JP2854677B2 - Gear assembling method and gear assembling apparatus - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for assembling a gear that is precise and has a large mass, and particularly relates to a gear tooth surface, a bearing, and a shaft of a gear case. The present invention relates to a gear assembling method and an assembling apparatus suitable for assembling a gear without damaging a support portion or the like.

[Conventional technology]

In a conventional apparatus, for example, as disclosed in Japanese Patent Application Laid-Open No. 58-45828, a new gear is brought closer to an existing gear by linear motion of a holding head that holds the shaft end of the gear. When the tooth portions of the two gears interfere with each other, after relatively moving by a predetermined amount in a direction substantially orthogonal to a plane passing through the axis of the two gears, the new gear is brought closer to partially mesh the teeth, and the new gear is The shaft part is positioned concentrically with the bearing hole,
A method of inserting a shaft of a newly installed gear into a bearing hole has been proposed.

Further, for example, as disclosed in Japanese Patent Application Laid-Open No. 61-274828, a finger for holding a shaft end of an existing gear attached to a work so as to be fixed by a rotation preventing means, and a new gear And a finger that holds the gear so that the gear rotates when the shaft end is moved in the axial direction, and a new gear is rotated and engaged with an existing gear to be assembled.

[Problems to be solved by the invention]

In any of the above-mentioned prior arts, the gears are set in a horizontal state and the teeth are aligned with each other. Both gears are held at one end of a shaft passing through the center of rotation.

Therefore, when dealing with small and lightweight gears,
The same assembly can be performed with the gears vertical, but when handling large, large-mass gears, the holding means for holding the gears requires a large holding force. It needs to be larger. Although it is possible to hold both ends of the gear instead of one end, it is impossible to hold the shaft when the shaft of the gear is short and the shaft is inserted into the gear case. become.

Furthermore, in the above-mentioned prior art, no consideration is given to the occurrence of flaws on the tooth surface of the gear, and there is a risk that flaws will occur on the tooth surface of a precision gear.

In view of the above circumstances, an object of the present invention is precise and,
It is an object of the present invention to provide a gear assembling method and an assembling apparatus that can assemble a gear without damaging tooth surfaces, bearings, a shaft support of a gear case, and the like of a gear having a large mass.

[Means for solving the problem]

In order to achieve the above object, according to the present invention, a predetermined distance between an existing gear previously attached to the gear case and a new gear newly attached to the gear case so as to mesh with the existing gear. After detecting the tooth tip position of each gear and correcting the position of the new gear so that the tooth tip of one gear faces the valley of the other gear, the tooth tip of one gear is The new gear is revolved around the existing gear to the upper position of the assembling position, and the holding means for holding the new gear is set to have a degree of freedom in the horizontal direction. The gear is lowered to the position where the gear case is mounted, and the shaft of the newly provided gear is fitted to the shaft support of the gear case so as to follow the shaft, and the new gear is mounted on the gear case.

In addition, the holding means is replaced with a mounting means base for holding a plurality of kinds of gears, a plurality of holding means supported by the horizontally movable floating means, and holding the gears at predetermined positions. X for moving the assembling means having an exchanging means for mounting and mounting, and moving the assembling means between the holding means mounting table and a gear case for assembling the gear;
Y, Z driving means, gear case positioning means for positioning the gear case, measuring means for simultaneously measuring displacement of a pair of gears for aligning teeth of a pair of gears to be assembled, and X measuring means , Y and Z directions, and a control means for automatically controlling these means.

Further, the holding means includes a holding plate and a cylindrical claw arranged at positions facing each other, the claw is moved in the direction of the holding plate, and the claw is hooked on the inner peripheral surface of the rim of the gear. And the gear is held between the pawl and the holding plate.

Also, the floating means, a disk-shaped base for holding the holding plate and the claw, a gantry for holding the upper and lower surfaces of the base movably through a plurality of balls, supported by the gantry, And a positioning pin that fits into a hole formed in the base to position the base.

Further, the holding means includes a pair of claws opposed to each other and movable in a direction of approaching or moving away from each other, and a gear is held between the claws.

Further, the holding means includes a pair of cylindrical claws which are opposed to each other and can move in a direction of approaching or moving away from each other, and means for rotating one of the claws, and a gear is held between the claws. At the same time, the pinched gear was rotated.

Further, the assembling means is provided with a detecting means for detecting a vertical force at the time of assembling the gear.

In addition, the assembling means is moved in the arc direction by the X, Y, Z driving means in a state in which the gear held by the holding means is meshed with the counterpart gear already assembled, and It was configured to be incorporated.

Further, the measuring means is provided with a plurality of displacement sensors for simultaneously measuring the positions of the gears already mounted and the gear teeth held by the holding means.

[Action]

The assembling means is moved by the X, Y, Z driving means above the holding means positioned and mounted on the holding means mounting table,
Attach the required holding means. Then, the assembling means is moved by the X, Y, Z driving means above the newly provided gear previously arranged at a predetermined position, and the holding means holds the newly provided gear.

When the assembling means supporting the newly provided gear by the X, Y, Z driving means moves above the gear case previously positioned at a predetermined position, the existing gear already incorporated in the gear case by the measuring means, and the holding means The tooth positions of the newly installed gears to be incorporated into the gear case are simultaneously measured, and the gears are engaged with each other so as not to interfere with each other.

Then, the new gear held by the holding means is revolved around the axis of the existing gear to a position above the assembly position by the X, Y, and Z driving means. The holding means is made movable in the horizontal direction by the floating means above the assembling position, the shaft of the newly provided gear is fitted to the shaft support of the gear case, and the newly provided gear is mounted on the gear case.

When the assembly of the new gear is completed, the holding means releases the gear. Then, the assembling means is moved by the X, Y, and Z driving means onto the holding means table, and the holding means is placed on the holding means table and released. Hereinafter, the above operation is repeated, and the gears are sequentially assembled to the gear case.

Therefore, according to the present invention, since the gear is held and assembled by the holding means supported by the floating means, even if the gear is large, has a large mass, and has a short shaft portion, The gear can be assembled without damaging the surface, the bearing, the shaft support of the gear case, and the like.

〔Example〕

 Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

In FIGS. 1 and 2, reference numeral 1 denotes a hand constituting a holding means, and 2 denotes a gear held by the hand 1. In the hand 1, reference numeral 3 denotes a cylindrical claw that receives the gear 2,
It is fixed to the bracket 4. A linear bearing 5 is fixed to the bracket 4 and is slidably held in a left-right direction in FIG.
The linear guide 6 is fixed to a hand base 7.

A reference surface bracket 8 having a surface 8 a perpendicular to the moving direction of the linear guide 6 is fixed to the hand base 7. A holding plate 9 for holding the gear 2 together with the reference surface bracket 8 is fixed to the bracket 4.

An air cylinder 10 is fixed to the hand base 7, and a cylinder rod 11 of the air cylinder 10 is fixed to the bracket 4, and moves the claw 3 in a direction approaching or separating from the reference surface block 8.

The hand base 7 is fixed to a floating base 20 constituting a floating means. The floating base 20 is supported movably in the horizontal direction with respect to the hand gantry 22 by a ball 21 that is vertically opposed to the floating base 20. In addition, the hand mount 22 has a hand replacement rod
26 are provided.

An air cylinder 23 is fixed to the hand base 22, and a positioning pin 24 having a tapered tip is fixed to the tip of a cylinder rod of the air cylinder 23, and a tapered hole 25 formed in the floating base 20 is formed. Facing. When the positioning pin 24 advances by the air cylinder 23, the positioning pin 24 is inserted into the tapered hole 25,
Position the floating base 20.

On the other hand, the inner peripheral surface 31 of the rim of the gear 2 is machined so as to have a predetermined concentricity with the central axis 32 of the gear 2. As shown in FIG. 2, since the claws 3 are cylindrical and are arranged two horizontally, the gear 2 is held by the hand 1 as shown in FIG. When the inner peripheral surface 31 of the rim 30 is supported by the pawl 3, the cylindrical surface of the pawl 3 and the inner peripheral surface 31 of the rim 30 always contact at two points due to the weight of the gear 2. Thus, the center of the gear 2 always coincides with the center 35 of the hand 1.

In FIG. 3, the hand 1 has a gear assembling device 50.
Is mounted on the Z-axis driving device 54 of the first embodiment. The gear assembling device 50
X-axis driving means 52 disposed on a gantry 51, and X-axis driving means
An orthogonal X, Y, Z composed of a Y-axis driving means 53 disposed on 52 and a Z-axis driving means 54 disposed on the Y-axis driving means 53
It is composed of driving means. The X-axis driving means 52, the Y-axis driving means 53 and the Z-axis driving means 54
5, driven by Y-axis motor 56 and Z-axis motor 57 (see FIG. 5) via ball screws 58, 59 and 60 (see FIG. 5). Further, the Z-axis driving means 54 has a hand exchanging means, and the hands 1, 62 positioned on the hand setting table 61,
Replace 63.

The gear assembling device 50 includes a measuring means 64 for meshing the existing gear with the newly provided gear, and a gear supplying means for supplying the gear 2 to the hand 1 mounted on the Z-axis driving means 54 (see FIG. Gear case positioning means (not shown) for positioning the gear case 71 to which the gear is to be attached.
It has.

In FIG. 4, the parallel shaft gear reducer 70 is a gear case.
The first gear 2 attached to the first gear 71, the second gear 72 and the third gear
An intermediate shaft 69 constituted by a gear 73 and a fourth gear 74 are constituted. Then, the first gear 2 and the second gear 72 mesh with each other,
The third gear 73 and the fourth gear 74 are engaged. Helical gears are used for the first to fourth gears 2, 72, 73, 74.

Each gear 2, 72, 73, 74 has a central shaft 75,
It is rotatably supported by the gear case 71 via bearings 78, 79, and 80 fitted to 76 and 77.

5 to 7, the Z-axis driving means 54 is
The linear guide 81 fixed to the axis driving means 53 and the guide rail 82 fixed to the Z axis driving means 54
It is supported movably up and down. On a base 83 of the Y-axis driving means 53, a nut 91 screwed to a ball screw 60 for driving the Z-axis driving means 54 in a vertical direction is rotatably supported by a radial bearing 92 and a thrust bearing 92.

A load cell 94 is fixed to the tip of the ball screw 60, and the load cell 94 is fixed to the Z-axis driving means 54 via a bracket 95. Therefore, the Z-axis driving means
The weight of 54 is supported by load cell 94. The upper and lower ends of the ball screw 60 are vertically movably supported by guides 98 fixed to brackets 96 and 97 provided on the Z-axis driving means 54.

A gear 99 is fixed to the nut 91. The gear 100 meshing with the gear 99 is fixed to a rotation shaft of a motor 57 fixed to a motor bracket 101 provided on the Y-axis driving means 53. Accordingly, the rotation of the motor 57 causes the Z-axis driving means 54 to move in the vertical direction with respect to the Y-axis driving means 53.

At the lower end of the Z-axis driving means 54, an exchanging means 102 for the hands 1, 62, 63 is provided, whereby the hands 1, 62, 63 are detached and exchanged.

8 and 9, a cylindrical outer guide 104 and an inner guide 10 are provided on the head plate 103 at the lower end of the Z-axis driving means 54.
6 is fixed. An inner cylinder 105 is fitted between the inner guides 106 of the outer guide 104 so as to be vertically slidable. A spring 107 is mounted between the inner guide 106 and the inner cylinder 105, and pushes the inner cylinder 105 downward. Also, there is a space between the outer guide 104 and the inner cylinder 105.
110 is formed and connected to the air supply. In addition, the tapered hole 1 formed in the inner guide 106 and contracting inward is formed.
A ball 108 having a diameter larger than the inside diameter of the tapered hole 111 is movably disposed between the outer guide 11 and the outer guide 104.

Accordingly, as shown in FIG. 8, the inner guide 106 is inserted into the rod 26 of the hand, the inner cylinder 105 is lowered by the spring 107, and the ball 108 is pushed by the tip of the inner cylinder 105, and a part of the ball 108 is removed. By protruding inside the inner guide 106, inserting it into the groove 109 of the rod 26 and pressing it,
The hand and the Z-axis driving means 54 can be connected.

Further, as shown in FIG. 9, air is fed into the space 110, the inner cylinder 106 is raised, the pressing force of the inner cylinder 106 on the ball 108 is removed, and the Z-axis driving means 54 is raised, so that the ball is raised. The outer guide 104 is pushed out of the groove 109 by the rod 26 and the inner guide 106 is
The hand is released from the Z-axis driving means 54 by detaching from the hand 26.

In FIG. 10, the measuring means 64 includes sensors 120 and 121,
X-axis slide unit 122 for driving these in the XYZ directions
, A driving means for measuring means comprising a Y-axis slide portion 123 and a Z-axis slide portion 124 is provided. Each of the slide portions 122, 123, and 124 has a drive motor 125, 126, 1
Driven by 27 via ball screws 128, 129, 130. The positions of the sensors 120 and 121 are adjusted so that the central axes of the vertical measurement coincide with each other. The movement in the X-axis direction is detected by an encoder 131 fixed to the axis of the X-axis drive motor 125.

The control means 145 includes a controller 139, a microcomputer A140, a microcomputer B141, a strain gauge 142, and an A / D converter 143. The microcomputer A140 measures the force applied to the Z-axis driving means 54 in the Z-axis direction by the output of the load cell 94 via the strain gauge 142. The microcomputer B141 takes in the outputs of the sensors 120 and 121 through the sensor amplifier 144 and the A / D converter 143, and
An operation for meshing gear 2 with gear 2 is performed. The controller 139 controls the entire apparatus based on these signals.

Next, the operation of assembling the gear based on the above configuration will be described.

First, an intermediate shaft is attached to the Z-axis
A hand 62 for chucking 69 is mounted. After this,
The intermediate shaft 69 is taken out and assembled to the gear case 71. Next, the hand 62 is placed on the hand setting table 61, and the hand 1 for taking out the first gear 2 is attached. And the first gear 2
And take out the intermediate shaft 69 attached to the gear case 71.
Above the second gear 72.

Then, the positions of the tooth tips of the first gear 2 and the second gear 72 are simultaneously measured by the measuring means 64, and the first gear 2 is meshed with the second gear 72 so as not to interfere with each other. Then
With the first gear 2 and the second gear 72 engaged with each other, X, Y,
The first gear 2 is revolved around the center axis 76 of the intermediate shaft 69 by the Z drive means to a position above the mounting position of the first gear 2.

Then, the positioning pin 24 is disengaged from the tapered hole 25 of the floating base 20 by the air cylinder 23 of the hand 1 to make the floating base 20 movable in the horizontal direction. In this state, the X, Y, and Z driving means
The first gear 2 is moved to the mounting position.

At this time, if there is a slight displacement between the shaft supporting portion of the gear case 71 and the bearing 78 attached to the center shaft 75 of the second gear 2, the horizontal force generated by the interference between the shaft supporting portion and the bearing 78 is obtained. As a result, the floating base 20 moves in the horizontal direction, and the shaft support and the bearing 78 are aligned, so that the bearing 78 is assembled following the shaft support of the gear case 71.

Therefore, no excessive force acts on the first gear 2 or the second gear 72, and damage to the tooth surface can be prevented. Further, since no excessive force acts on the shaft support portion of the bearing 78 and the gear case 71, the damage thereof can be prevented.

When the assembly is completed, the bracket 4 is retracted by the air cylinder 10 of the hand 1 to release the first gear 2, and X,
By the Y and Z driving means, the Z axis driving means 54 returns the hand 1 to the hand setting table 61. At the same time, the positioning pin 24 is inserted into the tapered hole 25 by the air cylinder 23 to fix the position of the floating base 20.

By the same operation as described above, the fourth gear 74 is moved to the gear case 71.
To complete the installation of the parallel shaft gear reducer 70.

Next, operations from tooth position measurement to assembly will be described in more detail.

The attachment of the hand 1 to the Z-axis driving means 54, confirmation of the gear holding by the hand 1, and the like are performed by detecting a change in the output of the load cell 94.

The output of the load cell 94 is supplied to the microcomputer A14 via the strain gauge 142.
Captured to 0. In the microcomputer A140, there are provided three types of hands 1, 62, and 63 to be exchanged, and data tables of weights of various gears to be assembled. Then, when the hand is taken out and the gear is taken out, it is detected that the weight applied to the Z-axis driving means 54 increases, and it is confirmed that each taking-out operation has been performed. By comparing the weight with the weight detected by the load cell 94, it is possible to check whether the hand and gear are taken out as instructed.

As shown in FIG. 10, when the intermediate shaft 69 is incorporated in the gear case 71, the intermediate shaft 69 is
The first gear 2 is positioned so that the outer peripheral surfaces of the second gear 72 and the first gear 2 face each other at a predetermined interval.

Then, as shown in FIG. 11, the measuring means 64 causes the sensor 10 to cross the facing gap between the second gear 72 and the first gear 2.
2, 121 are moved, and the positions of the cutting edges of the second gear 72 and the first gear 2 are measured. Here, the distance between the axis of the second gear 72 and the axis of the first gear 2 is X. This distance Z is obtained by adding the detection distance Y of the sensors 120 and 121, the radius R1 of the first gear 2 and the radius R2 of the second gear 72.

As shown in FIG. 12, the distance X1 between the sensors 120 and 121 and the object to be measured and the output voltage V of the sensors 120 and 121 have a proportional property. Therefore, by moving the sensors 102 and 121 across the opposing gap between the second gear 72 and the first gear 2, the output 15 of the sensors 120 and 121 as shown in FIG.
0, 151 can be obtained.

In FIG. 13, (a) shows the output 151 of the sensor 121, the measurement result of the second gear 72, and (b) shows the output 1 of the sensor 120.
50 is a measurement result of the first gear 2. These outputs
In 150 and 151, the voltage at the position corresponding to the tooth tip of each gear 2, 72 is high, and the voltage at the position corresponding to the valley is low.

The distance (horizontal axis) is detected by an encoder 131 attached to the drive motor 125 for the X-axis of the measuring means 64.
The outputs 150 and 151 of these sensors 120 and 121 are taken into the microcomputer B141 through the sensor amplifier 144 and the A / D converter. At the same time, the output of the encoder 131 is also taken into the microcomputer B141.

In the microcomputer B141, voltages corresponding to the positions of the pitch circles of the gears 2 and 72 are set as thresholds 152 and 152, and the measurement center CK serving as a measurement reference position within the measurement range.
Is set.

The coordinates a, b, c, and d of the intersection with the threshold 153 before and after the measurement center CK of the output 151 of the sensor 121 are obtained, whereby the tooth widths S ₁ and S ₁ around the measurement center CK of the second gear 72 are calculated. S ₂ , pitch P, center positions Pm ₁ and Pm _{2 of} the cutting edge, and a center position Pv of the valley are calculated by the following equations.

Tooth _{width: S 1 = b-a S} 2 = d-c pitch: P = (c + d- a-b) / 2 tooth tip center _{position: Pm 1 = (a + b} ) / 2 Pm 2 = (c + d) / 2 The center position of the valley: Pv = Pm ₁ + P / 2 Next, the coordinates a ′, b ′, c ′ of the intersection with the threshold value 152 before and after the measurement center CK of the output 150 of the sensor 120,
d 'is obtained, and the tooth widths S ₁ ', S ₂ , 'pitch P' before and after the measurement center CK of the first gear 2 and the center position P of the cutting edge are obtained.
m ₁ ′, Pm ₂ ′, and the center position Pv ′ of the valley are calculated by the following equations.

Tooth _{width: S 1 '= b'-a} ' S 2 '= d'-c' pitch: P '= (c' + d'-a'-b ') / 2 tooth tip center position: Pm ₁ '= (A' + b ') / 2 Pm ₂ ' = (c '+ d') / 2 Center position of the valley: Pv '= Pm ₁ ' + P '/ 2 From these values, the first gear 2 and the second gear 72 are obtained. Can be engaged with the center position Pv ′ of the valley of the first gear 2 with respect to the center position Pm ₁ (Pm ₂ ) of the tooth tip of the second gear 72, or the center position Pv of the valley of the second gear 72. The center position Pm of the tooth tip of the first gear 2
The position of the first gear 2 may be corrected so that ₁ ′ (Pm ₂ ′) is adjusted.

The amount of correction required to make these corrections is the second gear 72
'When combining a correction amount [Delta] X ₁ is, [Delta] X ₁ = Pm ₁ -pv' of the tip of the center position Pm ₁ with respect to the center position Pv of the first gear 2 valley becomes.

Also, the first gear 72 is positioned at the first position with respect to the center position Pm ₂ of the tooth tip of the second gear 72.
When adjusting the center position Pv ′ of the valley of the gear 2, the correction amount ΔX ₂ is ΔX ₂ = Pm ₂ −Pv ′.

When the center position Pm ₁ ′ of the tip of the first gear 2 is matched with the center position Pv of the valley of the second gear 72, the correction amount ΔX
₃ becomes ΔX ₃ = Pv−Pm ₁ ′.

When the center position Pm ₂ ′ of the tooth tip of the first gear 2 is matched with the center position Pv of the valley of the second gear 72, the correction amount ΔX
₄ becomes ΔX ₄ = Pv−Pm ₂ ′. The smallest _one of the correction amounts ΔX ₁ , ΔX ₂ , ΔX ₃ , and ΔX ₄ is selected, and the first gear 2 is selected by the X, Y, and Z driving means, and the correction amount ΔX ₁ (ΔX ₂ , ΔX _3. Move horizontally by ΔX ₄ ).

In the above-described measurement, the gears 2 and 72 are measured, each of which has a curved measurement surface. However, as shown in FIG. 14 (a), only two teeth are positioned with respect to the measurement center CK. Since the measurement is not performed, the measurement error caused by the inclination of the teeth due to the curvature does not matter. In addition, the microcomputer has a data table in which data such as the tooth width and pitch of the gear to be meshed is provided.When measuring gears, the measured data is compared with the data in the data table. However, if the measured data differs from the data set in the data table by more than the allowable range, a check function such as stopping the assembly as a model difference can be provided.

After correcting the position of the first gear 2, the first gear 2 is lowered to mesh with the second gear 72. At this time, the descending amount of the first gear 2 is adjusted, and as shown in FIG.
And the first gear 2 mesh with each other at a position about 0.5 module away from the normal meshing position. In this state, the first gear 2 and the second gear 72 are not in contact with each other.

Next, as shown in FIG. 15, the first gear 2 is moved along the arc path 160 by the X, Y, Z driving means while the center distance between the first gear 2 and the second gear 72 is maintained. The second gear 72 is revolved around the center of the second gear 72 to the intersection 162 between the center 161 of the second assembly position and the arc path 160. And
The positioning pin 24 is disengaged from the tapered hole 25 of the floating base 20 by the air cylinder 23 of the hand 1 in FIG. 1, and the floating base 20 is made movable in the horizontal direction.

In this state, the Z-axis driving means 54 is lowered in the vertical direction. At this time, the first gear 2 is meshed with each other at a position approximately 0.5 module away from the normal meshing position of the second gear 72 and the first gear 2.
The position of the shaft support portion 163 and the position of the bearing 78 attached to the center shaft 75 of the first gear 2 may be shifted.

In this case, when the bearing 78 comes into contact with one end of the shaft support portion of the gear case 71, a force to move vertically and a force to move horizontally are applied to the bearing 78. This horizontal force causes the floating base 20 to move in the horizontal direction,
Into the shaft support 163 of the gear case 71. at the same time,
The first gear 2 is in normal mesh with the second gear 72,
Finish the assembly.

During the assembling operation, the contact between the tooth surfaces of the first gear 2 and the second gear 72 occurs when the first gear 2 revolves along the circular orbit. Then, as shown in FIG.
Since the second gear 72 is rotatably held by the gear case 71 via the bearing 79, the second gear 72 follows the movement of the first gear 2 while the first gear 2 revolves along the arc path 160. .

If the gear tooth surface is formed as an involute curve, normal contact can be maintained even if the center distance between the first gear 2 and the second gear 72 is slightly apart. There is no contact of the edge of one tooth tip with the other tooth surface that deeply scratches the surface. When the first gear 2 is moved along the arc path 160, the first gear 2 and the second gear 2
Since the engagement of the gears 72 is separated by about 0.5 module, even if a slight error occurs in the circular orbit, each gear 2, 72
The teeth do not collide with each other, and the tooth surface is not damaged by the collision.

When the bearing 78 is fitted to the shaft supporting portion 163 of the gear case 71 and the assembly of the first gear 2 is completed, Z shown in FIG.
The output of the load cell 94 of the shaft driving means 54 drops sharply by the amount of the first gear 2. Therefore, by detecting the position of the Z-axis driving means 54 and the output of the load cell 94, the end of the assembly of the first gear 2 can be detected.

When the assembly of the first gear 2 is completed, the cylinder rod 11 of the hand 1 is retracted, the pawl 3 is pulled out of the rim 30 of the first gear 2, and the Z-axis driving means 54 is raised.

Similarly, the fourth gear 74 is assembled. The fourth
Since the gear 74 has no rim and the shaft 77 is longer,
A hand (not shown) that grips both ends of the shaft 77 is used.

As described above, according to the present embodiment, the gear can be handled without having the end of the gear, so that the shaft of the gear can enter the shaft support of the gear case and hold the shaft. Even gears that cannot be used can be assembled.

Also, by holding the inner peripheral surface of the rim provided concentrically with the outer periphery of the gear with two claws horizontally arranged on the hand and having a cylindrical surface, the position of the central axis of the gear is always kept at the center of the hand. And high-precision handling can be achieved. Further, the gear can be assembled without applying excessive force to the tooth surface of the gear, so that the tooth surface is not damaged.

Further, since the completion of the gear assembly is confirmed by the output of the force detecting sensor arranged on the Z-axis driving means and the descending amount of the Z-axis driving means, the height of the gear case slightly varies. Even if there is, the end of the assembling can be reliably confirmed without dropping the gear halfway, and damage to the tooth surface can be prevented.

A second embodiment of the holding means in the present invention will be described with reference to FIG.

In the figure, the same components as those in FIG. 1 are denoted by the same reference numerals. Two claws 200 having a cylindrical surface are provided so as to face the claws 3, and the gear 2 is held by the claws 3 and the claws 200 from both sides thereof. Further, an air cylinder 201 for moving the claw 200 is provided similarly to the claw 3.

With such a structure, the inner peripheral surface of the rim of the gear 2 can be received from both sides, and more stable holding can be performed.

A third embodiment of the holding means in the present invention will be described with reference to FIG.

In this figure, the same components as those in FIGS. 1 and 16 are denoted by the same reference numerals. Motor 210 is fixed to the bracket. The pawls 211 and 212 are rotatably arranged, and one of them is connected to the rotating shaft of the motor 210.

With such a structure, the gear assembled to the gear case can be rotated, and the phase of the gear can be surely matched.

〔The invention's effect〕

As described above, according to the present invention, the existing gear previously attached to the gear case and the new gear newly attached to the gear case so as to mesh with the existing gear are arranged at a predetermined interval. After detecting the position of the tip of each gear and correcting the position of the new gear so that the tip of one gear faces the valley of the other gear, the tip of one gear is replaced with the other gear. And the new gear revolves around the existing gear to the upper position of the assembling position, and the holding means for holding the new gear has a horizontal degree of freedom, and the gear case is positioned from above the assembling position. To the mounting position, and fit the shaft of the newly installed gear to the shaft support of the gear case, and assemble the newly installed gear to the gear case. Tooth surface and beary Grayed, it is possible to assemble the gear without damaging the like to the shaft supporting portion of the gear case.

[Brief description of the drawings]

1 is a sectional side view showing a holding means according to the present invention, FIG. 2 is a front sectional view taken along line AA of FIG. 1, and FIG. 3 is a perspective view showing the entire gear assembling apparatus according to the present invention. , FIG.
FIG. 5 is a perspective view of a parallel shaft gear reducer to which a gear is incorporated according to the present invention, FIG. 5 is a sectional front view showing a Z-axis drive unit, FIG. 6 is a sectional side view of FIG. 5, and FIG. 5 is a cross-sectional top view of FIG. 5, FIG. 8 is a cross-sectional front view of the hand exchange means mounted on the Z-axis drive means, FIG. 9 is a cross-sectional front view of the hand exchange means separated from the Z-axis drive means, FIG. 10 is a configuration diagram showing a measuring unit and a control unit, FIG. 11 is an explanatory diagram showing a relationship between a sensor and a gear, FIG. 12 is an explanatory diagram showing characteristics of a sensor, and FIG. Characteristic diagram showing the measurement output,
FIG. 14 is an explanatory diagram of the gear meshing operation, and FIG.
FIG. 16 is an explanatory view of the gear assembling operation, and FIG.
FIG. 17 is a sectional side view showing an embodiment of the present invention.
FIG. 4 is a cross-sectional side view showing the example of FIG. 1, 62, 63 ... hand, 20 ... floating base, 50 ... gear assembling device, 52 ... X-axis drive means, 53 ... Y
Shaft driving means, 54 ... Z-axis driving means, 64 ... Measurement means, 71 ... Gear case, 145 ... Control means.

────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Ichiro Hashimoto 1070 Ma, Katsuta-shi, Ibaraki Pref. Mito Plant, Hitachi, Ltd. (56) References JP-A-3-161225 (JP, A) (58) Survey Field (Int.Cl. ⁶ , DB name) B23P 21/00 306

Claims (9)

(57) [Claims] 1. An existing gear previously attached to a gear case and a new gear newly attached to the gear case so as to mesh with the existing gear are arranged at predetermined intervals, and the teeth of each gear are arranged. After detecting the leading position and correcting the position of the newly provided gear so that the tooth tip of one gear faces the valley of the other gear, the tooth tip of one gear is engaged with the valley of the other gear, and the new gear is engaged. Gear is revolved around the existing gear to the upper position of the assembling position, the holding means for holding the newly provided gear is placed in a state having a degree of freedom in the horizontal direction, and lowered from the upper position of the assembling position to the assembling position of the gear case. A gear assembling method, wherein a shaft of a newly provided gear is fitted to a shaft support of the gear case so as to follow the shaft, and the newly provided gear is mounted to the gear case. 2. A plurality of types of gears, a plurality of types of holding means supported by a floating means movable in the horizontal direction, and a plurality of types of holding means for holding gears, which are positioned at predetermined positions and mounted thereon, and the holding means. Assembling means having exchange means for exchanging and mounting means, X, Y, Z drive means for moving the assembling means between the holding means mounting table and a gear case for assembling a gear; Gear case positioning means for positioning the gear case, measuring means for simultaneously measuring the displacement of the pair of gears for positioning the teeth of the pair of gears to be assembled, and moving the measuring means in the X, Y, and Z directions. A gear assembling device, comprising: a driving means for measuring means; and a control means for automatically controlling each of these means. 3. The holding means includes a holding plate and a cylindrical claw arranged at positions facing each other, the claw being moved in the direction of the holding plate, and the claw being held on the inner peripheral surface of a rim of the gear. The gear assembling apparatus according to claim 2, wherein the gear is engaged so as to be hooked, and the gear is held between the pawl and the holding plate. 4. The floating means comprises: a disk-shaped base for holding the holding plate and the claw; and a gantry for holding the upper and lower surfaces of the base movably via a plurality of balls.
4. A gear set according to claim 2, further comprising: a positioning pin supported by said mount and fitted to a hole formed in said base to position the base. Mounting device. 5. The holding means according to claim 2, wherein said holding means comprises a pair of claws opposed to each other and movable in a direction of approaching or separating from each other, and a gear is held between said claws. 3. The gear assembling device according to claim 1. 6. A holding means, comprising: a pair of cylindrical claws opposed to each other and movable in a direction of approaching or separating;
3. A gear assembling apparatus according to claim 2, further comprising means for rotating one of said claws, wherein a gear is held between said claws and said held gear is rotated. 7. The gear assembling device according to claim 2, wherein said assembling means includes a detecting means for detecting a vertical force at the time of assembling the gear. 8. The assembling means moves the gear held by the holding means in an arc direction by means of X, Y, Z driving means while meshing with the gear of the partner already assembled. The gear assembling device according to claim 2, wherein the gear assembling device is configured to be incorporated in the gear case. 9. The apparatus according to claim 2, wherein said measuring means includes a plurality of displacement sensors for simultaneously measuring the positions of the gears already mounted and the gear teeth held by said holding means. 3. The gear assembling device according to claim 1.