JP2024017715A - Press-in device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve productivity while enhancing accuracy of press-in of a press-in part.

SOLUTION: A press-in device (1) presses and fits a first press-in part (B1) and a second press-in part (B2) into a body part (B). The press-in device includes a support part (3) for supporting the body part in a state where displacement in a press-in direction is permitted, a first press-in machine (10) for pressing the first press-in part, a second press-in machine (20) for pressing the second press-in part, and control means (30) for controlling operations of the first press-in machine and the second press-in machine, wherein in a state where the first press-in part and the second press-in part are inverted in a press-in direction, the press-in parts are simultaneously pressed-in. The control means includes a press-in determination part (36) for determining the quality of the press-in states of the first press-in part and the second press-in part, on the basis of a force sense value detected by a first force sense detection part (13) and a second force sense detection part (23) generated by the press-in, and a displacement value detected by a first displacement detection part (14) and a second displacement detection part (24) as a displacement in the press-in.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a press-fit device that can press and press-fit a press-fit component into a predetermined receiving portion.

BACKGROUND ART Conventionally, when assembling two parts, a press-fitting device is known that press-fits and mounts the other part into a hole formed in one part (for example, see Patent Document 1). To give a specific example, when assembling a fixed contact to a resin frame of an electromagnetic switch, a press-fitting device for press-fitting a metal fixed contact into a recess formed in the resin frame is being considered.

Such a press-fit device press-fits a fixed contact into a recess by moving a press head using a moving mechanism into a resin frame fixed to a support base. In such press-fitting, a force sensor measures the press force value, and a displacement sensor measures the amount of movement of the press head. In order to guarantee the press-in force value of the fixed contact, a process is performed in which the fixed contact is press-fitted into a fixed resin frame to a set position, and in the process, the press-fitting is stopped when a predetermined press-in force value is reached.

Japanese Patent Application Publication No. 8-141848

Regarding the control dimensions in the press-fitting direction in the above-mentioned press-fitting device, the tolerances for fixing the resin frame to the support stand accumulate with respect to the dimensional tolerances for the electromagnetic switch. For this reason, there is a problem in that the position of the fixed contact in the press-fitting direction with respect to the resin frame is greatly varied, resulting in a decrease in dimensional accuracy.

Here, in order to solve the above problem, it is possible to improve the fixing accuracy of the resin frame to the support stand, but there is another problem that the work time for fixing the resin frame becomes longer and productivity decreases. Occur.

Further, in the case of an electromagnetic switch, a configuration may be adopted in which fixed contacts are press-fitted into both the power supply side and the load side of the resin frame. In such a configuration, in the conventional press-fitting method, the resin frame is fixed, and then the stationary contact is press-fitted on one of the power supply side and the load side. Thereafter, the resin frame is unfixed, the orientation is changed, and the resin frame is fixed again, and a fixed contact is press-fitted into the other of the power supply side and load side. For this reason, there is a problem in that the process of press-fitting the fixed contacts takes a long time, resulting in a decrease in productivity.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a press-fitting device that can improve productivity while increasing the precision of press-fitting press-fitted parts.

In one embodiment of the present invention, there is a press-fit device for press-fitting and mounting a first press-fit component and a second press-fit component into a main body component, wherein the first press-fit component is press-fitted into the main body component. a first receiving part into which the second press-fitting part is press-fitted, and a second receiving part into which the second press-fitting part is press-fitted; the first press-fitting part is press-fitted into the first receiving part of the main-body part supported by the supporting part that is formed to support the main body part while allowing displacement in the press-fitting direction; A first press-fit machine, a second press-fit machine that press-fits the second press-fit part into the second receiving part of the main body part supported by the support part, and operations of the first press-fit machine and the second press-fit machine. a control means for controlling the first press-fitting part and the second press-fitting part, the first press-fitting part and the second press-fitting part are simultaneously press-fitted in a reversed state in the press-fitting direction, and the first press-fitting machine is configured to press a first press-fitting part to press the first press-fitting part. a first pressing section, a first driving section that drives the first pressing section to press-fit the first press-fitting part into the first receiving section, and a first force sense that detects a force generated in the first pressing section. and a first displacement detection section that detects displacement of the first press-fit component with respect to the main body component, and the second press-fit machine includes a second pressing section that presses the second press-fit component; a second driving section that drives a second pressing section to press-fit the second press-fitting component into the second receiving section; a second force detection section that detects a force generated in the second pressing section; a second displacement detection section that detects displacement of the main body component supported by the section, and the control means is configured to detect force values detected by the first force detection section and the second force detection section. , further comprising a press-fit determination unit that determines whether the press-fit state of the first press-fit component and the second press-fit component is good or bad based on the displacement values detected by the first displacement detection unit and the second displacement detection unit. It is characterized by

According to the present invention, when press-fitting the first press-fit part and the second press-fit part, the main body part is allowed to move without being restrained in the press-fit direction, and the main body part is moved to the support part according to the control dimensions in the press-fit direction. Tolerances fixed to can be excluded. As a result, compared to conventional press-fitting devices, it is possible to reduce variations in the position of each press-fitted part in the press-fitting direction, and improve dimensional accuracy. Moreover, it is possible to eliminate the need for positioning and fixing the main body parts in the press-fitting direction, thereby shortening the press-fitting process time and increasing productivity. Further, since the first press-fitting part and the second press-fitting part are inverted and facing each other and are both press-fitted at the same time, the process time can be further shortened.

FIG. 1 is a front view schematically showing a press-fitting device according to an embodiment. FIG. 2 is a functional block diagram of a press-fitting device according to an embodiment. FIG. 2 is a front view similar to FIG. 1 showing a state immediately after press-fitting of each press-fitting component is completed. It is a graph which shows an example of the relationship between a displacement value and a force sense value at the time of press-fitting.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A press-fitting device according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings. Note that the present invention is not limited to the embodiments described below, and can be implemented with appropriate modifications within the scope without changing the gist thereof. In the following figures, some configurations may be omitted for convenience of explanation.

Here, the following description will be based on the X direction, Y direction, and Z direction indicated by arrows in each figure. In the following embodiments, the X direction and Y direction are parallel to the horizontal direction, and the Z direction is parallel to the vertical direction, but these directions may be changed as long as the same functions as in the embodiments can be achieved. Good too.

FIG. 1 is a front view schematically showing a press-fitting device according to an embodiment. As shown in FIG. 1, the press-fit device 1 press-fits and attaches a first press-fit component B1 and a second press-fit component B2 to a main body component B. In this embodiment, an electromagnetic switch is configured as a product by press-fitting the first press-fit component B1 and the second press-fit component B2 into the main body component B.

The first press-fit component B1 and the second press-fit component B2 are fixed contacts made of a conductive metal material. The first press-fitting part B1 and the second press-fitting part B2 are formed into strips having the same shape. Further, the main body part B is a resin frame that functions as a case for accommodating each component of the electromagnetic switch. The main body part B includes a first receiving part Ba serving as a press-fitting hole into which the first press-fitting part B1 is press-fitted, and a second receiving part Bb serving as a press-fitting hole into which the second press-fitting part B2 is press-fitted.

The first receiving portion Ba and the second receiving portion Bb are formed aligned in the same straight line with the X direction, which is the linear direction, as the press-fitting direction. Further, the first receiving portion Ba and the second receiving portion Bb are formed in opposite directions to each other in the X direction.

More specifically, the first receiving part Ba is formed so as to extend parallel to the X direction, with the -X side serving as a receiving opening, and the +X side serving as an abutting part for the first press-fit component B1. Further, the second receiving portion Bb is formed so as to extend parallel to the X direction, with the +X side serving as a receiving opening and the −X side serving as an abutment portion for the first press-fit component B1. Therefore, in the press-fitting device 1, the first press-fit part B1 and the second press-fit part B2 having the same shape are reversed in the X direction and press-fitted facing each other.

Although not shown in the drawings, in the main body part B, a plurality of first receiving parts Ba (for example, four) are formed at equal intervals in the Y direction, and the same number of first press-fit parts B1 as the number of first receiving parts Ba are formed in the first receiving part B. 1 is press-fitted into the receiving part Ba. Since the second receiving portions Bb face the first receiving portions Ba, a plurality of second receiving portions Bb are formed at equal intervals in the Y direction similarly to the first receiving portions Ba, and the second receiving portions Bb have the same number of second receiving portions as the number of second receiving portions Bb. A press-fit component B2 is press-fit into the second receiving portion Bb. In FIG. 1, one first receiving portion Ba and one second receiving portion Bb are illustrated, respectively, out of a plurality of first receiving portions Ba and second receiving portions Bb formed in the Y direction (the same applies to FIG. 3). .

The press-fitting device 1 includes a support part 3 that supports the main body part B, a first press-fitting machine 10 that press-fits the first press-fitted part B1 arranged on the -X side in FIG. 1, and a first press-fitting machine 10 arranged on the +X side in FIG. The second press-fitting machine 20 press-fits the second press-fitting part B2, and the control means 30 controls the operations of the first press-fitting machine 10 and the second press-fitting machine 20.

The support section 3 is constituted by a table on which the main body part B can be placed. The support section 3 includes a guide 3a that restricts movement of the mounted main body part B in the Y direction. The guide 3a can be formed, for example, by two ribs (one not shown) provided at an interval corresponding to the width of the main body part B in the Y direction. The support section 3 guides the movement of the main body part B in the X direction using the guide 3a, and supports the main body part B while allowing displacement in the X direction. Here, "displacement is allowed" means that a slight frictional resistance force is generated between the support part 3 and the main body part B at the time of displacement, but this frictional resistance force is the force generated by the press-fitting of each press-fitting part B1 and B2. It means a state that is extremely small compared to . Note that the support portion 3 is provided so as to be movable in the Y direction via a moving mechanism (not shown).

The first press-fitting machine 10 includes a first driving section 11 , a first pressing section 12 , a first force detection section 13 , and a first displacement detection section 14 .

The first driving section 11 drives the first pressing section 12, the first force detection section 13, and the first displacement detection section 14 in the X direction. The first drive unit 11 is configured by a drive mechanism such as an air cylinder, a single-axis robot, an articulated robot, an actuator, and a servo motor. The first driving section 11 drives the first pressing section 12 to press fit the first press-fitting component B1 into the first receiving section Ba.

The first pressing part 12 has a shaft shape extending in the X direction, contacts the first press-fitted part B1 to be press-fitted at its tip, and is supported by the first force detection part 13 at its base. The first pressing section 12 is provided so as to be able to press the first press-fitting component B1 in the X direction by driving the first driving section 11 .

The first force detection section 13 is supported by the first drive section 11 via a first bracket 16 . The first force detection section 13 may be configured by a six-axis force sensor capable of detecting forces in the directions of three mutually orthogonal axes and moments about the respective axes. Detects the force generated on the tip side. The first force detection section 13 is provided at the base of the first pressing section 12, so that it can detect in real time the force when press-fitting the first press-fitting component B1 into the first receiving section Ba.

The first displacement detection section 14 is supported by the first drive section 11 via the first bracket 16, and is displaced in the X direction together with the first pressing section 12 and the first force detection section 13. The first displacement detection section 14 is constituted by a contact type displacement sensor, and a contactor such as a probe is in contact with the main body part B supported by the support section 3 . Therefore, the first displacement detection unit 14 can detect the displacement value (position) of the first press-fit component B1 in the X direction with respect to the main body component B in real time based on the amount of movement of the contact in the X direction. Note that the first displacement detection section 14 is not limited to a contact displacement sensor, and may also be a non-contact displacement sensor including a light emitting section and a light receiving section.

Here, the second press-fitting machine 20 has the same configuration as the first press-fitting machine 10 except that it is arranged symmetrically across the support section 3 in the X direction. Therefore, in order to omit or simplify the description of the configuration of the second press-fitting machine 20, the names of the respective configurations of the first press-fitting machine 10 are changed from "first" to "second". Further, regarding the reference numerals for the configuration of the second press-fitting machine 20, the first digit "1" of the first digit of the first press-fitting machine 10 is changed to "2".

FIG. 2 is a functional block diagram of the component mounting apparatus according to the embodiment. As shown in FIG. 2, the control means 30 according to the present embodiment controls all parts of the press-fitting apparatus 1, and includes a processor, memory, etc. that executes various processes. The memory is composed of one or more storage media such as ROM (Read Only Memory) and RAM (Random Access Memory) depending on the purpose. The control means 30 functions as a detection control section 32, a press-fit control section 33, an analysis section 35, a press-fit determination section 36, and a storage section 37. Note that the functional blocks of the control means 30 shown in FIG. 2 only show the configuration related to the present invention, and other configurations are omitted.

The detection control unit 32 outputs a detection command to the first force sense detection unit 13 and the second force sense detection unit 23 to control the detection of force sense values, and also controls output from each force sense detection unit 13 and 23. The force sense values obtained are input at predetermined time intervals and output to the press-fit control section 33 and the analysis section 35. In addition, the detection control unit 32 outputs a detection command to the first displacement detection unit 14 and the second displacement detection unit 24 to control the detection of displacement values, and also controls the displacement output from each displacement detection unit 14 and 24. Values are input at predetermined time intervals and output to the press-fit control section 33 and analysis section 35.

The press-fitting control unit 33 detects the force values detected by the first force detection unit 13 and the second force detection unit 23 and the displacement values detected by the first displacement detection unit 14 and the second displacement detection unit 24. Obtained from the control unit 32. Then, the press-fitting control section 33 controls the driving amount and the timing of starting and stopping the driving of the first driving section 11 and the second driving section 21 based on the acquired force sense value and displacement value.

For example, the press-fitting control unit 33 controls the press-fitting control unit 33 at the time when the force sense value acquired during press-fitting of each press-fitting part B1 and B2 exceeds the press-fitting force upper limit value (threshold value, see FIG. 4) stored in the storage unit 37. A command to stop each drive unit 11, 21 is output. Furthermore, the press-fitting control unit 33 outputs a command to stop each drive unit 11, 21 when the obtained displacement value exceeds the maximum allowable displacement value (threshold value, see FIG. 4) stored in the storage unit 37. .

The analysis unit 35 acquires the force sense value and the displacement value from the detection control unit 32 in the same way as the press-fitting control unit 33, and uses the rate of increase in force sense value and the gradient described later as values used in the quality judgment in the press-fitting judgment unit 36. Find the value and regression line. The analysis unit 35 also determines a change point at which the amount of change in the force sense value with respect to the amount of change in the displacement value increases by a predetermined value or more in the process of press-fitting each of the press-fit parts B1 and B2. The analysis unit 35 creates a profile in which force values and displacement values during press-fitting acquired for each press-fit part B1 and B2 are associated with identification information of each press-fit part B1 and B2, and stores the profile in the storage unit 37. . This profile also includes the result of the press-fitting condition determination made by the press-fitting determining section 36.

The press-fit determination unit 36 calculates force values, displacement values, etc. at changing points, which will be described later, obtained by the analysis unit 35, and the allowable force value range (threshold) and allowable displacement value range (threshold) stored in the storage unit 37. Compare. Then, based on this comparison, the press-fit determination section 36 determines whether the press-fit states of the first press-fit component B1 and the second press-fit component B2 are good or bad. Therefore, the quality of the press-fit state is determined based on the force values detected by the first force detection section 13 and the second force detection section 23, and the displacement detected by the first displacement detection section 14 and the second displacement detection section 24. It is done based on the value. The specific process of the quality determination by the analysis unit 35 and the press-fit determination unit 36 will be described later.

The storage unit 37 stores the detection results of each force sense detection unit 13, 23 and each displacement detection unit 14, 24, the profile created by the analysis unit 35 including the detection results, the press-fit control unit 33, and the press-fit determination unit 36. Various threshold values used in are stored. The storage unit 37 also stores relational expressions and programs for the press-fit control unit 33, analysis unit 35, and press-fit determination unit 36 to perform various calculations and controls, programs for functioning as applications, data, etc. .

Here, an input section 41 and a display section 42 are connected to the control means 30. The input unit 41 includes, for example, a keyboard, buttons, keys, a touch panel display, a microphone, etc., and acquires data based on an operation from an operator or the like and stores it in the storage unit 37. In addition, the input unit 41 may be configured as a communication interface to acquire data from an external device such as a personal computer through wired or wireless communication, or may be configured as an interface such as a slot to which a storage medium such as a memory card containing data can be connected. You can.

The display unit 42 is constituted by a display or the like, and displays the processing results of the analysis unit 35 and the press-fit determination unit 36 and alarms to the operator.

Next, a press-fitting method using the press-fitting device 1 according to the embodiment will be explained. FIG. 1 shows a state immediately before starting press-fitting of each press-fitting part B1, B2. As shown in FIG. 1, when press-fitting is performed using the press-fitting device 1, a main body part B is conveyed from the outside of the press-fitting device 1 to the upper surface of the support portion 3 via a conveying device (not shown). Here, the press-fit parts B1 and B2 are temporarily fixed to the main body part B to be transported. Such temporary fixation is a state in which each press-fitting part B1, B2 is partially inserted and held in each receiving part Ba, Bb, but has not reached the area where press-fitting starts in each receiving part Ba, Bb. be done.

The transported main body part B is disposed along the guide 3a on the upper surface of the support part 3 and is supported by the support part 3. In conveying the main body part B to the support part 3, the extending directions of the press-fit parts B1 and B2 temporarily fixed to the main body part B are arranged parallel to the X direction, and the general direction of the main part B in the X direction is Alignment is performed.

The main body part B supported by the support part 3 is allowed to be displaced in the X direction by being guided by the guide 3a. On the other hand, the displacement of the main body part B supported by the support part 3 in the horizontal direction (for example, the Y direction) intersecting the X direction is regulated by the guide 3a.

Before or after transporting the main body part B, the support part 3 is moved in the Y direction via a moving mechanism (not shown), and the press-fit parts B1 and B2, the first pressing part 12 and the second pressing part 22 are press-fitted. Align so that they are lined up along the X direction.

From the state shown in FIG. 1, the first drive unit 11 of the first press-fitting machine 10 is driven by a command from the press-fitting control unit 33, and the first pressing unit 12 is moved to the +X side to press the first press-fitting part B1. do. Also, at the same timing, the second drive section 21 of the second press-fitting machine 20 is driven, and the second pressing section 22 is moved to the -X side to press the second press-fitting part B2.

The first pressing part 12 presses the first press-fitting part B1 by driving the first drive part 11, so that the first press-fitting part B1 is press-fitted into the first receiving part Ba of the main body part B. The second pressing part 22 presses the second press-fitting part B2 by driving the second driving part 21, so that the second press-fitting part B2 is press-fitted into the second receiving part Bb of the main body part B. Since the first pressing part 12 and the second pressing part 22 move so as to face each other and approach each other, even if the main body part B is not restrained in the X direction by the support part 3, the main part B The press-fit parts B1 and B2 can be press-fitted while suppressing large displacements in the X direction.

While each press-fitting part B1, B2 is being press-fitted, the force generated in each pressing part 12, 22 is detected as a force value by each force detection part 13, 23. Further, while the press-fit parts B1 and B2 are being press-fitted, the displacement amounts of the press-fit parts B1 and B2 in the X direction with respect to the main body part B are detected by the displacement detection sections 14 and 24 as displacement values. The detected force value and displacement value are output to the detection control section 32.

FIG. 3 is a front view similar to FIG. 1 showing a state immediately after the press-fitting of each press-fitting component is completed. As shown in FIG. 3, the first press-fit component B1 comes into contact with the abutting portion on the +X side of the first receiving part Ba, and the second press-fitting part B2 comes into contact with the abutting part on the -X side of the second receiving part Bb. Press-fitting is completed when they are in contact.

FIG. 4 is a graph showing an example of the relationship between displacement values and force sense values during press-fitting. In the graph of FIG. 4, the horizontal axis represents the displacement value (X value) detected by each displacement detector 14, 24, and the vertical axis represents the force value (F value) detected by each force sense detector 13, 23. show.

During press-fitting of each of the press-fit parts B1 and B2, the force sense value and displacement value acquired from the detection control unit 32 are monitored by the press-fit control unit 33. Specifically, each time a force sense value is acquired, the press fit control unit 33 compares the force sense value with the maximum press force value (threshold value, see FIG. 4) stored in the storage unit 37. When the acquired force sense value exceeds the maximum pressing force value, the press-fitting control section 33 performs control to stop each drive section 11, 21, and the press-fitting is also stopped.

Here, the maximum press force value is set to be larger by a predetermined amount than the value obtained by adding a tolerance to the reference force sense value at the time of completion of press fitting. By pressing with a force exceeding the maximum pressing force, the pressing force necessary for press-fitting each press-fitting part B1 and B2 is applied.

However, when press-fitting each of the press-fit parts B1 and B2, the acquired force sense value may not exceed the maximum press-fit force value. For example, there may be a case where an abnormality occurs in the press-fitting due to damage to the main body part B, and the first press-fitting part B1 does not come into contact with the +X side abutment part of the first receiving part Ba. In order to cope with such a case, each time a displacement value is acquired, the press-fitting control unit 33 compares the displacement value with the maximum allowable displacement value (threshold value, see FIG. 4) stored in the storage unit 37. . When the obtained displacement value exceeds the maximum allowable displacement value, the press-fitting control section 33 performs control to stop each drive section 11, 21, and the press-fitting is also stopped.

Here, the maximum allowable displacement value is set to a value obtained by adding a tolerance to a reference displacement value at the time of completion of press-fitting. By pressing the amount of displacement exceeding the maximum allowable displacement value, the amount of displacement required for press-fitting each of the press-fit parts B1 and B2 is pressed.

After the press-fitting is stopped as described above, the first pressing part 12 and the second pressing part 22 are controlled to move away from each other by driving in the opposite direction to the press-fitting direction, and each part is removed from the main body part B. The pressing parts 12 and 22 are retracted.

After that, by moving the support part 3 in the Y direction, the first pressing part 12 and the second pressing part 22 are moved in the X direction to each press-fitting part B1, B2 next to each press-fitting part B1, B2 which has been press-fitted. are aligned so that they line up. Then, in the same manner as described above, the press-fitting parts B1 and B2 are repeatedly press-fitted, and all the press-fitting parts B1 and B2 lined up in the Y direction are press-fitted. When press-fitting of all the press-fit parts B1 and B2 is completed, the main body part B is carried out from the support section 3 via a transport device (not shown).

Next, the quality determination by the analysis section 35 and the press-fit determination section 36 will be described by way of example with reference to the graph of FIG. This quality determination is performed simultaneously with the press-fitting of each of the press-fit parts B1 and B2 by the above-described press-fitting method. Furthermore, the quality determination is performed for each of the press-fitting of the first press-fitting part B1 into the first receiving part Ba and the press-fitting of the second press-fitting part B2 into the second receiving part Bb. Since these press-fits are performed in the same manner except for the direction in the X direction, the press-fit of the first press-fit component B1 will be described here.

As plotted with black circles in FIG. 4, displacement values (X values) detected by the first displacement detection unit 14 at predetermined time intervals according to the sampling period while the first drive unit 11 is being driven, and the force sense value (F value) detected by the first force sense detection unit 13 are acquired. Here, the displacement value is a moving average value (for example, the number of measurements is 10 times, the measurement period is 0.1 seconds, etc.). Regarding the displacement value and force sense value that are acquired continuously at a predetermined time interval in this way, for example, the displacement value and force sense value acquired the nth time (n is a natural number) are expressed as (X _n , F _n ). Calculated in association.

After the acquisition of displacement values and force sense values starts, a "force sense value increase rate" is calculated each time each value is acquired. The force sense value increase rate is calculated as a value (F _n /F _n-1 ) obtained by dividing the F _n value by the F _n-1 value at the n-th acquisition of each value. The calculated force sense value increase rate is compared with a pressure start determination value (threshold value, a value of 1 or more, such as 1.2) that is set and stored in advance. Then, each value of the previous acquisition of each value for which the force sense value increase rate became equal to or higher than the pressure start determination value is set as the press-fitting start point SP in FIG. 4 . By further advancing the press-fitting from the press-fitting start point SP, both the displacement value and the force sense value increase.

Here, during the press-fitting of the first press-fitting part B1 (see Fig. 1), until it comes into contact with the abutting part on the +X side of the first receiving part Ba, it is linearly (linearly function-like) at a generally constant slope. Both displacement and force values increase. Then, when the first press-fitting component B1 comes into contact with the abutting portion of the first receiving portion Ba (see FIG. 3), the press-fitting is completed. The displacement of the first press-fit component B1 after the press-fit is completed is caused by elastic deformation of the main body component B in the X direction. For this reason, the amount of increase in the force sense value with respect to the displacement amount increases, and in FIG. 4, the displacement value and the force sense value increase with a steeper linear slope than before the press-fitting is completed.

The point at which the slope changes becomes a change point CP, and the displacement value and force sense value at the change point CP are calculated in order to determine the quality of press-fitting. For this calculation, the displacement value and force sense value after setting the press-fitting start point SP are divided into two groups of detection data. In order to carry out such classification, after setting the press-fitting start point SP, a gradient value is calculated every time a displacement value and a force sense value are obtained. The gradient value is calculated using the following equation (1) at the n-th acquisition of each value.
Gradient value=(F _n -F _n-1 )/(X _n -X _n-1 )...Equation (1)

The calculated gradient value is compared with a press-fit completion determination value (threshold value) set and stored in advance. If the gradient value calculated at the m-th acquisition of each value exceeds the press-in completion judgment value, the first detection data group is composed of the values from the press-in start point SP to the m-1st press-in, and A second detection data group is formed by each value of . Note that the final time of acquisition of each value in the second detection data group is the time before the acquisition in which the acquired force sense value exceeds the above-mentioned maximum pressure force value. In this way, the displacement values and force sense values acquired from the start of press-fitting to the completion of press-fitting are divided into two data groups: the first detection data group and the second detection data group.

After dividing into two data groups, regression lines are obtained for each of the first detection data group and the second detection data group, as shown by the solid line graph G in FIG. Then, the intersection of the two regression lines forming the graph G is calculated, and the displacement value and force sense value at this intersection are determined as the change point CP. At the change point CP, in the process of press-fitting the first press-fitting part B1, the amount of change in the force sense value relative to the amount of change in the acquired displacement value increases by more than a predetermined value corresponding to the above-mentioned press-fitting completion determination value. It is considered as a point.

The calculated force sense value at the change point CP is compared to see whether it is within an allowable force sense value range (threshold value) set in advance and stored in the storage unit 37. Further, the calculated displacement value of the change point CP is also compared to see if it is within an allowable displacement value range (threshold value) set in advance and stored in the storage unit 37. Here, the allowable force sense value range is a range of tolerance with respect to a reference force sense value at the time of completion of press-fitting, and the allowable displacement value range is a range of tolerance with respect to a reference displacement value at the time of completion of press-fitting.

In the above comparison, as shown in graph G in FIG. 4, when the force value at the change point CP is included in the allowable force value range, and the displacement value at the change point CP is included in the allowable displacement value range, Pass (good, normal) is determined as the quality of the press-fit. When a pass judgment is made, the first press-fitting part B1 is press-fitted into the first receiving part Ba with an appropriate pressing force, and the displacement amount pressed in the X direction is also appropriate, and the first press-fitting part B1 is pressed into the first receiving part Ba at the abutting part. The first receiving portion Ba is brought into contact with the first receiving portion Ba.

In the above comparison, if the force value at the change point is not included in the allowable force value range, a rejection (defective, abnormal) is determined as the press-fit quality determination. The determination of failure can be exemplified by the change in displacement value and force value shown in graph N1 in FIG. 4, where the force value at the change point is smaller than the allowable force value range. For example, the change in the displacement value and the force sense value shown in the graph N1 is caused by, for example, the width of the first receiving part Ba in the Y direction being larger than the reference value, and the pressing force for press-fitting the first press-fitting part B1 even though the press-fitting is completed. is considered to be small. In this case, there is a high possibility that unintended wobbling of the first press-fitted part B1 will occur, and a rejection will be made.

Further, as a case where the force value at the change point is larger than the allowable force value range, a change in the displacement value and force value shown in graph N2 in FIG. 4 can be exemplified. For example, the change in the displacement value and the force sense value shown in the graph N2 is caused by the pressing force for press-fitting the first press-fit part B1 even though the width of the first receiving part Ba in the Y direction is smaller than the reference value and press-fitting is completed. is considered to be large. In this case, there is a high possibility that deformation or the like has occurred around the first receiving portion Ba of the main body part B, and the product is determined to be rejected.

Furthermore, in the above comparison, regardless of whether or not the force value at the change point is included in the allowable force value range, if the displacement value at the change point is smaller than the allowable displacement value range, the press-fit is judged to be defective. A judgment of passing is made. In this case, changes in the displacement value and force sense value shown in graph N3 in FIG. 4 can be exemplified. The changes in the displacement value and force sense value shown in graph N3 are caused by an abnormality in which the press-fitting (displacement) is midway due to, for example, the first receiving part Ba being deformed and the first press-fitting part B1 being caught in front of the abutting part. It is assumed that it occurs. In this case, the first press-fitting part B1 is incompletely press-fitted into the first receiving part Ba of the main body part B, and a rejection is determined.

Note that, as shown by graph N4 in FIG. 4, the displacement value and the force sense value may increase without a change point occurring. The changes in the displacement value and the force sense value shown in graph N4 may occur, for example, when an abnormality occurs in which the abutting portion of the first receiving part Ba is damaged or the like and the first press-fit part B1 is not abutting. Ru. In this case as well, the first press-fitting part B1 is incompletely press-fitted into the first receiving part Ba of the main body part B, and a rejection is determined.

The determination of failure and pass is included in the profile and stored in the storage unit 37 together with the identification information of the first press-fitted part B1. After the products including the rejected first press-fitting part B1 are taken out from the press-fitting apparatus 1, they are sorted in a predetermined sorting process, and undergo processes such as re-inspection, adjustment, and disposal.

According to the embodiment described above, the press-fit parts B1 and B2 are press-fitted in a state in which the main body part B supported by the support part 3 is not restricted in the press-fit direction and is allowed to move, so that the dimensions in the press-fit direction In managing this, the tolerance for fixing the main body part B to the support part 3 can be excluded. As a result, compared to conventional press-fitting devices, it is possible to improve the positional accuracy of each press-fitted part B1 and B2 in the press-fitting direction, and as a result, the yield of products can be improved.

Furthermore, in this embodiment, the process time can be shortened and productivity can be improved in the following three points.

First, through the processing of the above-mentioned analysis section 35 and press-fit determination section 36, the quality of the press-fit condition can be determined and inspected at the same time as press-fitting, and the process time is reduced compared to the conventional technology in which the inspection and the press-fitting process are performed separately. It is possible to shorten the time and improve productivity.

Second, since the support portion 3 allows movement of the main body part B in the press-fitting direction, it is possible to eliminate the need for positioning and fixing the main body part B in the press-fitting direction, and to fix the main body part. Compared to conventional technology, process time can be shortened and productivity can be improved.

Third, since the first press-fitting part B1 and the second press-fitting part B2 are press-fitted at the same time while facing each other, process time is shortened and productivity is improved compared to the conventional technology in which the two parts are press-fitted separately. can be achieved.

In addition, in the embodiment described above, the displacement value and force sense value required for press fitting of each press-fitting part B1 and B2 are detected, and the displacement value and force sense value of the state in which the press-fitting parts B1 and B2 are in contact with the respective receiving parts Ba and Bb in the press-fitting direction are detected. is determined as the change point CP. In determining whether the press-fitting state of each press-fitting part B1, B2 is good or bad, the force value at the change point CP, which is the press-fitting process (intermediate state), is compared with the allowable force value range. This makes it possible to determine abnormalities after press-fitting is completed, and to check the press-fitting state in a state close to that of the finished product, compared to conventional technology that determines the quality of the press-fitting at the timing of starting press-fitting into a hole, etc. If possible, the determination accuracy can be improved.

Moreover, since the displacement value of the change point CP is compared with the allowable displacement value range to determine whether the press-fitted state of each press-fitted part B1 and B2 is good or bad, the judgment accuracy is further improved in conjunction with the good or bad judgment based on the force sense value. be able to.

Note that the present invention is not limited to the above embodiments, and can be implemented with various modifications. In the embodiments described above, the size, shape, direction, etc. illustrated in the accompanying drawings are not limited to these, and can be changed as appropriate within the scope of achieving the effects of the present invention. Other modifications may be made as appropriate without departing from the scope of the invention.

For example, the allowable force value range and allowable displacement value range stored in the storage unit 37 may be calculated based on the force value and displacement value at the change points included in the profiles of the past press-fit parts B1 and B2. good.

Further, in the above embodiment, the press-fitting device 1 for manufacturing an electromagnetic switch has been described, but as long as the press-fitting parts B1 and B2 can be press-fitted into the main body part B in the same way as described above, various other types of press-fitting devices can be used. Can be applied to products.

1: Press-fitting device 3: Supporting section 10: First press-fitting machine 11: First driving section 12: First pressing section 13: First force detection section 14: First displacement detection section 20: Second press-fitting machine 21: First 2 driving section 22: second pressing section 23: second force detection section 24: second displacement detection section 30: control means 35: analysis section 36: press fit determination section 37: storage section B: main body part B1: first press fit Part B2: Second press-fit part Ba: First receiving part Bb: Second receiving part CP: Change point

Claims (3)

A press-fit device for press-fitting and mounting a first press-fit part and a second press-fit part into a main body part,
The main body component includes a first receiving part into which the first press-fitting part is press-fitted, and a second receiving part into which the second press-fitting part is press-fitted,
The first receiving part and the second receiving part are formed in opposite directions to each other in a press-fitting direction that is a linear direction,
a support part that supports the main body part while allowing displacement in the press-fitting direction;
a first press-fitting machine that press-fits the first press-fitting part into the first receiving part of the main body part supported by the support part;
a second press-fitting machine that press-fits the second press-fitting part into the second receiving part of the main body part supported by the support part;
a control means for controlling operations of the first press-fitting machine and the second press-fitting machine, wherein the first press-fitting part and the second press-fitting part are press-fitted at the same time in a reversed state in the press-fitting direction,
The first press-fitting machine includes a first pressing section that presses the first press-fitting part;
a first driving part that drives the first pressing part to press fit the first press-fitting component into the first receiving part;
a first force detection section that detects a force generated in the first pressing section;
a first displacement detection section that detects displacement of the first press-fit component with respect to the main body component;
The second press-fitting machine includes a second pressing section that presses the second press-fitting part;
a second driving part that drives the second pressing part to press fit the second press-fitting component into the second receiving part;
a second force detection section that detects the force generated in the second pressing section;
a second displacement detection section that detects displacement of the main body component supported by the support section;
The control means is based on the force sense values detected by the first force sense detection unit and the second force sense detection unit, and the displacement values detected by the first displacement detection unit and the second displacement detection unit, A press-fitting device comprising: a press-fitting determination section that determines whether the press-fitting states of the first press-fitting part and the second press-fitting part are good or bad. The control means includes an analysis unit that determines a change point at which the amount of change in the force sense value with respect to the amount of change in the displacement value increases by a predetermined value or more in the process of press-fitting the first press-fit component and the second press-fit component. ,
a storage unit that stores an allowable force value range of the force value at the changing point;
The press-fitting device according to claim 1, wherein the press-fitting determination unit determines the acceptability based on a comparison between the force value at the changing point and the allowable force value range. The storage unit further stores an allowable displacement value range of the displacement value of the change point,
The press-fitting device according to claim 2, wherein the press-fitting determination unit determines the quality based on a comparison between the displacement value of the change point and the allowable displacement value range.

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