h
) / (tan λ10+aoy'max)a (9
)Xa0, b0=-(Dmin 11taII
λ - h ) / l taaλten (p'ma
x+λ))...(10) Therefore, in order to be able to insert the shaft component 11 beyond the insertion depths e and h without biting, the X coordinate Xf of the force acting on the shaft component 11 must be as follows ( 11) It suffices to add the relationship tm in equation.

−ＩＪｍｉｎ−ｍｉｎ　（Ｘａ＋Ｓｂ、　Ｘａ＋、　ｂ
＋　）　＜　Ｘｆ　（ｍｉｎ（Ｘａ＋、　ｂ、　Ｘａ＋
、　ｂ＋　）　−−−−（１１）例えば軸部品１１に作
用する力Ｆが軸部品１１の重力だけだとするとＸｆは次
の（１２）式の関係を有する。-IJmin-min (Xa+Sb, Xa+, b
+ ) < Xf (min(Xa+, b, Xa+
, b+ ) --- (11) For example, if the force F acting on the shaft component 11 is only the gravity of the shaft component 11, then Xf has the relationship of the following equation (12).

Ｘｆ　＝−Ｄｍｉｎ　−１−（（Ｌ７２　）　ｓｉｎ　
ｐ’ｍａｘ　＋（ｄｍａｘ／２）ωｓｙ’ｍａｘ）　　
＊　　・＊　　ｅ（１２）ところで　４６す１χ ｄｍａｘ＝４９．９７５ｍｍ　　、　　ｄｍｉｎ　＝　
４９．９５ｍｍ　。Xf =-Dmin-1-((L72) sin
p'max + (dmax/2)ωsy'max)
* ・* e(12) By the way, 46s1χ dmax=49.975mm, dmin=
49.95mm.

Ｃ１＝０．５ｉｎ　　、　　Ｌ＝１０１１ｉｔ　、　１
）ｍａＸ＝５０．０２５１１゜Ｄｍｉｎ　＝　５０．０
００ｍｍ　　、　ｇ１＝＝±５０μ７ｎ　　ｌ　Ｅ２＝
±５０μｍＤ’＝　５０．０５０ｍ　、　Ｃ２＝　０．
５ｉｎ　　、　Ｗ＝４（ｈａｍ　　。C1=0.5in, L=1011it, 1
) maX=50.02511°Dmin=50.0
00mm, g1==±50μ7nl E2=
±50μmD'=50.050m, C2=0.
5in, W=4(ham.

λ＝０．１６．ａａａ’　　−ヂ３Ｅ。λ=0.16. aaa’　　　　　-も3E.

（５）位置決め条件 上記（３）式及び（４）式から （Ｌ−２ＣＩ　）（Ｄ’−ｄｍｉｎ）／Ｗ　−（Ｄ’−
ｄｍｉｎ）／２ＩＣ１十貼１　Ｅｄ　−Ｅ２ なる条件は０，２４０．８となり十分満足できる。(5) Positioning conditions From the above equations (3) and (4), (L-2CI) (D'-dmin)/W - (D'-
The condition dmin)/2IC110p1Ed-E2 is 0.240.8, which is fully satisfied.

（Ｂ）姿勢決め伯仲 上記（２）式及び（５）式より Ω挿入条件 りは上記＋７１　、　＋８１式より ＝　　９．８７ｍ１＋ Ｘａ　＋、ｂは Ｘａ十、ｂ　＝　−（Ｄｍｉｎ−ｔａｎλ−ｈ）／（ｔ
ＪＩ１１λ＋ｔａｎ　ｔｐ　’ｍａ　ｘ　）＝１゜７９
１０．１６４　＝　１０．９ｎ＋Ｘａ＋、ｂ＋＝−（Ｄ
＋ｎｉｎ＋＋ｔａｎλ−ｈ　）　／　（ｔａｎλ＋ｔａ
ｎ　（ψ’ｍａｘ−１−Ｊ　）Ｊ＝　１．７９１０．３
２５　＝　５．５ｍｍ従って −５５，５冨菖＜Ｘｆ　＜　５．５ｍｍにすればかみつ
くことなく挿入できる。即ち対象物体１１にいかなる個
所においても上下方向の力Ｆを加えればかみつくことな
く、円滑に穴に挿入することができる。(B) Attitude determination equation From equations (2) and (5) above, the Ω insertion condition is +71, +81 = 9.87m1+Xa +, b is Xa +, b = -(Dmin-tanλ-h) /(t
JI11λ+tan tp'max)=1°79
10.164 = 10.9n+Xa+, b+=-(D
+nin++tanλ−h) / (tanλ+ta
n (ψ'max-1-J)J=1.7910.3
25 = 5.5 mm Therefore, if -55.5 Tomi < Xf < 5.5 mm, it can be inserted without biting. That is, if a force F in the vertical direction is applied to the object 11 at any point, the object 11 can be smoothly inserted into the hole without being bitten.

次に多軸のはめあいについて第６図及び第７図を用いて
説明する。即ち物体１には例えば２つの直径りなる穴２
ａ　、　２ｂが穿設され、２つの軸１１ａ、ｌｌｂを上
記穴２ａ　、　２ｂにはめあわせる。ただ１字形状の円
柱部材２１のフランジ２１ａの両側にベアリング２０を
介在させて軸１１ａ、ｌｌｂの各々の中央に形成された
誘２２ａ　、２２ｂ　ｆはめこんで対象物体が形成され
、挿入用治具２３の中央に形成された穴別に円柱部材２
１の細径の円柱部分２１ｂが挿入され、チャック機構２
５によって保持されたり、離脱されたりするように構成
されている。また挿入用治具２３の下端には、軸１１ａ
　、　ｌｌｂの上端の位置を巾Ｗ直径Ｄ′をもって規制
できるように穴２ａ、２ｂのピッチＰと同じピッチＰで
規制穴１９ａ　、１９ｂを穿設している。ところで物体
１の穴２ａ、と穴２ｂとのピ・チＰには誤差Ｅ４が存在
する。Next, multi-axis fitting will be explained using FIGS. 6 and 7. That is, the object 1 has, for example, two diameter holes 2.
a, 2b are drilled, and the two shafts 11a, llb are fitted into the holes 2a, 2b. Bearings 20 are interposed on both sides of the flange 21a of the cylindrical member 21 in the shape of a single character, and the guides 22a and 22b formed at the center of each of the shafts 11a and llb are fitted to form a target object, and an insertion jig is Cylindrical member 2 with a hole formed in the center of 23
1 is inserted, and the chuck mechanism 2
5, it is configured to be held and released. Further, the lower end of the insertion jig 23 has a shaft 11a.
, 19b are bored at the same pitch P as the pitch P of the holes 2a and 2b so that the positions of the upper ends of the holes 2a and 2b can be regulated by the width W and the diameter D'. By the way, there is an error E4 in the pitch P between the holes 2a and 2b of the object 1.

然るＫＩＡ’）ｉｆｆ置決め条件は（４）式の代りに次
の（１３）式の関係を満足させる必要がある。The KIA')iff positioning condition needs to satisfy the following equation (13) instead of equation (4).

２１ｍｍ　ｌ＋２　ｌＥ２　ｌ＋２１Ｅ３１＋１ｇ４１
−４２Ｃ１＋　２Ｃ２−（１３）（Ｄ′）姿勢決め条件
及び（Ｃ′）挿入条件は一軸の場合と同様になる。21mm l+2 lE2 l+21E31+1g41
-42C1+ 2C2- (13) (D') Posture determining conditions and (C') insertion conditions are the same as in the case of one axis.

（Ｄ′）ただ、多軸はめあい条件が必要となる。(D') However, multi-axis fitting conditions are required.

即ち第７図に示すように穴２ａ　、　２ｂのピッチ位置
ずれ誤差＆に対してもｌ１１１１１ａ　、ｌｌｂが十分
大ることが必要となる。That is, as shown in FIG. 7, it is necessary that l11111a and llb be sufficiently large even with respect to the pitch position deviation error & of the holes 2a and 2b.

Ｐ　十（］）’−ｄｍａｘ　）　４　Ｐ　＋ｌ　Ｅ４　
ｌ　−（Ｄ＋ｎｉｎ−ｄｍａｘ）、’、　Ｄ’＋Ｄｍｉ
ｎ−２ｄｍａｘ　４１　Ｅ４　ｌ　ｅ　　−６６（１４
）それで穴２ａ、２ｂのヒツチ誤差Ｅ４を０１酊以下に
押えれば（１３）式も（１４）式も満足し、２軸のはめ
めいを行うことができる。たたガイドビン１８及びガイ
ド穴９ににくびれがあるのは、物体１の穴と対象物のｓ
１品がはめあわされた恢、カイト穴及びカイトビンに代
って物体１と軸部品１１とによって案内させるためであ
る。P 10(])'-dmax ) 4 P +l E4
l-(D+nin-dmax),', D'+Dmi
n-2dmax 41 E4 le -66 (14
) Therefore, if the hit error E4 of the holes 2a and 2b is kept below 01, both equations (13) and (14) are satisfied, and two-axis fitting can be performed. The reason why the folding guide bin 18 and the guide hole 9 have a constriction is that the hole in the object 1 and the object s
This is because when one item is fitted, the object 1 and the shaft part 11 are used to guide the kite instead of the kite hole and kite bin.

要するに対象物体である直径ｄを有する軸部品１１を、
巾Ｗ及び直径Ｄ′なる寸法を肩する規制穴１９に嵌合さ
せて、その規制穴１９で自由に動きつるようにこの規制
穴１９を備え付けた挿入ガイド用治具１４で保持し、し
かも上記軸部品１１に規制穴１９の軸心方向である上下
方向に自重も含めて挿入力を印加しうるように構成し、
この軸部品１１をはめこむ穴２を穿設した物体１を、例
えばノックビン穴４とノックビン８とを利用して高精度
に位置決めされて水平面内で自由に摺動するテーブル５
上に搭載し、該テーブル５上に形成されたカイト穴９も
しくはガイドビン１８と、上記挿入ガイド治具上に形成
されたガイドビン１８もしくはガイド穴９とを先の尖っ
た部分で案内させながら嵌入させて軸部品１１の先端に
形成された面取りと穴２の人口端に形成された面取り３
との領域の間に挿入ガイド用治具１４で保持された軸部
品１１とテーブル５上に搭載された物体の穴２との相対
的位置決めをし、その状態でかみつき領域以外から与え
られる上記挿入力によって軸部品１１と穴２とのはめお
いがかみつくことなく円滑に進行し、はめあいが完了す
る。In short, the shaft component 11 having the diameter d, which is the target object,
The width W and the diameter D' are fitted into the regulation hole 19 that shoulders the dimensions, and the insertion guide jig 14 equipped with the regulation hole 19 is used to hold the insertion guide so that it can move freely in the regulation hole 19. It is configured so that an insertion force including its own weight can be applied to the shaft component 11 in the vertical direction, which is the axial direction of the regulation hole 19,
A table 5 on which an object 1 having a hole 2 into which the shaft part 11 is inserted is positioned with high precision using, for example, a knock pin hole 4 and a knock pin 8, and freely slides within a horizontal plane.
While guiding the kite hole 9 or guide bin 18 formed on the table 5 and the guide bin 18 or guide hole 9 formed on the insertion guide jig with the pointed part. A chamfer formed at the tip of the shaft component 11 by fitting and a chamfer 3 formed at the artificial end of the hole 2
The shaft part 11 held by the insertion guide jig 14 and the hole 2 of the object mounted on the table 5 are positioned relative to each other between the regions, and in this state, the above-mentioned insertion is performed from other than the biting region. Due to the force, the fitting between the shaft part 11 and the hole 2 progresses smoothly without any biting, and the fitting is completed.

なお上記冥施例は規制穴に軸部品を嵌合させて軸部品の
水平位置、傾き等の姿勢を′規制しているが、必ずしも
軸部品でなくてもその軸Ｓ品を保持するチャックを規制
穴に嵌合させても上記と同様な作用効果を達成すること
ができ、上を保持し、且棒状部材の姿勢を規制する規制
穴を備え付けた挿入ガイド治具を降下させて挿入力を附
与するだけで対象物体である軸部品を物体に穿設された
穴Ｋｄめあわせることが出来、従来の触覚ロボｙ）に比
軟してロボット機構を著しく簡素化すると共に信頼度を
著しく向上させることができる。In the above example, the horizontal position, tilt, etc. of the shaft component are regulated by fitting the shaft component into the regulation hole, but the chuck that holds the shaft component may not necessarily be the shaft component. The same effect as above can be achieved even when the bar-shaped member is fitted into the regulation hole, and the insertion force is applied by lowering the insertion guide jig equipped with the regulation hole that holds the top and regulates the posture of the rod-shaped member. It is possible to align the target object, the shaft part, with the hole Kd drilled in the object by simply attaching it, which significantly simplifies the robot mechanism and significantly improves reliability compared to conventional tactile robots. can be done.

また本発明によれば、従来の触覚ロホットでは不可能で
あった多軸はめあいという都度な自動組立をすることが
できる効果を奏する。Further, according to the present invention, it is possible to perform automatic assembly each time, such as multi-axis fitting, which was impossible with conventional tactile robots.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本発明の一軸はめあい装置の一実施例を示す斜
視図、第２図は第１図の中央断面図を示した図、第３図
（ａｌは軸部品と穴との位置決め条件を示した図、第３
図ｆｂｌは軸部品と穴との姿勢決め条件を示した図、第
４図（５）、　（Ｂ　、　（Ｑは軸部品と穴とのかみつ
き条件を導び出す為に示・　１９　・ した図、第５図は軸部品と穴とのかみつき条件を示した
図、第６図は多軸はめあい装置の一実施例を示した図、
第７図は多軸はめあい完了状態の相互位置ずれを示した
図である。 符号の説明 ｌ・・・物体　　２・・・穴　　　３・・・面堆り４・
・・ノックビン穴　　８・・・ノックビン９・・・ガイ
ドビン用穴　１１・・・軸部品　１２・・・チャック１
３・・・スプリング　　　１４・・・挿入用治具１８・
・・ガイドビン　　　１９・・・規制穴２０　。 米　１　回 矛３　口 （九） ■ 十　今　１刃 （Ａ） （ご） ＋ｒｌゴ 才２　圓Fig. 1 is a perspective view showing an embodiment of the uniaxial fitting device of the present invention, Fig. 2 is a view showing a central sectional view of Fig. Figure shown, 3rd
Figure fbl is a diagram showing the conditions for determining the position of the shaft part and the hole, Figure 4 (5), (B, (Q) are diagrams shown to derive the conditions for engagement between the shaft part and the hole. , FIG. 5 is a diagram showing the engagement conditions between the shaft part and the hole, FIG. 6 is a diagram showing an example of the multi-shaft fitting device,
FIG. 7 is a diagram showing mutual positional deviation in a state where multi-axis fitting is completed. Explanation of symbols l... Object 2... Hole 3... Surface 4.
...Dowel hole 8...Knock bottle 9...Guide bottle hole 11...Shaft part 12...Chuck 1
3... Spring 14... Insertion jig 18.
...Guide bin 19...Regulation hole 20. rice 1 jako 3 mouth (9) ■ 10 now 1 blade (A) (go) +rl gosai 2 round

Claims (1)

【特許請求の範囲】[Claims] （１）　　対象物体である先端に面取りを施した軸部品
、または人口に面取りを施した穴を穿設した物体のいず
れか一方を規制穴に嵌合させて微小な許容範囲内で自由
に動きうるように姿勢を規制して保持する挿入用治具を
設け、上記穴を穿設した物体または軸部品の他方を精密
に位置決めして搭載するテーブル部材を少くとも微小型
水平方向に移動できるように構成し、上記物体の穴に軸
部品を挿入するとき、上記弾入用治具を垂直方向に互い
に接近するように移動させて上記テーブル部材と挿入用
治具とに各々設けられたガイド部材と被カイト部材とを
互いに保合案内させてテーブル部材を水平方向に微動さ
せて各々の面取りの範囲内に相対的に水平方向に位置決
めし、その後更に挿入用治具を垂直方向移動させて挿入
力をかみつき領域以外から与えて軸部品を上記物体の穴
にはめあわせるように構成したことを％徴とするはめあ
い装置ｔ。 土１１物−匈トの１Ｍ数−の−穴に→ト賃トｂ葎戸ヒ鳴
＝ト→→し構(1) The target object, either a shaft part with a chamfered tip or an object with a chamfered hole, is fitted into a regulation hole and moves freely within a minute tolerance range. An insertion jig is provided that regulates and holds the object in a horizontal position, and the table member on which the object with the hole or the other shaft component is precisely positioned and mounted can be moved at least in a microscopic horizontal direction. When inserting the shaft part into the hole of the object, the bullet insertion jig is moved vertically toward each other, and guide members provided on the table member and the insertion jig are respectively provided. and the kited member are mutually fixed and guided, and the table member is slightly moved in the horizontal direction to relatively horizontally position it within the range of each chamfer, and then the insertion jig is further moved in the vertical direction and inserted. A fitting device characterized in that the shaft part is fitted into the hole of the object by applying force from a region other than the biting area. In the hole of 11 pieces of soil - the number of 1M in the hole - → the hole of the soil → → → and the structure