JPH0449121A - Shim supply method to work - Google Patents

Abstract

PURPOSE:To improve work efficiency and to enable accurate supply of a shim according to clearance dimension by ejecting the shim from a division corresponding to a clearance dimension measured value of a work in carrying measured by a robot and by supplying the shim to a clearance with the robot only when measured thickness of the ejected shim corresponds to the above measured value. CONSTITUTION:A robot R operates an arm 55 to the position of a work W which is temporarily stopped at a predetermined position of a tact carrier Cr, a clearance is measured by a clearance dimension measurement equipment M, a measured value is given to a control panel C, and operation control of a shim ejecting device S is started. Next, the control panel C starts operation of, for example, an ejection cylinder 38 corresponding to a shim 37 corresponding to the clearance dimension measured value, and when the cylinder 38 is extended, a pusher 7 pushes out only the shim 37 on the lowest layer in a magazine rack 4 to the side of a chute 1. Next, thickness of the shim 37 is measured by a micro gage 9 and it is put into the control panel C, and when it corresponds to the clearance dimension, the robot R moves the shim 37 to the carrier Cr by a control signal from the control panel C and supplies it to the interval of the work W in the stationary state.

Description

[Detailed Description of the Invention] A1 Objective of the Invention (1) Industrial Application Field The present invention provides a method for supplying shims to a workpiece for supplying a shim with a thickness corresponding to the gap size into a gap between the workpieces during transportation. Regarding.

(2) Conventional technology Conventionally, devices for supplying shims have been used, for example, in the
This is already known from Publication No. 0-119031 and the like.

(3) Problems to be Solved by the Invention In the conventional method described above, multiple types of shims with different thicknesses are divided into multiple magazine racks and prepared, and one of the multiple magazine racks is selectively selected. Then, the shim is taken out from the magazine rack. The decision from which magazine rack to dispense the shims is based on the result of the worker measuring the gap size between the workpieces, and the dispensed shims are supplied to the gap between the workpieces by the worker.

However, if the worker measures the gap size and supplies the shim to the workpiece as described above, the work efficiency will be poor. Therefore, in order to improve work efficiency, a robot measures the gap dimensions of the workpiece, selects one of the plurality of magazine racks according to the measurement results, and dispenses a shim from the selected magazine rack. It is conceivable that the released shims be supplied to the work by a robot.

By the way, the thickness of a shim used in the assembly of precision parts is, for example, about 0.01 to 0.05 nm. Therefore, it is common for workers to store and operate shims divided by thickness in magazine racks, and shims of the thicknesses mentioned above are
It is difficult to classify the wrong shims for each thickness and store them in each magazine rack, and magazine racks may contain shims with thicknesses that are out of the classification. If a shim taken out from one of the magazine racks is automatically supplied to the gap between the workpieces, there is a risk that a shim that does not have the required thickness will be erroneously supplied to the workpiece.

The present invention was made in view of the above circumstances, and aims to improve work efficiency by automating the supply of shims to workpieces, and also to ensure that the supplied shims have the required thickness. The purpose of this invention is to provide a method for supplying shims to a workpiece that has been prepared.

B0 Structure of the Invention (1) Means for Solving the Problems In order to achieve the above object, according to the method of the present invention, a plurality of types of shims having different thicknesses are prepared and classified by type, and the shims are transported. A robot measures the gap size of the workpiece in the middle, and then pays out a shim from the section corresponding to the gap size measurement value, and measures the thickness of the shim that is paid out, and the measured thickness value corresponds to the gap size measurement value. Only when this is the case, the shim after thickness measurement is supplied to the gap between the workpieces by a robot.

(2) Effects According to the method of the present invention, work efficiency can be improved by using a robot to measure the gap size of the workpiece and supply shims to the workpiece. It becomes possible to accurately supply shims of thickness.

(3) Examples An embodiment of the present invention will be described below with reference to the drawings.

First, in FIG. 1, a workpiece W, for example, an assembly of a transmission and an actuating device for a vehicle internal combustion engine, is sequentially and intermittently transported by a tact transport device Ct. Tact conveyance device C
A support stand T is fixedly disposed on the floor on the side of T, and a shim dispensing device S and a control panel C are disposed on this support stand T.

Further, a robot R is arranged between the support table T and the tact transfer device 01. The gap size of the workpiece W on the tact conveyance device CA is measured by a gap size measuring device M held by the robot R, and the shims dispensed from the shim dispensing device S, which operates based on the measurement results, are transferred to the robot H by the robot H. The control panel C controls the operation of the shim dispensing device S based on the measurement value of the gap size measuring device M, and also controls the operation of the robot H.

In FIGS. 2 to 4, the shim dispensing device S is -
A fixed frame 2 with a chute 1 at the side end, and multiple types of shims 31 with different thicknesses. ...3N.

3s, 3g, 3y, . . . 3N are stored in a stacked state, and a plurality of magazine racks 4 are arranged on the pedestal 2.
, a plurality of pairs of shim guide rails 5 . . . , 6 . . . arranged in parallel on the pedestal 2 connecting the chute 1 and each magazine rack 4 . . . , and the magazine racks. It is possible to advance and retreat along each shim guide rail 5..., 6... in order to push the shims 3N to 3N from 4... to the chute 1 side along the shim guide rails 5... 6... Multiple Butsusha 7... and Butsusha 7...
a pressing drive means 8 connected to each magazine rack 4;
A plurality of micro gauges 9 as shim thickness measuring means are arranged on the pedestal 2 in correspondence with each magazine rack 4 to measure the thickness of the shims 3N to 3M dispensed from .
...and is provided.

Referring to FIGS. 5 and 6 together, the pedestal 2 includes a fixed substrate 10 fixed on a support T, a plurality of pillars 11 erected on the substrate 10, Those pillars 11・
A rectangular top plate 12 is supported horizontally by..., and a chute 1 is connected to one end of the top plate 12 in the longitudinal direction. The top plate 12 also has a plurality of long holes 13, which are rectangular in shape and extend in a direction perpendicular to the longitudinal direction of the top plate 12.
are drilled in parallel with each other.

Each shim guide rail 5..., 6... has a respective elongated hole 13.
. . are fixed on the top plate 12 from the middle of the elongated hole 13 to one end of the top plate 12, that is, the chute 1. Both shim guide rails 5..., 6... are formed in an abbreviated shape in cross section with the elongated hole 13 side being the lower part, and each shim 3N~
Guide surfaces 5a and 6a on which both ends of the 3N are placed and slid are provided on the upper surface of the lower portion, respectively.

Each magazine rack 4... is disposed corresponding to an end portion of each of the shim guide rails 5..., 6... separated from the chute 1. Each magazine rack 4
... has a cylindrical shape with an outer shape that roughly corresponds to the outer shape of the shims 31 to 3, and is configured to be openable and closable along the longitudinal direction by hinges 14 at a plurality of positions spaced apart in the longitudinal direction. The closed state is maintained by tightening the plurality of screw members 15.

On the top plate 12 of the pedestal 2, pillars 16.16 are erected at both ends along the longitudinal direction. These pillars16.
An upper support frame 17 and a lower support frame 18 are constructed between the upper and lower parts of the surface support frame 17.
Locking recesses 19 and 20 are provided in portions corresponding to the 18 magazine racks 4, respectively. On the other hand, each magazine rack 4 is provided with an engaging hook 21.22 that can be engaged with the engaging recess 19.20 from above. Each magazine rack 4... is in an upright state suspended from the upper and lower support frames 17.18 by engaging the engaging hooks 21.22 with the locking recesses 19.20, and each shim is suspended from the upper and lower support frames 17.18. The guide rails 5, 6, . . . are arranged corresponding to the ends remote from the chute 1, respectively.

By the way, on the end of each shim guide rail 5...6... separated from the chute 1, in order to receive the lower end of each magazine rack 4... in the suspended state as described above, there is a square. The shaped receiving frames 23 are fixed respectively. With each magazine rack 4... placed on the receiving frame 23, each of the shims 3N to 3N stored in a stacked state inside the magazine rack 4... will move against the receiving frame 23 due to its own weight. Pass through both shim guide rails 5...
6... are sequentially supplied onto the mounting surfaces 5a-...6a... from below.

In addition, shim guide rails 5..., 6... are mounted on each receiving frame 23... to notify that the corresponding shim among the shims 31 to 3N should be supplied to the magazine rack 4... A detector 24 is attached to each of the mounting surfaces 5a, 6a for detecting when the number of shims 31 to 3[deg.] on the mounting surfaces 5a, 6a is reduced to, for example, three pieces and outputting a signal.

Each long hole 13...
A plurality of pairs of guide rails 25, 25 extending along both side edges of each elongated hole 13...
Each of the bushings 7, which are arranged so as to be movable in the longitudinal direction, is fixed to a slider 26, which is movable along the guide rails 25, 25. The upper part of each bushing 7... has a mounting surface 5a.
, 6a are extended to the chute 1 side and are provided integrally with each other, and the upper surface of the pushers 7...
a and one shim 3N on their mounting surfaces 5a and 6a.
~3w.

As a result, each magazine rack 419. Sim 38.3 from
shoot one by one along the shim guide rail 5.6
It will be paid out to the side. Moreover, the tip of the suppressing plate portion 7a is recessed in an arc shape corresponding to the shims 3, to 3N.

Shims 3, ~3 taken out from each magazine rack 4...
The micro gauge 9 for measuring the thickness of N is
The shim guide rails 5 . . . , 6 . . . are disposed along the respective magazine racks 4 . In other words, both branches 16.
16, each magazine rack 4...
While surrounding the shim guide rails 5..., 6
A support frame 27 is provided, which is located above the middle part of the magazine racks 4.
Each micro gauge 9... is fixed while having a vertical axis. Moreover, each micro gauge 9...
Positions corresponding to the upper surfaces of the mounting surfaces 5a, 6a in order to elastically abut the upper surfaces of the shims 3I-3N on the mounting surfaces 5a, 6a to accurately measure the thickness of the shims 31-3N. It has been adjusted by setting it as the zero point.

A mounting surface 5a is provided on both sides of each microgauge 9.

A pair of press rollers 2 that are rotatable between a position where the shims 3I to 3N are pressed onto the shims 6a and a position where the pressing is released.
8.2B are arranged respectively. Further, between each micro gauge 9... and each magazine rack 4..., a rotation shaft 29 having a horizontal axis perpendicular to the longitudinal direction of each shim guide rail 5..., 6... is arranged, and both ends of this rotation shaft 29 are rotatably supported by bearing blocks 30, 30 fixed on the top plate 12. On the other hand, each of the pressing rollers 28, 28, . . .
Both ends of the shaft 31 are connected to the rotating shaft 29 through two sets of connecting members 52 and 52, one pair each. Therefore, each presser roller 28, 28, .

In addition, a cylindrical spacer 32 is fitted on the shaft 31 between the pressing rollers 28, 28 to maintain the distance between the pressing rollers 28, 28, and a cylindrical spacer 32 is fitted on the shaft 31 on the outer side of the pressing rollers 28, 28. is a stopper 3 for preventing both pressing rollers 28, 28 from moving in directions away from each other.
3N33 are fixed respectively.

Referring also to FIG. 7, one end of the rotating shaft 29 protruding from the bearing block 30 has a contact portion 34a bent at a right angle.
The proximal end of the arm 34, which has an abbreviated shape at the tip and extends downward, is fixed.

On the other hand, a bracket 3 is provided on the bottom surface of the top plate 12 of the pedestal 2.
5 is fixed, and this bracket 35 and the arm 34
As shown by the solid line in FIG. 7, each pressing roller 28, 28...
A spring 36 is contracted to bias the arm 34, that is, the rotation shaft 29, in the direction of pressing the arm 34, that is, the rotation shaft 29. Further, the arm 34 is moved in a direction opposite to the biasing direction of the spring 36, that is, in a direction in which each pressing roller 28, 28 is separated from the shims 3N to 3 on the mounting surfaces 5a, 6a, as shown by the chain lines in FIG. When the shim holding cylinder 37 for rotation is extended, the plunger 37a
It is fixedly supported by the bracket 35 while having a horizontal axis so as to be brought into contact with the contact a34a of the arm 34. Therefore, when the shim holding cylinder 37 is in an extended operation, each holding roller 28, 28, . . .
~3NI, and when the shim pressing cylinder 37 contracts, each pressing roller 28, 28... is at a position where the shims 3N to 3N are pressed against the mounting surfaces 5a, 6a by the spring force of the spring 36. It will rotate to.

The pressing drive means 8 is a first drive unit that pushes out the shims 31 to 3II from each magazine rack 4 to the micro gauge 9.
stroke and shims 3N to 3K with micro gauge 9.
2 with the second stroke pushing from ... to chute 1
It is configured to be able to press and drive each button 7... in stages, and a plurality of payout cylinders 38 . 4... to micro gauge 9...
A plurality of cylinders are disposed corresponding to each dispensing cylinder 38 individually while being movable between a position where the operation of the dispensing cylinder 38 is restricted when the dispensing cylinder 38 is pushed out and a position where the regulation state is released. The regulating member 39... and a single regulating cylinder 40 commonly connected to each regulating member 39-... are provided.

Brackets 41 are fixed to the lower surface of the top plate 12 in correspondence with the edges of the elongated holes 13 in the pedestal 2 on the side remote from the chute 1, and these brackets 41... Dispensing cylinders 38 having horizontal axes extending along the longitudinal direction of the elongated holes 13 are fixedly supported. The tip end of the piston rod 38a in each dispensing cylinder 38... is connected to the slider 26..., respectively. Therefore, in response to the expansion and contraction of the dispensing cylinder 38, the button 7 corresponding to the dispensing cylinder 38 is moved to the shim guide rail 5,
It will move forward and backward along line 6.

Each regulating member 39... is connected to each dispensing cylinder 38...
The dispensing cylinders 38, . Both ends of the rotating shaft 42 are connected to bearing blocks 44 fixed to the base plate 10 of the pedestal 2 via bearing stands 43, respectively.
．． 44 so as to be rotatable.

Rotating shaft 4 protruding from one side of both bearing blocks 44 and 44
One end of the link 45 is connected to one end of the link 2 . on the other hand,
The bracket 46 provided on the base plate 10 of the pedestal 2 includes
A single regulating cylinder 40 having an axis perpendicular to the rotating shaft 42 is supported via a trunnion shaft 47, and a piston rod 40a of this regulating cylinder 40 is connected to the other end of the link 45. That is, a connecting ring 48 is connected to the tip of the piston rod 40a, and the other end of the link 45 is connected to this connecting ring 48 via a connecting pin 49 parallel to the rotation axis 42. Moreover, the connecting groove 48
A screw member 51, which functions as a stopper that abuts the connecting groove 48 and regulates the maximum extension position of the regulating cylinder 40, is screwed into the mounting member 50 fixed on the board 10 at the front position of the mounting member 50 so as to be able to move forward and backward. be done.

The regulation cylinder 40 and the rotation shaft 42 are connected via a link 45 so that the rotation shaft 42 rotates approximately 90 degrees between the maximum extension operation and the maximum contraction operation of the regulation cylinder 40. , each regulating member 39..., when the regulating cylinder 40 is extended to its maximum, the dispensing cylinder 38... is extended and the button 7 is extended, as shown by the solid line in FIG.
When the shims 3, ~3N come to the position corresponding to the micro gauge 9..., they come into contact with the tip of the piston rod 38a in the dispensing cylinder 38... to prevent further extension, and the regulating cylinder 40 During the maximum contraction operation, the piston rod 38a is fixed to the rotation shaft 42 so as to be rotated forward by approximately 90 degrees as shown by the chain line in FIG. 4 to a position that allows forward movement of the piston rod 38a. As a result, in response to controlling the timing of expansion and contraction of the regulation cylinder 40, the pressing drive means 8 moves the shims 31 to 3) l from each magazine rack 4 to the micro gauge 9...
It is possible to press and drive each pusher 7 in two steps: a first stroke to push out the shims 3, to 3Il from the micro gauge 9 to the chute 1, and a second stroke to push the shims 3, to 3Il from the micro gauge 9 to the chute 1.

In FIG. 8, the robot R has an arm 5 whose tip can be moved between the tact transfer device C7 and the shim dispensing device S.
5, and a holding part 56 is provided at the tip of the arm 55, which is capable of detachably holding one of the shims 31 to 3w and also capable of detachably holding the gap dimension measuring device M.

In FIG. 9, the gap dimension measuring device M includes a main body 57 that can be attached and detached by, for example, a holding section 56 of the robot H, and a measuring section 5 provided at the tip of a support rod 58 extending from the main body 57.
This is a conventionally well-known device consisting of 9. Therefore, the measuring section 59
The gap insertion part 60 is provided at the tip of the support rod 58 with a wide middle part made of high elastic resin, and the gap insertion part 6
Strain gauges 6 provided on both sides of the maximum width portion of 0
1.61, and the gap size is measured by the strain of the strain gauge 61.61 due to deformation in response to insertion of the gap insertion portion 60 into the gap.

As shown in FIG. 1, this gap size measuring device M is placed in a standby position on the side of the tact transfer device C7 when not making measurements. tP, is held by the robot R when measuring the gap size of the workpiece W, and is moved to the workpiece W on the tact transfer device C7, and after the measurement is completed, the robot H returns it to the original waiting position. Returned to tP. Moreover, the gap size measuring device M maintains the connection state to the control panel C regardless of the above-mentioned movement.

Next, the operation of this embodiment will be described. When the workpiece W being transported by the tact transport device CT reaches a predetermined position, the transport operation of the tact transport device CT is temporarily stopped. Then, the robot R holds the gap dimension measuring device M at the standby position P and operates the arm 55 to the position of the workpiece W, which is temporarily stopped at a predetermined position of the tact conveyance device CA. The size of the gap is measured by a gap size measuring device M.

Therefore, the gap dimension measurement value is transferred from the gap dimension measuring device M to the control panel C.
The robot R moves its arm 55 to the standby position P and returns the gap size measuring device M to the standby position P.

The control panel C controls one of the dispensing cylinders 3-8, . Let it start. Therefore, before the dispensing cylinder 38 is extended, the regulating cylinder 40 is in the extending state, each regulating member 39 is in the position shown by the solid line in FIG. 4, and the shim holding cylinder 37 is also in the extending state. , each holding roller 28.28 is placed on the mounting surface 5a..., 6a... of the shim guide rail 5..., 6...
It is located away from the

When the dispensing cylinder 38 starts to extend in such a state, the button 7 moves both shim guide rails 5 of the shims 37 stacked and stored in the magazine rack 4.
, 6, the lowest layer of shims 3 resting on the mounting surfaces 5a, 6a of
The shim 3N is pushed out toward the chute 1 side while sliding only the lowermost shim 3N on both the mounting surfaces 5a and 6a.

When the shim 3N moves to a position corresponding to the micro gauge 9, the tip of the piston rod 38a in the dispensing cylinder 38 comes into contact with the regulating member 39, and further forward movement is prevented.

That is, the pusher 7 pushes out the shim 3 during the first stroke from the magazine rack 4 to the micro gauge 9. When the shim 3N advances to the position corresponding to the micro gauge 9 in this manner, the shim holding cylinder 37 is contracted.

As a result, each presser roller 28, 28...
Rotates toward the mounting surfaces 5a and 6a by the spring force of 6,
The shims 3N are attached to both pressing rollers 2 on both sides of the micro gauge 9.
8.28, the shim 3N is pressed against the mounting surfaces 5a and 6a, and in this state, the thickness of the shim 3N is measured by the micro gauge 9, and the measurement result is inputted to the control panel C manually.

Therefore, the thickness of the shim 3N paid out from the magazine rack 4 is the same as that in the stationary state and on the mounting surface 5a.

The measurement is performed accurately while avoiding lifting from the shim 6a, and in the control panel C, the shim 3N delivered from the magazine rack 4 has a thickness corresponding to the value measured by the gap size measuring device M. It can be determined whether

After the measurement by the micro gauge 9, the shim pressing cylinder 37 is extended, the pressing of the shim 3N against the mounting surfaces 5a and 6a by both pressing rollers 28 and 28 is released, and the regulating cylinder 40 is contracted. As a result, the regulating member 39 is rotated approximately 90 degrees toward the front as shown by the chain line in FIG. 4, and the state in which it has been regulating the extension operation of the dispensing cylinder 38 is released. As a result, the dispensing cylinder 38 resumes its extension operation, and the pusher 7 pushes out the shim 3N from the micro gauge 9 toward the chute 1 side.

In other words, Butsusha 7 is connected to Shoot 1 from Micro Gauge 9.
Push out the shim 37 with the second stroke up to.

As a result, the shim 37 falls into the chute 1, but whether or not this shim 37 has the required thickness has already been determined by the control panel C as described above.
According to the determination result, it is determined whether or not to use the shim 3N in the chute 1.

If it is determined that the shim 3N delivered to the chute 1 corresponds to the gap size of the workpiece W, the robot R sends the shim 3N of the chute 1 according to a control signal from the control panel C.
N is held by a holding portion 56 at the tip of the arm 55, and the arm 55 is moved to the tact conveyance device C7 to supply it to the gap between the work W in a stationary state. After the supply of shims to the workpiece W is completed, the robot R moves the arm 55 to the standby position P, and the operation of the tact transfer device CA is restarted.

On the other hand, if it is determined that the shim 3N delivered to the shoe 1 does not correspond to the gap size of the workpiece W,
The robot R holds the shim 3N of the chute 1 with a holding portion 56 at the tip of the arm 55 according to a control signal from the control IIC, and throws it into an error box (not shown). The shim dispensing device S repeats the dispensing operation until the shim 3N of the correct thickness is dispensed onto the chute 1.

In this way, the robot R measures the gap size of the work W transported by the tact transport device Ct and supplies shims.
In addition to automating shim dispensing, it is possible to automate the supply of shims to workpieces, thereby improving work efficiency. Furthermore, the supplied shims correspond correctly to the measured gap dimensions, which prevents erroneously supplying shims of different thicknesses.

In the above embodiment, a single robot H measures the gap size and supplies shims to the workpiece, but it is also possible to use dedicated robots for each.

C0 Effects of the Invention As described above, according to the present invention, a plurality of types of shims with different thicknesses are divided and prepared for each type, and a robot measures the gap size of the workpiece during transportation, and calculates the gap size. A shim is taken out from the section corresponding to the measured value, and the thickness of the taken out shim is measured, and only when the measured thickness value corresponds to the measured value of the gap dimension, the shim after the thickness measurement is transferred to the workpiece by a robot. Since it is supplied to the gap between
By using a robot to measure the gap size between the workpieces and supply the shims to the workpieces, work efficiency can be improved, and shims with a thickness that reliably corresponds to the gap size of the workpieces can be accurately supplied.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and FIG. 1 is an overall plan view of a shim supply device, FIG. 2 is an enlarged plan view of a shim dispensing device, and FIG. 3 is a view taken along line ■-m in FIG. 2. Cross-sectional view, Figure 4 is a cross-sectional view taken along line IV-rV in Figure 3, Figure 5 is a cross-sectional view taken along line ■-V in Figure 4.
Expanded line sectional view Figure 6 is a sectional view taken along the line VI-VI in Figure 5.
FIG. 7 is an enlarged sectional view taken along the line ■--■ in FIG. 3, FIG. 8 is a perspective view of the robot, and FIG. 9 is a partially cutaway side view of the gap size measuring device. 3, ~3Nl...Shim, R...Robot, W...Work

Claims (1)

[Claims] In a method for supplying shims to a workpiece (3_1 to 3_N) with a thickness corresponding to the gap size of the workpiece (W) during transportation, multiple types of shims (3_1 to 3_N) with different thicknesses are supplied to the gap between the workpieces (W) and The robot (R) measures the gap size of the workpiece (W) while it is being transported, and dispenses the shims from the category corresponding to the measured gap size. Measure the thickness,
Shim supply to a workpiece, characterized in that the shim after thickness measurement is supplied to the gap of the workpiece (W) by a robot (R) only when the thickness measurement value corresponds to the gap dimension measurement value. Method.