JP4396427B2 - Method for fitting shaft-shaped parts and apparatus for fitting shaft-shaped parts - Google Patents

Description

  The present invention relates to a fitting method for a shaft-like component that fits a shaft-like component into the fitting hole of a body component having a fitting hole, and a shaft-like component fitting device used for the fitting method for the shaft-like component, and more particularly to a plurality of shaft-like component fitting devices. The present invention relates to a method for fitting a shaft-like component and a device for fitting a shaft-like component that can be fitted into a fitting hole in a relatively short period of time even when the shaft-like components are fitted in a combined state.

  For example, when a shaft-like part such as a spring or a spool valve is fitted in a fitting hole such as a valve hole formed in a valve body of a control valve of an automatic transmission for a vehicle, the fitting hole is in the vertical direction in principle. Thus, the work of fitting the shaft-shaped part is performed in a state where the main body part is placed. By setting the insertion hole in the vertical direction, after carrying the shaft-like part to the hole position with an actuator or a robot, the shaft-like part is fitted by free-falling due to its own weight, This is because the work of fitting the shaft-shaped parts can be performed efficiently.

  However, in an operation in which one shaft-like component is loosely fitted into the insertion hole formed in the other shaft-like component and the shaft-like component is loosely fitted into the insertion hole of the main body component, The fitting operation with the fitting hole oriented in the vertical direction is extremely difficult. For example, in the same manner as described above, with respect to the valve hole formed in the valve body of the control valve of the automatic transmission for a vehicle, the plunger is loosely fitted in a sleeve having an insertion hole of a predetermined depth in order from one end of the plunger. The operation | work which fits a plunger and a sleeve in a valve hole etc. can be considered. Here, a part of one shaft-shaped component (plunger) is loosely fitted to the other shaft-shaped component (sleeve), and the other shaft-shaped component (sleeve) is pressed and held from the outside (by pressing, one side The shaft-shaped part (plunger) is held so that it does not fall), and if one shaft-shaped part (plunger) is to be fitted into the insertion hole, this time, the part that is pressed and held is an obstacle to the fitting of the shaft-shaped part. Thus, an efficient fitting operation cannot be performed.

In Patent Document 1, a body part having a fitting hole is placed so that the fitting hole is in a horizontal direction, and the shaft-like part is pressed and inserted into the fitting hole of the body part while vibrating the shaft-like member in the vertical direction. An invention relating to a fitting method and apparatus is disclosed. According to this invention, even if there is a slight variation in the positions of the insertion hole and the shaft-like component to be fitted thereto, the shaft-like component placed in the horizontal direction is vibrated in the vertical direction, thereby generating a shaft-like shape. Biting into the hole due to the inclination of the parts is eliminated in a relatively short time. Furthermore, if the shaft-shaped component is pressed and inserted with the main body component placed so that the insertion hole is in the horizontal direction, one of the two shaft-shaped components is fitted as described above. It is possible to fit the shaft-shaped part into the insertion hole without dropping.
JP-A-8-132323

  According to the method and apparatus for inserting a shaft-like component of Patent Document 1, even if there is a slight variation in the position of the fitting hole and the shaft-like component to be fitted thereto, the shaft-like component placed horizontally is vertically By giving vibration in the direction, the shaft-like component can be securely fitted into the insertion hole. Further, even if two shaft-like parts are fitted together, it is possible to fit into the fitting hole without dropping one of the shaft-like parts. However, as described above, in order to improve the productivity in a production line that sequentially produces assembly products in which shaft-shaped parts are inserted into insertion holes, as a rule, the weight of the shaft-shaped parts is reduced. It is preferable that the shaft-like component is fitted into the vertical fitting hole while being effectively dropped while being effectively used. It is considered that the most effective method is to adopt a method of fitting in a horizontal direction or a substantially horizontal direction as appropriate only when the fitting operation becomes extremely difficult when the shaft-like component is set in the vertical direction. . Therefore, it is considered that it is extremely difficult to improve the productivity of the production line for the assembled parts in the insertion device and method according to the above-described invention, which is intended only for the horizontal insertion method.

  The present invention has been made in view of the above-described problems, and in the process of fitting a shaft-shaped part into a fitting hole of a main body part in an assembly part production line, the productivity of the production line is improved. It is an object of the present invention to provide a shaft-like component fitting method and a shaft-like component fitting device. Also, in the case where two shaft-shaped parts are fitted into the insertion holes of the main body part in a state where one shaft-shaped part is loosely fitted into the insertion hole of the other shaft-shaped part, it is efficient. An object of the present invention is to provide a method for fitting a shaft-like component and a device for fitting a shaft-like component, which have a relatively fast fitting speed.

  In order to achieve the above object, a method for fitting a shaft-like component according to the present invention is a method for fitting a shaft-like component in which a shaft-like component is fitted into the fitting hole of a main body component having a fitting hole, The fitting method is a vertical fitting method in which the body part is positioned so that the axial center of the fitting hole is in the vertical direction, and the shaft-like part is dropped to fit the shaft-like part into the fitting hole. Position the body part so that the shaft center of the insertion hole is in the horizontal direction or the substantially horizontal direction, and press the shaft-like part to fit the shaft-like part into the insertion hole. And selectively adopting the method.

  The present invention is a method for fitting a shaft-like component applied to a production line in which a plurality of work units for fitting a plurality of shaft-like components into a plurality of fitting holes (having main body components) are connected, for example. When fitting the shaft-like component into the fitting hole, in principle, the shaft-like component can be fitted into the fitting hole with the main body component positioned so that the axis of the fitting hole is in the vertical direction. The time required for the fitting operation can be shortened as compared with the case where the shaft-like component is pushed in in the horizontal direction in a state where is set in the horizontal direction. This is because the weight of the shaft-shaped component can be utilized, and therefore, if the shaft-shaped component can be properly fitted in the insertion hole, the fitting is performed smoothly.

  However, when the shaft-shaped part is formed in a stepped shape having a plurality of steps along its longitudinal direction, or when the fitting hole is a stepped hole, and further, when the fitting operation is performed when they are combined, The fitting work is easier and the time required for fitting may be shortened by fitting in the horizontal direction or in a substantially horizontal direction close to the horizontal rather than fitting the shaft-shaped part with the insertion hole positioned in the vertical direction. obtain. Further, in the operation of fitting a plurality of shaft-like parts from the upper and lower surfaces of the main body part, that is, opposite surfaces, the shaft-like part is positioned with the main body part positioned so that the fitting hole is in the horizontal direction. It is considered to be a more efficient method to fit the screw into the respective fitting holes from the left and right directions.

  Therefore, according to the present invention, in the main body part having a plurality of insertion holes, as a general rule, while the insertion part is fitted in the state where the insertion hole is positioned in the vertical direction, the insertion hole is selectively inserted in the horizontal direction or substantially. The shaft-shaped component is fitted in a state where the main body component is positioned so as to be in the horizontal direction. The present invention is particularly suitable for use in a case where a plurality of precise shaft-like parts are fitted into main body parts having different fitting directions.

  Also, a preferred embodiment of the method for fitting a shaft-like component according to the present invention is such that the shaft-like component has at least a predetermined depth of an insertion hole and a second shaft-like component that can be loosely fitted in the insertion hole. The first shaft-shaped component and the second shaft-shaped component are inserted into the insertion hole from the end of the second shaft-shaped component with the second shaft-shaped component loosely fitted to the first shaft-shaped component. When fitting into the above, the horizontal or substantially horizontal fitting method is used.

  As described above, the method of fitting the shaft-like component according to the present invention is, as a general rule, fitting the shaft-like component into the fitting hole with the body component positioned so that the axis of the fitting hole is in the vertical direction. However, this is a method in which the shaft-like component is fitted in a state where the body component is positioned so that the axial center of the fitting hole is in the horizontal direction or the substantially horizontal direction. In particular, in the present invention, for example, the case where two shaft-like parts are combined and fitted into the fitting hole is targeted, and the efficiency of the fitting work is reduced when the two shaft-like parts are to be fitted in the vertical direction. If there is a risk of doing so, it will be fitted in the horizontal direction.

  For example, two shaft-shaped parts in a state in which a part of the second shaft-shaped part is loosely fitted in the insertion hole of a first shaft-shaped part (such as a small and container-shaped lid member) having an insertion hole of a predetermined depth. (The two shaft-shaped parts are not fixed at all), the shaft center from the end of the second shaft-shaped part (the end opposite to the end that is loosely fitted to the first shaft-shaped part) Assume that the two shaft-like parts are to be fitted into the fitting holes oriented in the vertical direction. In this case, if the two shaft-shaped parts are to be fitted while the second shaft-shaped part is prevented from falling off from the first shaft-shaped part by gripping the first shaft-shaped part relatively firmly, the gripping is performed. The part becomes an obstacle, and the first shaft-like component cannot be efficiently inserted into the insertion hole. However, the work efficiency is lowered in the method of fixing the two shaft-like parts by bonding the loose fitting portions described above.

  Therefore, in order to perform an efficient fitting operation into the fitting hole in a state where two such shaft-like parts, and more than three shaft-like parts are combined, the shaft center of the fitting hole is horizontally or substantially horizontal. A method is adopted in which the shaft-like component is fitted in the direction.

  As another embodiment of the method of fitting the shaft-like component according to the present invention, the shaft-like component is a valve component such as a spool valve, a spring, or a plug, and the body component is a valve body. .

  In the work of fitting shaft-like parts that are extremely difficult to fit into the fitting hole, for example, in the fitting hole such as the valve hole drilled in the valve body of the control valve of the automatic transmission for a vehicle, a stepped shape is formed. The operation of fitting in a state in which the formed spool valve, spring, plug, etc. are combined (a combination of a spool valve and a spring, a combination of a spool valve, a spring and a plug, etc.) is suitable as an embodiment of the present invention. In addition, it is thought that an effect is still larger in the case of the stepped hole whose inside shape of a fitting hole is also a stepped shape.

  As another embodiment of the method for fitting a shaft-like component according to the present invention, the first shaft-like component is a sleeve and the second shaft-like component is a plunger.

  Similarly to the above, one end of the plunger that is the second shaft-shaped part is idled in the sleeve that is the first shaft-shaped part in the fitting hole such as the valve hole formed in the valve body of the control valve of the automatic transmission for the vehicle. When these two shaft-like parts are fitted into the fitting holes from the other end side of the plunger in the fitted state, it is preferable to use a horizontal or substantially horizontal fitting method. The fitting work of these shaft-like parts is usually performed in a flow manner on a production line composed of a plurality of work units. However, the vertical fitting method and the horizontal or substantially horizontal fitting method can be performed with one working unit. If it is performed while properly using it, the number of work units can be reduced, and an efficient production line can be constructed.

  Furthermore, the shaft-like component fitting device according to the present invention is a shaft-like component fitting device used for the method of fitting the shaft-like component, and the shaft-like component fitting device is configured to remove at least 90 of the mounted main body component. It is characterized by comprising at least a rotation mechanism that can be rotated.

  As one embodiment of such a shaft-shaped component fitting device, an assembly jig capable of rotating the main body component by at least 90 degrees with the main body component fixed, and holding the shaft-shaped component and the shaft A device having at least a double-arm robot equipped with a robot hand for assembling the shaped part into the insertion hole is conceivable. A double-arm robot is an assembly robot having two robot arms (each having multiple degrees of freedom) and the robot hand at the tip of the robot arm, and robot teaching for assembling shaft-shaped parts in advance. Has been done. Such a double-arm robot can be operated by a dedicated control device with a built-in controller.

  For example, the assembly jig is rotated by the control device, and the dual-arm robot and the assembly jig are controlled by a single control system or connected by an interface circuit. The assembly jig is rotated according to the combination of the shaped parts and the fitting direction of the shaft-shaped parts, and when the fitting work of the shaft-shaped parts by the double-arm robot is completed, the assembly jig is leveled. It is possible to perform the fitting operation into the next insertion hole with the double-arm robot while moving or rotating. In the double-arm robot, both robot arms can cooperate with each other, so that the work efficiency of the fitting work of the shaft-like parts or various parts assembly work can be improved.

  As can be understood from the above description, according to the method for fitting a shaft-like component and the device for fitting a shaft-like component according to the present invention, even when fitting with a plurality of shaft-like components combined, it is efficient and relatively short. A shaft-like component can be fitted into the fitting hole in time. Moreover, in a production line in which such work is performed by a plurality of work units, the number of work units can be reduced, and an efficient production line can be constructed.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing an embodiment of the shaft-like component fitting device of the present invention. FIG. 2 is a longitudinal sectional view showing an embodiment of a shaft-like component, FIG. 2a is a longitudinal sectional view of a spool valve, and FIG. 2b is a longitudinal sectional view of a sleeve and a plunger. FIG. 3 is an explanatory diagram for explaining a vertical fitting method among the fitting methods of the shaft-like component of the present invention, and is a diagram explaining a situation in which a spool valve and a spring are fitted. FIG. 4 is an explanatory view for explaining a horizontal or substantially horizontal fitting method among the fitting methods of the shaft-like component according to the present invention, and illustrates a situation where the sleeve and the plunger are fitted together. FIG. FIG. 5 is an explanatory diagram for explaining a situation where a pin is inserted following FIG. 4. In addition, although the shaft-shaped component fitting apparatus shown in the drawing is an embodiment constituted by a rotatable assembly jig and a double arm robot, the shaft-shaped component fitting apparatus of the present invention is limited to such an embodiment. Of course, it is not a thing. Furthermore, although a valve body having a plurality of valve holes as a main body part and a spool valve, a sleeve, and a plunger as a shaft-like part are illustrated, the main body part and the shaft-like part used in the present invention are limited to such embodiments. Of course, it is not done.

  The shaft-like component fitting device shown in FIG. 1 is connected to a double-arm robot 1 in which two robot arms 11 and 11 are mounted so that the side surface of the body part 10 can be moved up and down, and the double-arm robot 1 and a wire 21. The controller 2 is mainly composed of a controller 2 with a built-in controller, an assembling jig 3 for fixing a valve body 5 which is a main body part to which the parts are assembled, and a plate 6 on which these are mounted. Robot hands 12 and 12 capable of gripping shaft-like parts such as a spool valve 41 which is a shaft-like part are attached to the tips of the robot arms 11 and 11. Although not shown in the figure, when a production line is configured by arranging a plurality of work units equipped with such a device, a conveyor is attached in front of the illustrated assembly jig 3, and each work unit is Can be configured so that the conveyors communicate with each other, and a production line can be formed so that the main body components assembled sequentially flow on the conveyor. Furthermore, although not shown in the drawings, a parts supply device for the two-arm robot 1 to take out parts, a transfer device for transferring the main body parts that have moved on the conveyor to the assembling jig 3, and the like are installed. Can do.

  The assembling jig 3 has a configuration in which a support base 31 and a jig main body 32 are connected by a rotation shaft 33, and the jig main body 32 can rotate around the rotation shaft 33 at least 90 degrees. It has become. Therefore, when fitting the shaft-like component with the valve hole 51 in the vertical direction, the jig body 32 is fixed as shown by the two-dot chain line in FIG. 1, and the shaft with the valve hole 51 in the horizontal direction. When fitting the shaped part, it is fixed in a state rotated 90 degrees from the fixed state as indicated by the solid line in FIG.

  The control device 2 controls the rotation of the robot arm 11 of the double-arm robot 1, the rotation of the robot hand 12, the gripping (chucking) of the shaft-like component, and the unchucking. Further, the rotation of the jig body 32 of the assembly jig 3 is also performed by the control device 2 (the controller built in the controller 2). That is, the operation of the robot arm 11 and the robot hand 12 and the rotation of the jig main body 32 according to the work content are controlled by one control device 2, so that the assembling treatment is appropriately performed according to the combination of the fitting parts. The tool 3 can be turned.

  In the embodiment of the shaft-shaped component shown in FIG. 2, one of the step-shaped spool valve 41 (FIG. 2a) and the insertion hole 42a of the sleeve 42 (first shaft-shaped component) provided with the insertion hole 42a. This is a plunger 43 (second shaft-shaped part) (FIG. 2b) in which the part is loosely fitted. The spool valve 41 includes projecting portions 41a, 41b, and 41c and shaft bodies 41d and 41d that connect them, and is made of a steel material. On the other hand, the plunger 43 includes a loose fitting portion 43a that fits loosely into the insertion hole 42a and a protruding portion 43b that protrudes from the insertion hole 42a, and is manufactured from a steel material together with the sleeve 42.

  Based on FIGS. 3-5, each fitting method of the combination component which made the plunger 43 loosely fit to the spool valve 41, the spring 44, and the sleeve 42 is demonstrated.

  First, as shown in FIG. 3, with the valve body 5 positioned and fixed in the assembling jig 3 so that the axis of the valve hole 51 is in the vertical direction, the robot valve 11 is used to connect the spool valve 41 to the valve. After dropping into the hole 51, the robot hand 11 drops the spring 44 into the valve hole 51 (arrow X direction).

  When the above-described dropping of the spring 44 into the valve hole 51 is completed, the jig body is rotated 90 degrees or 90 degrees, and the valve body 5 is positioned so that the opening of the valve hole 51 faces the double-arm robot 1 side. Fixed.

  Next, the sleeve 42 and the plunger 43 are chucked by the left and right robot hands 11, 11 of the double-arm robot 1 so that the sleeve 42 and the plunger 43 are in the horizontal direction, and the loosely fitting portion 43 a of the plunger 43 is loosely fitted into the insertion hole 42 a of the sleeve 42. In this state, these combination parts are chucked in the horizontal direction by the robot hand 11 that chucks the sleeve 42. Next, such a combination part is fitted into the valve hole 51 from the protrusion 43b of the plunger 43 (in the direction of arrow X in FIG. 4).

  The valve hole 51 is formed with a key insertion hole (not shown) on its side surface. As shown in FIG. 5, one robot hand 11 of the double-arm robot 1 pushes the upper surface of the sleeve 42 against the urging force of the spring 44, and when the key is inserted into the key insertion hole, By inserting the chucked key 45 into the key insertion hole, the operation for fitting the spool valve 41 and the spring 44 and the plunger 43 and the sleeve 42 into the valve hole 51 is completed.

  As described above, the valve body 5 is positioned and fixed so that the axis of the valve hole 51 is in the vertical direction and the spool valve 41 is dropped, and the valve hole 51 is in the horizontal or substantially horizontal direction. The operation of fitting a complicated and precise shaft-like part into the insertion hole is properly performed by properly using the horizontal or substantially horizontal fitting method in which the valve body 5 is positioned and fixed and the combined part of the plunger 43 and the sleeve 42 is inserted. Can be performed efficiently and in a relatively short time.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and there are design changes and the like without departing from the gist of the present invention. They are also included in the present invention.

The perspective view which showed one Embodiment of the shaft-shaped components insertion apparatus of this invention. It is the longitudinal cross-sectional view which showed the shaft-shaped components, (a) is a longitudinal cross-sectional view of a spool valve. (B) is a longitudinal cross-sectional view of a sleeve and a plunger. It is explanatory drawing explaining the vertical direction fitting method among the fitting methods of the shaft-shaped components of this invention, Comprising: The figure explaining the condition which has fitted the spool valve and the spring. It is explanatory drawing explaining the horizontal or substantially horizontal direction fitting method among the fitting methods of the shaft-shaped components of this invention, Comprising: The figure explaining the condition which has fitted the sleeve and the plunger. Explanatory drawing explaining the condition which has inserted the pin following FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Double-arm robot, 3 ... Assembly jig | tool, 5 ... Main part (valve body), 12 ... Robot hand, 41 ... Spool valve, 42 ... First axial component (sleeve), 43 ... Second axial shape Parts (plunger) 44 ... Spring 51 ... Fitting hole (valve hole)

Claims (3)

A method of fitting a shaft-like component that fits the shaft-like component into the fitting hole of the body component having a fitting hole,
The method for fitting the shaft-shaped component is such that the body component is positioned so that the shaft center of the fitting hole is in the vertical direction, and the shaft-shaped component is dropped to fit the shaft-shaped component into the fitting hole. Direction fitting method, and horizontal positioning of fitting the shaft-like component into the fitting hole by positioning the main body component so that the shaft center of the fitting hole is horizontal or substantially horizontal, and pushing the shaft-like component. Alternatively, it is performed by selectively adopting a substantially horizontal fitting method,
The shaft-shaped component includes at least a first shaft-shaped component having an insertion hole of a predetermined depth and a second shaft-shaped component that can be loosely fitted in the insertion hole, and the second shaft-shaped component is the first shaft-shaped component. When the first shaft-like component and the second shaft-like component are fitted into the fitting hole from the end of the second shaft-like component in a loosely fitted state, the horizontal or substantially horizontal fitting method is used. A method for fitting a shaft-shaped component, characterized in that: The method of fitting a shaft-shaped component according to claim 1, wherein the first shaft-shaped component is a sleeve, and the second shaft-shaped component is a plunger . A shaft-like component fitting device used in the method of fitting a shaft-shaped component according to claim 1 or 2,
The shaft-like component fitting device is provided with at least a rotation mechanism capable of rotating the mounted main body component by at least 90 degrees.

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