JPH09150325A - Connection pin inserting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate center deviation while a guide rod is extracted to insert a connection pin, when the guide rod, matched with the axial center of pin- connected connection parts, is extracted from a pin hole. SOLUTION: A guide rod 7 is previously inserted in mutual pin holes 4a, 6a, 5a of connection parts, centering is performed, a tapered part 8 is provided in a tip end of the guide rod 7, when this tapered part 8 is inserted in a drilling hole 3a in an end face of a connection pin 3, a length 8a of a part protruded from the drilling hole 3a is formed smaller than a length of the shortest pin hole 6a of the connection parts. The guide rod 7 inserted in the pin holes 14a, 6a, 5a is extruded by inserting the connection pin 3, the connection pin 3 and the guide rod 7 are moved at the same speed, the connection pin 3 is inserted in the pin hole before the guide rod 7 is drawn out from the pin hole.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for connecting relatively thin connecting parts with a pin, and to a method for smoothly inserting a connecting pin by holding pin holes of the connecting parts at the same axis.

[0002]

2. Description of the Related Art When connecting connecting parts having through holes of substantially the same diameter with a connecting pin, in order to align the through holes with each other, after inserting the guide bar, the guide bar is pulled out and passed through. The connecting pins are inserted through the holes so that the parts can be rotated, and conventionally, such work has been performed almost manually. A guide rod of the same diameter as the pin hole with a tapered part at the tip is previously inserted into the pin hole between the piston and the connecting rod as the one that automatically connects the connecting parts with the connecting pin using an industrial robot etc. However, there is a method in which a component whose pin hole position is displaced is moved by a tapered surface to perform centering and a connecting pin is inserted when the guide rod is pulled out. (For example, JP-A-6
2-152629)

[0003]

However, when inserting the connecting pin after pulling out the guide rod, the guide rod is inserted into a part supported by a jig or the like to correct the pin hole position and align the centers. Even if the guide rod is pulled out to insert the connecting pin, the shaft is likely to return to the position where the shaft center is displaced due to the weight or bending due to the grip of the jig, and the connecting pin is inserted due to vibration or slight impact. There is often a misalignment of the axis. Also, when inserting the connecting pin while pulling out the guide rod with an industrial robot, etc., the guide rod is pulled out and the connecting pin is inserted by different devices. Since the connecting pin is inserted by the other device, it is difficult to match the pull-out speed of the guide rod and the insert speed of the connecting pin, and the tapered portion at the tip of the guide rod is inserted into the pin hole. When the guide rod is pulled out at a high speed, the distance between the end of the guide rod and the insertion end of the connecting pin is large and the guide rod is pulled out quickly. If the gap is further increased and the connecting part is thin and the length of the pin hole is shorter than the above-mentioned interval, before the connecting pin is inserted into the pin hole of the connecting part, the end of the fitting part of the guide rod is inserted from the pin hole. Pulled out Te, fitting between the pin holes and the guide rod is disengaged, there is a possibility that the axis of the connecting parts mutually are centered by the guide rod is displaced. According to the present invention, when the connecting pin is inserted into the pin hole, the guide rod is prevented from coming out of the pin hole to ensure smooth insertion of the connecting pin,
The purpose is to automatically pull out the guide rod by inserting the connecting pin.

[0004]

For this reason, connecting parts having pin holes of substantially the same diameter are arranged at connecting positions, and a guide rod having a tapered portion at one end thereof is inserted into the pin hole. In order to insert the connecting pin from the opposite side with the connecting part sandwiched between them, align the center of the pin holes with each other, and make a drilled hole in the end face of the connecting pin, Is inserted into the perforated hole, the tapered portion comes into contact with the peripheral edge of the perforated hole and the center position is aligned, and in this state, the tapered portion protruding out of the perforated hole is the shortest pin hole of each connecting part. The connecting pin is inserted into the pin hole while keeping the contact state, and the guide rod is pushed by the connecting pin and automatically pulled out at the same speed. Further, by providing a magnet at the tip of the guide rod and attracting the magnet with the connecting pin, the contact state can be surely maintained.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION A guide rod having a tapered portion at its tip is inserted into the pin hole from one side of each connecting part having a pin hole of the same diameter, which is arranged at a connecting position by a robot or the like. In the method of inserting the connecting pin that aligns each other and inserts the connecting pin from the other side with the connecting part sandwiched between them, a drill hole is provided in the center of the end face of the connecting pin, and the tapered portion of the guide rod is When it is inserted into the hole and brought into contact with the peripheral edge of the drill hole, the taper part protruding outside the drill hole is shorter than the length of the shortest pin hole of each connecting part. Insert the tapered part of the guide rod into the drilled hole, insert the connecting pin into the pin hole with the tapered part in contact with the peripheral edge of the drilled hole, and push the guide rod against the connected pin. Automatically pulls at the same speed They are to be pulled out. Therefore, by fitting the drilled hole in the center of the end face of the connecting pin and the tapered portion of the guide rod, the guide rod and the connecting pin are aligned, and the guide rod is pushed by the connecting pin and pushed out at the same speed. The tip of the connecting pin is inserted before the fitting end of the guide rod is pulled out from the pin hole of each connecting part, and the alignment of the pin holes with the guide rod does not shift, ensuring smooth and reliable insertion of the connecting pin, The guide bar is pulled out automatically. When the connecting pin is made of a magnetic material, if a magnet, for example, a ferrite magnet is provided at the tip of the guide rod, the inner surface of the chamfered hole of the connecting pin is attracted and the contact state is reliably maintained.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiment shown in FIG. FIG. 1 is a cross-sectional view showing a state in which the connecting pin 3 is inserted when the lever 2 of the other connecting component is attached to the arm 1 of the one connecting component by the connecting pin 3. 3a is a drilling hole provided in the center of the end face of the connecting pin 3, 3b is a peripheral edge of the opening of the drilling hole 3a, 4 and 5 are supporting portions provided on the arm 1.
a and 5a are pin holes of the supporting portions 4 and 5, 6a is a pin hole of the same diameter as the pin holes 4a and 5b provided in the connecting portion 6 of the lever 2, and 7 is inserted into the pin holes 4a, 6a and 5a. A guide rod, 7a is a tapered base portion of the guide rod, and 8 is a tapered portion which is provided so as to project from the tip of the guide rod and whose apex angle is larger than the angle of the drill hole.

Prior to the insertion of the connecting pin 3, between the supporting portions 4 and 5 of the arm 1 attached to a jig (not shown),
Insert the connecting part 6 of the lever 2 carried by the robot, and use the robot's teaching or sensor to insert the pin hole 6
a is aligned with the positions of the pin holes 4a and 5a of the supporting portions 4 and 5 and stopped. In order to make this positioning accurate, a guide rod 7 having the same diameter as the connecting pin 3 is inserted and pushed up from the pin hole 5a by another robot or the like, and the taper portion 8 provided at the tip of the guide rod 7 causes the pin hole 6a to move. The misalignment is corrected, and the pin hole 4a is further inserted to the position shown in FIG.
When the pin holes 4a, 6a, 5a are coaxially held by the guide rod 7, the guide pin 7 is held so as not to fall from the pin hole, and the connecting pin 3 sent by another robot is guided by the guide rod 7. 7, the tip of the taper portion 8 of the guide rod 7 is inserted into the drilling hole 3a, and the peripheral edge 3 of the drilling hole 3a is inserted.
b is brought into contact with the entire circumference of the tapered portion 8. With the peripheral edge 3b of the milling hole 3a being in contact with the taper portion 8, the length 8a of the taper portion protruding from the milling hole 3a corresponds to the pin hole 4
The inclination of the taper portion 8 is selected so as to be shorter than the shortest pin hole 6a among a, 6a and 5a. Thus, when the connecting pin 3 is pushed down while the peripheral edge 3b of the drilled hole 3a of the connecting pin 3 is in contact with the tapered portion 8 of the guide rod 7, the guide rod 7 is pushed by the connecting pin 3 at the same speed. Before the taper base 7a is pushed down and comes out of the pin hole 4a, the tip of the connecting pin 3 is inserted into the pin hole 4a. The connecting pin 3 inserted into the pin hole 4a is connected to the pin hole 6 of the connecting portion 6.
When it is inserted into a, since the length 8a of the taper portion protruding outside from the drill hole 3a is shorter than the pin hole 6a, it is inserted in the same manner as the pin hole 4a. When the connecting pin 3 is inserted into the pin hole 5a, the guide rod 7 is pulled out from the pin hole 5a. Although the illustrated embodiment describes the case where the connecting pin is inserted from above, the same can be applied to the case where the connecting pin is inserted laterally or from below.

FIG. 2 shows another embodiment of the present invention, in which opposing mounting seats 12 and 13 provided on a support member 11 fixed to a chassis are provided.
In addition, the brake operating arms 14 and 15 are provided with pin holes 12a and 13a provided on the mounting seat and the pin hole 1 of the brake operating arm.
The connecting pin 3 is inserted through the connecting pins 4a and 15a, and the drawing is a side sectional view showing a state in which the connecting pin 3 is inserted halfway. Reference numeral 7 is a guide rod, 8 is a tapered portion of the guide rod, and 3a is a drilling hole provided at the center of the end face of the connecting pin 3.

Prior to the insertion of the connecting pin 3, the pin holes 13a, 15 are provided from one side (the left side in the drawing) as in the above-described embodiment.
The guide rod 7 is inserted through a, 14a, and 12a so that the axial centers of the pin holes are exactly aligned. The connecting pin 3 sent by a robot (not shown) is brought into contact with the insertion end (indicated by the dotted line in the figure) of the guide rod 7 inserted in the pin hole in this way, and the tapered portion 8 is inserted into the drilled hole 3a of the connecting pin. When the tip of is inserted, the connecting pin 3 is held coaxially with the guide rod 7, and the portion 8 of the tapered portion 8 protruding from the drilled hole 3a.
a becomes shorter and becomes smaller than any length of the mounting seats 12, 13 and the pin holes 12a, 13a and 14a, 15a of the brake operating arm. Therefore, with the guide rod 7 and the connecting pin 3 being in contact with each other,
2a, the guide rod 7 is pushed out by the connecting pin 3 and moves to the left at the same speed as the connecting pin 3, and the connecting pin 3 inserts the guide rod 7 into contact with the pin hole 12a.
Is inserted into. In this way, the connecting pin 3 is pushed from the pin 12a to the pin hole 14 with the guide rod pressed and in contact therewith.
Since it is inserted through a, 15a, 13a, even if there is a large gap such as between the pin holes 14a and 15a, the connecting pin 3 and the guide rod 7 are connected to hold the shaft center, and
Even when it is inserted into the pin holes 14a and 15a having a small thickness, the length 8 of the tapered portion between the connecting pin 3 and the guide rod 7 is large.
Since a is smaller than the length of the pin holes 14a and 15a, the guide rod 7 is fitted into the pin holes until the connecting pin 3 is inserted into the ends of the pin holes 14a and 15a.
With the pin holes 14a and 15a maintained in their axial centers, smooth insertion is performed.

FIG. 3 shows an embodiment in which the connecting pin 3 is made of a magnetic material, and a magnet is provided at the tip of the tapered portion 8 of the guide rod 7 to ensure that the contact state is maintained.
2 is a connecting part, 21a, 22a and 23a are pin holes, 3a
Is a drilling hole provided in the center of the end face of the connecting pin 3, and 25 is a magnet, for example, a ferrite magnet, provided at the tip of the tapered portion 8 of the guide rod 7. The magnet 25 may be attached to the tip of the tapered portion 8, or the guide rod 7 may be made of a magnetic material so that the tip of the tapered portion 8 is magnetized.

Prior to the insertion of the connecting pin 3, the guide rod 7 is inserted through the pin holes 21a, 22a and 23a so that the axial centers of the pin holes are exactly aligned, as in the above-described embodiment. When the connecting pin 3 is carried in by a robot (not shown) and the tapered portion 8 of the guide rod 7 is fitted into the drilled hole 3a at the tip, the guide rod 7 and the connecting pin 3 are aligned with each other and the magnet 25 is moved. The connecting pin 3 is suction-held.
When the connecting pin 3 is pushed by the movement of the robot arm, the guide rod 7 is pushed and moved with the connecting pin 3 attracted by the magnet 25 and surely in contact with it, and the tip portion of the connecting pin 3 is inserted into the pin hole 23a. To be done. At this time, the guide rod 7 is in a state where it does not come out of the pin hole 23a, there is no misalignment between the connecting pin 3 and the pin hole 23a, and the insertion is performed smoothly. Pinhole 2 at speed
It is extracted from 3a. Similarly, the connecting pin 3 is pushed into the pin holes 22a and 21a one after another, and the guide rod 7 is automatically pushed out at the same speed as the connecting pin 3. Further, by attracting the connecting pin 3 with the magnet 25 of the guide rod 7, it is possible to prevent the connecting pin 3 from coming off without holding the guide rod 7 separately when the connecting pin 3 is inserted from above as shown in FIG.

FIG. 4 shows an example of a guide rod holding device. 3 is a connecting pin, 7 is a guide rod, 31 is a robot arm, 32 is a robot arm 31, and the guide rod 7 is sandwiched by support claws from both sides. , 33, 34 are connecting parts, and 32a, 33a, 34a are pin holes of the connecting parts.

The guide rod 7 held by the pinch 32 of the robot arm 31 is connected to the pin holes 32a of the connecting parts 33 and 34,
33a and 34a are inserted, the connecting pin 3 is supported by another robot (not shown), and the tapered portion 8 of the guide rod 7 is inserted into the drilled hole and brought into contact therewith. After the connecting pins 3 are brought into contact with each other, the gripping force of the clip tool 32 is loosened, and the guide rod 7 is held so that it can slide in the clip tool 32. Connecting pin 3
When the robot arm supporting the connecting pin moves in order to insert the guide pin 7 into the pin hole 33a, the guide rod 7 is pushed and slides in the clip 32, and is pushed out at the same speed while being in contact with the connecting pin 3. Therefore, it is possible to prevent the guide rod 7 from dropping even if it comes out of the pin hole 32a after the connection of the connecting pin 3 is completed.

FIG. 5 shows an example of a device for automating the insertion of the connecting pin. A movable table 52 which is moved by an actuator 51 is provided on a base table 50, and the movable table 52 is provided with a slide shaft 53. Reference numeral 54 denotes a pin support base fixed to an appropriate position of the slide shaft 53, which is provided with support claws 56, 56 which are opened and closed by an opening and closing cylinder 55, and which separately holds the connecting pin 3 supplied from the robot. Reference numeral 57 denotes a pin abutment that contacts the head of the connecting pin, and an elastic body such as rubber or a coil spring or a leaf spring is used to absorb the impact applied to the connecting pin. Reference numeral 58 is a guide rod support, to which a guide rod 7 of a required size is attached, and an actuator 59 is used to slide the slide shaft 53.
Move along. Reference numeral 60 denotes a connecting component supported by a jig or a robot, which has a pin hole 61.

The connecting part 6 is connected by a supply robot (not shown).
When 0 is carried in, the actuator 59 moves the guide rod support base 58 along the slide shaft 53, the guide rod 7 is inserted into the pin hole 61 of the connecting component 60, and the connecting component 6 is inserted.
Align the pin holes 61 of each other on the same axis. During or before the insertion of the guide rod 7, the connecting pin 3 is supplied by another robot or the like, and is held coaxially with the guide rod 7 by the support claws 56, and is inserted through the pin hole 61. The tip of the guide rod 7 is a drilled hole 3a on the end face of the connecting pin 3.
Is inserted and contacted. The head of the connecting pin 3 is held in contact with the pin contact 57. Thus, when the guide rod 7 is inserted into the pin hole 61 of the connecting component 60 and comes into contact with the connecting pin 3, the actuator 59 is stopped, and the actuator 51 moves the movable table 52 in the axial direction. By this movement, the connecting pin 3 moves together with the guide rod 7 at the same speed, and the connecting pin 3 is inserted into the pin hole 61 of the connecting component 60. Before the support claw 56 hits the connecting component 60, the support claw 5
6 and 56 are opened and removed from the connecting pin 3, and the connecting pin 3 is completely inserted.

[0016]

As described above, according to the present invention, the tip of the guide rod is inserted into the perforation hole provided on the end face of the connecting pin, comes into contact with the peripheral edge of the perforation hole, and comes out of the perforation hole. The taper part has a taper part that is shorter than the length of the shortest pin hole of each connecting part, and inserts the connecting pin into the hole and presses the guide bar taper part, and presses the taper part to the edge of the hole. The connecting pin is inserted into the pin hole with the contact state kept, and the guide rod is pushed by the connecting pin and automatically pulled out at the same speed, so even if the pin hole of each connecting part is short. , When the connecting pin is inserted,
A guide rod is inserted into the pin hole and held in a state of being aligned with a predetermined axis, and the connecting pin is inserted into the pin hole before the guide rod is pulled out from the pin hole, and the connecting rod is connected. It is possible to prevent the axial center position from shifting due to the weight or vibration of the connecting component before the pin is inserted, and to smoothly insert the connecting pin. Further, by providing a magnet at the tip of the tapered portion of the guide rod, contact holding can be ensured when the connecting pin is a magnetic body.

[Brief description of the drawings]

FIG. 1 is a side sectional view of an embodiment showing a state in which a connecting pin is inserted according to the present invention.

FIG. 2 is a side sectional view of another embodiment showing a state in which a connecting pin is inserted according to the present invention.

FIG. 3 is a side sectional view showing another embodiment.

FIG. 4 is a side sectional view showing an example of a guide rod holding device.

FIG. 5 is a side view showing an example of an insertion device according to the present invention.

[Explanation of symbols]

 1 arm 2 lever 3 connection pin 3a drilling hole 3b peripheral edge 4, 5 support part 6 connection parts 4a, 5a, 6a pin hole 7 guide rod 7a taper base 8 taper part 11 support parts 12, 13 mounting seats 14, 15 brake operation Arms 12a, 13a, 14a, 15a Pin holes 21, 22 Connecting parts 21a, 22a, 23a Pin holes 25 Magnets 31 Robot arms 32 Clamps 33, 34 Connecting parts 32a, 33a, 34a Pin holes 50 Base 51 Activator 52 Mobile stand 53 slide shaft 54 pin support base 55 opening / closing cylinder 56 support claw 57 pin contact 58 guide rod support base 59 actuator 60 connecting part 61 pin hole

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Toshio Nishi Nishi, 315, Ujisou Ino, Naka-shi, Fukuoka, Fukuoka Prefecture 2 At Yaskawa Koki Giken Co., Ltd. No. 4 Tokai Passenger Railway Co., Ltd. (72) Inventor Masaki Mizutani 1-4-1, Mei Station, Nakamura-ku, Aichi Prefecture Nagoya Tokai Passenger Railway Co., Ltd.

Claims (2)

[Claims] 1. A connecting rod having pin holes of the same diameter is arranged at a connecting position, and a guide bar having a tapered portion at one end thereof is inserted into the pin hole to align the pin holes with each other. In the insertion method of the connecting pin such that the connecting pin is inserted from the opposite side across the connecting parts, a drill hole is provided on the end face of the connecting pin, and the tapered portion of the guide rod is inserted into the drill hole. When making contact with the periphery of the drill hole, the taper part protruding out of the drill hole should be shorter than the length of the shortest pin hole of each connecting part.
Insert the tapered part of the guide rod into the drilled hole of the connecting pin and press it, and insert the connecting pin into the pin hole with the tapered part in contact with the peripheral edge of the drilled hole. A connecting pin inserting method, characterized in that the connecting pin is pushed and automatically pulled out at the same speed. 2. The connecting pin inserting method according to claim 1, wherein a magnet is provided at the tip of the tapered portion of the guide rod, and the inserting pin made of a magnetic material is attracted to maintain the contact state.