JPS6221423Y2 - - Google Patents
Info
- Publication number
- JPS6221423Y2 JPS6221423Y2 JP15047482U JP15047482U JPS6221423Y2 JP S6221423 Y2 JPS6221423 Y2 JP S6221423Y2 JP 15047482 U JP15047482 U JP 15047482U JP 15047482 U JP15047482 U JP 15047482U JP S6221423 Y2 JPS6221423 Y2 JP S6221423Y2
- Authority
- JP
- Japan
- Prior art keywords
- double pipe
- gasket
- holding
- sliding body
- sliding
- 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
- 238000003780 insertion Methods 0.000 description 7
- 230000037431 insertion Effects 0.000 description 7
- 230000013011 mating Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000007429 general method Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
Landscapes
- Automatic Assembly (AREA)
Description
【考案の詳細な説明】
〔考案の技術分野〕
本考案は環状部品を対象としたハンドリング装
置に関する。[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a handling device for annular parts.
製品の生産工程において、部品の組立て自動化
が強く要求されている。特に、近年ではロボツト
の導入がさかんで、製品の少量多品種生産におい
てその効果は大きなものである。通常部品の組立
てにおいて、ロボツト等の自動機で要求される機
能は、部品を移動させるための部品把持機能、部
品を組付け、挿入するための部品位置決め機能な
どがある。このうち部品を把持する機能としてそ
の方法は真空装置により部品の所定部分を吸着す
るか、または部品の形状を利用し、その一部を機
械的手段でつかむかが一般的である。
There is a strong demand for automated assembly of parts in product production processes. In particular, robots have been increasingly introduced in recent years, and their effects are significant in the production of a wide variety of products in small quantities. In the normal assembly of parts, the functions required of automatic machines such as robots include a part gripping function for moving parts, a part positioning function for assembling and inserting parts, and the like. Among these methods, the general method for gripping a component is to use a vacuum device to suction a predetermined portion of the component, or to utilize the shape of the component to grasp a portion of the component by mechanical means.
しかしながら上述の把持機能で把持する部品は
変形しにくく、剛性の強い部品に対して有効であ
るが、変形しやすくすきまが多い部品を把持し組
付け、挿入を行なうのは困難である。例えば、金
属細線をからませ、ドーナツ状としたガスケツト
のように変形しやすく、すきまが多い部品は、吸
着により把持しようとすると多大の吸引量を要し
真空装置が大きくなつてしまう。しかも、吸着し
た時に部品の形状が変形し、その変形の状態が不
規則になつてしまうため、組付け、挿入作業時に
不都合となる。また、部品の一部をつかむことに
より把持する場合、やはり、把持した時に部品が
変形してしまい組付け、挿入作業が困難となる。 However, although the above-described gripping function is effective for parts that are difficult to deform and have strong rigidity, it is difficult to grip, assemble, and insert parts that are easily deformed and have many gaps. For example, if a part such as a donut-shaped gasket made of entangled thin metal wires is easily deformed and has many gaps, a large amount of suction is required to hold it by suction, and the vacuum device becomes large. Moreover, the shape of the parts is deformed when they are sucked, and the state of the deformation becomes irregular, which is inconvenient during assembly and insertion work. Furthermore, when gripping a part by grasping it, the part deforms when gripped, making assembly and insertion work difficult.
本考案の目的は変形しやすく、吸着するのが困
難な環状部品を確実に把持し、組付け、挿入等の
作業を行なうことができるハンドリング装置を提
供するにある。
An object of the present invention is to provide a handling device that can reliably grip annular parts that are easily deformed and difficult to suction, and can perform operations such as assembly and insertion.
本考案のハンドリング装置は環状部品をあらか
じめ変形させて保持する保持部を有し、組付け、
挿入等の作業を行なうための位置決めが行なわれ
た後、押し出体によつて部品を押し出し、組付
け、挿入等の作業を行なうものである。
The handling device of the present invention has a holding part that deforms and holds the annular part in advance, and the handling device
After positioning for performing operations such as insertion is performed, the parts are pushed out by the extruder, and operations such as assembly and insertion are performed.
本考案の一実施例として、例えば金属細線をか
らませたドーナツ状のガスケツトを保持し、挿入
する装置を図面を用いて説明する。第１図は本実
施例を示す一部切欠図である。図示しない搬送装
置に連結された腕１と一体となつたカツプ状の保
持体２があり、この保持体２の内側収容部に一部
が所定方向すなわち上下方向に一部が摺動自在に
嵌入された摺動体３が設けられている。この摺動
体３は先端側が開口する二重管構造となつてい
て、その外管４と内管５の間の先端開口部分で部
品を変形させて保持する。また、内管５の内径部
６は位置決め用のものである。さらに、保持体２
の収容部には摺動体３の後端側を付勢したコイル
状ばねからなる第１の弾性体７が設けられてい
る。外管４と内管５の間には、内管５の外周に接
触し摺動体３の移動を案内する案内体８が収納さ
れている。この案内体８は摺動体３を貫通する固
定ボルト９により固定され、保持体２に固定され
ているとともに外管４に向く側部に段差状の係止
部が形成されている。また、外管４、内管５の二
重管内において、外管４と案内体８との間には、
上記係止部に係合し所定方向すなわち上・下方向
に摺動自在で部品を押し出す押し出体１０が収納
されている。さらに、この押し出体１０を弾性支
持する押し出部支持弾性体であるばね１１が案内
体８と押し出体１０との間に配されている。この
ばね１１は押し出体１０を常に下に押す力が働い
ている。
As an embodiment of the present invention, a device for holding and inserting a donut-shaped gasket made of thin metal wires, for example, will be described with reference to the drawings. FIG. 1 is a partially cutaway view showing this embodiment. There is a cup-shaped holder 2 that is integrated with an arm 1 connected to a transport device (not shown), and a part of the holder 2 is slidably fitted in a predetermined direction, that is, a part of the holder 2 into an inner accommodating part of the holder 2 in a predetermined direction, that is, in an up-down direction. A sliding body 3 is provided. This sliding body 3 has a double tube structure with an open end, and the open end between the outer tube 4 and the inner tube 5 deforms and holds the component. Further, the inner diameter portion 6 of the inner tube 5 is for positioning. Furthermore, the holding body 2
A first elastic body 7 made of a coiled spring biasing the rear end side of the sliding body 3 is provided in the housing portion. A guide body 8 is housed between the outer tube 4 and the inner tube 5, and is in contact with the outer periphery of the inner tube 5 to guide the movement of the sliding body 3. This guide body 8 is fixed by a fixing bolt 9 passing through the sliding body 3, and is fixed to the holder 2, and a step-shaped locking portion is formed on the side facing the outer tube 4. Moreover, in the double tube of the outer tube 4 and the inner tube 5, there is a space between the outer tube 4 and the guide body 8.
A push-out body 10 that engages with the locking portion and is slidable in a predetermined direction, that is, upward and downward, and pushes out a component is housed. Further, a spring 11, which is a push-out support elastic body that elastically supports the push-out body 10, is disposed between the guide body 8 and the push-out body 10. This spring 11 exerts a force constantly pushing the extrusion body 10 downward.
次に上述の実施例の動作について述べる。第２
図において、摺動体３が外管４と内管５の間にド
ーナツ状のガスケツト２１を保持している。ガス
ケツト２１は金属細線をからませたものとなつて
いるので変形しやすい。このため第２図のように
手動または図示しない装置により傘状に変形した
状態でガスケツト２１は保持されている。このガ
スケツト２１を相手部品２２の溝２３に挿入す
る。なお、この溝２３の内側には位置決め用の突
出物２４が設けられている。図示しない搬送装置
により、相手部品２２との位置決めがなされたの
ち、腕１を降下させガスケツト２１を相手部品２
２に接近させる。さらに腕１が降下すると摺動体
３の内管５の穴６に突出物２４が入り込み位置決
めが完全になされる。その後摺動体３の一端は相
手部品２２に接触するが、さらに腕１は降下す
る。このため、摺動体３は相手部品２２に押し止
められ、その反作用により案内体８に案内され保
持体２の中へ入り込む状態となる。このように、
摺動体３が保持体２に入り込んでいくと、押し出
体１０は摺動体３内を移動しガスケツト２１を押
し出す状態となる。そこで、腕１が下降し続ける
と押し出体１０はガスケツト２１を溝２３に押し
出し、さらには第３図に示すように案内体８の一
端によつてもガスケツト２１は溝２３に押し出さ
れる状態となる。このとき押し出体１０はガスケ
ツト２１を押し出した後、ガスケツト２１を押え
付けたままとなり、案内体８の一端と押し出部の
一端とが摺動体３の一端に並ぶ状態となる。この
ようにしてガスケツト２１は溝２３に挿入され、
その後腕１が上昇する。そのとき摺動体３と押し
出体１０はそれぞればね７，１１により元の状態
に戻される。 Next, the operation of the above embodiment will be described. Second
In the figure, a sliding body 3 holds a donut-shaped gasket 21 between an outer tube 4 and an inner tube 5. Since the gasket 21 is made of entangled metal wires, it is easily deformed. For this reason, the gasket 21 is held in an umbrella-shaped state as shown in FIG. 2, either manually or by a device not shown. This gasket 21 is inserted into the groove 23 of the mating part 22. Note that a positioning protrusion 24 is provided inside this groove 23. After positioning with the mating part 22 is performed by a transport device (not shown), the arm 1 is lowered and the gasket 21 is moved to the mating part 2.
2. When the arm 1 further descends, the protrusion 24 enters the hole 6 of the inner tube 5 of the sliding body 3, and the positioning is completed. After that, one end of the sliding body 3 comes into contact with the mating part 22, but the arm 1 further descends. Therefore, the sliding body 3 is held down by the mating part 22, and by the reaction thereof, it is guided by the guide body 8 and enters into the holding body 2. in this way,
When the sliding body 3 enters the holding body 2, the pushing body 10 moves inside the sliding body 3 and is in a state of pushing out the gasket 21. Therefore, as the arm 1 continues to descend, the pushing body 10 pushes out the gasket 21 into the groove 23, and furthermore, as shown in FIG. Become. At this time, after pushing out the gasket 21, the pushing body 10 continues to press the gasket 21, and one end of the guide body 8 and one end of the pushing part are aligned with one end of the sliding body 3. In this way, the gasket 21 is inserted into the groove 23,
After that, arm 1 rises. At this time, the sliding body 3 and the pushing body 10 are returned to their original states by springs 7 and 11, respectively.
以上のように、ガスケツト２１のような変形し
やすい部品を挿入することが本装置により可能と
なつた。このとき、ガスケツト２１を傘状に変形
させて保持し、押し出体１０によりガスケツト２
１の外側の部分を、案内体８により内側の部分を
押し出し、２段階により挿入作業を行なつた。こ
のため、溝２３の外径がガスケツト２１の外径よ
り小さく、さらに溝２３の内径がガスケツト２１
の内径より大きい場合でもガスケツト２１は溝２
３の中で圧縮され挿入可能となり、自動機として
は非常に有効である。 As described above, this device has made it possible to insert parts that are easily deformed, such as the gasket 21. At this time, the gasket 21 is deformed into an umbrella shape and held, and the extruded body 10 pushes the gasket 21
The outer part of 1 was pushed out and the inner part was pushed out by the guide 8, and the insertion work was performed in two steps. Therefore, the outer diameter of the groove 23 is smaller than the outer diameter of the gasket 21, and the inner diameter of the groove 23 is smaller than the outer diameter of the gasket 21.
Even if the gasket 21 is larger than the inner diameter of the groove 2
3, it can be compressed and inserted, making it very effective as an automatic machine.
本考案のハンドリング装置により、変形し易
く、吸着し難い部品を確実に把持し、部品の組付
け、挿入等の作業を行なうことが可能となつた。
このため上述の部品の組立て工程の自動化が可能
となりその効果は非常に大きなものである。
The handling device of the present invention makes it possible to reliably grip parts that are easily deformed and difficult to suction, and to perform operations such as assembly and insertion of parts.
Therefore, it is possible to automate the assembly process of the above-mentioned parts, which has a very large effect.
第１図は本考案の一実施例を示す一部切欠図、
第２図および第３図は本考案の一実施例の動作を
示す一部切欠図である。
２……保持体、３……摺動体、７……ばね（第
１の弾性体）、８……案内体、９……ボルト（連
結体）、１０……押し出体、１１……ばね（第２
の弾性体）。
FIG. 1 is a partially cutaway diagram showing an embodiment of the present invention;
FIGS. 2 and 3 are partially cutaway views showing the operation of an embodiment of the present invention. 2... Holding body, 3... Sliding body, 7... Spring (first elastic body), 8... Guide body, 9... Bolt (connecting body), 10... Extruded body, 11... Spring (Second
elastic body).
Claims (1)
と、上記収容部に一部が摺動自在に嵌入され先端
側が開口する２重管部をもつた摺動体と、上記２
重管部内に摺動自在に収納されかつこの２重管部
の外管に向く側に係止部を形成した案内体と、上
記係止部に係合して上記２重管内に摺動自在に収
納された押し出し体と、一端部が上記摺動体を挿
通して上記案内体に結合し他端部が上記保持体に
突没自在に挿通するとともに突出側に停止部を形
成した連結体と、上記収容部に設けられて摺動体
の後端側を付勢する第１の弾性体と、上記２重管
部内に設けられ上記押し出し体を付勢する第２の
弾性体とを備え、上記２重管部の開口側を環状部
品の保持部にしたことを特徴とするハンドリング
装置。 a holding body having a housing part and attached to the transfer mechanism; a sliding body having a double pipe part that is partially slidably fitted into the housing part and having an open end side;
a guide body that is slidably housed in the double pipe section and has a locking part formed on the side facing the outer pipe of the double pipe part; and a guide body that is engaged with the locking part and slidably inside the double pipe and a connecting body having one end inserted through the sliding body and coupled to the guide body, the other end inserted into the holding body so as to be protrusively retractable, and a stop part formed on the protruding side. , a first elastic body provided in the accommodating part to bias the rear end side of the sliding body, and a second elastic body provided in the double pipe part to bias the push-out body, A handling device characterized in that the opening side of the double pipe section is used as a holding section for an annular part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15047482U JPS5955689U (en) | 1982-10-05 | 1982-10-05 | handling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15047482U JPS5955689U (en) | 1982-10-05 | 1982-10-05 | handling equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5955689U JPS5955689U (en) | 1984-04-11 |
| JPS6221423Y2 true JPS6221423Y2 (en) | 1987-05-30 |
Family
ID=30333736
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15047482U Granted JPS5955689U (en) | 1982-10-05 | 1982-10-05 | handling equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5955689U (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7380312B2 (en) * | 2020-02-21 | 2023-11-15 | トヨタ紡織株式会社 | Gasket assembly tool and gasket automatic assembly device |
-
1982
- 1982-10-05 JP JP15047482U patent/JPS5955689U/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5955689U (en) | 1984-04-11 |
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