JP2007075976A - Transferring device for drive shaft unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To position and hold a drive shaft unit provided so as to have variable full length in an axial direction. <P>SOLUTION: The transferring device for the drive shaft unit comprises: a first gripping portion 42a wherein a second chuck 60b gripping a constant velocity joint 16, a third chuck 50c gripping a constant velocity joint 14, and a fifth chuck 60e gripping a drive shaft are provided in parallel with each other in a lateral direction at predetermined intervals; a second gripping portion 42b wherein a first chuck 60a gripping the constant velocity joint 16 and a fourth chuck 60d gripping the drive shaft are provided in parallel with each other in the lateral direction at a predetermined interval; and a first articulated robot 30a switching a grip to the drive shaft unit 20 between the first gripping portion 42a and the second gripping portion 42b. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  For example, in the driving force transmission part of an automobile, the present invention has a triport type constant velocity joint assembled at one end of a drive shaft that functions as a rotational driving force transmission mechanism and a bar field type constant velocity at the other end. The present invention relates to a transfer device for a drive shaft unit in which a joint is assembled.

  Conventionally, a drive shaft has been used as a rotational driving force transmission mechanism that transmits rotational driving force from an automobile engine to a driving wheel. In this case, a triport type constant velocity joint and a bar field type constant velocity joint are respectively connected to both ends of the drive shaft so as to transmit torque.

  In this drive shaft unit, when transmitting the rotational driving force, it is necessary to absorb the angular displacement and the axial displacement caused by the change in the relative positional relationship between the engine and the wheels. For this reason, a drive shaft is interposed between the engine side (inboard side) and the drive wheel side (outboard side), and a triport type constant velocity joint in which one end of the drive shaft is slidable. The other end of the drive shaft is connected to a drive wheel via a fixed barfield type constant velocity joint.

  The tripod type constant velocity joint is provided to absorb both angular displacement and axial displacement, whereas the barfield type constant velocity joint only absorbs angular displacement. The

  That is, the triport type constant velocity joint includes an outer cup integrally formed with a shaft portion connected to the differential device side and a cup portion, and is accommodated in a hollow portion of the outer cup, and is orthogonal to the axis of the drive shaft. Three trunnions projecting outward, and a roller member externally fitted to the trunnion. In this case, the roller member externally fitted to the trunnion extends along the inner wall of the outer cup along the axial direction. By relative sliding displacement along the existing track groove, relative displacement along the axial direction of the drive shaft and the outer cup is possible.

  The triport type and barfield type constant velocity joints are fitted with joint boots to prevent foreign matter from entering the inside and lubricating oil from leaking to the outside. In general, a resin field boot is used for a bar field type constant velocity joint located on the outboard side, and a rubber boot is used for a tripart type constant velocity joint located on the inboard side.

  The joint boot includes a large-diameter end portion attached to the outer peripheral surface of the outer cup of the constant velocity joint, a small-diameter end portion attached to the drive shaft, and a bellows connecting the large-diameter end portion and the small-diameter end portion. The large-diameter end and the small-diameter end are fastened and fixed by the large-diameter band and the small-diameter band, respectively.

  By the way, Patent Document 1 discloses a drive shaft unit assembling apparatus and a method of assembling such a drive shaft, triport type and barfield type constant velocity joints, boots and the like.

  In this Patent Document 1, the assembly of the drive shaft unit is performed manually, and a plurality of skilled workers perform each component part in a division of labor system, improving work environment, effective use of work space, work efficiency. It is disclosed that the object is to improve and shorten the working time.

  That is, in Patent Document 1, a plurality of multi-joint robots are arranged and arranged so that the movement ranges of the arm tip portions of adjacent multi-joint robots partially overlap, and by connecting the multi-joint robots, A technical idea is disclosed that includes a sequencer that performs removal from a supply unit, transfer to each station, assembly work at each station, and the like.

JP 2002-346858 A

  By the way, an assembly of a drive shaft unit in which a triport type and a bar field type constant velocity joint are respectively connected to both ends of the drive shaft using the articulated robot disclosed in Patent Document 1 and a boot or the like is mounted. When the work and inspection work are performed continuously, the outer cup of the triport type constant velocity joint connected to one end of the drive shaft is slidable along the axial direction. There is a problem in that it is difficult to position and hold the entire drive shaft including the tripart type constant velocity joint when performing the operation continuously.

  That is, various drive shafts with different lengths corresponding to a plurality of vehicle types are prepared, and a triport type constant velocity joint is connected to one end of the drive shaft via a joint boot The drive shaft and the outer cup are provided so as to be relatively displaceable in the axial direction under the engaging action of the roller member fitted on the trunnion and the track groove of the outer cup.

  In other words, when the drive shaft side is temporarily held by the articulated robot, the outer cup is attached to one end portion of the drive shaft via the joint boot so as to extend and contract along the axial direction. In this case, since the outer cup is heavy, if the outer cup slides along the axial direction of the drive shaft for any reason, the axial dimension of the entire drive shaft unit changes, and thus In addition, it is difficult to position and hold the drive shaft unit whose axial dimension changes at a predetermined position for each operation.

  Further, for example, in the inspection process, in order to inspect whether or not the roller member fitted on the trunnion and the track groove of the outer cup are relatively displaceable, the outer cup is attached to the drive shaft that is rotatably held. When moved along the axial direction of the drive shaft, the position of the cup portion of the outer cup is different before and after the inspection process, and is provided in advance for gripping the cup portion of the outer cup. There is a risk that the chuck that has been touched will accidentally contact the joint boot.

  The present invention has been made in view of the above points, and by positioning and holding a drive shaft unit having a variable overall length along the axial direction, various operations such as an assembly operation and an inspection operation can be performed. An object of the present invention is to provide a transfer device for a drive shaft unit which can be preferably performed continuously.

To achieve the above object, the present invention provides a drive shaft unit in which a triport type constant velocity joint is assembled to one end of a drive shaft and a bar field type constant velocity joint is assembled to the other end. A device for transporting,
A second chuck for gripping the bar field type constant velocity joint, a third chuck for gripping the tripart type constant velocity joint, and a fifth chuck for gripping the intermediate portion of the drive shaft extend in the lateral direction. A first gripping portion arranged in parallel at a predetermined distance,
A second gripping part in which a first chuck for gripping the bar field type constant velocity joint and a fourth chuck for gripping an intermediate part of the drive shaft are arranged in parallel at a predetermined distance along the lateral direction;
The position of the first gripping portion and the second gripping portion disposed along the vertical direction is switched, and gripping with respect to the drive shaft unit is selected between the first gripping portion and the second gripping portion. Switching means to perform,
It is characterized by providing.

  According to the present invention, when the triport type constant velocity joint is compressed and the drive shaft unit along the axial direction is in the shortest state, the drive shaft unit is gripped by the first gripping portion in which three chucks are arranged in parallel. To do. On the other hand, when the position of the first gripping portion and the second gripping portion is switched by the switching means, and the tripport type constant velocity joint is extended and the drive shaft unit along the axial direction is in the extended state, the drive shaft The unit is gripped by a second gripping part in which two chucks are arranged side by side.

  In the present invention, the shaft is provided by selectively providing the first gripping portion including the second chuck, the third chuck, and the fifth chuck and the second gripping portion including the first chuck and the fourth chuck in this manner. It is possible to position and favorably hold the drive shaft unit that is variably provided in the entire length along the direction.

  The first chuck and the second chuck are provided on a fixed member, the third chuck is provided on a first movable member that can approach or separate from the fixed member, and the fourth chuck and the fifth chuck are provided. By providing each in the 2nd movable member which can approach or space apart with respect to the above-mentioned fixed member, it can respond to a drive shaft unit having various drive shafts having different lengths.

  According to the present invention, the following effects can be obtained.

  That is, by appropriately selecting the first gripping portion and the second gripping portion, it is possible to position and suitably hold the drive shaft unit that is variably provided in the entire length along the axial direction. As a result, various operations such as an assembly operation and an inspection operation can be suitably and continuously performed.

  A preferred embodiment of a transfer device for a drive shaft unit according to the present invention will be described in detail below with reference to the accompanying drawings.

  In FIG. 1, reference numeral 10 indicates an assembly / inspection system in which a transfer device for a drive shaft unit according to an embodiment of the present invention is incorporated.

  In this assembly / inspection system 10, a triport type constant velocity joint 14 is assembled to one end portion of a drive shaft 12 that functions as a rotational driving force transmission mechanism, and a barfield type constant velocity joint 16 is assembled to the other end portion. The drive shaft unit 20 is sequentially transported at a predetermined interval along the transport path 22, and a single unit for measuring the weight of the entire drive shaft unit 20 provided near the end point of the transport path 22. The weight measuring means 26 and the outer cup of the triport type constant velocity joint 14 provided at the end point of the conveying path 22 are pressed against the drive shaft 12 and compressed, so that the total length of the drive shaft unit 20 is minimized. A single unit for positioning the drive shaft unit 20 at a predetermined position. Of including a positioning means 28.

  The shortest state means that the trunnion and the roller member at the tripod type constant velocity joint 14 are engaged with the track groove of the outer cup and the outer groove of the outer cup under the engagement action of the outer cup. It is the state where the length along the axial direction of the drive shaft 12 and the outer cup is the shortest by being displaced to the part. In the bar field type constant velocity joint 16, there is no axial displacement and the drive shaft 12 and the outer cup are fixed.

  Further, the assembly / inspection system 10 includes first and second articulated robots 30a and 30b functioning as switching means, and a pair of first and first pairs having the same configuration and arranged to face each other with a predetermined distance therebetween. Two drive shaft unit transfer devices 32a and 32b and the pair of first and second drive shaft unit transfer devices 32a and 32b are arranged in close proximity to each other and mounted on the cup portion of the Barfield type constant velocity joint 16. Rotation between the triport type constant velocity joint 14 and the barfield type constant velocity joint 16 including confirmation of the axial displacement operation of the triport type constant velocity joint 14 while caulking the large-diameter band formed A pair of first and second inspection means 34a, 34b having the same configuration for confirming power transmission in the direction; Serial first and second inspection means 34a, a pair of conveying the drive shaft unit 20 through the inspection process by 34b in the next step the first and second conveyor means 36a, and a 36b.

  The pair of first and second conveyor means 36a, 36b is an upper stage, and the lower stage is incompatible with the data from the weight measuring means 26 and / or the first and second inspection means 34a, 34b, respectively. A pair of third and fourth conveyor means 38a, 38b for conveying the drive shaft unit 20 determined to be are provided.

  Since the transfer devices 32a and 32b of the first and second drive shaft units have the same configuration, the transfer device 32a of one first drive shaft unit will be described in detail, and the transfer device 32b of the other second drive shaft unit. The description of is omitted.

  As shown in FIGS. 6 and 7, the transfer device 32a of the first drive shaft unit includes a known first articulated robot 30a having an arm 40 that can be displaced in a multi-axis direction including three axes of XYZ. A first holding part 42a that is attached to the tip of the arm 40 of the first articulated robot 30a and holds the drive shaft unit 20 before the inspection by the first inspection means 34a, and a drive shaft unit after the inspection by the first inspection means 34a. And a gripping mechanism 44 having a second gripping portion 42b that grips the gripper 20.

  The gripping mechanism 44 includes a rectangular parallelepiped main body 48 fixed to the tip of the arm 40 of the first articulated robot 30a. The main body 48 is displaced by a predetermined angle (about 90 degrees) along the vertical vertical direction with a first inflection point 46 provided at one end of the arm 40 as a fulcrum, so that the first gripping portion on the lower side is provided. The portion 42a and the second gripping portion 42b on the upper side are provided so as to be selectively switchable, and predetermined along the horizontal direction with the second inflection point 47 provided at the other end of the arm 40 as the rotation center. It is rotatably provided by an angle (about 180 degrees). In other words, as shown in FIG. 6, in the state where the arm 40 extends vertically up and down, the second inflection point 47 is set as the rotation center under the rotational driving action of a motor (not shown) disposed in the arm 40. By rotating the main body 48 by 180 degrees, the first grip 42a can be turned away from the first articulated robot 30a while the second grip 42b faces downward. In the state shown in FIG. 6, when the arm 40 of the first articulated robot 30a is displaced in a substantially horizontal direction away from the first articulated robot 30a, the gripping claws (described later) of the first gripping part 42a are changed. Since there is a risk of contact with the arm portion of the one-joint robot 30a, the main body portion is provided to rotate 180 degrees around the second inflection point 47 in order to avoid the contact.

  Further, the gripping mechanism 44 is fixed to a pair of guide rails 50 provided on one side surface of the main body portion 48 in parallel with the axis and to one end portion along the axial direction of one side surface of the main body portion 48. It has a member 52 and a first movable member 54 and a second movable member 56 that are slidable along the guide rail 50 so as to be displaceable in the axial direction of the main body 48.

  2 and 3, the fixing member 52 is fixed to the first chuck 60a having a pair of gripping claws 58a fixed to the upper inclined plate 52a and to the lower inclined plate 52b. A second chuck 60b having a pair of gripping claws 58b is provided, and a pair of gripping claws 58a of the first chuck 60a and a pair of grips of the second chuck 60b by upper and lower inclined plates 52a and 52b which are substantially orthogonal to each other. The claws 58b are orthogonal to each other.

  The upper inclined plate 54a of the first movable member 54 is not provided with any chuck and is formed on a flat surface, and only the lower inclined plate 54b is provided with a third chuck 60c having a pair of gripping claws 58c. ing.

  The second movable member 56 disposed between the first movable member 54 and the fixed member 52 includes a fourth chuck 60d having a pair of gripping claws 58d fixed to the upper inclined plate 56a, and a lower portion. And a pair of gripping claws 58d of the fourth chuck 60d and a pair of grips of the fifth chuck 60e by inclined plates 56a and 56b substantially orthogonal to each other. The claws 58e are orthogonal to each other.

  In this case, the second chuck 60b, the third chuck 60c, and the fifth chuck 60e arranged in parallel at a predetermined interval along the horizontal direction grip the drive shaft unit 20 before the inspection by the first inspection means 34a. The barfield type constant velocity joint 16 constituting the drive shaft unit 20 is gripped by the second chuck 60b, and the tripart type is gripped by the third chuck 60c. The constant velocity joint 14 is gripped, and the intermediate portion of the drive shaft 12 is gripped by the fifth chuck 60e.

  The second chuck 60b that holds the barfield type constant velocity joint 16 is fixed to the main body 48 via the fixing member 52. On the other hand, the third chuck 60c and the fifth chuck 60e have various drives. Corresponding to the length of the shaft 12, the first movable member 54 and the second movable member 56 are provided so as to be displaceable in parallel with the axis of the main body 48.

  The first grip portion 42a that grips the drive shaft unit 20 before the inspection includes three chucks including a second chuck 60b, a third chuck 60c, and a fifth chuck 60e that are spaced apart from each other by a predetermined distance in the horizontal direction (lateral direction). The drive shaft unit 20 in the shortest state before inspection is gripped by these three chucks.

  In addition, the first chuck 60a and the fourth chuck 60d arranged side by side at a predetermined interval in the lateral direction are the second gripping portion 42b on the upper side for gripping the drive shaft unit 20 after the inspection by the first inspection means 34a. The barfield type constant velocity joint 16 constituting the drive shaft unit 20 is gripped by the first chuck 60a, and the intermediate portion of the drive shaft 12 is gripped by the fourth chuck 60d. The first chuck 60 a that holds the barfield type constant velocity joint 16 is fixed to the main body 48 via the fixing member 52, whereas the fourth chuck 60 d corresponds to various lengths of the drive shaft 12. The second movable member 56 is provided so as to be displaceable parallel to the axis of the main body 48.

  The second gripping portion 42b that grips the drive shaft unit 20 after the inspection is constituted by two chucks including a first chuck 60a and a fourth chuck 60d that are spaced apart from each other by a predetermined distance along the horizontal direction. The extended drive shaft unit 20 is gripped.

  The first to fifth chucks 60a to 60e have the same configuration, and are provided such that a pair of gripping claws approach or separate from each other under an air supply action or an exhaust action.

  A long first ball screw shaft 62a extending over substantially the entire length along the axial direction of the main body 48 is rotatably provided on one narrow side surface of the main body 48. The first ball screw The shaft 62a is provided so as to be screwed into a screw hole formed in the first movable member 54 and penetrate therethrough. The first ball screw shaft 62a is rotatably provided in a predetermined direction when a rotational driving force from a first rotational driving source (not shown) is transmitted.

  In this case, by rotating the first ball screw shaft 62a in a predetermined direction under the rotational driving action of a first rotational drive source (not shown), the first movable screw engaged with the first ball screw shaft 62a through the screw hole. The member 54 is provided so as to be displaced along the axial direction of the main body 48 under the guide action of the guide rail 50. As a result, the third chuck 60 c mounted on the inclined plate 54 b on the lower side of the first movable member 54 is provided so as to be displaced integrally with the first movable member 54.

  A short second ball screw shaft 62b extending to an intermediate position along the axial direction of the main body 48 rotates on the other narrow side surface of the main body 48 opposite to the first ball screw shaft 62a. The second ball screw shaft 62b is provided so as to be screwed into a screw hole formed in the second movable member 56 and penetrate therethrough. The second ball screw shaft 62b is rotatably provided in a predetermined direction when a rotational driving force from a second rotational driving source (not shown) is transmitted.

  In this case, a second movable member that is screwed into the second ball screw shaft 62b through a screw hole by rotating the second ball screw shaft 62b in a predetermined direction under the rotational driving action of a second rotational drive source (not shown). The member 56 is provided so as to be displaced along the axial direction of the main body 48 under the guide action of the guide rail 50. As a result, the fourth chuck 60d mounted on the upper inclined plate 56a of the second movable member 56 and the fifth chuck 60e mounted on the lower inclined plate 56b are integrated with the second movable member 56. It is provided to be displaced.

  Reference numerals 68a and 68b denote a first control unit and a second control unit that control the first articulated robot 30a and the second articulated robot 30b, respectively.

  The assembly / inspection system 10 incorporating the drive shaft unit transfer devices 32a and 32b according to the embodiment of the present invention is basically configured as described above. Will be described based on the flowchart shown in FIG.

  A drive shaft unit 20 having a triport type constant velocity joint 14 connected to one end portion of the drive shaft 12 and a bar field type constant velocity joint 16 connected to the other end portion is provided along a conveying path 22 at a predetermined interval. The sheets are sequentially conveyed while being separated (step S1). In this case, both constant velocity joints 14 and 16 are fitted with joint boots 70a and 70b, respectively, and the large-diameter band and the small-diameter band are respectively attached to the large-diameter end and the small-diameter end of the joint boot 70a and 70b. It is installed. The large-diameter band of the barfield type constant velocity joint 16 is simply attached and is not yet crimped and tightened.

  While the drive shaft unit 20 is being transported along the transport path 22, the weight of the entire drive shaft unit 20 is measured by the weight measuring unit 26, and the measurement data detected by the weight measuring unit 26 is the first control unit. 68a and the second controller 68b are respectively derived (step S2).

  After the weight of the entire drive shaft unit 20 is measured by the weight measuring means 26, the outer cup of the triport type constant velocity joint 14 is moved to the drive shaft 12 side by a pressing mechanism (not shown) in the positioning means 28 at the end point of the conveying path 22. In the shortest compressed state, the positioning is held (step S3).

  Next, based on the control signal derived from the first control unit 68a or the second control unit 68b, one of the first multi-joint robot 30a or the second multi-joint robot 30b (hereinafter referred to as the first multi-joint robot 30a). The second chuck 60b, the third chuck 60c, and the second chuck 60b, which constitute the first gripping portion 42a that approaches the drive shaft unit 20 that is positioned and held, and that faces vertically downward. The drive shaft unit 20 is gripped by the respective gripping claws 58b, 58c, 58e of the fifth chuck 60e (step S4).

  It should be noted that when the first articulated robot 30a and the second articulated robot 30b operate simultaneously, the first articulated robot 30a is set in advance.

  In this case, the barfield type constant velocity joint 16 constituting the drive shaft unit 20 is held by the second chuck 60b, the tripart type constant velocity joint 14 is held by the third chuck 60c, and the fifth chuck The intermediate portion of the drive shaft 12 is gripped by 60e. In addition, by moving the third chuck 60c and the fifth chuck 60e along the axial direction of the main body 48 corresponding to the lengths of various drive shafts 12, the third chuck 60c and the fifth chuck 60e are It is assumed that each is set in advance at a predetermined position.

  The first articulated robot 30a is based on the control signal from the first control unit 68a while the drive shaft unit 20 is held by the three chucks of the first holding unit 42a. And the position of the second grip portion 42b are switched (step S5).

  In other words, the main shaft 48 is rotated about 90 degrees toward the side close to the arm 40 with the first inflection point 46 of the arm 40 of the first articulated robot 30a as a fulcrum, whereby the drive shaft unit 20 is grasped. The first gripping portion 42a is rotated by about 90 degrees from the vertically downward direction toward the arm 40 and displaced to the position facing the lateral direction, and the second gripping portion 42b is also integrally rotated by about 90 degrees. As a result, the position is displaced from the lateral direction to the vertically downward direction.

  Subsequently, the first articulated robot 30a moves toward the first inspection means 34a (step S6), and another drive shaft unit 20 that has already been inspected by the first inspection means 34a is shown in FIG. As described above, the gripping claws 58a and 58d of the first chuck 60a and the fourth chuck 60d constituting the second gripping part 42b are gripped (step S7).

  The first articulated robot 30a is held while the drive shaft unit 20 before the inspection is gripped by the first gripping portion 42a and the other drive shaft unit 20 that has been inspected is gripped by the second gripping portion 42b. The positions of the first gripping part 42a and the second gripping part 42b are switched from the state shown in FIG. 6 to the state shown in FIG. 7 based on the control signal from the first control part 68a (step S8).

  That is, the main shaft 48 is rotated about 90 degrees toward the side away from the arm 40 with the first inflection point 46 of the arm 40 of the first articulated robot 30a as a fulcrum, so that the drive shaft unit 20 before the inspection holds the grip. The first grip portion 42a thus rotated rotates about 90 degrees from the lateral direction toward the direction away from the arm 40 and is displaced to a position facing vertically downward, and the inspected drive shaft unit 20 is gripped. Further, the second grip portion 42b is also integrally rotated by about 90 degrees to be displaced from the vertically downward direction to the lateral direction (see FIGS. 6 and 7 for comparison).

  Subsequently, the first articulated robot 30a is moved toward the first inspection means 34a, the grip state of the drive shaft unit 20 before the inspection in the first grip portion 42a is released, and the drive shaft unit 20 is subjected to the first inspection. It is placed at a predetermined position of the means 34a (step S9). That is, the gripping state is released by operating the pair of gripping claws 58b, 58c, and 58e of the second chuck 60b, the third chuck 60c, and the fifth chuck 60e constituting the first gripping portion 42a in directions to separate each other. .

  In the first inspection means 34a, a large-diameter band assembled to the outer cup of the barfield type constant velocity joint 16 is crimped and tightened using a band crimping mechanism (not shown). In the first inspection means 34a, the operation confirmation process of the tripod type constant velocity joint 14 is performed using an operation confirmation mechanism (not shown), and operation confirmation data is derived to the first control unit 68a.

  In the operation confirmation step, the outer cup of the triport type constant velocity joint 14 is removed from the drive shaft 12 while maintaining the state where the triport type constant velocity joint 14 and the drive shaft 12 are integrally rotated in a predetermined direction. Including the detection of whether or not the trunnion on which the roller member is fitted is smoothly displaced along the track groove in the outer cup. This is to detect whether or not the power transmission in the rotational direction is smoothly performed between the joint 14 and the Barfield type constant velocity joint 16.

  Next, the first articulated robot 30a controls the control signal from the first control unit 68a while the other drive shaft unit 20 that has been inspected is held by the two chucks of the second holding unit 42b. Based on this, the positions of the first grip portion 42a and the second grip portion 42b are switched (step S10).

  In other words, the first gripping unit in which nothing is gripped is obtained by rotating the main body 48 by about 90 degrees toward the side approaching the arm 40 with the first inflection point 46 of the arm 40 of the first articulated robot 30a as a fulcrum. The portion 42a is rotated about 90 degrees from the vertically downward direction toward the side approaching the arm 40 and displaced to a position facing the lateral direction, and the second drive shaft unit 20 that has been inspected is grasped. The grip portion 42b is also integrally rotated by about 90 degrees to be displaced from the lateral direction on the side of the arm 40 to the vertically downward position (the first grip portion 42a and the second grip portion 42b are shown in FIG. 6). A state in which the first gripping portion 42a is not gripping anything).

  In this state, by rotating the main body 48 by 180 degrees around the second inflection point 47 of the arm 40, the second grip 42b on which the other drive shaft unit 20 that has been inspected is vertically gripped. While facing downward, the first gripping part 42a holding nothing is separated from the first articulated robot 30a.

  Subsequently, in the first control unit 68a, the weight measurement data sent from the weight measurement means 26, the operation confirmation data sent from the operation confirmation mechanism (not shown) of the first inspection means 34a, and a storage means (not shown). To determine the suitability of the assembled drive shaft unit 20 (step S11).

  As a result of the determination, if it is determined that the first control unit 68a is suitable, the first articulated robot 30a moves toward the first conveyor means 36a in the upper stage and is gripped by the second gripping part 42b. The grip state of the other drive shaft unit 20 that has been inspected is released, and the drive shaft unit 20 is transported to the next process by the upper first conveyor means 36a. On the other hand, when it is determined that it is incompatible, the other drive shaft unit 20 is placed on the lower third conveyor means 38a by the first articulated robot 30a and is transported by the third conveyor means 38a (step). S12).

  Finally, the first articulated robot 30a moves to the standby position of the next drive shaft unit 20 that is sequentially transported by the transport path 22 (step S13).

  In the above description, the transfer device 32a of one first drive shaft unit having the first multi-joint robot 30a has been mainly described. However, the same operation as that of the first multi-joint robot 30a is adjacent to the second multi-joint robot 30a. This is similarly performed in the transfer device 32b of the other second drive shaft unit having the joint robot 30b.

  Accordingly, the drive shaft unit 20 that is in the shortest state at the end point of the conveyance path 22 is transferred from the transfer device 32a of one first drive shaft unit having the first articulated robot 30a and the second second having the second articulated robot 30b. The drive shaft unit 20 can be transferred to the first inspection means 34a and the second inspection means 34b, respectively, and the inspection process such as the operation confirmation can be performed substantially simultaneously by the two devices of the drive shaft unit transfer device 32b. Therefore, even if the number of lines is changed from one line to two lines, the cycle time is not changed, and inline can be achieved without using an external line. In addition, in this Embodiment, there exists an advantage which can halve cycle time by using 2 lines compared with 1 line.

  In the present embodiment, the drive shaft unit 20 is set to the shortest state (drive shaft unit 20 before inspection) at the end point of the conveyance path 22, and the outer cup of the triport type constant velocity joint 14 is connected to the drive shaft 12 in the inspection process. Even when the drive shaft unit 20 is slightly separated and the entire length of the drive shaft unit 20 is extended (the drive shaft unit 20 after the inspection), the positions of the first grip portion 42a and the second grip portion 42b provided in the main body 48 And the drive shaft unit 20 can be suitably gripped.

  Thus, in the assembly process, even if the length of the entire length of the drive shaft unit 20 is variable, the first grip portion including the lower three chucks provided on the main body portion 48 of the drive shaft unit 20 is provided. By alternately switching the positions of 42a and the second gripping portion 42b having two chucks on the upper side, the chuck can be smoothly gripped by avoiding contact with the joint boot.

  As a result, in the present embodiment, various operations such as an assembly operation and an inspection operation are suitably and continuously performed by positioning and holding the drive shaft unit 20 having a variable overall length along the axial direction. can do.

  Furthermore, in the present embodiment, even if the drive shafts 12 have different lengths, by rotating the first ball screw shaft 62a in a predetermined direction under the rotational driving action of a first rotational driving source (not shown), The first movable member 54 screwed into the first ball screw shaft 62a through the screw hole is displaced along the axial direction of the main body 48 under the guide action of the guide rail 50, and the lower side of the first movable member 54 A third chuck 60 c mounted on the inclined plate 54 b is provided so as to be displaced integrally with the first movable member 54. Further, a second movable member that is screwed into the second ball screw shaft 62b through a screw hole by rotating the second ball screw shaft 62b in a predetermined direction under the rotational driving action of a second rotational drive source (not shown). 56 is displaced along the axial direction of the main body 48 under the guide action of the guide rail 50, and the fourth chuck 60d mounted on the upper inclined plate 56a of the second movable member 56 and the lower inclined plate 56b. A fifth chuck 60e attached to the second movable member 56 is provided so as to be displaced integrally with the second movable member 56.

  As a result, the third chuck 60c and the fifth chuck 60e are displaced by a predetermined length along the axial direction of the main body 48 with respect to the second chuck 60b on the fixed side constituting the first gripping part 42a. The claw width (separation distance between chucks) in the grip portion 42a can be easily changed. Further, the claw width in the second gripping part 42b is obtained by displacing the fourth chuck 60d by a predetermined length along the axial direction of the main body part 48 with respect to the first chuck 60a on the fixed side constituting the second gripping part 42b. (Separation distance between chucks) can be easily changed.

1 is a schematic configuration diagram of an assembly / inspection system in which a drive shaft unit transfer device according to an embodiment of the present invention is incorporated. It is a fragmentary perspective view of the transfer device of the drive shaft unit. It is a top view of the transfer apparatus of the said drive shaft unit. FIG. 4 is an arrow view seen from the direction of arrow Z in FIG. 3. It is a partial side view of the transfer device of the drive shaft unit. It is the partial side view of the transfer apparatus of the said drive shaft unit which rotated the arm of the articulated robot, and switched the position of the 1st holding part and the 2nd holding part. It is the partial side view of the transfer apparatus of the said drive shaft unit which rotated the arm of the articulated robot, and switched the position of the 1st holding part and the 2nd holding part. It is a flowchart which shows the operation | movement process of the said assembly / inspection system and operation | movement of the transfer apparatus of the said drive shaft unit.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Assembly / inspection system 12 ... Drive shaft 14, 16 ... Constant velocity joint 20 ... Drive shaft unit 22 ... Conveyance path 24 ... Conveyance means 26 ... Weight measuring means 28 ... Positioning means 30a, 30b ... Articulated robot 32a, 32b ... Drive shaft unit transfer devices 34a, 34b ... inspection means 36a, 36b, 38a, 38b ... conveyor means 40 ... arm 42a, 42b ... gripping portion 44 ... gripping mechanism 46, 47 ... inflection point 48 ... main body 50 ... guide rail 52 ... fixed members 54, 56 ... movable members 58a-58e ... gripping claws 60a-60e ... chucks 62a, 62 ... ball screw shafts 68a, 68b ... control unit

Claims (2)

An apparatus for transferring a drive shaft unit in which a triport type constant velocity joint is assembled to one end of a drive shaft and a bar field type constant velocity joint is assembled to the other end,
A second chuck for gripping the bar field type constant velocity joint, a third chuck for gripping the tripart type constant velocity joint, and a fifth chuck for gripping the intermediate portion of the drive shaft extend in the lateral direction. A first gripping portion arranged in parallel at a predetermined distance,
A second gripping part in which a first chuck for gripping the bar field type constant velocity joint and a fourth chuck for gripping an intermediate part of the drive shaft are arranged in parallel at a predetermined distance along the lateral direction;
The position of the first gripping portion and the second gripping portion disposed along the vertical direction is switched, and gripping with respect to the drive shaft unit is selected between the first gripping portion and the second gripping portion. Switching means to perform,
A drive shaft unit transfer device comprising: The apparatus of claim 1.
The first chuck and the second chuck are each provided on a fixed member, the third chuck is provided on a first movable member that can approach or separate from the fixed member, and the fourth chuck and the fifth chuck are Each of the drive shaft unit transfer devices is provided on a second movable member that can approach or separate from the fixed member.

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