JPS6328562A - Meshedly charging method for lapping carrier - Google Patents

Abstract

PURPOSE:To securely carry out charging in a meshed condition by slidingly rotating a carrier on the bottom face of a robot head groping for the top face of a mating gear for meshing, detecting meshing by means of difference in sliding resistance, and lowering and charging said carrier. CONSTITUTION:A carrier K on the bottom face of a robot head, together with a robot swing arm, is slidingly rotated grouping for the top face of a mating gear for meshing. The vicinity of the addendum of the meshing part of the carrier is lightly pressed by means of the ends of the pins P of pin lifting operation switches 6, 7, to make the addendum of the deflected part of the carrier K slide on the tooth profile face of the mating gear. And, as the addendum fits with the root of the mating gear with the meshing carrier being lightly meshed, the measuring pressure of the lifting up/down pins P of the limit switches 6, 7 is removed and a soft power source is turned off, thereby, permitting meshing while enabling the charging of the carrier K to be confirmed. Accordingly, charging in a meshed condition can be securely carried out.

Description

[Detailed description of the invention] A. Fields of application on industrial beams ■ Automatic carrier loading device for wrapping machines ■ Automatic meshing mechanism between other thin gears and regular gears Port, conventional technology Carrier loading and unloading are all done manually Problems that the invention is trying to solve ■ Invention of a 100% reliable function since the benefits of automation will be lost if loading trouble occurs ■ Storing the work in a carrier to prevent the work from shifting at the time of loading ■ Wrapping cycle Quick and accurate loading to reduce time 20Means to solve the problem ■ The carrier on the bottom of the robot head is rotated in a sliding motion with the top surface of the mating gear to detect meshing based on the difference in sliding resistance and interlocked with the software. Discovery of a 100% reliable meshing method■ We divided the carrier meshing and loading into two stages, first meshing the carrier with the sun gear, and then planning the meshing with the internal gear.

Lightly pressurize the vicinity of the tooth tip of the carrier meshing part with the tip of the pin of the leakage lifting type limit switch, and slide the tooth tip of the flexible part of the carrier on the tooth profile of the engaged gear, so that the tooth tip aligns with the valley of the mating tooth profile. If they match, the deflection of the meshing carrier will instantaneously cause a shallow meshing, and the pressure measurement of the lifting pin of the limit switch will be canceled and the soft power will be turned off, indicating that the meshing is OK and loading can be confirmed.

Example: When manually inserting and extracting a workpiece directly into a carrier, it is possible to visually screen and remove the damage to the workpiece and remove it, so there is no need to remove the carrier every time. In the market environment where judgment robots equipped with high-priced robots are expensive, it is essential to remove the carrier every time and keep the lapping machine clean at all times. There are many variations in detecting engagement during operation, making it difficult to ensure 100% loading, which is absolutely necessary for operation.

In order to solve this problem, carrier meshing is divided into two stages. First, carrier q0 is slightly moved toward internal gear (1) to achieve meshing between carrier ■ and sun gear (S) to improve sun gear mesh clearance. On the other hand, when the internal gear is engaged, the carrier α is returned toward the sun gear (S) to widen the clearance so that the internal gear engagement becomes easy.

At the time of completion of both meshing, each meshing clearance shall be properly corrected and maintained. First, before engaging the sun gear, the robot arm swings and the swing arm slide table (4) of the robot head is pulsed to slightly widen the clearance between the sun gear and the carrier in order to facilitate sun gear engagement, and the pin lift-operated limit switch (6) is activated.
(Measure the pressure to the extent that the 7-pin turns the power 0N10FF
), the swing arm ( 5) When the calculation pulse station is stopped and at the same time the carrier tooth tip detects the valley of the sun gear by slight rotation of the robot head, the pin (P) is released from pressure measurement and the stroke cup is extended, and the amount of carrier deflection is instantly resolved. However, the limit switch (6) is turned OFF, and the sun gear and carrier are in shallow primary meshing, resulting in tooth profile detection and meshing OK information. Next, there is a tooth profile detection pin lift limit switch (7) on the diametrically opposite end of the carrier.Turn slightly by lightly sliding the end face of the tooth to the extent that the carrier is slightly bent on the side of the internal gear (1). In the middle, lateral pressure is applied to continue sliding, and the moment the carrier tooth tip detects the internal gear tooth profile, the pressure is released and the internal gear becomes shallow primary meshing, but before secondary meshing, the robot head (3) Return the carrier a little towards the sun gear using the slide table, and after setting the clearance between the sun gear (S), carrier retainer, and internal gear (1) in a normal state, the robot head descends onto the lower surface plate and gently attaches the workpiece with light pressure. to complete loading.

Effect ■ 100% reliable loading can be guaranteed by carrier unit meshing.

■ With the development of an automatic carrier-based operating robot, one person can now manage and operate five machines instead of one person exclusively working on one wrapping machine.

[Brief explanation of the drawing]

Figure 1: Arm rotation robot and lapping machine plan view Figure 2: Robot head and slide table Figure 4:
・Pin lifting type limit switch pressurized mesh cross-sectional view (1)・・Internal gear (2)・・Lower surface plate (3)・Robot head (4)・Robot head slide table (5)・
・・Robot swing arm (6) (7)・・Leakage lifting type limit switch (S)
... Sun gear ■ ... Carrier X) ... Lifting pin

Claims (1)

[Claims] When loading the carrier with the workpiece fitted into the hole of the thin planetary gear onto the lower surface plate of the lapping machine, the carrier automatically engages with the sun gear in the center and the internal gear on the outer periphery. Turn on/off the soft power supply near the tooth tips where the carrier on the tooth profile of the gear meshes.
The carrier receives a light pressure measurement from the interlocking lifting pin, and is slightly locally deflected to detect the tooth profile.During the slight rotation, the carrier tooth tip slides on the lower gear and detects the difference in resistance between the pins by detecting the valley of the tooth profile. The wrapping carrier engagement loading method is characterized in that the deflection of the carrier is restored at the moment the carrier is detected, and at the same time, the lifting pin loses pressure measurement, the soft power is turned off as information, engagement is detected, and the carrier is lowered and loaded.