JPS61209823A - Method of registering holes - Google Patents

Abstract

PURPOSE:To automatically register holes by making a hole searching pin carry out copying motion on the surface of a first member to search a first hole, after searching a second hole by making said hole searching pin carry out copying motion on the surface of a second member. CONSTITUTION:A hole searching pin PN is driven to copy on the surface of a second member B2 and, on reaching the position of the hole H2 of the second member B2, it falls into the hole H2. Thereby, the pin PN has searched the hole H2 of the second member B2, while being brought into contact with a first member B1. Then, the hole searching pin PN is driven to copy along the surface of the first member B1 while being fallen into the hole H2 of the second member B2, causing the second member B2 also to move due to the engagement of the hole searching pin PN with the hole H2. When the hole searching pin PN has reached the position of the hole H1 of the first member B1, it falls into the hole H1 and, thereby, the holes H2, H1 can be registered since the hole searching pin PN has fallen into the hole H1 via the hole H2.

Description

[Detailed description of the invention] [Table of contents] Overview Industrial field of application Conventional technology Problems to be solved by the invention Means for solving the problems (Fig. 1) Working example (a) One example Explanation (Fig. 2, Fig. 3, Fig. 4, Fig. 5) (bl-Explanation of the operation of the embodiment (Fig. 6, Fig. 7) (C)
Explanation of the robot using the example (Figs. 8 and 9) (d) Explanation of the operation of the robot to which the example is applied (Fig. 10)
(Fig. 11) Effect of the invention [Summary] Method for automatically aligning a second hole of a second member provided on a first member having a first hole with the first hole. The step of driving a hole searching pin along the surface of the second member to search the second hole, and moving the hole searching pin to the first member through the second hole searched. By providing a step of searching for the first hole by driving it along the surface, the holes are automatically aligned.

[Industrial application field]

The present invention relates to a method of automatically aligning holes in a first member and holes in a second member, and in particular to a method for automatically aligning holes in a first member and a hole in a second member.
The present invention relates to a hole positioning method for automatically aligning the holes in both members with the state in which the members are provided.

For example, in screw tightening work or pin setting work,
The second member is fixed to the first member by inserting a screw or pin into the hole of the second member and tightening the screw or setting the pin.

In such work, if the holes in the first member and the holes in the second member are not aligned, the screws, pins, etc. will not be inserted smoothly.

When such work is to be performed manually, it is sufficient to use the human eye to determine the position and perform the alignment manually, but when it is to be performed by an automatic machine such as a robot, some kind of ingenuity is required.

[Conventional technology]

In the work of such a robot, assembly is performed by setting the second member on the workbench with a hand on the first member. A person had set the second member on the workbench so that the hole in the second member could be aligned with the hole.

[Problem that the invention seeks to solve]

However, this setting is extremely difficult and requires skill, and there has been a problem in that it takes time and effort to set the second member on the workbench.

The present invention provides a hole alignment method that eliminates the need for such hole alignment settings and can automatically align holes in a state where a second member is placed on a first member. With the goal.

[Means for solving problems]

FIG. 1 is a diagram explaining the principle of the present invention.

In the figure, PN is a pin for hole searching, and the first and second
B1 is the first member and has a first hole H1 such as a screw hole, B2 is a second member and has a second hole H2 such as a stupid hole. It has the following.

In the present invention, when the second member B2 is placed on the first member B1, the tip of the hole searching pin PN is placed on the second member 82.
set on the surface. Then, as shown in FIG. 1(A), the hole searching bottle PN is moved to the second member 82 by a driving means (not shown).
Drives along the surface. When the large search pin PN discovers the hole H2 of the second member B2 as shown in FIG.
The first hole H1 is searched by scanning along one surface.

[Effect]

In the present invention, by driving the hole searching pin PN along the second surface of the second member B, the searching pin PN is moved to the second member B.
When the position of hole H2 of No. 2 is reached, hole H2 is opened as shown in Fig. 1 (B).
This means that the hole H2 of the second member B2 has been searched, and it comes into contact with the surface of the first member B1. Next, as shown in FIG. 1(C), by driving the large search pin PN down into the hole H2 of the second member B2 along the surface of the first member B1, the second member B2 is also moved by the engagement between the hole searching pin PN and the hole H2. When the hole searching pin PN reaches the position of the hole H1 of the first member B1, it falls into the hole H1 as shown in FIG. Therefore, the holes H2 and Hl can be aligned, and thereafter, screw tightening etc. can be performed by removing the hole search pin PN.

〔Example〕

(a) Description of the configuration of one embodiment.

FIG. 2 is an explanatory diagram of the configuration of one embodiment of the present invention, and FIG.
The configuration diagram of the target member in the figure, FIG. 4 is a top view of FIG. 3.

In the figure, 1 is a hole search jig, which will be described later in FIG. 5, 2 is a jig stand, which holds the jig 1, and 3
is a vacuum suction hand (hereinafter referred to as the hand), which has suction surfaces 3a and 3b and an intake tube 3C connected to a vacuum pump to create negative pressure on the suction surfaces 3a and 3b.
It is driven in the Z plane and rotated around the γ axis.

40 is a disk enclosure (hereinafter referred to as the base)
4, which constitutes the base of the magnetic disk device;
1 is a spindle motor, which has a motor 41a and a hub 41b rotated by the motor 41a; 42 is a magnetic disk plate (hereinafter referred to as a disk) fitted to the hub 41b; 43 is a spacer; 42 is a clamper for maintaining the spacing between the hubs 41 and 44.
b, and presses down the disc 42 from above.

In the assembly work of a magnetic disk device, the base 40 is fixed in advance to an assembly pallet (not shown) positioned in the X-axis direction in FIG. , a spacer 43, a clamper 44, and mounting screws. Then, the robot picks up the spindle motor 41 from the parts pallet using the hand 3, and attaches the base 40 to the hole 40a.
Then, the spindle motor 41 is attached to the base 40 using the mounting screws using an electric screwdriver of a robot (not shown), and the hand 3 takes out the disc 42 and the spacer 43 in this order from the parts pallet. Fit into the hub 41b of the spindle motor 41. After fitting a predetermined number of discs 42 (for example, 5 discs), the robot hand 3 takes out the clamper 44 from the parts pallet, and inserts a hole (not shown) in the center of the clamper 44 into the upper surface of the hub 41b. Fit into a protrusion (not shown) provided at the center of the That is,
As a result, the center positions of the clamper 44 and the hub 41b are aligned (it goes without saying that the clamper 44 and the hub 41b
The holes b are located at equal distances from the center position). Then, tighten the clamper 44 with the mounting screw.
is fixed to the hub 41b, and the disc 42 is pressed down from above to complete the assembly.

In this case, as shown in FIG. 4(A), the clamper 44 is provided with three holes H20 to H22, and the upper surface of the hub 41b is provided with three holes as shown in FIG. 4(B). There are three screw holes HIO to H12 corresponding to the
When tightening screws, use both holes H20 to H22, HIO-HI3
must be aligned. Furthermore, Figure 4 (
BH in B) is a rotational balance hole of the hub 41b, and is shallower than the depth of the screw holes HIO to H12.

FIG. 5 is a configuration diagram of a hole searching jig l used in the present invention.

In the figure, 10 is a pin, which is the aforementioned large search pin PN, and the tip 10a is formed thinner than the root 10b.
0b is a diameter larger than the above-mentioned screw holes HIO to H12,
In addition, the diameter is set smaller than that of the holes H20 to H22, 11 is a cylindrical part, which fits into a suction hand described later, and has a slot 11a for radial movement of the pin 10, 12 is a suction surface that is suctioned by the suction hand described in 1 &above; 13 is a mounting metal fitting that holds the pin 10 and is attached to the cylindrical portion 11; 14 is a screw for adjusting the pin; For installation, use metal fittings 1
The pin 10 is held between the pins 3 and 710, and the pin adjustment screw 15 is used to attach the metal fitting 13 to the cylindrical portion 11.

In the jig l having such a configuration, the position of the pin 10 from the center of the jig 1 can be adjusted by loosening the adjusting screw 15 and moving it along the slot 11a, and the height of the pin 10 can be adjusted by loosening the adjusting screw 14. Therefore, the attachment of the pin 10 can be adjusted by changing its position relative to the metal fitting 13. As a result, the clamper 44
Even if the position of the hole in the hub 41b is different from the clamper 44, the distance from the center of the hub 41b, or the thickness of the clapper 44 is different, it can be handled.

(bl - Description of the operation of the embodiment.

FIG. 6 is an operational processing flow diagram in the configuration shown in FIG. 2, and FIG. 7 is an explanatory diagram of the operation in the configuration shown in FIG.

(First, the hand 3 descends in the Z direction as shown in ■, and suctions the jig 1 on the jig stand 2. The cylindrical portion 11 of the jig 1 fits into the hand 3, and the suction surface 3a,
The suction surface 12 is suctioned and gripped by the suction surface 3b.

(2) Next, hand 3 rises in the Z direction as shown in ■, ■, and
direction and is positioned on the clamper 44.

(3) Next, the hand 3 descends in the Z-axis direction as shown in (2), and the pin 10 suctioned and gripped by the cranometer comes into contact with the 44th surface.

(4) Here, suppose that the holes H20 to H22 of the clamper 44 and the screw holes HIO to H12 of the hub 41b are misaligned as shown in FIG. 7(A), and the pin 10 contacts the clamper 44 as shown in the figure. .

The hand 3 rotates around the T axis and searches for a hole in the clamper 44. The jig 1 is rotated by the rotation of the hand 3, and the tip of the pin 10 moves on the surface of the clamper 44 as shown in FIG. 7(A). At this time, since a pressing force is applied in the Z-axis direction, when the pin 10 reaches the position of the hole H21 of the clamper 44, the pin 10 falls into the hole H21 as shown in FIG. 7(B) and the hub 41
contact b.

(5) Furthermore, when the hand 3 is rotated around the γ-axis while applying a pressing force to the Z-axis as shown in FIG. 7(C), the tip of the pin 10 follows the surface of the hub 41b through the hole H21, and 44 is rotated by engagement with the hole H21 (as described above, since the clamper 44 is engaged with the hub 41b, it rotates with its center position as a reference). When the pin 10 reaches the position of the screw hole H1l of the hub 41b, the tip of the pin 10 falls into the screw hole H1l, and the pin 10 is inserted into the screw hole H1l through the hole H21 as shown in FIG. 7(D). At this time, only the tip 10a of the bottle 10 falls into the screw hole H1l, and since the root 10b is thicker than the screw hole H11, it cannot enter at the entrance of the screw hole H1l, thereby preventing unnecessary entry.

(6) When the hole alignment is completed in this manner, the hand 3 is moved in the above-mentioned order of ①, ②, and ②, and the jig 1 is returned to the stand 2 to complete the process.

In the above-mentioned embodiment, the jig l is provided to search for holes using the suction hand 3 that takes out the clamper 44, etc., but the jig is not limited to this, and a hand for hole searching may be used. The members are not limited to parts of the magnetic disk.

(e) Description of a robot using the method of the present invention.

FIG. 8 is a configuration diagram of a robot used in the method of the present invention.

In the figure, the same components as those shown in FIG. A guide 53 extending in the Y direction between .52 and 53.
54 and a ball screw 55 are provided, and the support frame 51
6 is a Z-axis module, which connects the Z-axis movable block to the Z-axis.
The guides 53 and 54
and a Z-axis support frame 60 that engages with the ball screw 55 and is driven in the Y direction, a Z-axis motor 61 with an encoder provided on the Z-axis support frame 60, and a Z-axis frame 60.
A pair of guides 62 and 63 extending in the Z-axis direction provided in
and a ball screw 64, and a Z-axis movable block 65 driven by the ball screw 64 along a guide 62, 63 in the Z-axis direction. 7 is a γ-axis module, which includes a T-axis frame 70 fixed to a movable block 65.
and a γ-axis on-axis 71 provided on the T-axis frame 70 to rotate the hand 3. 8 is a force sensor fixed to the hand 3 and detects x, y, and z applied to the hand 3.
, detects external forces FX, FY, FZ, and FT in the γ-axis direction. For example, it is composed of parallel plate springs and strain gauges, and T
It is rotated together with the hand 3 by an on-axis motor 70.

Therefore, by driving the Y-axis motor 56, the ball screw 5
5 rotates, and the Z-axis module 6 guides 53.5 in the Y direction.
The ball screw 64 is rotated by the drive of the Z-axis motor 61, and the movable block 65 is slid along the guides 62 and 63 in the Z direction.
The hand 3 is positioned at a desired position on the YZ plane, and is rotated about the Y axis by the γ-axis motor 71. still,
The disc 42, clamper 44, etc. on the base 40 are positioned in the X direction by an X-axis module (not shown), thus forming a four-axis orthogonal coordinate robot.

FIG. 9 is a block diagram of a control device for the robot having the configuration shown in FIG.

In the figure, 90 is a processor (hereinafter referred to as MPU),
It generates speed commands and position commands according to the teaching data, and 90a is its main routine part, which analyzes commands in the teaching data, executes them, and generates position commands CX, CY, CZ, and Cγ for each axis. , speed commands VX, VY, VZ,
90b is a feedback routine section that outputs Vr, dead zones WX, WY, , WZ, and Wγ, and 90b is a feedback routine section that outputs the force measurement values of each axis from the force sensor 8 and the main routine section 90
It outputs the difference between the speed commands VX, vy, vz, and vy from a, and the synthesis unit 90 takes the above-mentioned difference for each axis.
0 to 903, dead zone portions 904 to 907 that provide a dead zone for force measurement values, and a switch portion 908;
1a to 91d are servo circuits, each of which receives the current position and command positions cx, cy, cz, cγ from a position detector, which will be described later.
92a to 92d are power amplifiers that control the position based on the difference between the commanded speed and the actual speed, and control the speed based on the difference between the commanded speed and the actual speed. 93 is a position detector that supplies drive current to the motor; 94 is a position detector that counts the output of the encoder provided on each axis motor and detects the current position of each axis;
is an analog/digital converter (hereinafter referred to as A/D converter), which converts the analog force measurement values FXSFY, , FZ, and Fr from the force sensor 8 into digital values.

Therefore, the switch section 90 is controlled by the main routine section 90a.
8 is off, the output of the force sensor 8 (i.e., the output of the A/D converter 94) is sent to the feedback routine section 90.
b is not input, the feedback is turned off, and the command positions CX, CY, CZ, C from the main routine section 90a
r and commanded speeds VXSVY and VZSVT are input as they are to the servo circuits 91a to 91d of each axis, and position and speed are controlled. On the other hand, when the switch section 908 is turned on by the main routine section 90a, the force feedback is turned on, and the output of the force sensor 8 becomes the control outputs PFX, PFY via the dead zone sections 904 to 907.

PFZSPFγ is inputted to the synthesis units 900 to 903, and the synthesized output V' with the command speeds VX, VY, , VZ, and VT is
X, V'Y, V'Z, v'r are servo circuits 91a
~91d is given as a speed command.

(d) Description of the operation of the robot using the method of the present invention.

FIGS. 1O and 11 are flowcharts of the hole positioning operation processing of the robot having such a configuration.

Incidentally, FIG. 10 is a flowchart of measuring the height up to the clamper as a pre-process of hole searching, and FIGS. 11(A) and (B) are flowcharts of the aforementioned hole searching.

First, it is assumed that the hand 3 is sucking the jig 1.

■The main routine section 90a issues the Y12 command positions cy and cz of the clamper 44 for the Y-axis and Z-axis, and also issues the command speed v.
Emit y, vz. Since the feedback is off, the Y-axis and two-axis servo circuits 91b and 91c are connected to the power amplifier 9.
The Y-axis and Z-axis motors 56 and 61 are driven via 2b and 92C to position the hand 3 at the commanded positions cy and cz.

(2) The main routine section 90a checks the current positions PY and PZ of the position detector 93 and detects that the command positions cy and cz have been reached, and then waits for 0.5 seconds until the hand 3 stops vibrating.

(2) The main routine section 90a turns on the switch section 908 and turns on the cafe feedback.

■Next, the main routine part 90a has a dead band part 904.9.
05, the dead band widths Wx and wy of the forces in the X and Y directions are set to four times the initial setting values, making it difficult to move in the XSY directions. At the same time, the dead band width in the Z direction of the dead band portion 906 is reduced by 1/2.
, and make the Z direction sensitive.

■The main routine part 90a next sets the command speed V to the Z axis.
Z is emitted, the speed is controlled by the two-axis sabot circuit 91c via the synthesis section 902, and the Z-axis motor 61 is controlled via the power amplifier 92c.
, and lower the hand 3 in the Z-axis direction at 10 cm/s, stopping when the tip of the pin touches it. That is, when the tip of the pin hits, the output FZ of the force sensor 8 inputted through the dead band section 908 is equal to the command speed vZ, although the direction is different, and the composite output VZ becomes 0 and the automatic stop. At this time, the force sensor 8 generates a predetermined pressing force against the clamper 44 due to the deflection of the parallel leaf spring.

The Z-axis position PZ-ZI of the position detector 93 at this time is obtained.

[F] Next, the main routine section 90a issues a 2-axis command position CZ, raises the Z-axis by 11, and further raises the γ-axis command position C.
γ, rotate the γ axis by -30”, return to step ① again, lower the Z axis, and similarly adjust the two-axis position P of the position detector 93.
Obtain Z-Z2.

■Next, the main routine part 90a determines the stopping height Z of the Z axis.
Compare I and Z2, and set the higher one as the height of the top surface of the clamper.
Z】>Zz, a Z-axis command position CZ is issued to raise the Z-axis to the height Zl of the upper surface of this clamper.

As a result, in the fifth step, the position of the pin 10 coincidentally coincides with the position of the hole of the clamper 44, and the surface of the hub 41b is reached in the first search, and the subsequent rotation for the hole search Even if the hub 41b falls into the balance hole or screw hole due to operation, it will not malfunction.

That is, even if the T-axis is driven in order to perform the second search, the hub 41b does not rotate because it is fixed to the base, and the pin stops in contact with the inner surface of the hole (
It is possible to prevent the problem that the combined output of the force measurement value in the γ-axis direction of the force sensor 8 and the T-axis drive signal becomes 0, making it impossible to move on to the next operation.

Next, in order to trace the bottle tip without damaging the clamper surface, the main routine section 90a sets the dead zone portion 906 so that the dead zone width in the Z direction is further halved.

0 Next, proceed to FIG. 11(A), and proceed to the main routine section 90a.
is the Z-axis command speed VZ and the γ-axis command speed ■γ in the synthesis unit 902
．． 903, 10CIII/s downward on the Z axis, T
Find the screw hole in the clamper while tracing the clamper surface with the tip of the pin while moving the shaft in the middle direction at a speed vector of 30°/sec.

[Phase] The main routine section 90a monitors the Z-axis position Pz of the position detector 93, and if ZI1Ili falls two degrees from the top surface of the clamper 44, it assumes that it has fallen into the hole in the clamper 44, and sets the Z-axis command speed to zero. Make it.

Next, the main routine section 90a performs Z of the dead zone section 906.
Return the dead band width of the directional force to half of the initial setting value, then set γ
The axis command position Cγ is issued, and the T-axis is returned to the position corresponding to the original γ-axis coordinate roo while the tip of the pin 10 is hooked into the screw hole of the clamper.

■The main routine part 9Qa is the 2-axis speed command vZ.

In order to find the screw hole in the hub 41b by issuing the γ-axis speed command Vr, the clamper 44 moves the Z-axis downward at 20 cm/s and the γ-axis at a speed vector of 20°/sec in the middle direction.
Trace the top surface of the hub 41b with the tip of the pin 10 while keeping it hooked in the hole.

■When the pin 10 falls into the hole of the hub 41b, the force sensor 8
The outputs v'z and ■'γ of the combining units 902 and 903 become zero according to the force measurement values FZ and Fy, and the movement is stopped.

The main routine section 90a uses this force measurement value FZ.

Fr is monitored, and when it is detected that the movement has stopped, the γ-axis command speed is set to zero, the pressure in the T-axis direction is released, and then the pressure is applied only in the Z-direction for one second.

[Phase] Proceed to Fig. 11 (B) and position detector 9 at this time.
The main routine part 90a reads out the Z-axis position PZ of No. 3, measures the depth of the hole and the difference from the above-mentioned ZI, and considers that the hole has entered the screw hole of the hub if it is 8 or more deep from the upper surface of the clamper.

On the other hand, if it is shallower than 8 cranes, it means that it has entered the balance hole, so lift the Z axis to the entrance of the hole and adjust the γ axis by +10°.
Rotate and repeat steps @, ■, [phase].

[Phase] Next, the main routine section 90a issues a Z-axis command position CZ to lift the Z-axis two cranes higher than the top surface of the clamper and take out the tip of the bottle from the screw hole.

Then, the γ-axis position Pr of the position detector 93 is read and the difference between the γ-axis rotation angle γθ at this time and the reference T-axis rotation angle γθ0 is calculated. This value is the difference between the rotation angle of the hub shaft at the time of teaching and the rotation angle of the hub shaft currently being assembled.

[Phase] Next, the main routine section 90a performs a dead zone section 904.
Return the dead zone width of force detection in X%Y and Z directions of 905.906 to the original initial setting value.

■Furthermore, in order to return to the specified position at the specified speed, the main routine section 90a issues a Y-axis position command cy, a z-axis position command cz, a y-axis speed command CX, and a Z-axis speed command cy, and the hand 3
return to its position.

[Phase] The main routine part 90a uses the rotation angle γof of the hub axle from the time of teaching, which was measured in step [Phase] with respect to the coordinates S4, B5, and B6 of the three screw hole positions taught during teaching. to calculate the coordinates of the current hole position and create new point data SS4, sss, S.
Make S6. However, rof-Tθ-γθ0.

Then, And the SS4th X Is Y coordinates are found.

Similarly, S85 and SS6 are also determined by the following equations.

Large positioning is performed in this way, and the teaching data is corrected based on the positioning result, and is used for positioning for screw tightening with an electric screwdriver.

In the coordinate transformation explained above, the position of the screw size to be constant based on the spindle motor and the position of the screw size on the top surface of the hub 41b are not always in a predetermined positional relationship (because the spindle rotates, of course). , always in a free state,
It is difficult to assemble while maintaining a predetermined positional relationship. ) is necessary for this purpose.

Although the present invention has been described above using examples, the present invention can be modified in various ways according to the gist of the present invention, and these are not excluded from the present invention.

[□Effects of invention]

As explained above, according to the present invention, it is possible to automatically align the holes, which saves manual effort.
be able to. In addition, since the second member is placed on the first member, the positioning can be performed regardless of how the second member is placed. Useful.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram of the principle of the present invention, Fig. 2 is a detailed explanatory diagram of the present invention, Fig. 3 is a configuration diagram of the target member of the configuration in Fig. 2, and Fig. 4 is a
FIG. 5 is a configuration diagram of the jig used in FIG. 2, FIG. 6 is an operation flow diagram in FIG. 2, FIG. 7 is an explanatory diagram of the operation in FIG. 2, and FIG. A block diagram of a 1:1 pot applied to the method of the present invention, FIG. 9 is a block diagram of the control device of the robot shown in FIG. 8, and FIGS. It is a diagram. In the figure, Bl, B2-・member, □ H1, H2-・hole, PN・-search bottle.

Claims (1)

[Claims] A method of aligning a second hole of a second member provided on a first member having a first hole with the first hole, the method comprising: driving the hole searching pin along the first member surface to search the second hole; driving the hole searching pin along the first member surface through the second hole searched; A hole positioning method comprising the step of searching for a hole in the hole.