JPH09277121A - Automatic shrinkable fitting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To completely automate a series of shrinkage fitting works by providing a means for computing and controlling an arm adjustment position on the basis of a force, moment and a coupled part position. SOLUTION: A positioning arm 25 is adjusted under control with a controller 8, on the basis of the position of a shaft 2 measured with a position measurement camera 51, and a signal detected with a force sensor 16 regarding a force and moment generated upon the contact of a shaft end with a hole member 1, thereby aligning the positioning arm 25 and correcting the deflection angle thereof with a deflection angle absorption means 15 for an insertion work. In this case, when the controller 8 to control the operation of the whole of a device judges the lapse of the preset time as long at an insertion adjustment process, a retry operation is repeated, starting with a heating work, and then a shrinkage fitting work is again implemented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for fitting a hole member having a fitting insertion hole such as a bearing, a coupling, a gear, etc., to a shaft. The present invention relates to an automatic shrink fitting device that automatically performs a "shrink fitting" operation.

[0002]

2. Description of the Related Art As a conventional automatic fitting technique, there have been many proposals for automating the fitting work of inserting a hole member having a fitting insertion hole into a fitting part such as a shaft, and a simple repetition of a mass-produced product. It is at a practical level in the assembly process.

[0003]

However, in most of these conventional devices, the fitting work between the hole member and the fitting target component is performed at room temperature, and the fitting target is burnt. It is not used in the fitting work, but if it is applied as it is, various inconveniences will occur in the performance of the shrink fitting work. However, there is no device disclosed so far that can realize a series of shrink fitting operations from the position measurement of the fitted parts to the heating of the hole member and the shrink fitting insertion without human intervention. There is a problem.

Accordingly, the object of the invention described in claim 1 is to
Automates a series of shrink fitting operations from position measurement of fitted parts to heating of hole members and shrink fitting insertion to reduce the load on the operator and improve the working environment, and add cooling work after insertion is completed. Another object of the present invention is to provide an automatic shrink fitting device that can further shorten the working time.

Further, an object of the present invention is to reduce the load on the operator by automating a series of shrink fitting operations from position measurement of the fitted parts to heating of the hole member and shrink fitting insertion. In addition to improving the work environment and improving safety, if the insertion work takes time and the failure of the shrink fitting work is predicted, it is possible to repeat the retry operation from the heating work to prevent the shrink fitting defect. An object is to provide an automatic shrink fitting device.

A third object of the present invention is to reduce the load on the operator by automating a series of shrink fitting operations from position measurement of fitted parts to heating of hole members and shrink fitting insertion. In addition to improving the work environment and increasing safety, cooling work is performed after insertion is completed to shorten the shrink fitting work time, and if failure of the shrink fitting work is predicted, restart from the heating work to eliminate shrink fitting failure. An object is to provide an automatic shrink fitting device that can be eliminated.

[0007]

To achieve the above object, the present invention provides a means for automatically heating a hole member, a means for transferring the heated hole member to a gripping device, a hole member and a fitting member. Passive declination correction means for correcting the angle deviation with the mating parts,
A means for detecting a force and a moment generated when the hole member and the fitted component come into contact with each other, a means for detecting the three-dimensional position of the fitted component, a means for cooling the hole member after insertion, and a heating operation. It comprises a means for preventing a shrinkage fitting failure by repeating a series of shrinkage fitting operations starting from 1. and a controller for controlling the operation by performing calculation based on the output of each means.

According to a first aspect of the present invention, the hole member is gripped and fixed by a gripping device provided on an arm that is movable and positionable with respect to the fitted component. In a shrink fitting device for fitting a fitted part and a hole member, a passive declination correcting means provided between an arm and a gripping device for correcting an angular deviation between the hole member and the fitted part, and the hole. A means for detecting a force and a moment generated when the member and the fitted component contact each other, a means for recognizing a three-dimensional position of the fitted component, and a signal detected by the means for detecting the force and the moment. And means for arithmetically controlling the adjustment position of the arm from the position of the fitted part detected by the means for recognizing the three-dimensional position, means for automatically heating the hole member, and hole heated by the heating means. The member Means for conveying transfer to lifting device, lying in automatic broiler raiser, characterized in having a cooling means for cooling the bore member after insertion shrink fitting.

With this construction, a series of shrink fitting operations from the heating of the hole member to the shrink fitting insertion can be automated, and the hole member is cooled after the insertion is completed to shorten the holding time by the insertion device and shrink fit. The time required for work can be shortened.

Another structure for achieving the object of the invention according to the present application is, as described in claim 2, for holding and fixing a hole member by a holding device provided on an arm that is movable and positionable with respect to a fitted part. Then, in the shrink fitting device for fitting the fitted component and the hole member, the passive declination correcting means provided between the arm and the gripping device for correcting the angular deviation between the hole member and the fitted component, Detected by means for detecting a force and moment generated when the hole member and the fitted component come into contact with each other, means for recognizing a three-dimensional position of the fitted component, and means for detecting the force and moment. And the means for recognizing the three-dimensional position and the position of the fitted part detected by the means for recognizing the three-dimensional position, the means for arithmetically controlling the adjustment position of the arm, the means for automatically heating the hole member, and the means for heating. The hole member Means for conveying transfer to serial gripping device,
An automatic shrink-fitting device is provided with means for preventing a failure of the shrink-fitting by predicting that the shrink-fitting operation will fail and repeating a retry operation from the heating work.

According to this structure, a series of shrink fitting operations from heating of the hole member to shrink fitting insertion can be automated, and if it is predicted that the inserting operation will take a long time and the shrink fitting operation will fail, the heating operation is performed. By repeating a series of shrink fitting work starting from the work again, defective shrink fitting can be eliminated.

Another structure for achieving the object of the invention according to the present application is as described in claim 3, in which a hole member is held and fixed by a holding device provided on an arm that is movable and positionable with respect to a fitting part. Then, in the shrink fitting device for fitting the fitted component and the hole member, the passive declination correcting means provided between the arm and the gripping device for correcting the angular deviation between the hole member and the fitted component, Detected by means for detecting a force and moment generated when the hole member and the fitted component come into contact with each other, means for recognizing a three-dimensional position of the fitted component, and means for detecting the force and moment. And the means for recognizing the three-dimensional position and the position of the fitted part detected by the means for recognizing the three-dimensional position, the means for arithmetically controlling the adjustment position of the arm, the means for automatically heating the hole member, and the means for heating. The hole member Means for conveying transfer to serial gripping device,
An automatic cooling means for cooling the hole member after the shrink-fitting insertion, and means for preventing the shrink-fitting failure by predicting that the automatic shrink-fitting operation fails and repeating the retry operation from the heating work. It is on the shrink fitting device.

With this configuration, a series of shrink fitting operations from heating of the hole member to shrink fitting insertion can be automated, and when a failure of the automatic shrink fitting operation is predicted, a series of shrink fitting operations is performed rather than the heating operation. By repeating the process, the shrink fitting problem can be eliminated, and the hole member can be cooled after the insertion is completed to shorten the shrink fitting work time.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of an automatic shrink fitting device according to an embodiment of the present invention. FIG. 2 is a diagram showing an example of a key mechanism of the fitting component shown in FIG.

In the embodiment shown in FIG. 1, the carrying table 3 is used.
The hole member 1 placed on the substrate 5 is heated by the heating device 40, and the position measuring camera 51 measures the three-dimensional position of the shaft 2 which is the fitting target component. Further, as shown in FIG. 2, when the fitting component (hole member 1, shaft 2) has the key 6 and the key groove 7, the key position is simultaneously measured. The hole member 1 heated by the heating device 40 is quickly and automatically conveyed to the insertion device 20 including a positioning arm and a grasping device by the transfer device 30, and the hole member 1 is delivered to the grasping device 10.

The controller 8 controls the position of the shaft 2 measured by the position measuring camera 51 and the signal detected by the force sensor 16 to detect the force and moment generated when the shaft end and the hole member 1 come into contact with each other. The positioning arm 25 is adjusted to align the axes, and the declination absorbing means (compliance mechanism) 1
5. Correct the declination by 5 and insert.

If the controller 8 for controlling the operation of the entire apparatus determines that a predetermined time has elapsed when the insertion adjustment work is taking a long time, the heating work is repeated and the retry operation is repeated to repeat the shrink fitting work. Further, as will be described later in the description of the operation of the gripping device 10, when the hole member 1 and the shaft 2 are shrink-fitted, the gripping device 10 quickly releases the grip to shorten the shrink-fitting work time. The hole member 1 is forcibly cooled while the hole member 1 is pressed against the fitted component 2 by the gripping device 10 by the cooling means.

FIG. 3 is an operation explanatory view of the heating device and the position measuring camera shown in FIG. FIG. 4 is an operation explanatory view of the transfer device shown in FIG. FIG. 5 is an explanatory diagram of the operation of the insertion device shown in FIG.

Next, the operation will be described with reference to the drawings. First, as shown in FIG. 3, induction heating is performed by automatically transporting the hole member 1 placed on the transport table 35 to the heating position indicated by the dotted line in the right direction of the drawing, and applying a current to the core 11 of the heating device 40. The hole member 1 is heated to a predetermined temperature by.

In parallel with the heating operation, a combination (not shown) of a U-shaped transmissive laser sensor and a contact-type position detection device for measuring only one of the upper, lower, left and right sides,
The three-dimensional positions of the shaft end surface and the fitting start portion of the shaft 2 are automatically measured, and when the hole member 1 has a key groove such as a coupling, the position measuring camera 51 causes the shaft end of the shaft 2 to move. The key position is also measured at the same time by image processing in which the circle is photographed from the longitudinal direction and the circle center is obtained.

When the hole member 1 is heated, as shown in FIG.
As shown in FIG. 4, the transfer device 30 automatically conveys the hole member 1 to the insertion device 20. At that time, as shown on the right side of the drawing, the transfer hand 36 at the tip of the transfer device 30 moves the hole member 1 in FIG. In the form as shown in (b), the hand is opened to the outside in the direction of the arrow and the inner diameter portion of the hole member 1 is gripped and transferred. When the shaft component has the key 6, the position of the key groove 7 of the hole member 1 is automatically measured by the position measuring camera 51, and the hole member 1 is placed at the position where the key groove 7 matches the position of the key 6 of the shaft 2. Hold by rotating.

Subsequently, when the hole member 1 is transferred from the transfer device 30 to the insertion device 20, as shown in FIG. 4 (c), the outer diameter portion of the hole member 1 is moved by the holding and fixing claws 10a of the holding device 10. The transfer hand 36 grips and closes the hand and retreats. FIG.
(A) shows the transfer device 3 up to the position of the left gripping device 10.
The position of the transfer device 30 in which 0 is moved and delivered is also shown. Transfer device 30 when delivery is completed
Returns to the original position where the hole member 1 was first gripped on the right side of the drawing, and prepares for the next work.

Next, as shown in FIG. 5, the shaft 2 is kept heated.
The positioning member 25 moves the hole member 1 gripped at the opposite position to the shaft end position of the shaft 2 measured by the position measuring camera 51 by the positioning arm 25 for initial positioning.

FIG. 6 is a flowchart of the fitting operation by the controller shown in FIG. FIG. 7 is an explanatory diagram of the axis alignment operation by the controller. FIG. 8 is a sectional view of the gripping device shown in FIG.

Now, the shrink fitting insertion process after the initial positioning will be described in more detail with reference to FIG.

According to the flowchart of FIG. 6, first, the controller 8 starts the insertion from the position where the hole member 1 and the shaft 2 face each other and moves the positioning arm 25 in the forward Y-axis direction as shown in FIG. 7A. The hole member 1 which is moved and gripped by the gripping device 10 is advanced toward the shaft 2 (S1).

The force of the force sensor 16 installed between the gripping device 10 and the positioning arm 25 as shown in FIG. 8 (a) and detecting the force and moment generated when the shaft 2 and the hole member 1 come into contact with each other. Is the sensed value less than a predetermined threshold value A that is determined in advance? Is determined (S2). If the force value is less than the threshold value, it is determined that the hole member 1 and the shaft 2 are not yet in contact with each other, and the forward movement is continued in the Y-axis direction.

Assuming that the hole member 1 and the shaft 2 come into contact with each other at the position shown in FIG. 7B while continuing to move forward in this way, the detection value of the force sensor 16 is the threshold value at that time. Since the value exceeds A, the controller 8 determines that it has contacted the shaft end and stores the Y-axis position (S3).

Here, when the hole member 1 and the shaft 2 are in contact with each other with the shaft center displaced as shown in the position of FIG. 7B, the X axis (horizontal direction) and the Z axis (longitudinal direction) generated by the contact. ) The rotational moment directions are generated by the axial misalignment directions of the X axis and the Z axis, respectively, and appear as detection values of the force sensor 16. Therefore, it is possible to identify how much the center of the hole component 1 deviates in the X-axis and Z-axis directions from the center of the axis 2 based on the detected force value.

As a result, when the shaft end is brought into contact with and a shaft center deviation is detected, the sensed force value (MX: moment in the X-axis direction, MZ: moment in the Z-axis direction) is less than a predetermined threshold value B. Or? Is determined (S4). If the result of determination is that the force value exceeds the threshold value B and the axial center deviation is large,
The hole member 1 is once retracted in the Y-axis direction to a position where it does not come into contact with the shaft 2, and the misalignment in the X-axis direction and the Z-axis direction is corrected by adjusting the position of the positioning arm 25 (S5).

In this way, the core is aligned and inserted,
Before that, it is determined whether a predetermined time set in advance has elapsed (S6). When the predetermined time has already passed, the process shifts to the retry process by the "shrink fitting failure prevention means" mainly composed of software in the controller 8. The controller 8 predicts that the automatic shrink-fitting work will fail due to the time-consuming alignment process and the cooling of the hole member 1 will fail, and moves to retry (retry operation) to return the hole member 1 to the heating device 40 and heat it again. After that, a series of centering and insertion operations are repeated. In the case of retry (retry operation), for example, the heating temperature should be increased to 220 ° C if the initial heating temperature is 200 ° C, or the previous deviation learning data should be referred to for centering. Is paid to reduce the work time.

In the determination of S6, if the predetermined time has not yet passed, the hole member 1 and the shaft 2 are aligned at the positions shown in FIG. After making a correction, the robot is again advanced to the contact position in the Y-axis direction stored in S3 and inserted (S7). S
Even if the haptic value is smaller than the threshold value B in the determination of 4, the process immediately shifts to S7.

Has the controller 8 reached the set value (determined by the dimensions of the fitting member) of the insertion amount, that is, the Y-axis movement amount, as shown in FIG. 7 (d)? Is determined (S8). If the insertion amount does not reach the set value, the process returns to S4 and the axis alignment work is repeated.

When the insertion control is completed up to the set value shown in the position of FIG. 7D, the controller 8 releases the insertion control (S9) and inserts it in the Y-axis direction at high speed (S10). Subsequently, when the insertion is completed at the position shown in FIG. 7E and the force value of the force sensor 16 becomes larger than the threshold value C (S1
1), it is determined that the insertion is completed (S12).

When the insertion is completed, the controller 8 prevents displacement of the hole member or quick switching to the next shrink fitting work, as shown in the open state of the gripping device 10 shown in FIG. 8 (b). For the purpose, the hole member 1 is pressed against the fitted component 2 by the gripping device 10, and a cooling device (by means of a blower nozzle or the like) 1 arranged radially at four positions inside the gripping device 1
The hole member 1 is forcibly cooled by 2 to release the grip and hold of the insertion device and complete the shrink fitting (S13).

Here, in the present embodiment, the cooling device 12
Is arranged inside the gripping device 10, but may be installed outside the gripping device 10 as long as the hole member can be directly cooled.

According to the present embodiment as described above, the hole member 1 is heated to automatically perform axial alignment, and when failure is predicted, the retry operation is performed to restart the heating operation and the insertion operation is completed. After that, since it was possible to cool and finish the shrink fitting work in a short time, it is possible to automate a series of shrink fitting work, and further shorten the shrink fitting work time and prevent the occurrence of shrink fitting defects. became.

[0038]

As described above, according to the present invention, the means for automatically heating the hole member, the means for transferring the heated hole member to the gripping device, the hole member and the fitting target component. Declination correcting means for correcting the angular deviation of the fitting, means for detecting the force and moment generated when the fitted component and the hole member come into contact, and means for detecting the three-dimensional position of the fitted component When,
Cooling means to cool the hole member after insertion, means for preventing retry shrinkage failure by repeating retry operation from heating work when the failure of shrink fitting work is predicted, and calculation based on the detection output of each detecting means Since it is configured with a controller that controls the axis alignment operation, retry operation, etc., a series of shrink fitting operations for various axes can be completely automated without human intervention, and the shrink fitting time itself can be shortened. Since it becomes possible to prevent the occurrence of shrinkage fitting defects, it is possible to eliminate the so-called 3K work, which frees the worker from working under high heat and under heavy muscles, and at the same time, the work that required considerable skill was applied to the machine. By substituting for it, labor saving was achieved and a remarkable improvement effect could be achieved.

[Brief description of drawings]

FIG. 1 is a perspective view of an automatic shrink fitting device according to an embodiment of the present invention.

FIG. 2 is a diagram showing an example of a key mechanism of the fitting part shown in FIG.

FIG. 3 is an operation explanatory view of the heating device and the position measuring camera shown in FIG.

FIG. 4 is an operation explanatory view of the transfer device shown in FIG.

5 is an operation explanatory view of the insertion device shown in FIG. 1. FIG.

6 is a flowchart of a fitting operation by the controller shown in FIG.

FIG. 7 is an operation explanatory diagram of shaft center alignment of the controller shown in FIG. 1;

8 is a sectional view of the gripping device shown in FIG.

[Explanation of symbols]

 1 hole member 2 axis (fitted parts) 6 key 7 key groove 8 controller 10 gripping device 11 core 12 cooling device 15 compliance mechanism 16 force sensor 20 insertion device 25 positioning arm 30 transfer device 35 transfer table 36 transfer hand 40 Heating device 51 Position measuring camera

Claims (3)

[Claims] Claim: What is claimed is: 1. A shrink fitting device for gripping and fixing a hole member by a gripping device provided on an arm capable of moving and positioning with respect to a fitted component, and fitting the fitted component and the hole member together. Passive declination correcting means provided between the arm and the gripping device for correcting the angular deviation of the fitting component, and the force and moment generated when the hole member and the fitted component come into contact with each other are detected. Means, a means for recognizing the three-dimensional position of the fitted component, a signal detected by the means for detecting the force and the moment, and the arm based on the position of the fitted component detected by the means for recognizing the three-dimensional position. Means for calculating and controlling the adjustment position of the hole member, means for automatically heating the hole member, means for transferring and transferring the hole member heated by the heating means to the gripping device, and the hole member after shrink fitting insertion. Cool down An automatic shrink fitting device having a cooling means. 2. A shrink fitting device for gripping and fixing a hole member with a gripping device provided on an arm that is movable and positionable with respect to the fitted component and fitting the fitted component and the hole member together. Passive declination correcting means provided between the arm and the gripping device for correcting the angular deviation of the fitting component, and the force and moment generated when the hole member and the fitted component come into contact with each other are detected. Means, a means for recognizing the three-dimensional position of the fitted component, a signal detected by the means for detecting the force and the moment, and the arm based on the position of the fitted component detected by the means for recognizing the three-dimensional position. Means for arithmetically controlling the adjustment position, means for automatically heating the hole member, means for transferring and transferring the hole member heated by the heating means to the gripping device, and the automatic shrink fitting operation fails. That thing An automatic shrink fitting device having means for preventing a shrink fitting defect by repeating a retry operation from a heating operation. 3. A shrink fitting device for gripping and fixing a hole member by a gripping device provided on an arm that is movable and positionable with respect to the fitted component, and fitting the fitted member and the hole member together. Passive declination correction means provided between the arm and the gripping device for correcting the angle deviation of the fitting component, and the force and moment generated when the hole member and the fitted component come into contact with each other are detected. Means, a means for recognizing the three-dimensional position of the fitted component, a signal detected by the means for detecting the force and the moment, and a position of the fitted component detected by the means for recognizing the three-dimensional position. Means for arithmetically controlling the adjustment position of the arm, means for automatically heating the hole member, means for transferring and transferring the hole member heated by the means for heating to the gripping device, and the hole after shrink fitting insertion Cool parts An automatic shrink-fitting apparatus comprising: a cooling means for controlling the shrink-fitting operation; and a means for preventing a shrink-fitting failure by repeating a retry operation from a heating operation in anticipation of failure of the automatic shrink-fitting operation.