JPH01121193A - Aligner - Google Patents

Abstract

PURPOSE: To always securely insert an inserting member into an engaging part by disposing a compliance mechanism between a mounting main body at the top end of a transfer body and a holding device mounting body. CONSTITUTION: A mounting main body 40 is installed at the top end of a transfer body (robot arm) 10. A compliance mechanism 34 having a compliance for a deviation in a surface perpendicular to the center shaft of an inserting member (pin) 22 and a compliance for a deviation by an inclination relative to the center shaft of the inserting member 22 is disposed between the mounting main body 40 and a holding device mounting body (hand body) 16. As a result, even when the inserting member 22 held by a holding device 20 and an engaging part (engaging hole) 28 of a member to be engaged (substrate) 30 are deviated from each other so that they form a specified angle, the inserting member 22 is aligned correctly with the engaging part 28 by the action of the compliance mechanism 34 to allow insertion.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is directed to, for example, an automatic assembly device that automatically performs alignment with respect to a fitting hole when fitting a member into the fitting hole. Regarding the centering device that can be used.

[Prior Art] Generally, in an automatic assembly device, in order to insert a member into a predetermined fitting hole, the member and the fitting hole must be aligned with each other, in other words, their central axes must be aligned with each other. It is necessary to perform centering so that they are located on the same straight line.

In order to align the member and the fitting hole with each other in this way, a compliance mechanism has conventionally been employed as shown in FIGS. 9A to 9C. In this compliance mechanism, the pin a can be reliably fitted into the fitting hole C formed in the member to be attached, even if the center axes of the pins are slightly shifted from each other.

Here, in the conventional compliance mechanism, as shown in the figure, a bottle a is pushed through an insertion hole e formed in a holder d, and is sucked by a suction pipe f connected to a vacuum pump (not shown). and is held in the holder d.

This holder d is fixed to a movable plate g. Two elastic leaf springs h are fixed to the movable plate g via a presser plate i and a screw j so as to be parallel to each other.

Further, an intermediate plate k is fixed to the other end of the leaf spring h described above with a presser plate and a screw j. Further, on this intermediate plate k, two other mutually parallel leaf springs m extend along the direction orthogonal to the two leaf springs h mentioned above, and hold the presser plate n and the screw j. It is fixed through.

At the other ends of these other two leaf springs m, there is a mounting base O.
is fixed by a presser plate n and a screw j, and furthermore, this mounting base 0 is fixed to an arm q by a screw p. Here, arm q is attached to a movable arm (not shown) of a robot or the like in an automatic assembly device.

In the conventional compliance mechanism configured in this way, the movable plate g is in a state where it is easy to move along the left-right direction (X-axis direction) in FIG. 9A due to the deflection of the leaf spring h, and the intermediate plate Due to the deflection of the leaf spring m, the holder d, which is fixed to the movable plate g, is moved along the direction perpendicular to the plane of the paper (y@ force direction). x-y plane)
You will be able to move in each direction within the space.

Here, such a compliance mechanism is attached to a robot hand of an automatic assembly device, and a holder d
The robot hand moves the pin a, which has been suctioned and held, to a predetermined position, and operates to fit it into the fitting hole C formed in the member to be attached. Here, if the center axis of the pin a to be fitted and the center axis of the fitting hole C to be fitted are slightly misaligned, as shown in Fig. 9B, the opening of the fitting hole C The lower edge of the pin a comes into contact with the chamfered portion r, which is a chamfered edge.

As the robot arm q further descends from this contact state, the downward force exerted by the robot arm q is
A component force is applied at the contact portion between the lower edge of the pin a and the chamfered portion r, and a component force in the lateral direction in the figure acts on the pin a.

As a result, the movable plate g is deflected laterally while remaining parallel to the intermediate plate, and in this way, the pin a is displaced from the 9th C while remaining parallel to the initial position. As shown in the figure, it will be fitted into the fitting hole C.

[Problems to be Solved by the Invention] However, although conventional compliance mechanisms can perform alignment operations with a simple configuration, they have the following problems. It is.

In other words, in this conventional alignment device, if the center axis of pin a and the center axis of fitting hole C are parallel to each other but are simply shifted in the horizontal direction, compliance is reliably achieved. After absorbing this deviation, it is possible to allow the pin a to fit into the fitting hole C. However, if the center axis of the pin a and the center axis of the fitting hole C are misaligned to form a predetermined angle, this conventional alignment device cannot handle the situation, and the holder d may be destroyed. Otherwise, the insertion operation may stop midway.

This invention has been made in view of the above-mentioned problems, and an object of the invention is to securely connect the fitting member even when the fitting member and the fitting part are deviated from each other so as to form a predetermined angle. An object of the present invention is to provide an alignment device having compliance that allows it to be fitted into a fitting part.

[Means for Solving the Problems] In order to solve the above-mentioned problems and achieve the purpose, the alignment device according to the first aspect of the present invention holds the fitting member at the distal end of the transfer body via a holder. By moving the transfer body, when fitting the fitting member into the fitting portion of the fitting member, the center axis of the fitting member and the center axis of the fitting portion are aligned with each other. In the alignment device for the purpose of It is characterized by having a compliance mechanism that has compliance against deviation in a plane perpendicular to the central axis of the fitting member and compliance against deviation in the inclination of the fitting member with respect to the central axis.

Further, the alignment device according to the second aspect of the present invention holds the fitting member at the tip of the transfer body via a holder and moves the transfer body to place the fitting member in the fitting portion of the member to be fitted. In an alignment device for aligning the center axis of the fitting member and the center axis of the fitting part so that they align with each other when fitting, the mounting body is attached to the distal end of the transfer body; A holder mount to which the tool is attached, and a holder installed between these mount bodies and the holder mount to ensure compliance against misalignment in a plane orthogonal to the central axis of the fitting member, and to maintain compliance around the central axis of the fitting member. The present invention is characterized by having a compliance mechanism that has compliance with respect to deviations in the rotational direction and compliance with deviations in inclination of the fitting member with respect to the central axis.

[Function] In the alignment device configured as described above, the compliance mechanism provided therein has at least compliance against misalignment in a plane perpendicular to the central axis of the fitted member and compliance with respect to the central axis of the fitted member. Since it has compliance with respect to deviations in inclination, even if the fitting member and the fitting part deviate so as to form a predetermined angle, the fitting member and the fitting part can reliably maintain compliance in an aligned state. will be possible.

[Embodiment 1] Below, the structure of an embodiment of the alignment device according to the present invention will be described in detail with reference to FIGS. 1 to 4B of the accompanying drawings.

FIG. 1 shows a state in which a hand portion 14 is attached to the tip of a robot arm 10 constituting a part of an automatic assembly device via an alignment device 12 of this embodiment. The robot arm 10 is driven by a drive mechanism (not shown) to move freely along the left-right direction (X-axis direction) in the drawing, the CyX-axis direction perpendicular to the plane of the paper, and the vertical direction (X-axis direction). It is.

On the other hand, the hand section 14 includes a disc-shaped hand main body 16 and a holder 2o fixed to the lower surface of the hand main body 16 via a bolt 18.

The lower part of this holder 20 extends along the vertical direction,
An insertion hole 24 is formed at the lower surface and is opened into which a bottle 22 serving as a fitting member is inserted.

Here, a suction pipe 26 connected to a suction pump (not shown) is connected to the upper part of this insertion hole 24 so as to communicate therewith. By driving this suction pump, the inside of the insertion hole 24 is maintained in a negative pressure state, and the pin 22 is suctioned and held within the insertion hole 24 by this negative pressure.

2. Further, a fitting hole 28 into which the pin 22 is fitted is formed in the substrate 3o as a member to be fitted. This board 30
is mounted horizontally on a base (not shown),
In this state, the fitting hole 28 is set to extend in the vertical direction. Incidentally, a tapered surface 32 having a predetermined inclination with respect to a horizontal plane is formed on the upper end edge of the fitting hole 28 in order to facilitate fitting of the bottle 22.

Here, the alignment device 12 of the above-described embodiment includes a compliance mechanism 34 disposed so as to have a central axis coaxial with the central axis of the robot arm 10. This alignment device 12 includes a disk-shaped mounting body 4o fixed to the lower end of the robot arm 10 via a bolt 36.

Here, in the above-described compliance mechanism 34, in a normal state, when no external force is acting on the holder 20, the central axis of the robot arm 10 and the central axis of the holder 20 are perpendicular to each other. When an external force is applied to the holder 20 in the horizontal plane, the retainer 20 is deflected softly in the horizontal plane within a predetermined range in response to the external force, and with respect to the vertical axis. It is designed to allow for gentle tilting.

The configuration of the compliance mechanism 34 that characterizes this embodiment will be explained below.

That is, this compliance mechanism 34 includes a first unit formed integrally with the lower surface of the mounting body 40 fixed to the lower end of the robot arm 10 so as to be coaxial with the central axis of the robot arm 10 and protrude downward. It includes a shaft member 34a. On the other hand, a holder 20 is provided on the upper surface of the hand body 16.
A second shaft member 34b is fixed via a bolt 38 so as to be set coaxially with the central axis of and protrude upward. The mutually opposing ends of these first and second shaft members 34a and 34b are opposed to each other so as to be spaced apart by a predetermined distance.

As will be described later, a piston member 38 is provided on the lower surface of the first shaft member 34a so as to protrude downward.
A hanging member 34c is attached to the lower end of b.

An outer flange portion 34d is provided at the lower end of the suspension member 34c.
are integrally formed. On the other hand, the hand body 16 includes
Stepped through hole 3 into which this hanging member 34c is fitted in a complementary manner
4f is formed. As shown in the figure, there is a coil between the step part of the second shaft part 34b that defines the upper surface part in the middle part of the stepped through hole 34f and the outer flange part 34d of the suspension member 34c. A spring 34g is interposed. The coil spring 34g is provided to elastically support the second shaft portion 34b on the first shaft member 34a via the outer flange portion 34d and the suspension member 34c.

In this way, the hand body 16 to which the second shaft portion 34b is fixed is directly connected to the mounting body 40 to which the first shaft portion 34a is attached in an elastically suspended state. become. In this suspended state, the hand main body 16 is allowed to swing about the central axis with respect to the mounting main body 40, that is, to tilt with respect to the central axis.

Further, this compliance mechanism 34 includes first and second
A plurality of support bins 34e are arranged so as to simultaneously surround the opposite ends of the shaft members 34a and 34b.
It is equipped with Here, the first and second shaft members 34a,
The diameters of the support pins 34b and each support pin 34e are set to the same value.

The set number of support bins 34d is set to 6, and these 6 support bins 34e are connected to the first and second support bins 34e.
The shaft members 34a and 34b are arranged so as to simultaneously surround the opposing ends of the shaft members 34a and 34b without any gaps.

Furthermore, annular cut grooves 34h are formed at both upper and lower ends of each support bin 34d, respectively. As shown in FIG. 2, these support pins 34e are connected to both shaft members 34a.
, 34b, these support pins 3
These support pins 34e are attached to the first and second shaft members 34 in each groove 34h so as to surround the first and second shaft members 4e.
A ring-shaped biasing member 34i is housed in each of the ring-shaped biasing members 34i, which biases the circumferential surfaces of the opposing ends of the caps 34a and 34b so as to come into elastic pressure contact with each other. In this embodiment, the biasing member 34i is formed from a finely wound ring-shaped coil spring.

On the other hand, as shown in FIG. 1, both upper and lower end surfaces of each support pin 34e are rounded to allow the hand body 16 to swing about the central axis relative to the mounting body 40. Further, both upper and lower ends of each support pin 34e are provided with ball bearings 34j, respectively.

34k, it is rotatably engaged with the lower surface of the attachment main body 34 and the upper surface of the hand main body 16.

Furthermore, as shown in FIG. 1, this alignment device 12 includes:
When the robot arm 10 moves laterally at high speed, its inertia causes the second shaft member 34b to move against the first shaft member 34a.
A locking mechanism 38 is provided to prevent lateral deflection. This locking mechanism 38 includes a cylinder chamber 38a extending along the central axis within the first shaft member 34a.

A piston member 38b is housed within the cylinder chamber 38a so as to be movable back and forth along the central axis. Here, this piston member 38b is biased downward by a coil spring 38c, and due to the biasing force of this coil spring 38c, a stepped portion 38d integrally formed at the upper end of this piston member 38b is pushed into the cylinder chamber 38a. The unlocked position of the piston member is defined at the position where the piston member comes into contact with the lower surface of the piston member and stops.

Further, a tapered surface 38e whose diameter increases downwardly is formed at the stepped portion of the second shaft member 34b that the upper end of the above-mentioned coil spring 34g comes into contact with. A tapered surface 38f that engages with the tapered surface 38e in a lifted state is formed at the edge of the outer flange portion 34d facing the surface 38e.

Here, the piston member 3 of the cylinder chamber 38a mentioned above
A connecting pipe 38g connected to a pressurizing pump mechanism (not shown) is connected to the lower part of the step 8b than the step 38d.

Then, compressed air (pressurized air) is generated from this pressurization pump mechanism.
is introduced into the cylinder chamber 38a via the connecting pipe 38g, the piston member 38b is pushed upward from the unlocked position against the biasing force of the coil spring 38c, and biased to the locked position. .

In this locked position, the tapered surface 38f formed on the outer flange portion 38d of the piston member 38b comes into contact with the tapered surface 38e formed on the second shaft member 34b. In this way, by activating the lock mechanism 38, the first and second shaft members 34a, 3
4b are locked to each other in the lateral direction and move laterally as a unit.

When the hand portion 14 is attached to the tip of the robot arm 10 via the alignment device 12 having the compliance mechanism 34 configured as described above, the substrate 3
The fitting operation of fitting one pin 22 into one wooden fitting hole 28 formed at 0 will be described below.

First, with the pin 22 held by the holder 20 under suction, the robot arm 10 is controlled to move by a control mechanism (not shown) so as to fit the pin 22 into the fitting hole 28 formed in the substrate 30.

That is, in this control mechanism, x of the fitting hole 28 is set in advance.
- Position information on the y plane and the robot arm 10
The three-dimensional position of the bottle 22, that is, the position information of the bin 22 to be inserted is input, and the movement of the robot arm 10 is controlled by the control operation of the control mechanism based on this position information.

Here, this position information is accurate, the robot arm 10 is moved and driven according to the control contents of the control mechanism, and
When the fitting hole 28 is positioned according to the set value, the bottle 22 is moved directly above the fitting hole 28 and then vertically lowered, so that the bottle 22 is properly fitted. It will fit into the matching hole 28.

However, the positioning of the fitting hole 28 is not accurate, and
- If there is a slight deviation from the set value in the y plane, or if the position of the robot arm 10 is slightly deviation from the posture specified by the control mechanism due to an error in the drive system, such as backlash in the gear, , so-called deviation occurs.

Here, in this embodiment, the robot arm 10
On the side, although the setting is accurate, the fitting hole 2
8 is formed diagonally shifted. In such a case, the lower edge of the bottle 22 that has been vertically lowered by the lowering of the robot arm 10 will be aligned with the tapered surface of the fitting hole 28, as shown in FIGS. 1 and 3. 32. Then, as the robot arm 10 further descends, the lower edge of the bin 22 becomes
A component force F directed in the horizontal direction is received along the tapered surface 32.

Here, as the bottle 22 receives such a horizontal component force F, this component force F is applied to each second second part of the compliance mechanism 34 via the holder 20 and the hand body 16.
This will act on the shaft member 34b. Therefore, when this component force F is not acting, as shown in FIG. 4A, the pair of upper and lower biasing members 34i elastically force the first and second shaft members 34a; 34b to be perpendicular to each other. As shown in FIG. 4B, from the axially aligned state, the support pins 34e tilt obliquely against the biasing force of the biasing members 34i, so that the second shaft member 34b becomes horizontal. It will move in the opposite direction.

Further, in this compliance mechanism 34, the first
The second shaft members 34a and 34b are set to be relatively swingable around their central axes, and as a result, from the fitting hole 28 and the central axis (Z axis) of the bottle 22 With respect to the inclination (α), the second shaft member 34b is once soft with compliance and can be tilted with respect to the first shaft member 34a. In this way, in this compliance mechanism 34, the inclination (displacement) of the fitting hole 28 and the bottle 22 from the central axis is well absorbed, and the bottle 22 is reliably fitted into the fitting hole 28. become.

In this way, the oblique misalignment between the bin 22 and the fitting hole 28 is elastically absorbed by the misalignment and inclination of the first and second shaft members 34a and 34b in the compliance mechanism 34, and the bin 22 is fitted The axes are aligned with each other in the hole 28, and as the robot arm 10 is lowered, the bottle 22 is properly fitted into the fitting hole 28.

After the operation of fitting the pin 22 into the fitting hole 28 is completed, the drive of the suction pump (not shown) is stopped, and when the robot arm 10 is driven upward, the holding state of the pin 22 in the holder 20 is released. , the hand part 14 is connected to the pin 22
When released, it will rise independently. Then, when the pin 22 is completely separated from the holder 20, the above-mentioned component force F no longer acts on the holder 20. As a result, the component force acting on the second shaft member 34b in the compliance mechanism 34 is eliminated, and the second shaft member 34b is 4B
The biased state shown in the figure is successfully returned to the aligned state shown in FIG. 4A.

In this way, the alignment operation in the alignment device 12, in other words, the elastic deflection/return operation in the compliance mechanism 34 is completed.

As described in detail above, the alignment device 12 in one embodiment
In addition to the deviations in the X-axis and y-axis directions, there is a deviation in response to the tilt (α) with respect to the Z-axis with compliance, and the component force based on these deviations is released. It is possible to reliably restore the original, consistent state.

It goes without saying that this invention is not limited to the configuration of the one embodiment described above, and can be modified in various ways without departing from the gist of the invention.

In the following description, parts that are the same as those in the embodiment described above are given the same reference numerals, and the description thereof will be omitted.

For example, in the above-described embodiment, the pin 22 is held in the insertion hole 24 formed in the holder 22 under vacuum suction, but the pin 22 is not limited to this, and a magnet may be used. It may be a magnetic attraction mechanism, or it may be a mechanical locking mechanism using mechanical fingers.

Further, in the compliance mechanism 34 of the above-described embodiment, a ring-shaped coil spring is used as the biasing member 34i, but the structure is not limited to this, and FIG. As shown as a modification example, a ring-shaped elastic rubber band 34p may be used. In this case, compared to the case where a ring-shaped coil spring is used, each support pin 34c has a cut groove 34.
There is no longer a need to form h.

Furthermore, as shown in FIG. 5B as a second modification, by widening the width of this ring-shaped elastic rubber band 34p, it is possible to get away with one elastic rubber band 34q instead of a pair of upper and lower elastic bands. Become.

Here, in the above-mentioned embodiment, the substrate 30 includes:
The description has been made of the case of a single shaft in which a one-piece wooden fitting hole 28 is formed, a one-piece wooden pin 22 is inserted and held in the holder 20, and this pin 22 is inserted into the fitting hole 28. The present invention is applicable not only to such a uniaxial fitting operation, but also to two fitting holes 28 formed in a substrate 30, as shown in FIGS. 6 and 7 as another embodiment. Furthermore, it can also be applied to a two-shaft case in which two pins 22 inserted and held in the holder 20 are fitted.

That is, in the above-mentioned embodiment, in the case of such two axes, two wooden pins 22 are used as shown in FIG. 8A.
If the line segment 112 connecting the centers of the fitting holes 28 of the two pieces deviates from each other while remaining parallel to each other, as in the prior art, The displacement amount ΔX along the y-axis direction and the displacement amount Δy along the y-axis direction have similar values at the contact portions between the respective pins 22 and the tapered surface 32 of the fitting hole 28, and the robot arm 1 of the hand body 16
This can be handled reliably without any rotation relative to zero.

On the other hand, as shown in FIG. 8B, a line segment Il connecting the centers of the two pins 22 and a line segment C2 connecting the centers of the two fitting holes 28 have a predetermined angle Δθ. If the deviations cross each other, the amount of deviation ΔX along the X-axis direction and the amount of deviation Δy along the y-axis direction are
At the contact part with the tapered surface 32, the value becomes different,
The rotation of the hand body 16 with respect to the robot arm 10 (θ
). In such a case, in the embodiment described above, the rotational position of the second shaft member 34b with respect to the first shaft member 34a is freely set, so that With compliance, it is impossible to deflect and return.

However, in other embodiments, the configuration is as follows, so that it is possible to reliably cope with such deviations in the case of two axes.

That is, in the compliance mechanism 34 of the other embodiment, unlike the configuration of the above-mentioned embodiment, each support pin 34
The diameter of e is set to a value considerably smaller than the diameters of the first and second shaft members 34a and 34b. On the other hand, a seventh shaft is provided at each end of the first and second shaft portions 34a, 34b.
As is clear from the figure, six grooves 34m are formed at regular intervals so as to extend in the vertical direction, corresponding to the number of support pins 34e.

Here, the first and second shaft members 34a, 34b are fitted into the V-grooves 34m formed in the support pins 34m, respectively.
4e is supported, the first and second shaft members 34
The relative angular positions at a and 34b will be elastically defined. As a result, in addition to the compliance in the embodiment described above, compliance occurs when the angle in the horizontal plane (xy plane) is deviated. In this way, even if an angular deviation (θ) about the Z-axis occurs, the compliance mechanism 34 can further exhibit compliance corresponding to this angular deviation (θ).

In the other embodiments described above, a pair of locking mechanisms 38 are arranged at symmetrical positions with respect to the central axis of the robot arm 10 in order to perform the function of preventing rotation of the second shaft member 34b. has been done.

As described in detail above, in other embodiments, this alignment device 12 is capable of adjusting the deviation along the X-axis and the y-axis direction, and the Z-axis direction.
It has compliance with rotational deviation (θ) about the axis and tilt deviation (α) with respect to the Z axis, and it deviates softly in response to diagonal deviation, and also responds to this diagonal deviation. When the shearing force caused by this is released, it is possible to reliably return to the original, aligned state. In this way, even if there is a misalignment between the two axes, the insertion operation will be reliably executed without any problem.

Here, the alignment operation in the case of two axes can be similarly applied even when the fitting member has a polygonal cross section instead of a circular cross section in the case of one axis.

Moreover, in this way, this compliance mechanism 34
Since the robot arm 10 is compliant with the rotational direction deviation (θ) about the Z-axis and the tilt deviation (α) with respect to the Z-axis, it is possible to move the robot arm 10 laterally and move it along the horizontal direction. When inserting a pin into a fitting hole that is formed so as to extend, even if the central axis of the fitting hole is offset from the horizontal direction to form a predetermined angle, this deviation can be accommodated flexibly. It can be biased in a certain state.

It goes without saying that the various modifications described above can be applied to the other embodiments described above.

[Effects of the Invention] As described in detail above, the alignment device according to the first aspect of the present invention holds the fitting member at the tip of the transfer body via the holder and moves the transfer body to adjust the alignment. In an alignment device for aligning the center axis of the fitting member and the center axis of the fitting portion so that they are aligned with each other when the fitting member is fitted into the fitting portion of the fitting member, A mounting body that is attached to the tip, a holder mount to which the holder is attached, and a holder that is arranged between these mount bodies and the holder mount to prevent misalignment in a plane perpendicular to the central axis of the fitting member. It is characterized by having a compliance mechanism that has compliance and compliance with respect to the deviation in the inclination of the fitted member with respect to the central axis.

Further, the alignment device according to the second aspect of the present invention holds the fitting member at the tip of the transfer body via a holder and moves the transfer body to place the fitting member in the fitting portion of the member to be fitted. In an alignment device for aligning the center axis of the fitting member and the center axis of the fitting part so that they align with each other when fitting, the mounting body is attached to the distal end of the transfer body; A holder mount to which the tool is attached, and a holder installed between these mount bodies and the holder mount to ensure compliance against misalignment in a plane orthogonal to the central axis of the fitting member, and to maintain compliance around the central axis of the fitting member. The present invention is characterized by having a compliance mechanism that has compliance with respect to deviations in the rotational direction and compliance with deviations in inclination of the fitting member with respect to the central axis.

Therefore, according to the present invention, even if the fitting member and the fitting part are deviated from each other so as to form a predetermined angle, the fitting member has the compliance that can be reliably fitted into the fitting part. An alignment device will be provided.

[Brief explanation of the drawing]

FIG. 1 is a partially sectional front view showing the structure of an embodiment of the alignment device according to the present invention; FIG. 2 is a sectional view taken along line II-II in FIG. 1; Fig. 3 is a plan view showing the misaligned state in the x-y axis plane; Fig. 4A is a front view partially showing the state in which the first and second shaft members are aligned with each other; Fig. 4B is a plan view showing the state in which the first and second shaft members are aligned with each other; In order to absorb the misalignment with the hole,
FIG. 5A is a front view partially showing the configuration of a first modified example of one embodiment; FIG. 5B is a front view partially showing a state in which the second shaft members are shifted from each other; FIG. 5B is an embodiment Fig. 6 is a front sectional view showing the structure of another embodiment of the invention; Fig. 7 shows the structure of the compliance mechanism shown in Fig. 6; Fig. 8A is a top view showing the case where the misalignment is in a parallel state in the case of two axes; Fig. 8B is a top view showing the case where the misalignment is in a rotational state in the case of two axes; 9A to 9C are front views showing the configuration and operation of a conventional alignment device. In the figure, 10... Robot arm, 12... Alignment device, 14... Hand part, 16... Hand body, 18
...Bolt, 20...Holder, 22...Pin, 2
4... Insertion hole, 26... Suction tube, 28... Fitting hole, 30... Board, 32... Tapered surface, 34... Compliance mechanism, 34a... First shaft member, 34
b... Second shaft member, 34c; 34d... Outer flange portion, 34e... Support bottle, 34f... Hanging member, 34g... Coil spring, 34h... Cut groove, 34i...Biasing member, 34j; 34k...Ball bearing, 34m...V groove, 36...Bolt, 3
8...Lock mechanism, 38a...Cylinder chamber, 38b
...Piston member, 38C...Coil spring,
38d...Stepped portion, 38e; 38f...Tapered hole, 3
8g...connecting pipe, 40...mounting body. Δy Figure 3, Figure 4A, Figure 48, Figure 5A, Figure 7, Figure 8B, Figure 9Crj! J

Claims (2)

[Claims] (1) By holding the fitting member at the tip of the transfer body via a holder and moving the transfer body, when fitting the fitting member into the fitting part of the member to be fitted, the central axis of the fitting member and , an alignment device for aligning the central axes of the fitting parts so that they are aligned with each other, comprising: a mounting body attached to the tip of the transfer body; a holder mounting body to which the holder is attached; A compliance mechanism is provided between the mounting body and the holder mounting body, and has compliance with respect to displacement in a plane perpendicular to the central axis of the fitting member and compliance with deviation in inclination of the fitting member with respect to the central axis. A centering device that is characterized by: (2) By holding the fitting member at the tip of the transfer body via a holder and moving the transfer body, when fitting the fitting member into the fitting part of the member to be fitted, the center axis of the fitting member and , an alignment device for aligning the central axes of the fitting parts so that they are aligned with each other, comprising: a mounting body attached to the tip of the transfer body; a holder mounting body to which the holder is attached; It is arranged between the mounting body and the holder mounting body, and has compliance against misalignment in a plane perpendicular to the central axis of the fitting member, compliance against misalignment in the rotational direction about the central axis of the fitting member, and fitting. An alignment device characterized by comprising a compliance mechanism that has compliance with respect to deviation in inclination of a member with respect to a central axis.