Posture maintenance device

Abstract

When positioning the workpiece is difficult, a function is needed to make the tool conform to the workpiece. [Solution] This device combines floating and centering functions by providing a floating function in which two sets of inclined shafts, each with a double, annular shape and inner and outer sections, are positioned parallel to a reference part and intersect at a right angle at the center, and a centering function in which compression springs are positioned to always apply an even load between the reference part and each inclined part.

Description

Technical Field

[0001] The present invention relates to an attitude maintenance device that simultaneously has a free floating function and a centering function in order to perform operations corresponding to variations in the shape of a target product.

Background Art

[0002] Conventionally, in the processing and assembly operations of products with large differences in geometric shapes and dimensional shapes and no defined reference, positioning and alignment are difficult, and the operations are performed using tools depending on manual work.

[0003] In manual work, it is possible to follow the shape using the sense of touch of the hand from the roughly visible information, and a person makes fine adjustments to the position to perform the work.

[0004] As prior art, there are those that create a state without load using a free floating mechanism that makes the tool follow the product or jig, and then switch to a centering mechanism for positioning, or those that can perform operations in the reverse procedure.

[0005] That is, in the prior art, it becomes either a free floating or a centering state, and it is necessary to switch according to the situation.

Prior Art Documents

Patent Documents

[0006] [[ID=3—5]]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

[0007] By maintaining a state of free-floating (floating) and constant centering during processing and assembly operations, tasks requiring the tool to conform to the product can be easily automated. [Means for solving the problem]

[0008] This device, equipped with a function to maintain its posture by constantly centering itself in the middle of its operating range while in a free-floating state, can follow the product's external shape even when external load fluctuations occur during operation, enabling stable operation. [Effects of the Invention]

[0009] By attaching a hand or tool with a guide roller to the tip of a posture-maintaining device that has a function to center itself in the middle of its range of motion while in a free-floating state, it becomes possible to align the device with the outer edge shape of products where geometric differences and dimensional accuracy differences are large and a reference point cannot be established. [Brief explanation of the drawing]

[0010] [Figure 1] Cross-sectional view (plan view) of the tilting mechanism structure. [Figure 2] Plan view of the tool mounting section (plan view) [Figure 3] Longitudinal section (side view) of the primary inclined structure [Figure 4] Longitudinal section (side view) of the secondary inclined structure [Figure 5] Diagram showing the state of the primary tilt range (overall view) [Figure 6] State diagram of the secondary tilt operation range (overall view)

Mode for Carrying Out the Invention

[0011] An embodiment of the present invention will be described based on the accompanying drawings.

[0012] A posture maintaining device composed of a reference component (1) having an annular plate shape, a primary tilt component (2), a secondary tilt component (3), a primary tilt axis (4) for tilting the primary tilt component (2), and a secondary tilt axis (5) for tilting the secondary tilt component (3).

[0013] Furthermore, the primary tilt component (2) and the secondary tilt component (3) are arranged in a double annular arrangement on the same plane where the reference component (1) is parallel, with the primary tilt component (2) on the outside and the secondary tilt component (3) on the inside.

[0014] Furthermore, the primary tilt axis (4) causes the primary tilt component (2) to swing by tilting the surface with respect to the reference component (1) from the center of the annulus.

[0015] The secondary tilt axis (5) causes the secondary tilt component (3) to swing by tilting the surface with respect to the primary tilt component (2) from the center of the annulus.

[0016] Furthermore, the primary tilt axis (4) and the secondary tilt axis (5) are arranged as pins that support both ends divided into two parts for the purpose of providing a space at the center of the reference component (1), the primary tilt component (2), and the secondary tilt surface.

[0017] Furthermore, the primary tilt axis (4) and the secondary tilt axis (5) form a floating mechanism (floating) that swings with a tilt reference point (6) at a point that intersects at right angles at the center of the annulus and is at an equal distance from the surface to be tilted.

[0018] Furthermore, the device is provided with a plurality of compression springs (7) between the reference surface component (1) and the primary inclined surface component (2), and between the reference surface component (1) and the secondary inclined surface component (3), which brace the surfaces together to maintain a parallel orientation.

[0019] Furthermore, the compression springs (7) are arranged radially around the inclination reference point (6) at symmetrical positions, with equal loads on the primary and secondary inclined surfaces, so that the loads are balanced and the surfaces are braced.

[0020] The repulsive force generated when the compression spring (7) compresses causes the secondary inclined surface component (3) and the primary inclined surface component (2) to move toward becoming parallel, making it possible to center them in a floating state.

[0021] Furthermore, it possesses a centering function that attempts to maintain a neutral posture, allowing it to constantly maintain a neutral position while floating.

[0022] Furthermore, at the same location where the compression spring (7) is installed, a plurality of pneumatic linear motion devices (8) are provided, which apply load from the side of the reference surface component (1) to the primary inclined surface component (2) and the secondary inclined surface component (3) at radially symmetrical positions, thereby creating tension.

[0023] Furthermore, by using an air pressure control device that controls the air pressure supplied to the pneumatic linear motion device (8) in an electro-pneumatic proportional manner, control is performed in accordance with the applied load, thereby enabling response to external load fluctuations during operation.

[0024] When a hand or tool is attached to the secondary inclined surface component (3) of the posture maintenance device of the present invention, at a position centered on the inclination reference point (6), and brought into contact with the workpiece, the applied external force is transmitted to the secondary inclined surface component (3), causing it to tilt around the inclination reference point (6). However, a force acts to return the posture to the centering direction.

[0025] A posture-maintaining device that can flexibly adapt to the shape of the product while performing assembly or processing work using hands or tools. [Examples]

[0026] When performing chamfering or deburring on the outer edges of workpieces with large geometric shapes or dimensional tolerances, such as melted or cut parts, a machining spindle device equipped with a machining cutting tool is attached to the tip of the secondary inclined surface part (3) of the posture maintenance device of the present invention.

[0027] Furthermore, a guide wheel (guide roller) is attached to the tip of the machining spindle to maintain a constant distance between the end of the workpiece and the machining tool.

[0028] The outer shape of the workpiece is followed by the guide rollers, and the attitude maintenance device tilts the machining spindle from the tilt reference point (6), allowing it to move in accordance with the end face shape of the workpiece.

[0029] The machining shape applied to the outer edges of the workpiece is stable, and deburring and chamfering of the edges can be reliably performed. [Industrial applicability]

[0030] By attaching the posture-maintaining device of the present invention to a device that grips an object to be assembled in a robot or assembly equipment, it becomes possible to automate flexible manual tasks that are currently performed by humans. [Explanation of Symbols]

[0031] 1. Reference surface component 2 Primary Inclined Surface Component 3. Secondary Inclined Surface Parts 4 Primary tilt axis 5 Secondary tilt axis 6 Slope reference point 7. Compression spring 8. Pneumatic direct-acting device

Claims

1. It consists of an annular-shaped reference surface component, a primary inclined surface component, a secondary inclined surface component, a primary inclined axis that connects and moves the reference surface component and the primary inclined surface component, and a secondary inclined axis that connects and moves the primary inclined surface component and the secondary inclined surface component. Furthermore, the reference surface component and the primary inclined surface component have a common central axis and are annular in shape, and the reference surface component and the primary inclined surface component are pivotally supported by the primary inclination axis extending in the radial direction of the annular shape. Furthermore, the primary inclined surface component and the secondary inclined surface component have a common central axis and are annular in shape, and the primary inclined surface component and the secondary inclined surface component are pivotally supported by the secondary inclination axis extending in the radial direction of the annular shape. Furthermore, when the primary inclined surface component is not inclined with respect to the reference surface component using the primary inclination axis, the reference surface component and the primary inclined surface component are in a parallel position, and the central axis of the annular shape of the reference surface component and the central axis of the annular shape of the primary inclined surface component are aligned in a straight line. Furthermore, when the secondary inclined surface component is not inclined relative to the primary inclined surface component using the secondary inclined axis, the primary inclined surface component and the secondary inclined surface component become parallel, and the central axis of the annular shape of the primary inclined surface component and the central axis of the annular shape of the secondary inclined surface component become aligned in a straight line. Furthermore, the primary inclined surface component and the secondary inclined surface component are characterized by a double annular arrangement on the same plane, with an outer and inner section. Furthermore, the primary inclination axis and the secondary inclination axis intersect at a right angle, and the point where they intersect at a right angle with the central axis of the annular shape of the primary inclined surface component and the secondary inclined surface component becomes the inclination reference point, providing a floating function that causes the primary inclined surface component and the secondary inclined surface component to swing relative to the reference surface component. Furthermore, the posture maintenance device also includes the function of symmetrically arranging compression springs with the same spring specifications between the reference surface component and the primary inclined surface component, and between the reference surface component and the secondary inclined surface component, at positions on the circumference centered on the inclination reference point, so that they are in a state of equilibrium with equal loads, and the primary inclined surface component and the secondary inclined surface component maintain a neutral position parallel to the reference surface component.

2. Furthermore, in order to increase the load required to maintain a neutral position and to make the load variable, a pneumatic linear motion device is added to the position where the compression spring is located. Furthermore, the posture maintenance device according to claim 1, wherein the air pressure supplied to the pneumatic linear motion device is controlled by a pressure control device, and the device is capable of following fluctuations in the load applied from the outside.

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