JP3058973B2 - Assembly device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an assembling apparatus, and more particularly, to an assembling apparatus for automatically assembling a predetermined component into a component insertion hole provided in a work.

[0002]

2. Description of the Related Art Conventionally, when assembling a predetermined part into a hole for inserting a part provided in a work, such as when assembling a valve into a valve body of an automatic transmission of an automobile, an operator has to remove the part. It is most common to hold and manually insert and assemble into the hole. In this case, on-site checking whether the part is correctly inserted into the hole of the work, or prevention of the occurrence of the insertion scratch of the work or the part at the time of insertion must rely solely on the sense of the operator. In addition, since it is performed manually, it is not easy to achieve both improvement in productivity and maintenance of assembly accuracy.

On the other hand, in recent years, it has been considered that such a precise assembling operation is performed by an automatic machine such as an assembling robot without relying on humans.
Japanese Patent Application Laid-Open No. 3-216641 discloses an assembling apparatus for automatically assembling a transmission by inserting a speedometer gear into a hole provided in a transmission case. Further, the automatic assembling apparatus stores a predetermined sequence for searching for an appropriate position of the component so that the center of the component matches the center of the insertion hole. If the component is caught during insertion, the search is performed. It has been considered that the center is adjusted by performing the operation to prevent the occurrence of insertion flaws on the inner surface side of the component and the insertion hole at the time of insertion.

[0004]

However, the centering by the above search operation is quite effective depending on the amount of parts to be inserted at the time of catching and the form of catching, but the insertion operation can be smoothly performed to the end only by this search operation. Is generally difficult. In addition, in the conventional automatic assembling apparatus, the interaction force between the component and the inner surface of the insertion hole is quantitatively checked during the insertion work, and further, the correction value of the component center at the time of catching is quantitatively confirmed while performing the check. In practice, it has not been easy to effectively prevent the occurrence of insertion flaws.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems. By monitoring an insertion force and performing a predetermined correcting operation in accordance with the insertion force, a force acting on a component and an inner surface of an insertion hole is generated. It is an object of the present invention to provide an assembling apparatus capable of performing a part inserting operation while confirming the conditions.

[0006]

Accordingly, a first aspect of the present invention is an assembling apparatus for automatically assembling a predetermined component into a component insertion hole provided in a work, wherein the component is gripped. A component hand to be driven, driving means for driving the component hand in the insertion direction of the hole and a direction orthogonal to the insertion direction, and detecting an insertion direction component of an insertion force when the component is inserted into the hole. First detecting means, a second detecting means for detecting a transverse component orthogonal to the insertion direction of the insertion force, and a third detecting means for detecting an insertion amount of the component into the hole, A first control unit for controlling the driving unit based on a detection value of the first detection unit; and a control unit configured to control the driving unit based on a detection value of the second detection unit when the detection value of the first detection unit is equal to or more than a predetermined value. Second control means for correcting the position of the component hand A third control means for performing a search operation of the component hand so as to match the center of the component with the center of the hole based on a preset sequence when the detection value of the first detection means is equal to or greater than a predetermined value. Until the insertion end of the component passes through the entrance of the hole, the third control means searches the component hand if the detection value of the first detection means is equal to or greater than a predetermined value. After the component is inserted and the insertion end of the component passes through the entrance of the hole, the position of the component hand is corrected by the second control unit when the detection value of the first detection unit is equal to or greater than a predetermined value. It is characterized by being performed.

In a second aspect of the present invention, in the first aspect, when the detected value of the first detecting means is equal to or more than a predetermined value, the first detecting means determines the value of the second detecting means in accordance with the detected value of the third detecting means. The mode can be switched between a position correction by the second control means and a search operation by the third control means.

[0008]

According to the first aspect of the present invention, the first control means, the second control means, and the third control means are provided, and until the insertion end of the component passes through the entrance of the hole. When the detected value of the first detecting means is equal to or more than a predetermined value, the third control means causes the component hand to perform a search operation, and after the insertion end of the component has passed through the entrance of the hole, the first detecting means is operated. When the detected value of the means is equal to or more than a predetermined value, the position of the component hand is corrected by the second control means, so that the component hand can be driven based on the insertion direction component of the insertion force. When the insertion direction component is equal to or larger than a predetermined value, the mode is switched between the position correction by the second control means and the search operation by the third control means according to the component insertion amount, and an appropriate method according to the component insertion amount is performed. Adjust the position of the parts hand with Door can be. That is, by monitoring the insertion direction component of the insertion force, the insertion operation can be performed while confirming the interaction force between the component and the inner surface of the insertion hole, and when the insertion direction component is equal to or greater than a predetermined value. Can adjust the position of the component hand by an appropriate method according to the component insertion amount, effectively prevent the occurrence of insertion scratches on the component and the inner surface of the insertion hole at the time of component insertion, and improve the quality. The insertion operation can be efficiently performed.

According to a second aspect of the present invention, in the first aspect, when the detected value of the first detecting means is equal to or larger than a predetermined value, the detected value is determined according to the detected value of the third detecting means. ,
The position is switched between the position correction by the second control means and the search operation by the third control means. Therefore, when the insertion direction component of the insertion force is equal to or more than a predetermined value, the component hand is moved by an appropriate method according to the component insertion amount. The position of can be adjusted,
The insertion operation can be performed more efficiently.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings, in which the present invention is applied to an assembling apparatus for automatically assembling a valve to a valve body of an automatic transmission of an automobile. FIG. 1 is a perspective view schematically showing an overall configuration of an assembling apparatus (assembly robot) according to the present embodiment. As shown in this figure, the assembling robot 1 stands on a base 2. A column-shaped main column 3, a first arm 4 supported on the upper part of the column 3 so as to be rotatable around a column longitudinal axis, and a first arm drive mounted on a side surface of the main column 3. A first actuator 5, a cylindrical actuator 7 (a second actuator) on the distal end side of the first arm 4, and a lower end of the second actuator 7 centered on the longitudinal axis of the actuator 7. A second arm 6 rotatably supported is attached. An upper and lower cylinder 8 having a cylinder rod 8a that moves up and down in the vertical direction and a third actuator 9 that drives the cylinder 8 are provided on the distal end side of the second arm 6. A component hand 10, which will be described in detail later, is attached to the tip.

The first, second and third actuators 5,
Each of 7 and 9 is connected to a robot controller 21 constituted by, for example, a microcomputer as a main part so as to be able to send and receive signals, and is driven based on a command signal from the robot controller 21. . By driving the third actuator 9, the cylinder rod 8a of the vertical cylinder 8 is moved up and down in the vertical direction (hereinafter, this direction is referred to as the z direction) to move the component hand 10 in the z direction. be able to. Further, by driving the first and second actuators 5 and 7, the first and second arms 4 and 4 are driven.
And 6 can be rotated in a horizontal plane (x-y plane orthogonal to the z-direction) to move the component hand 10 in the same plane.

The component hand 10 is for gripping a valve to be assembled to the valve body of the transmission according to the present embodiment. As shown in detail in FIG.
A set of claws 16 for gripping the upper end of the valve (not shown)
A pair of sliding devices having an air chuck device 13 for opening and closing the claws 16 via the opening / closing rods 14, and a so-called linear guide for supporting the claws 16 slidably up and down with respect to the opening / closing rods 14. Hand 15
Is provided. The air chuck device 13 is connected to the robot controller 21 so as to be able to send and receive signals, and is operated by a command signal from the controller 21.

A force sensor device 11, which will be described in detail later, is arranged above the component holding portion 17, and the sensor device 11 is connected to a lower end of the cylinder rod 8a. The air chuck device 13 and the force sensor device 11, which are located at the center of the component gripping portion 17, are connected to the elastic support portion 12 made of a bellows-like member made of an elastic material such as rubber or resin. The component gripping part 17 is
Via this elastic support portion 12, it is elastically supported so as to be movable left and right with respect to the cylinder rod 8a.

By providing the elastic support portion 12 between the air chuck device 13 and the force sensor device 11, the so-called floating support of the component holding portion 17 in the x and y directions can be performed, and the insertion angle can be corrected. Can be easily performed. Each of the claws 16 and the opening / closing rod 1
By providing a sliding hand 15 with a so-called linear guide between
So-called floating support for the direction,
The force applied to the force sensor device 11 can be reduced and the insertion force can be easily controlled.

The force sensor device 11 detects components in the x, y, and z directions of the insertion reaction force acting on the component when the component gripped by the component gripper 17 is inserted into the hole of the workpiece. The detected data is input to the sensor controller 22. The sensor controller 22 and the robot controller 21 are both
The personal computer 23 is connected to a so-called personal computer 23, and performs a predetermined operation on the basis of the detection data input from the force sensor device 11, and performs an insertion reaction as a resultant force of three x, y, and z components. Various calculation results required for the control of the assembly robot 1 such as the magnitude and direction of the force or, as will be described in detail later, a correction value and a direction for performing the position correction at the time of the catching are described by the robot. The data is input to the controller 21.

On the other hand, as shown in FIG. 3, inside the valve body 30 to which the valve 25 according to the present embodiment is assembled, a plurality of members extending substantially in parallel along the surface of the body 30 are provided.
(Two) oil passages 31 and 32 are formed, and an insertion hole 33 into which the valve 25 is inserted is provided so as to penetrate substantially perpendicularly to the surface of the valve body 30 and the two oil passages 31 and 32. Have been. The valve 25 has upper and lower steps 26, 27 for opening and closing oil passages 31, 32 in the valve body 30, respectively.
The outer diameter of 7 is set smaller than the inner diameter of the insertion hole 33 by a predetermined amount so as to provide a predetermined clearance between them.

In the present embodiment, when the valve 25 is inserted into the insertion hole 33 of the valve body 30, the force sensor device 11 detects the insertion force in the z direction,
The insertion operation proceeds while monitoring the insertion force. Then, when the insertion force in the z direction is equal to or more than a predetermined value during the work, the component hand 10 is controlled based on the x and y components of the insertion force such that the x and y components become equal to or less than a predetermined value. The position is corrected or the component hand 10
Perform a so-called search operation based on a predetermined sequence, and align the center of the valve 25 with the center of the insertion hole 33. That is, the valve 25 and the insertion hole 3 are stored in the memory section of the robot controller 21.
A sequence program for searching for an appropriate position of the component hand 10 is stored in order to match both centers with respect to the center deviation from the center 3, and the sequence program is called in a predetermined case to search the component hand 10. The operation can be performed.

In this embodiment, when the insertion force in the z direction is equal to or more than a predetermined value, position correction based on the x and y components of the insertion force is performed, or a search operation based on the above sequence is performed. Whether to insert the valve 2 into the insertion hole 33
5 in the z direction, that is, the insertion point determined by the insertion amount of the valve 25.
That is, the valve 25 as described above is connected to the valve body 30.
4, the lower step 27 of the valve 25 may be caught by the entrance chamfer 33a of the insertion hole 33, as shown in FIG. In this case, depending on the size and shape of the chamfer, the lower step 2
In many cases, the contact state between the edge of No. 7 and the chamfered portion 33a substantially or microscopically hits each other on a plane,
Since it is difficult to determine the direction in which the force is acting in the xy plane, the position correction based on the x and y direction components of the insertion force F is not performed, and the search operation based on the above sequence is performed.

Next, the lower step 27 is connected to the chamfer 33
When the valve 25 is inserted to allow the passage of a
As shown in FIG. 7, it is conceivable that the valve 25 is hooked by contact at two points on both sides in the diameter direction of the step portion 26.
In this case, the position of the component hand 10 is corrected based on the x and y components of the insertion force F, and the position of the component hand 10 is corrected according to the correction value and the correction direction calculated by the personal computer 23. You. Then, when the insertion operation is further advanced, it is conceivable that the lower end edge of the lower step portion 27 may be caught on the edge (inner edge) of the intermediate wall portion 35 that partitions the two oil passages 31 and 32. In this case, the search operation based on the sequence is set to be performed for the same reason as in the case of the entrance chamfer 33a.

FIG. 7 is a graph showing an example of data obtained by measuring components in the x, y, and z directions of the insertion force F when the valve 25 is inserted into the insertion hole 33 through the above insertion point. Shown in In FIG. 7, points A, B, and C are respectively a hooked state at the entrance chamfer 33a (see FIG. 4), a two-point contact state (see FIG. 5), and a hooked state at the inner edge (see FIG. 6). ) Is supported.
Note that for all of the above insertion points, x,
Although it is possible to perform the position correction of the component hand 10 based on the y-direction component, as described above, depending on the insertion point, the direction in which the force is acting in the xy plane can be determined. In some cases, the search operation based on a certain sequence can be performed in a shorter time. Therefore, in the present embodiment, the x and y direction components of the insertion force F are used only in the case of the two-point contact. It was decided to perform position correction based on.

Next, control of the component hand 10 when the assembly robot 1 according to the present embodiment inserts the valve 25 into the insertion hole 33 of the valve body 30 will be described with reference to the flowcharts of FIGS. I do. When the insertion work is started and the control is started, first, Step # 1
Then, the valve 25 is lowered until the lower edge portion of the lower step portion 27 of the valve 25 contacts the inlet chamfered portion 33a. Next, in step # 2, it is determined whether or not the z-direction component Fz of the insertion force F is equal to or greater than a _first predetermined value S1. If the result of this determination is YES, then in step # 3, A search operation based on the sequence is performed, and the part hand 10 (that is, the valve 25)
Center alignment is performed. Then, in step # 4,
Whether z-direction component Fz of the insertion force F reaches the second predetermined value S ₂ less than that of the first predetermined value S ₁ is determined, until the judgment result becomes to YES, the search operation It is performed repeatedly.

On the other hand, if the result of the determination in step # 2 is NO
In the case of, in step # 5, whether the insertion amount L of the valve 25 is a first predetermined amount L ₁ or more, that the valve 2
It is determined whether or not the edge of the lower step portion 5 has passed through the entrance chamfered portion 33a. If the determination result is NO, the valve 25 is moved to a predetermined amount (step # 6) in step # 6. Then, insert 1mm) more. 1m in this step # 6
The insertion operation for each m is repeatedly executed until one of the determination results of step # 2 and step # 5 becomes YES.

Next, the above steps # 4 and # 5
If one of the determination results is YES, the insertion operation is further performed, and in step # 7, it is determined whether the z-direction component Fz of the insertion force F is equal to or more than a _third predetermined value S3,
If the determination result is YES, the position is corrected based on the x and y direction components Fx and Fy of the insertion force F in step # 8, and the component hand 10
The center position (that is, the valve 25) is corrected. Then, in step # 9, it is determined whether or not both the x and y components Fx and Fy of the insertion force F have become equal to or less than a _fourth predetermined value S4.
The position correction is repeatedly performed until the result of this determination becomes YES.

On the other hand, the result of the determination in step # 7 is N
In the case of O, at step # 10, the insertion amount L is whether or not the second predetermined amount L ₂ or more, that the lower end edge portion valve body 3 of the lower step 27 of the valve 25 of the valve 25
It is determined whether or not the vehicle has passed the upper side wall portion 34, and if the determination result is NO, the valve 25 is determined in step # 11.
Is further inserted by a predetermined amount (1 mm in this embodiment). The insertion of 1 mm at a time in step # 11 is repeatedly performed until one of the determination results of step # 7 and step # 10 becomes YES.

Next, the above steps # 9 and # 1
When one of the determination result of 0 is to YES, proceed insertion work until deeper, at step # 12, whether the z-direction component Fz of the insertion force F is the third predetermined value S ₃ or more Is determined, and if the determination result is YES, a search operation based on the above sequence is performed in step # 13, and the component hand 1 with respect to the center of the insertion hole 33 is
Zero centering is performed. And Step # 1
4, the z-direction component Fz of the insertion force F is set to the third predetermined value S ₃
It is determined whether or not the following conditions are satisfied, and the determination result is YES
The above search operation is repeatedly performed until.

On the other hand, if the result of the determination in step # 12 is N
In the case of O, at step # 15, whether the insertion amount L of the valve 25 is a third predetermined amount L ₃ or more, that the lower end edge portion the intermediate wall portion of the lower step 27 of the valve 25 3
5 is determined, and if the determination result is NO, the valve 25 is set to a predetermined amount (1 mm) in step # 16.
Only to insert further. The insertion operation of 1 mm at a time in step # 16 is repeatedly executed until one of the determination results of step # 12 and step # 15 becomes YES. Then, step # 14 and step #
If any one of the judgment results in 15 is YES, the insertion operation is advanced to the final assembly position of the valve 25.

As described above, according to this embodiment, the drive of the component hand 10 is controlled while monitoring the insertion direction component Fz of the insertion force F when the valve 25 is inserted into the insertion hole 33. The valve 25 and the insertion hole 3
While checking the forces acting on each other 3 of the inner surface can insert work, and when the insertion direction component Fz is equal to or greater than a predetermined value S _3, the horizontal direction component Fx of the insertion force F, the Fy The insertion work can be advanced while accurately correcting the position based on the position. As a result, when the valve is inserted, the valve 2
Thus, the occurrence of insertion flaws on the inner surface of the insertion hole 5 and the insertion hole 33 can be effectively prevented, and the quality can be improved. Furthermore,
When the insertion direction component Fz is equal to or greater than the predetermined values S ₁ or a predetermined value S _3, depending on the value of the insertion amount L of the valve 25, the horizontal direction component Fx, accurate positional correction based on Fy insertion force F And a search operation based on a certain sequence, so that the insertion direction component Fz of the insertion force F
Is greater than or equal to the predetermined value S ₁ or S ₃ , the position of the component hand 10 can be adjusted by an appropriate method according to the valve insertion amount L, while preventing the occurrence of insertion flaws.
The insertion operation can be performed more efficiently.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of an assembly robot according to an embodiment of the present invention.

FIG. 2 is a partially sectional explanatory view of a component hand of the assembling robot.

FIG. 3 is an explanatory longitudinal sectional view of a valve and a valve body according to the embodiment.

FIG. 4 is an explanatory longitudinal sectional view showing an example of an operation of inserting the valve into a valve body insertion hole.

FIG. 5 is an explanatory longitudinal sectional view showing an example of an operation of inserting the valve into a valve body insertion hole.

FIG. 6 is an explanatory longitudinal sectional view showing an example of an operation of inserting the valve into a valve body insertion hole.

FIG. 7 is a graph showing an example of detection data of three-directional components of the insertion force when the valve is inserted.

FIG. 8 is a part of a flowchart for explaining control of a component hand when the valve is inserted.

FIG. 9 is a part of a flowchart for explaining control of a component hand when the valve is inserted.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Assembly robot 5 ... 1st actuator 7 ... 2nd actuator 9 ... 3rd actuator 10 ... Component hand 11 ... Force sensor device 17 ... Component gripping part 21 ... Robot controller 25 ... Valve 30 ... Valve body 33 ... Insertion hole F … Insertion force Fx, Fy… transverse component of insertion force Fz… insertion component of insertion force

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-50-12669 (JP, A) JP-A-3-94304 (JP, A) JP-A-4-25325 (JP, A) JP-A 63-94 162179 (JP, A) JP-A-49-100667 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23P 19/02

Claims (2)

(57) [Claims] 1. An assembling device for automatically assembling a predetermined component into a component insertion hole provided in a workpiece, comprising: a component hand for gripping the component; and a component hand for inserting the component hand into the hole. Driving means for driving the component in a direction perpendicular to the insertion direction; first detecting means for detecting an insertion direction component of an insertion force when the component is inserted into the hole; and orthogonal to the insertion direction of the insertion force. A second detecting means for detecting a lateral component to be detected, and a third detecting means for detecting an insertion amount of the component into the hole, and the driving means based on a detection value of the first detecting means. A first control unit for controlling, a second control unit for correcting a position of the component hand based on a detection value of the second detection unit when a detection value of the first detection unit is equal to or more than a predetermined value; 1 If the detection value of the detection means is equal to or And a third control means for performing a search operation of the component hand so as to match the center of the component with the center of the hole based on a preset sequence. Until passing through the entrance of the component, when the detection value of the first detection means is equal to or more than a predetermined value, the third control means causes the component hand to perform a search operation, and the insertion end of the component is moved into the entrance of the hole. After passing through the section, if the detection value of the first detection means is equal to or more than a predetermined value, the position of the component hand is corrected by the second control means. 2. The assembling apparatus according to claim 1, wherein
When the detection value of the first detection means is equal to or greater than a predetermined value, the mode is switched between the position correction by the second control means and the search operation by the third control means according to the detection value of the third detection means. An assembling device, characterized in that: