KR102133227B1 - Inspection device for pinch yoke - Google Patents

Abstract

The present invention relates to a pinch yoke inspection method. A technical objective of the present invention is to provide a pinch yoke inspection method which prevents tap wear during a tap inspection process of a bolt assembly hole formed on a pinch yoke, eliminates manual work, and simultaneously performs the tap inspection process of the bolt assembly hole and a tooth form inspection process of a serration hole. To achieve the objective, the pinch yoke inspection method inspects the tooth form of a serration hole and the tap of a bolt assembly hole formed on a pinch yoke of a universal joint with automated equipment. The pinch yoke inspection method comprises: a pinch yoke placing step of lifting the pinch yoke to place the pinch yoke on a binding base; an inspection head attaching step of attaching a toothed sawtooth area of an inspection head unit to the entrance of the serration hole; a pinch yoke fixing step of fixing both sides of the pinch yoke; an initial position return step of returning the inspection head unit to an initial position; a lubricant supply step of inserting a tap inspection bar into a lubricant receptor; a bolt assembly hole tap inspection step of detecting a tap defect by a torque value if the tap inspection bar is inserted into the bolt assembly hole of the pinch yoke; an inspection head forward driving step of inserting the toothed sawtooth area into the serration hole in accordance with a torque value of the inspection head unit; and an inspection head angle adjustment step of executing the forward driving mode after rotating the inspection head unit by a prescribed angle.

Description

Pinch yoke inspection method {INSPECTION DEVICE FOR PINCH YOKE}

The present invention relates to a pinch yoke inspection method, and more particularly, to a pinch yoke inspection method for inspecting whether a tap of a bolt assembly hole and a serration hole of a pinch yoke used in a universal joint of an automobile is processed within a predetermined standard. .

A pinch yoke (refer to FIG. 3 of Document 1), which is a component used in a universal joint of an automobile steering device, as described in Document 1, is formed with a serration hole (No. 122 of Document 1) penetrating through the body, A body portion (reference numeral 120 of Reference 1) on which a bolt assembly hole (reference numeral 124 of Reference 1) is formed on the side, and a yoke hole (reference numeral 1) extending from both sides of the body portion (reference numeral 120 of Reference 1) Symbol 112).

Such a conventional pinch yoke is a metal part, which is a core part of a universal joint, and when a part is not manufactured according to a pre-designed standard and a deviation occurs, the load is concentrated on the part where the deviation occurs, resulting in a long component life. There is a shrinking problem.

To this end, in the conventional pinch yoke, a bolt assembly hole (reference numeral 124 in document 1) and a serration hole (reference numeral 122 in reference 1) are processed to check whether they are manufactured within a previously designed standard.

Here, in the inspection of the bolt assembly hole (reference numeral 124 in Document 1), the operator inserts a threaded tap bolt (not shown) into the bolt assembly hole (reference numeral 124 in Reference 1) so that the tap bolt is bolt assembly hole (Figure 1) By performing the operation of whether it is smoothly inserted at 124), it is necessary to check whether the tab is well formed within a deviation within a pre-designed specification.

However, in this way, the method of inspecting by inserting the tap bolt into the bolt assembly hole (reference numeral 124 in Document 1) is inserted so that the operator does not insert the tap bolt vertically, but is inclined to the bolt assembly hole (reference numeral 124 in Reference 1). In this case, since the tab of the bolt assembly hole (reference numeral 124 in Document 1) is worn, the operator's skill level is required.

That is, since the conventional bolt assembly hole (reference numeral 124 in Document 1) is performed manually during the inter-thread inspection of the tab, wear of the tab may occur, and furthermore, since it proceeds manually, the production efficiency is lowered. have.

Furthermore, since the pinch yoke needs to inspect not only the inspection work of the bolt assembly hole (reference numeral 124 in Document 1), but also the tooth shape of the serration hole (reference numeral 122 in Reference 1), the two inspection processes are conducted separately and inspected. It has the problem of increasing time.

Therefore, the tap inspection process of the conventional bolt assembly hole (reference numeral 124 of document 1) formed in the pinch yoke prevents the abrasion of the tap, and does not proceed manually, and the tab of the bolt assembly hole (reference numeral 124 of reference 1) There is a need for a technical solution that allows the inspection process and the tooth inspection process of the serration hole (reference numeral 122 in Document 1) to proceed simultaneously.

In this case, in order to simultaneously perform the tap inspection process of the bolt assembly hole (reference numeral 124 in Document 1) and the tooth inspection process of the serration hole (reference numeral 122 in Reference 1), two inspection processes are simultaneously performed in one pinch yoke. Therefore, it is necessary to have a technical solution to prevent the inspection work from affecting each other, but to share some work.

On the other hand, looking at the serration hole (reference numeral 122 in Document 1) formed in the conventional pinch yoke, the serration hole (reference numeral 122 in Reference 1) has finely formed teeth, and a serration hole (reference numeral in Reference 1) In order to inspect the tooth shape of 122, the operator manually applies an inspection jig having a gear corresponding to the tooth shape of the serration hole (reference numeral 122 in document 1) similar to the inscribed gear shape (reference numeral 122 of reference 1). Insert, and inspect whether the inspection jig is inserted into the serration hole (reference numeral 122 of document 1) without difficulty, and the machining surface of the tooth formed in the direction of the central axis of the serration hole (reference numeral 122 of reference 1) They are checked to see if they are within the standard error range. Thereafter, the operator rotates the inspection jig and checks whether the tooth phase angle of the serration hole (reference numeral 122 in Document 1) is within a standard error range.

However, since such a conventional pinch yoke serration hole (reference numeral 122 in Literature 1) is performed by manual inspection, there may be cases in which product defects are different depending on the inspection capability of the operator, and proceed manually. Therefore, it causes a problem that production efficiency is very low.

Similar to the problem that occurs when inspecting the serration hole of the pinch yoke, the spline phase angle inspection device of the universal joint disclosed in Document 2 discloses an inspection device that inspects the spline phase angle of the universal joint.

The spline phase angle inspection device of the universal joint of Document 2 is a connecting rod equipped with a spline (reference sign 230 of Document 2) consisting of a mountain (reference sign 231 of Reference 2) and a groove (reference sign 232 of Reference 2). Universal including a universal joint (reference 200 of Reference 2) made of a yoke (reference 210 of Reference 2) formed on the front surface of the connecting rod (reference 220 of Reference 2) A spline phase angle inspection apparatus for a joint, comprising: a base (reference numeral 10 in Document 2); A guide portion (reference numeral 50 of Reference 2) formed long before and after on the upper surface of the base (reference number 10 of Reference 2); It is formed on the upper surface of the base (reference numeral 10 of reference 2) to be spaced apart from the front end of the guide portion (reference numeral 50 of reference 2) and a yoke (reference numeral 210 of reference 2) ) A fixing jig for fixing (reference numeral 30 in Document 2); Moving means (reference numeral 60 of Reference 2) installed to move forward and backward along a guide portion (reference number 50 of Reference 2); A plurality of inspection projections (reference numeral 111 of reference 2) are fitted into the grooves of reference spline (reference number 230 of reference 2) (reference number 232 of reference 2), and the groove (reference number 232 of reference 2) is bent An inspection unit (reference numeral 110 of reference 2) installed on the front of the moving means (reference numeral 60 of reference 2) to rotate along the groove (reference number 232 of reference 2); A sensor unit (document 2 reference numeral 110 of the document 2) configured to be connected to the inspection unit (document 2 reference numeral 110) to sense the rotation angle of the spline (document 2 reference numeral 230) 2, reference numeral 120).

The spline phase angle inspection device of such a universal joint is a jig hole (with reference to reference numeral 210 of document 2) and a yoke (reference numeral 210 of document 2) of a universal joint (reference numeral 2 of reference 2) to a fixing jig (reference number 30 of reference 2). When the yoke (reference numeral 210 of reference 2) is coupled to reference numeral 31 of reference 2, a fixing rod (reference reference 34 of reference 2) of the fixing hole (reference number 33 of reference 2) By moving the reference numeral 40 of the reference rod (reference numeral 40 of reference 2) to the end of the fixing rod (reference numeral 2 210 of reference 2) through the fastening hole (reference numeral 211 of reference 2) through the communication hole (document 2 to be fitted inside the reference numeral 32), and using the moving handle (reference numeral 72 of reference 2) provided in the moving means (reference numeral 60 of reference 2) to the guide unit (reference numeral 50 of reference 2) The inspection protrusion (reference numeral 111 of reference 2) provided on the inspection unit (reference number 110 of reference 2) is spline by moving to the moving block (reference number 70 of reference 2) of the combined moving means (reference number 60 of reference 2) It is to be fitted inside the groove (reference numeral 232 of reference 2) in (reference numeral 230 of reference 2).

In this case, if the groove of the spline (reference numeral 230 in Reference 2) (reference numeral 232 in Reference 2) is formed without distortion in a linear path of a previously designed standard, the rotation angle of the inspection unit (reference numeral 110 in Reference 2) is not correct. It does not.

On the other hand, if the groove of the spline (reference numeral 230 of Reference 2) deviates from the straight path of the previously designed standard, the groove of the spline (reference number 230 of Reference 2) The inspection projections (reference numeral 111 in Document 2) inserted into reference numeral 232 are also distorted, and the displayed angle rotated by rotating the inspection projections (reference numeral 110 in Reference 2) connected to the inspection projections (reference numeral 111 in Reference 2) Since it is displayed on the sensor unit (reference numeral 120 of Document 2), it is possible to know whether the spline (reference numeral 230 of Reference 2) has been machined in a wrong state.

Next, the operator is to adjust the phase angle of the spline (reference numeral 230 in Document 2), the operator adjusts the groove provided on the rotating part (reference numeral 90 in Reference 2) to the adjustment rod (reference numeral 2 in Reference 2) After inserting it into the reference numeral 92, and adjusting the fitting groove (reference numeral 82 of Reference 2) to match the adjustment rod (reference numeral 93 of Reference 2), the inspection unit (reference number 110 of Reference 2) and the sensor unit (reference 2) The setting to initialize the reference number 120) is performed.

Thereafter, the operator moves the moving block (reference numeral 70 of reference 2) along the guide portion (reference reference number 50 of reference 2) while holding the moving handle (reference number 72 of reference 2) by hand, and connects the connection rod (reference 2) The operator visually determines whether the phase angle of the spline is within a predetermined error range during the operation of combining the inspection unit (reference numeral 110 of Document 2) to fit inside the reference numeral 220 of the reference numeral.

As described above, in the case of determining whether the spline (reference numeral 230 of Document 2) is bent or the phase angle is within a predetermined error range, the conventional document 2 proceeds by hand, as described above, by hand. Since it is performed as, productivity decreases very much, and furthermore, since an operator visually checks the instruction value of the sensor unit (reference numeral 120 in Document 2) and needs to proceed, the operator may miss the instruction value. In some cases, a defective product may be shipped as it is.

In particular, the pinch yoke having a much finer internal contact angle than the spline (reference numeral 230 of document 2) as disclosed in the prior art document 2, when the method of performing the inspection by hand as described above, the productivity is further lowered, the inspection quality The defect rate also increases.

Therefore, there is a need for a technical solution to prevent the product from being defective in the tooth shape of the serration hole, while the productivity of the serration hole of the conventional pinch yoke is not manually performed.

In addition, in the spline inspection apparatus disclosed in the prior art document 2, an inspection protrusion (reference numeral 111 of reference 2) must be inserted into a groove of a spline (reference numeral 232 of reference 2) for spline inspection. Therefore, the operator inserts the inspection projection (reference numeral 111 of Document 2) into the groove of the spline (reference numeral 232 of Reference 2) with a strong force, or inserts the inspection projection (reference numeral 111 of Reference 2) into the groove of the spline ( When the inspection protrusion (reference numeral 111 of reference 2) is strongly rotated while inserted into reference number 232 of reference 2, the inspection protrusion (reference reference number 111 of reference 2) is the groove of the spline (reference number 232 of reference 2). ) Causes wear and tear of parts to be inspected.

Therefore, when the inspection projection (reference numeral 111 in Document 2) is inserted into the groove of the spline (reference numeral 232 in Reference 2) for spline inspection, the inspection projection (reference numeral 111 in Reference 2) is the groove of the spline. It is necessary to provide a technical solution to prevent abrasion (reference numeral 232 in Document 2).

Further, for spline inspection, the inspection protrusion (reference numeral 111 in Document 2) is repeatedly inserted into the groove of the spline (reference numeral 232 in Reference 2) for inspection, and the inspection protrusion (reference numeral 111 in Reference 2) is an operator. It is inserted into the groove of the spline (reference numeral 232 in Document 2) in a state in which the force is not adjusted, thereby causing wear itself.

In this case, the inspection protrusion (reference numeral 111 in Document 2) is repeatedly worn by repeated work, and in the end, the shape of the inspection protrusion (reference numeral 111 in Reference 2) is deformed and the inspection cannot be normally performed. , Since the spline inspection apparatus of Document 2 cannot determine whether the inspection projection (reference numeral 111 in Reference 2) is worn or not, the inspection projection (reference numeral 111 in Reference 2) is continuously used. By performing the inspection, the product of which the groove of the spline (reference numeral 232 in Document 2) is processed as a defect causes a problem in which the product is shipped as it is.

Therefore, since the inspection jig directly contacting the groove of the spline (reference numeral 232 in Document 2) wears out, the inspection jig automatically identifies the replacement time when a certain number of inspections has passed, and is easily replaced even when replacing There is a need for a technical solution to make it possible.

(Document 1) Republic of Korea Utility Model Publication No. 20-0478873 (2015.11.25 announcement) (Document 2) Republic of Korea Patent Registration No. 10-1943457 (January 23, 2019 registration)

Technical problem of the present invention for solving the above problems is to prevent the wear of the tap during the tap inspection process of the bolt assembly hole formed in the pinch yoke, to prevent the manual process, the tap inspection process of the bolt assembly hole and the serration hole An object of the present invention is to provide a pinch yoke inspection method that allows the tooth inspection process to be performed simultaneously.

In addition, another technical problem of the present invention, when the bolt assembly hole tap inspection process of the pinch yoke and the tooth inspection process of the serration hole are simultaneously performed, since two inspection processes are simultaneously performed in one pinch yoke, the inspection work between each other The aim is to provide a method of pinch yoke inspection to avoid this effect, but to ensure that some work is shared.

In addition, another technical problem of the present invention is to insert the inspection head for inspection into the serration hole of the conventional pinch yoke, so that even if the inspection head and the serration hole are strongly contacted, the shock is absorbed, thereby reducing the inspection head. It is to provide a method of inspecting the pinch yoke which is prevented from abrasion of the holes.

In addition, another technical problem of the present invention is inserted into the serration hole so that the number of uses of the tooth inspection shaft for inspecting the serration hole is increased to a preset number or more so that the administrator can be automatically informed so that the replacement time can be known. In addition, it is to provide a pinch yoke inspection method that can be easily replaced at the time of replacement.

The pinch yoke inspection method of the present invention for achieving the above technical problem is a pinch yoke inspection method for inspecting the tooth shape of the serration hole formed in the pinch yoke of the universal joint and the tab of the bolt assembly hole with automated equipment. A pinch yoke seating step in which a 6-degree-of-freedom transfer robot having a clamping forceps clamps the pinch yoke and lifts the pinch yoke to settle in a pinch yoke seating mode; After proceeding with the pinch yoke seating step, the serration inspection control unit controls the front-rear drive unit to advance the rotating drive unit so that the toothed tooth area of the test head portion is in close contact with the entrance of the serration hole of the pinch yoke. Head adhesion step; Maintaining a state in which the center axis of the tooth inspection shaft and the center axis of the serration hole coincide in a state in which the grooves of the pinch yoke are in close contact with the fastening area of the fastening zone, and the first pinch yoke fixing part in the serration inspection control unit A pinch yoke fixing step of performing a pinch yoke fixing mode in which the side contact portion and the second side contact portion secure both sides of the pinch yoke; In the serration inspection control unit, an initial position return mode is provided so that the inspection head part connected to the front-rear driving part is returned to an initial position by reversing the front-rear driving part to reverse the inspection head part inserted in the serration hole of the pinch yoke. An initial position return step in progress; The tap inspection control unit drives the first axis linear motor unit for tap inspection, the second axis linear motor unit for tap inspection, and the third axis linear motor unit for tap inspection so that the central axis of the tap inspection rod coincides with the central axis of the lubricant receptor. A lubricant supply step of driving a tap rotation motor to drive a tap inspection rod to rotate a lubricant supply mode in which the tap inspection rod is inserted into the lubricant receptor by driving the third axis linear motor portion for the tap inspection; The tap inspection control unit rotates the tap inspection rod in a state where the first axis linear motor part for tap inspection, the second axis linear motor part for tap inspection, and the third axis linear motor part for tap inspection are rotated, and the bolt assembly hole of the pinch yoke is rotated. When the tap inspection rod is rotated and inserted into the bolt assembly hole of the pinch yoke, the torque of the motor part for tap rotation increases beyond the preset value. Tap inspection step; The bolt assembly hole proceeds in parallel with the tap inspection step, and the serration inspection control unit controls the front-rear driving unit while advancing the front-rear driving unit while the pinch yoke is seated on the fastener and fixed by the pinch yoke fixing unit. When the toothed tooth area of the test head connected to the rotation driving unit is inserted into the serration hole of the pinch yoke, and when the torque value for rotation of the rotation driving unit is less than a predetermined value in the serration inspection control unit, the tooth of the inspection head unit An inspection head advance driving step of advancing a forward driving mode in which a tooth region is inserted into the serration hole; And, in the process of the test head forward driving step, the serration inspection control unit detects a case in which the torque value of the servo motor for front-rear driving of the front-rear driving unit increases above a predetermined value, and receives the input torque value. When it is increased to more than a predetermined value, the serration inspection control part retracts the front-rear driving part so that the toothed tooth area of the inspection head part is separated from the serration hole, and the serration inspection control part rotates the rotation drive part. An inspection head angle adjustment step of rotating the inspection head rotating motor at a predetermined angle, rotating the inspection head part by a predetermined angle, and then proceeding to the reverse driving mode for re-running the forward driving mode; It includes.

In this case, the pinch yoke inspection method may further include a serration hole machining defect determination step, and in this case, the serration hole machining defect determination step may be performed by the serration inspection control unit in the toothed tooth area of the inspection head portion. When it is inserted into the serration hole of the pinch yoke, the serration inspection control unit periodically receives and records the torque value for the motor for rotating the inspection head of the rotation driving unit, and calculates and records the average value of the torque value, In the case where the average value of the torque value does not fall below a predetermined value and continuously rises, a serration defect processing detection mode in which the processing state of the serration hole is determined to be in a poor state may be performed.

Here, the inspection head portion is formed in the toothed tooth area at one end, the tooth inspection shaft is inserted into the serration hole; Detachable connector to which the shaft insertion hole is formed at one end and the end of the tooth inspection shaft in which the teeth tooth area is formed is inserted into and coupled to the shaft insertion hole; When coupled to surround the outer periphery of the detachable connector, when the tooth inspection shaft is connected to the detachable connector, the tooth inspection shaft is fitted and fixed so as not to be separated from the detachable connector, but when the fitting engagement is released by external force An inspection head detachable assembly that separates the tooth inspection shaft and the detachable connector; And, a hole through which a part of the body of the detachable connector is inserted is formed so that the detachable connector is connected, and the detachable connector is formed to flow a certain distance in the axial direction, and the detachable connector is provided by providing a repulsive force in the axial direction of the detachable connector. A floating holder configured to cushion the axial force of the detachable connector when being axially drawn, and to allow the detachable connector to rotate; It may be configured to include.

The present invention does not require manual operation during the tap inspection process of the bolt assembly hole formed in the pinch yoke, and performs the tap inspection in a state in which the axes are not displaced by an automated process, so that the wear of the tap does not occur. Since the tap inspection process of the bolt assembly hole and the tooth inspection process of the serration hole are simultaneously performed, there is an effect of shortening the inspection time of the pinch yoke and improving productivity.

In addition, in the present invention, since the tapping process of the bolt assembly hole and the tooth inspection process of the serration hole are simultaneously performed while the pinch yoke is fixed by the pinch yoke fixing part, some operations are shared, but the tap inspection process and tooth inspection of the serration hole are shared. Since the processes are performed so as not to affect each other, there is an effect of shortening the inspection time.

In addition, the present invention is a case in which the tooth for the holder strongly wears against the tooth of the serration hole by cushioning the axial force generated when the toothed area of the inspection head contacts the serration hole. In addition, since the toothed tooth region is adjusted to finely rotate the inner and outer steel balls when the toothed tooth region is matched with the serration hole, it can be inserted even when the toothed tooth region does not exactly match the serration hole. It has the effect of preventing the region from wearing the serration hole.

In addition, the present invention is inserted into the serration hole to automatically inform the administrator when the number of uses of the tooth inspection shaft for inspecting the serration hole is increased to a preset number or more so that the replacement time of the tooth inspection shaft can be known. And, in this case, the tooth inspection shaft is configured to be detachable to improve the convenience of replacement.

1 is a plan view of a pinch yoke inspection apparatus according to a pinch yoke inspection method according to an embodiment of the present invention.
Figure 2 is a side view of the pinch yoke inspection device shown in Figure 1;
3 is a plan view of the pinch yoke shown in FIG. 1;
Figure 4 is a front view of the pinch yoke shown in Figure 3;
5 is a right side view of the pinch yoke shown in FIG. 4;
6 is a plan view of the pinch yoke fixing portion shown in FIG. 1 in an enlarged view.
7 is a partial right side view of the pinch yoke fixing part shown in FIG. 6;
8 is an exploded cross-sectional view of the inspection head shown in area B of FIG. 2 in an exploded state.
9 is a partial cross-sectional view of the test head unit shown in FIG.
FIG. 10 is a partial cross-sectional view of an enlarged C region shown in FIG. 2.
FIG. 11 is a photograph of the pinch yoke inspection apparatus shown in FIG. 1 when viewed from the perspective direction.
12 is a flow chart of a pinch yoke inspection method according to an embodiment of the present invention.
13 to 19 are driving state diagrams for each inspection step constituting the pinch yoke inspection method shown in FIG. 12.

Hereinafter, exemplary embodiments for carrying out the present invention will be described with reference to the accompanying drawings. In this case, when it is said that a certain part "includes" a certain component in the entire specification, it is not specifically stated otherwise. It is considered to mean that other components may be further included rather than controlling other components. In addition, terms such as "... part" described in the specification mean a unit that processes at least one function or operation when describing electronic hardware or electronic software, and one component, function, when describing mechanical devices, It is regarded as meaning a use, a point or a driving element. In addition, hereinafter, the same or similar components will be described using the same reference numerals, and overlapping descriptions of the same components will be omitted.

First, before describing the pinch yoke inspection method according to an embodiment of the present invention, a pinch yoke inspection device used in the pinch yoke inspection method will be described below.

1 is a plan view of a pinch yoke inspection apparatus according to a pinch yoke inspection method according to an embodiment of the present invention. FIG. 2 is a side view of the pinch yoke inspection apparatus shown in FIG. 1. FIG. 3 is a plan view of the pinch yoke shown in FIG. 1. 4 is a front view of the pinch yoke shown in FIG. 3. 5 is a right side view of the pinch yoke shown in FIG. 4. 6 is a plan view of the pinch yoke fixing portion shown in FIG. 1 in an enlarged view. 7 is a partial right side view of the pinch yoke fixing portion shown in FIG. 6. 8 is an exploded cross-sectional view of the inspection head shown in area B of FIG. 2 in an exploded state. 9 is a partial cross-sectional view of a state in which the inspection head shown in FIG. 8 is coupled. FIG. 10 is a partial cross-sectional view of an enlarged view of region C shown in FIG. 2. FIG. 11 is a photograph of the pinch yoke inspection apparatus shown in FIG. 1 when viewed from the perspective direction.

1 to 11, the pinch yoke inspection apparatus used in the pinch yoke inspection method according to an embodiment of the present invention includes a binding table 10, a pinch yoke fixing portion 20, and an inspection head portion 30 ), a rotation driving unit 40, a forward and backward driving unit 50, and a serration inspection control unit 60. In addition, the pinch yoke inspection apparatus according to an embodiment of the present invention includes a first axis linear motor unit 70 for tap inspection, a second axis linear motor unit 80 for tap inspection, and a third axis linear motor unit for tap inspection. (90), a tap inspection seating mechanism portion 100, a tap rotation motor portion 110, a tap inspection rod 120, a tap inspection control unit 130, and a lubricant receptor 140 may be further included.

The binding table 10 is formed with a binding region 10a in close contact with the groove 1d of the pinch yoke 1. Here, the pinch yoke 1 in close contact with the binding table 10 is a part of a universal joint, and a serration hole 1a is formed near the center of the body, and a bolt assembly hole 1b is formed near the side of the body. do. Further, the pinch yoke 1 is formed to protrude from both sides of the body in the axial direction of the serration hole 1a, but further includes a wing portion 1c in which the pin insertion hole 1e is formed. In this case, the binding region 10a of the fastening table 10 is formed in a shape corresponding to an empty area between the wing portions 1c of the pinch yoke 1, so that the wing portion 1c of the pinch yoke 1 is When in close contact with the binding region 10a, the pinch yoke 1 is restrained from flowing in the lateral direction.

The pinch yoke fixing parts 20 are disposed on both sides of the fastener 10, and when the pinch yoke 1 is seated to be in close contact with the groove 1d of the fastener 10, both sides of the pinch yoke 1 It serves to close and fix.

The pinch yoke fixing portion 20 may include a first side contact portion 21 and a second side contact portion 22.

The first side adhesion portion 21 includes a first adhesion plate 21a and a first fixing cylinder 21b.

The first adhesion plate 21a is formed in a plate shape in which the protrusion 21a1 is formed near the center. Here, the protruding portion (21a1) of the first adhesive plate (21a) is formed in a shape corresponding to the pin insertion hole (1e) of the wing portion (1c) located on one side of the two wing portions constituting the pinch yoke (1) By doing so, when the protruding portion 21a1 is inserted into the pin insertion hole 1e of the wing portion 1c, the engagement position of the pinch yoke 1 is arranged in a specified state.

The first fixing cylinder 21b is connected to the first adhesive plate 21a. The first fixing cylinder 21b is interlocked with the serration inspection control unit 60, which will be described later, and when a command for forward driving is executed in the serration inspection control unit 60, the first adhesion plate 21a is used. By advancing, the protrusion 21a1 of the first adhesion plate 21a is brought into close contact with the pin insertion hole 1e formed in the wing portion 1c of the pinch yoke 1, and driven backward by the serration inspection control unit 60 When the command is executed, the first adhesive plate 21a is retracted to remove the first adhesive plate 21a from the pinch yoke 1.

The second side adhesion portion 22 includes a second adhesion plate 22a and a second fixing cylinder 22b.

The second adhesion plate 22a is formed in a plate shape in which the protrusion 22a1 is formed near the center. Here, the protruding portion 22a1 of the second adhesive plate 22a corresponds to the pin insertion hole 1e of the wing portion 1c located on one side of the two wing portions 1c configured in the pinch yoke 1 By being formed in a shape, when the projection 22a1 is inserted into the pin insertion hole 1e of the wing portion 1c, the engagement position of the pinch yoke 1 is arranged in a specified state.

The second fixing cylinder 22b is connected to the second adhesive plate 22a. The second fixing cylinder 22b is interlocked with the serration inspection control unit 60 to be described later, and when a command for forward driving is executed in the serration inspection control unit 60, the second adhesion plate 22a is used. By advancing, the protrusion 21a1 of the second adhesion plate 22a is brought into close contact with the pin insertion hole 1e formed in the wing 1c of the pinch yoke 1, and driven backward by the serration inspection control unit 60 When the command is executed, the second adhesive plate 22a is retracted to remove the second adhesive plate 22a from the pinch yoke 1.

When the pinch yoke fixing part 20 including the first side contact part 21 and the second side contact part 22 is received by the serration inspection control unit 60, a command regarding forward driving is received. The contact plate 21a and the second contact plate 22a advance each to adhere the respective wing portions of the pinch yoke 1, so that the pinch yoke 1 is attached to the bonding region 10a of the binding table 10 When it is fixed, and the serration inspection control unit 60 receives a command for driving backward, the first and second contact plates 21a and 22a are reversed to release the binding.

The inspection head portion 30 is inserted into the serration hole 1a of the pinch yoke 1, and the toothed area 31a corresponding to the serration hole 1a is formed on the outer surface to form the serration hole 1a. By being inserted, it serves to inspect the teeth of the serration hole 1a.

The inspection head portion 30 includes a tooth inspection shaft 31, a detachable connector 32, an inspection head detachable assembly 33, and a floating holder 34.

The tooth inspection shaft 31 is formed in a shaft shape, and a toothed tooth region 31a is formed at one end and inserted into the serration hole 1a. In this case, the end end of the region where the toothed area 31a is formed is configured such that the edge is chamfered and reduced in diameter in the end direction, so that it can be easily inserted when inserted into the serration hole 1a. In addition, the tooth inspection shaft 31 is further formed so that the ball binding groove 31b concavely recessed inside the body surrounds the outer periphery so that a part of the stopper ball 33e, which will be described later, can be inserted into the outer periphery of the body. Can be. The tooth inspection shaft 31 is designed so that the serration hole 1a is smoothly inserted into the serration hole 1a when the serration hole 1a is processed within a predetermined error range. In addition, when the serration hole 1a is processed outside the pre-designed error range, the tooth inspection shaft 31 is inserted into the serration hole 1a in the axial pressure or clockwise direction of the teeth inspection shaft 31. It can be inserted with increased torque. In addition, the tooth inspection shaft 31 is inserted and coupled to the detachable connector 32 through the inspection head detachable assembly 33, which will be described later, and so that no shaking occurs due to assembly error or play due to processing error after insertion. Fixing socket (33d) is coupled to the periphery is further configured may be coupled by a fastening member such as a mood bolt.

The detachable connector 32 is formed in a shaft shape, and a shaft insertion hole 32a is formed at one end. In this case, an end facing the end of the tooth inspection shaft 31 in which the toothed tooth area 31a is formed is inserted into and coupled to the shaft insertion hole 32a. In this case, the detachable connector 32 is fixed by a fastening means, such as a headless bolt, to be coupled to the holder inner fitting 34a, which will be described later, after the tooth inspection shaft 31 is inserted into the shaft insertion hole 32a. Can. In this case, the detachable connector 32 may be further formed with a bolt coupling groove 32b to specify the engagement position of the tanned bolt. In addition, the detachable connector 32 may be formed with a plurality of ball insertion holes 32c for inserting a stopper ball 33e, which will be described later, and in this case, the ball insertion hole 32c is other than the detachable connector 32 It is formed to penetrate inward from the periphery, it may be formed to communicate with the shaft insertion hole (32a).

The inspection head detachable assembly 33 is formed in a socket shape in which both sides are opened. The inspection head detachable assembly 33 is coupled to surround the outer periphery of the detachable connector 32, and when the tooth inspection shaft 31 and the detachable connector 32 are connected, the tooth inspection shaft 31 is detachable connector 32 ) To prevent separation from the fitting, but when the fitting is released by external force, the tooth inspection shaft 31 and the detachable connector 32 are separated.

The inspection head detachable assembly 33 may be configured to include a detachable body portion 33a, a stopper washer 33b, a stopper fitting 33c, a wire spring 33d, and a stopper ball 33e. .

The detachable body portion 33a is formed in a cylindrical shape in which a connection through hole 33a1 is formed in the center, but a part of the body of the detachable connector 32 is inserted through the connection through hole 33a1. In addition, the detachable body portion 33a is formed by protruding jaws protruding laterally from the outer periphery to allow the operator to grasp by hand. In addition, the detachable body portion 33a is formed by protruding a coupling jaw to which the wire spring 33d, which will be described later, is fixed.

The stopper washer 33b is coupled to the outside of the detachable connector 32. Here, the washer for the stopper (33b) is fitted to the groove formed on the outer periphery of the detachable connector 32 serves to constrain the stopper coupling hole (33c), which will be described later, from being moved in one direction among the two axial directions.

The stopper fitting port 33c is formed in a tubular shape in which a hollow area through which the detachable connector 32 can pass is formed while the detachable connector 32 is wrapped, and the detachable body part 33a and the stopper washer 33b are formed. ). Here, the stopper fitting 33c is restrained so that the detachable body portion 33a is not moved in one direction among both axial directions. In this case, the stopper coupling hole 33c may further be formed with a hole in which a bolt is inserted into the outer periphery, and is coupled to the detachable connector 32 by pressing the side surface of the detachable connector 32 with the bolt inserted into the hole. Can be.

Wire spring (33d) is one end is connected to the detachable body portion (33a), the other end is connected to the stopper coupling port (33c) to provide the attraction between the stopper coupling port (33c) in the detachable body portion (33a). Here, the connection of the wire spring (33d) and the removable body portion (33a) may be connected to one end of the wire spring (33d) is connected to the locking jaw formed by protruding from the inside of the removable body portion (33a), the wire spring (33d) ) The other end may be inserted into the stopper fitting port 33c or be connected to a locking jaw formed inside the stopper fitting port 33c. The wire spring (33d) is to provide a manpower so that the detachable body portion (33a) is in close contact with the stopper engaging portion (33c) coupled to a fixed state to the detachable connector (32), the detachable body portion (33a) is a stopper coupling Even when the spheres 33c are spaced apart, they are in close contact with the stopper coupling spheres 33c.

The stopper ball 33e is inserted into a ball insertion hole formed in the outer periphery of the detachable connector 32 and, after being inserted into the ball insertion hole, is in close contact with the ball binding groove 31b formed in the tooth inspection shaft 31. . The ball 33e for the stopper, when the detachable body portion 33a is in close contact with the stopper fitting port 33c, is provided with a ball fastening groove 31b in a state that a predetermined depth is inserted from the outer periphery of the detachable connector 32 in the inner hollow direction. ) To be in close contact with the stopper ball 33e by the pressure of the inspection head detachable assembly 33, so that the tooth inspection shaft 31 and the detachable connector 32 do not flow in the axial direction. In addition, the stopper ball (33e) is detached by the pressurization of the operator when the detachable body portion (33a) is spaced apart from the stopper coupling hole (33c), the ball is detached from the groove (31b) to the outer peripheral side of the ball insertion hole By releasing the coupling force in the axial direction between the connector 32 and the tooth inspection shaft 31, the operator can easily remove the tooth inspection shaft 31 from the detachable assembly by hand, and then easily replace it with a new tooth inspection shaft. Can.

As described above, the inspection head detachable assembly 33 is used when the toothed tooth area 31a of the tooth inspection shaft 31 is used for a predetermined number of times or more, and an operator detaches the body of the inspection head detachable assembly 33 ( After removing the worn dental examination shaft with the 33a) moved to the side, it can be easily replaced by simply inserting a new dental examination shaft 31. Therefore, since the tooth inspection shaft 31 can be replaced very easily even when worn, it is possible to significantly shorten the time during which the inspection operation due to the replacement of the teeth inspection shaft 31 is stopped, so that the pinch yoke 1 It is possible to increase production efficiency. In this case, the serration inspection control unit 60 to be described later records the number of times the tooth inspection shaft 31 is inserted into the serration hole 1a while performing the forward driving mode and each driving mode, and the recorded times are inspected. When wear affecting the wearer is performed for a predetermined number of times or more, a notification is made to the manager through a monitor panel (not shown) or an alarm (not shown) to inform the manager of the replacement time for the tooth inspection shaft 31. Can.

The floating holder 34 is formed with a connector insertion groove 34a1 into which a part of the body of the detachable connector 32 is inserted, so that the detachable connector 32 is connected, but the detachable connector 32 is formed to flow a certain distance in the axial direction, By providing repulsive force in the axial direction of the detachable connector 32, when the detachable connector 32 is drawn in the axial direction, the axial force of the detachable connector 32 is buffered, and the tooth inspection shaft 31 rotates in the circumferential direction of the axis. If it does, it can be rotated with reduced friction.

The floating holder 34 includes a holder inner coupling hole 34a, a holder outer body 34b, and a holder spring 34c, and includes an inner rotation hole 34d and a rotating hole steel ball 34e. It may be configured to include more.

The holder inner coupling hole 34a is formed in a cylindrical shape, and a connection hole insertion groove 34a1 is formed near the center of one end, and a guide protrusion 34a2 formed by protruding the center of the other end is formed. In this case, a detachable connector 32 is inserted into and coupled to the connector insertion groove 34a1. The holder inner coupler 34a is inserted into the inside of the holder outer body 34b, which will be described later, and is coupled to the detachable connector 32 to flow in the axial direction of the detachable connector 32, one end The holder spring 34c, which will be described later, is in close contact and buffered in the axial direction.

The holder outer body (34b) is formed in a cylindrical shape, but the holder inner coupling hole (34a), the inner rotating hole (34d), the steel ball (34e) for the rotary ball and the holder spring (34c) can be inserted into the insertion area It is formed. In this case, the holder outer body 34b is connected to one end in the longitudinal direction so that the holder inner engagement hole 34a, the inner rotation hole 34d, the steel ball 34e for the rotation tool, and the holder spring 34c can be inserted. The side cover portion 34b1 is further formed, and the spring side cover portion 34b2 may be further configured at the other end, in this case, the connector side cover portion 34b1 is coupled to the holder outer body 34b by bolting. It may be, the spring-side cover portion (34b2) is formed with a tab on the outer periphery of a portion of the holder outer body (34b) can be coupled by male and female coupling. Here, a cover hole 34b3 is further formed in the connector side cover portion 34b1 to allow the detachable connector 32 to be inserted. The holder outer body 34b wraps the outside of the holder inner coupling port 34a while the holder inner coupling port 34a is engaged with the detachable connection port 32, but the holder inner coupling port 34a has a detachable connection port 32 ) Is formed to be flowable in the axial direction. In addition, the holder outer body 34b is configured such that the region where the inner rotational opening 34d is disposed among the inner insertion region is formed to have a larger diameter than the outer diameter of the holder inner engagement opening 34a, so that the inner rotational opening 34d is disposed. Can be. In addition, the holder outer body (34b) may be further formed with a spring seating hole (34b4) so that the holder spring (34c) can be inserted into the spring-side cover portion (34b2) of the area where the holder spring (34c) is disposed. have.

The holder spring (34c) is disposed between the holder inner coupling hole (34a) and the holder outer body (34b) to provide a repulsive force in the axial direction of the detachable connector (32). In this case, a portion of the holder spring 34c may be in close contact with the holder inner engagement hole 34a through a spring through hole 34d1 formed in the inner rotation hole 34d.

In this case, the holder inner coupling 34a and the holder spring 34c are provided with a toothed area 31a in close contact with the serration hole 1a for tooth inspection, the toothed area 31a has a serration hole ( When 1a) does not coincide, the holder spring 34c buffers so that the toothed tooth area 31a is not in contact with the serration hole 1a, and the serration hole 1a is not plastically deformed or broken. By doing so, it serves to protect the serration hole 1a from being damaged.

The inner rotating hole 34d is disposed between the holder inner coupling hole 34a and the holder outer body 34b, and a spring through hole 34d1 is formed through the holder spring 34c near the center. In addition, the inner rotational hole 34d is further formed with an axial restraining groove 34d2 into which an end of a bolted lock bolt passing through the holder outer body 34b is inserted, and a locking bolt in the axial restraining groove 34d2. When a part of the is disposed in a form to be inserted without bolting, the movement of the detachable connector 32 in the axial direction is restricted. In this case, the inner rotation hole 34d is disposed in a state in which the restraint of the rotation state is released, so that the rotation is possible.

The steel ball 34e for the rotary ball is disposed between the inner rotary ball 34d and the holder outer body 34b to reduce the frictional force when the inner rotary ball 34d rotates.

The inner rotary sphere 34d and the steel sphere 34e for the rotary sphere are formed so as not to be completely constrained in the rotational direction when the inspection head portion 30 is rotated, so that the toothed area 31a is formed in the serration hole 1a. In the case of close contact in order to insert the serration hole 1a and the toothed area 31a when the angle of incidence does not completely coincide, the inner rotational hole 34d rotates finely so that the toothed area 31a is serrated hole It serves to be inserted into (1a).

As described above, the floating holder 34 is configured such that the tooth inspection shaft 31 can be easily replaced, while the toothed area 31a of the inspection head 30 is serration hole 1a. ), the spring 34c for the holder cushions the axial force generated when it comes into contact with the tooth, thereby preventing the toothed area 31a from being worn against the tooth of the serration hole 1a. In addition, since the floating holder 34 is adjusted so that the inner rotational hole 34d and the steel ball 34e for the rotational rotation are finely rotated when the toothed area 31a matches the serration hole 1a, the toothed area ( 31a) is inserted even when the serration hole 1a is not exactly aligned, thereby preventing the toothed tooth region 31a from wearing the serration hole 1a.

The rotation driving part 40 forms a driving direction to enable forward and backward driving in the axial direction of the inspection head part 30, and a part of the body of the inspection head part 30 is coupled in the driving direction, and the inspection head part 30 is It is formed to be rotatable about the axial direction.

The rotation driving unit 40 includes a first bush rail 41, a connecting bar 42, a second bush rail 43, a guide body 44, and a motor 45 for rotating the inspection head.

The first bush rail 41 is formed in a bar shape, but a part of the body may be formed by forming a hollow area. In addition, in the first bush rail 41, the hollow area of the inspection head portion 30 is coupled to a part of the floating holder 34 by bolting or screwing or fitting or fitting. The first bush rail 41 is coupled to the guide body 44 to be described later in a state in which the movement in the axial direction is constrained, and by rotating in the rotational direction in the axial direction, the bearing is rotated when the inspection head 30 is rotated. By this, it can rotate in a state where the friction force is reduced.

The connecting bar 42 is formed in a bar shape, and one end is connected to the first bush rail 41 by bolting or the like. In addition, the connecting bar 42 is coupled to the second bush rail 43, a part of which will be described later.

The second bush rail 43 is formed in a bar shape, and a hollow region is formed in which a connecting bar 42 is inserted near the center of the body to be coupled. The second bush rail 43 is coupled to the guide body 44 to be described later in a state in which the movement in the axial direction is constrained, and the rotational direction in the axial direction together with the connecting bar 42 and the first bush rail 41 By rotating to, it is possible to rotate in a state in which the friction force is reduced by the bearing when the inspection head portion 30 is rotated.

The guide body 44 is configured to wrap the first bush rail 41 to support the first bush rail 41, so that the first bush rail 41 is moved in the axial direction of the inspection head part 30 It is composed. In this case, a bearing is provided between the guide body 44 and the first bush rail 41, and the bearing occurs when the first bush rail 41 rotates about the axial direction in the guide body 44. It will serve to reduce the frictional force. In addition, the guide body 44 may be configured to surround the second bush rail 43 as well as the first bush rail 41. To this end, the guide body 44 may be configured by combining a region of the body surrounding the first bush rail 41 and a region of the body surrounding the second bush rail 43 with bolts or the like. In this case, the guide body 44 is configured to be provided with a bearing at the contact portion of the second bush rail 43, so that the second bush rail 43 can be rotated in a reduced frictional state. The guide body 44 is such that when the inspection head portion 30 is rotated, the first bush rail 41 and the second bush rail 43 can be rotated while the axial flow is constrained so that the pinch yoke ( When the inspection head 30 rotates to inspect the serration hole 1a of 1), the inspection head 30 can be easily rotated in the circumferential direction of the shaft.

The inspection head rotating motor 45 is coupled to the second bush rail 43 by rotating the second bush rail 43 when the motor shaft is connected to the second bush rail 43 by coupling. The connecting head 42 and the first bush rail 41 are rotated to rotate the inspection head 30. In this case, the inspection head rotating motor 45 is electrically connected to the serration inspection control unit 60, so that the toothed area 31a of the inspection head 30 is serration hole 1a of the pinch yoke 1 ), the torque value is detected, and the detected torque value is transmitted to the serration inspection control unit 60 to be described later.

The rotation drive unit 40 is formed such that the rotation of the inspection head rotating motor 45 enables the inspection head unit 30 to rotate without an increase in frictional force, and is axially driven by the front-rear driving unit 50 described later. It is formed to be movable.

The forward-backward driving unit 50 is connected to the lower portion of the rotary driving unit 40 to drive the rotary driving unit 40 straight ahead to move in the longitudinal direction of the inspection head unit 30.

The front and rear vibration driving units 50 may include a seating body portion 51 and a linear motor 52 for front and rear vibration driving.

The seating body portion 51 is a mechanism that can seat the rotary drive unit 40, is disposed under the rotary drive unit 40 and is coupled to the rotary drive unit 40. In addition, the seating body portion 51 is coupled to the drive shaft of the linear motor 52 for forward and backward driving, which will be described later, to drive forward and backward in the axial direction of the inspection head unit 30 when the linear motor is rotated.

The linear motor 52 for front and rear vibration driving is an actuator that drives back and forth along a linear rail when the servo motor 52a for front and rear driving is mounted on the shaft end in the driving direction, and is a rotation driving unit coupled with the seating body part 51. The 40 and the inspection head 30 are moved forward and backward.

The serration inspection control unit 60 may be configured as a programmable controller such as PLC. The serration inspection control unit 60 is repeatedly connected to the rotation driving unit 40 and the front and rear vibration driving units 50 to repeatedly control the rotation driving unit 40 and the front and rear vibration driving units 50 according to a preset program control command. Drive will proceed. More specifically, the serration inspection control unit 60 selectively advances the forward driving mode and the reverse driving mode according to the torque value applied to the inspection head rotating motor 45 of the rotation driving unit 40.

First, the serration inspection control unit 60 proceeds to the forward driving mode. In the forward driving mode, the pinch yoke 1 is seated on the binding table 10, and before and after the pinch yoke fixing unit 20 is fixed. The toothed tooth area 31a of the inspection head portion 30 connected to the rotation driving portion 40 is controlled by advancing the front-rear driving portion 50 by controlling the vibration driving portion 50 so that the serration hole 1a of the pinch yoke 1 is formed. To be inserted in. In this case, the serration inspection control part 60 inserts the toothed tooth area 31a of the inspection head part 30 into the serration hole 1a when the torque value for rotation of the rotation driving part 40 is less than a preset value. It is possible.

Here, the serration inspection control unit 60 controls the front-to-back driving unit 50 when the forward driving mode is in progress, thereby advancing the rotating driving unit 40 to form tooth teeth of the inspection head unit 30 connected to the rotating driving unit 40. The region 31a is inserted into the serration hole 1a of the pinch yoke 1, but when the torque value for rotation of the rotation driving unit 40 is greater than or equal to a preset value, the reverse driving mode is performed. In the reverse driving mode, the serration inspection control unit 60 reverses the front-rear driving unit 50 to rotate the rotating driving unit 40 at a predetermined angle, and then proceeds to the forward driving mode again.

As described above, the serration inspection control unit 60 selects the forward driving mode and the backward driving mode until the toothed tooth region 31a of the inspection head portion 30 coincides with the serration hole 1a of the pinch yoke 1. By repeatedly proceeding, it is possible to insert the toothed tooth region 31a of the inspection head portion 30 into the serration hole 1a of the pinch yoke 1.

On the other hand, when the serration inspection control unit 60 repeatedly performs the forward driving mode and the backward driving mode, the toothed tooth area 31a formed on the tooth inspection shaft 31 of the inspection head 30 is pinch yoke 1 ), the number of insertions into the serration hole 1a is recorded, and the number of times the toothed tooth area 31a is inserted into the serration hole 1a of the pinch yoke 1 increases more than a predetermined value. , Prevents the inspection of the serration hole 1a while the tooth inspection shaft 31 is worn by notifying the manager of the replacement time of the tooth inspection shaft 31 by a monitor panel (not shown) or an alarm. Is done. In this case, the tooth inspection shaft 31 is configured to be detachable by the inspection head detachable assembly 33, thereby improving the convenience of replacement.

The first axis linear motor unit 70 for tap inspection is disposed on a horizontal plane to the ground, and is driven in one direction.

The second axis linear motor unit 80 for tap inspection is disposed on a horizontal plane with the ground, and is disposed on the upper part to interlock with the first axis linear motor unit 70 for tap inspection, and the first axis linear for tap inspection. The motor 70 is driven in a direction perpendicular to the driving direction.

The third-axis linear motor section 90 for tap inspection is disposed on a plane perpendicular to the ground, and is disposed on the top to interlock with the second-axis linear motor section 80 for tap inspection, and the second-axis linear axis for tap inspection. The motor 80 is driven in a direction perpendicular to the driving direction.

The tap inspection seating mechanism 100 is disposed on the upper portion of the tap inspection third-axis linear motor unit 90. In this case, in order to arrange the tap rotation motor unit 110, which will be described later, perpendicular to the ground, the seating mechanism 100 for tap inspection is arranged in the upper space of the seating table by a plurality of attachments coupled to each other by bolting or the like. As described above, the seating mechanism 100 for tap inspection may be configured as a plurality of attachments, or may be configured as a single attachment. That is, the seat inspection mechanism 100 for the tap inspection can be implemented in various modifications depending on the position of the mounting table 10, of course.

The tap rotation motor unit 110 is coupled to the third axis linear motor unit 90 for tap inspection. In the tap rotation motor part 110, when the tap inspection rod 120 to be described later is inserted into the bolt assembly hole 1b of the pinch yoke 1, the tap inspection rod 120 is rotated by rotating the tap inspection rod 120. ) Is smoothly inserted into the bolt assembly hole (1b).

The tap inspection rod 120 is coupled to the drive shaft of the motor unit 110 for tap rotation, and an inspection tab corresponding to the bolt assembly hole 1b of the pinch yoke 1 is formed.

The tap inspection control unit 130 may be configured as a programmable controller such as PLC. In addition, the tap inspection control unit 130 is a first axis linear motor unit 70 for tap inspection, a second axis linear motor unit 80 for tap inspection, and a third axis linear motor unit 90 for tap inspection and tap rotation. It is electrically connected to the motor unit 110. The tap inspection control unit 130 performs a tap inspection mode. In the tap inspection mode, when both sides of the pinch yoke 1 are fixed by the tap inspection control unit 130, the first axis linear motor unit 70 for tap inspection and the second axis linear motor unit 80 for tap inspection and the tap By driving the third axis linear motor unit 90 for inspection, the central axis of the tap inspection rod 120 is arranged to coincide with the central axis of the bolt assembly hole 1b of the pinch yoke 1, and the tap inspection rod 120 When the central axis of the pinch yoke 1 coincides with the central axis of the bolt assembly hole 1b, the motor 110 for tap rotation is driven to rotate the tap inspection rod 120. Next, the tap inspection control unit 130 drives the third inspection linear motor unit 90 for tap inspection so that the tap inspection rod 120 in a rotating state is inserted into the bolt assembly hole 1b of the pinch yoke 1. When the tap inspection rod 120 rotates and is inserted into the bolt assembly hole 1b of the pinch yoke 1, if the torque of the motor 110 for tap rotation increases beyond a predetermined value, it is selected as a defective product. Is done.

The lubricant receptor 140 is formed in a cylindrical shape with an open top, disposed around the pinch yoke fixing portion 20, and formed with a tap hole corresponding to a tap for inspection of the tap inspection rod 120, at a predetermined period from the outside. The lubricant is input. In this case, the tap inspection control unit 130 includes a first axis linear motor and a second axis linear for tap inspection before driving to insert the tap inspection rod 120 into the center axis of the bolt assembly hole 1b of the pinch yoke 1 A lubricant supply mode is further performed by driving the motor unit 80, the third-axis linear motor unit 90 for tap inspection, and the motor unit 110 for tap rotation so that the tap inspection rod 120 is inserted into the lubricant receptor 140. You can proceed. The bolt assembly hole (1b) of the pinch yoke (1) by the lubricant receptor 140 and the lubricant supply mode, the tap test rod 120 is worn by the lubricant during inspection, the tab of the bolt assembly hole (1b) is worn Will prevent it.

Hereinafter, a method of inspecting the pinch yoke of the pinch yoke inspection apparatus according to an embodiment of the present invention will be described.

12 is a flowchart of a pinch yoke inspection method according to an embodiment of the present invention. 13 to 19 are driving state diagrams for each inspection step constituting the pinch yoke inspection method illustrated in FIG. 12.

As shown in FIG. 12, the pinch yoke inspection method according to an embodiment of the present invention includes a pinch yoke seating step (S10), an inspection head contacting step (S20), a pinch yoke fixing step (S30), and an initial position returning step ( S40), lubricant supply step (S50), bolt assembly hole tap inspection step (S60), inspection head forward driving step (S70), and inspection head angle adjustment step (S80); Including, serration hole processing defect determination step (S90); It may be formed by further including.

In the pinch yoke seating step (S10), as shown in FIG. 13, a six-degree-of-freedom transport robot 150 having a clamp 151 for clamping the pinch yoke 1 to inspect the pinch yoke 1 is provided. In a state where the pinch yoke 1 is attached, the pinch yoke 1 is lifted and the pinch yoke seating mode for seating on the anchoring table 10 is performed. In this case, the pinch yoke 1 is seated and arranged so that the binding region 10a of the binding table 10 is in close contact with the hollow region between the wing portions 1c. Here, a displacement sensor (not shown) for detecting a state in which the pinch yoke 1 is seated and transmitting a seating signal to the serration inspection control unit 60 is provided around the binding table 10, so that the pinch yoke 1 is provided. You can check the seating condition.

In the test head contact step (S20), as shown in FIG. 14, the serration test control unit 60 proceeds to the test head contact mode. In the test head contact mode, the forward and backward driving units ( By controlling the 50) to advance the rotary drive unit 40, the toothed tooth region 31a of the inspection head portion 30 connected to the rotary drive unit 40 is connected to the entrance of the serration hole 1a of the pinch yoke 1. Make sure it is tight. At this time, in the serration inspection control unit 60, the toothed area 31a of the inspection head 30 is serrated when the toothed area 31a is in close contact with the entrance of the serration hole 1a of the pinch yoke 1. The teeth of the hole 1a may be in close contact with the teeth, and for this purpose, the inspection head portion 30 is inserted only into the teeth teeth area by the chamfered area of the teeth inspection shaft 31 in which the teeth area 31a is formed. By making it possible, only the central axis of the tooth inspection shaft 31 and the central axis of the serration hole 1a coincide with the tooth teeth area 31a and the serration hole 1a not contacting the teeth.

In the pinch yoke fixing step (S30), as shown in FIG. 15, the serration inspection control unit 60 proceeds to the pinch yoke fixing mode, in the pinch yoke fixing mode, to the binding region 10a of the fastener 10. The center axis of the tooth inspection shaft 31 and the center axis of the serration hole 1a are maintained in a state where the grooves of the pinch yoke 1 are in close contact with each other, and the serration inspection control unit 60 Pinch by driving the first fixing cylinder 21b and the second fixing cylinder 22b to advance the first side sealing portion 21 and the second side sealing portion 22 of the pinch yoke fixing portion 20 Both sides of the yoke 1 are fixed.

In the initial position returning step (S40), as shown in FIG. 16, the serration inspection control unit 60 proceeds to the initial position returning mode. In the initial position returning mode, both sides are fixed by the pinch yoke fixing unit 20. The test head portion 30 connected to the front-rear driving portion 50 by reversing the front-rear driving portion 50 to retract the inspection head portion 30 inserted into the serration hole 1a of the fixed pinch yoke 1 ) To return to the initial position.

In the lubricant supply step (S50), as shown in FIG. 17, the tap inspection control unit 130 enters a lubricant supply mode. In this case, in the tap inspection control unit 130, the first axis linear motor unit for tap inspection ( 70) and the second axis linear motor part 80 for tap inspection and the third axis linear motor part 90 for tap inspection are driven so that the central axis of the tap inspection rod 120 is connected to the central axis of the lubricant receptor 140. To match, and drive the tap rotation motor unit 110 to drive the tap inspection rod 120 in a state where the tap inspection rod 120 rotates, thereby driving the tap inspection third axis linear motor unit 90 so that the tap inspection rod 120 is a lubricant receptor. By being inserted into (140), the tap inspection rod (120) is lubricated with lubricant. Here, the lubricant supply mode may be performed only once when the tam inspection mode is performed more than a predetermined number of times, so that the lubricant is not excessively exposed to the tap inspection rod 120.

In the bolt assembly hole tap inspection step (S60), when the tap inspection control unit 130 goes through the tap inspection mode, as shown in FIG. 18, the tap inspection control unit 130 performs the tap inspection during the tap inspection mode. For the first axis linear motor unit 70 for tap inspection and the second axis linear motor unit 80 for tap inspection and the third axis linear motor unit 90 for tap inspection, the tap inspection rod 120 in a rotating state When it is driven to be inserted into the bolt assembly hole (1b) of the pinch yoke (1), and when the tap inspection rod 120 is rotated is inserted into the bolt assembly hole (1b) of the pinch yoke (1), the motor part for tap rotation 110 If the torque of is increased above the preset value, it is selected as a defective tap product.

In the test head forward driving step (S70), the bolt assembly hole is performed in parallel with the tap inspection step (S60), and as shown in FIG. 19, the serration inspection control unit 60 proceeds to the forward driving mode. In the mode, the serration inspection control unit 60 controls the front-rear drive unit 50 while the pinch yoke 1 is seated on the fastener 10 and is fixed by the pinch yoke fixing unit 20. By advancing 50), the toothed tooth area 31a of the inspection head part 30 connected to the rotation driving part 40 is inserted into the serration hole 1a of the pinch yoke 1. In this case, the serration inspection control part 60 inserts the toothed tooth area 31a of the inspection head part 30 into the serration hole 1a when the torque value for rotation of the rotation driving part 40 is less than a preset value. It is possible.

In the inspection head angle adjustment step (S80), if the serration inspection control unit 60 is in the forward driving mode, the toothed area 31a of the inspection head 30 is inserted into the serration hole 1a, When the tooth shape of the toothed tooth area 31a does not coincide with the tooth shape of the serration hole 1a, the test head portion 30 is reversed by reversing the forward and backward driving portion 50 by the reverse driving mode and progression. After the toothed tooth area 31a of the vehicle is separated from the serration hole 1a, the serration inspection control part 60 rotates the inspection head rotation motor 45 of the rotation drive part 40 at a predetermined angle to inspect After rotating the head portion 30 by a predetermined angle, the tooth driving region 31a is inserted into the serration hole 1a by re-running the forward driving mode.

In this case, looking at the case where the teeth of the toothed tooth region 31a and the teeth of the serration hole 1a do not coincide, the protruding tooth portions and the serration holes 1a of the toothed tooth region 31a protrude. When the teeth are not male and female and the protruding parts are engaged, the toothed area 31a of the inspection head 30 is not inserted into the serration hole 1a to advance the front-rear driving unit 50. Only the load of the servomotor for front and rear vibration driving increases, and at this time, the serration inspection control unit 60 receives the torque value from the servomotor for front and rear vibration driving of the front and rear vibration driving unit 50, and the received torque value is a preset value. When the increase is over, the reverse driving mode is executed. In addition, in the reverse driving mode, the teeth of the toothed area 31a and the teeth of the serration hole 1a do not exactly match, and if they match to some extent, the toothed area 31a by the role of the floating holder 34 The tooth shape of the serration hole (1a) is inserted while finely rotating in the rotational direction of the shaft. In this case, the torque of the inspection head rotating motor (45) of the rotation driving unit (40) is increased by fine rotation, It also proceeds when the torque value of the inspection head rotating motor 45 increases above a predetermined value.

As described above, in the inspection head angle adjustment step (S80), the forward driving mode and the backward driving mode are repeatedly performed until the serration inspection control unit 60 mates and inserts the toothed area 31a with the serration hole 1a. By performing, it is possible to insert the toothed tooth region 31a of the inspection head portion 30 into the serration hole 1a of the pinch yoke 1.

In the serration hole processing defect determination step (S90), after the toothed tooth area 31a is inserted into the serration hole 1a by the inspection head angle adjustment step (S80), the serration inspection control unit 60 rotates the rotation drive unit ( The serration defect processing detection mode is performed in which a torque value for the inspection head rotating motor 45 of 40) is received to detect a machining defect condition of the serration hole 1a. Here, in the serration defect processing detection mode, when the toothed tooth area 31a of the inspection head portion 30 is inserted into the serration hole 1a of the pinch yoke 1 by the serration inspection control unit 60, the pinch is pinched. This is a mode for detecting the case of linear defect processing in which the teeth formed in the serration hole 1a of the yoke 1 are not machined in a straight line but are inferior to a spiral or only one tooth is inclined. The inspection inspection control unit 60 periodically receives and records the torque value for the inspection head rotating motor 45 of the rotation driving unit 40. In the case of a peak torque value that increases instantaneously, the serration hole 1a It is not discriminated as a defective machining, and is determined as a defective machining only when the average value of the torque value does not fall below a preset value and continues to rise. Here, the reason for not determining the instantaneous peak torque value of the inspection head rotating motor 45 as a defective processing is that the toothed area 31a is inserted into the serration hole 1a in the forward driving mode or the like. This is because the instantaneous torque value may rise above a preset value by repeated driving for insertion.

That is, after the instantaneous peak torque value of the inspection head rotating motor 45 is excluded from the information for discrimination, the serration inspection control unit 60 performs a serration defect processing detection mode, and the average value of the torque values is preset. For the case of continuously rising without falling below the value, the serrations of the serration hole 1a are determined to be helical defect processing or linear defect processing to determine the processing defect of the serration hole 1a of the pinch yoke 1. It becomes possible.

In this way, the pinch yoke inspection method according to an embodiment of the present invention does not require manual operation during the tap inspection process of the bolt assembly hole 1b formed in the pinch yoke 1, and the position between the axes is not displaced by an automated process. Since the tap inspection is performed in a state, the wear of the tap is prevented, and furthermore, since the tap inspection process of the bolt assembly hole 1b and the tooth inspection process of the serration hole 1a are simultaneously performed, the pinch yoke ( The effect of improving productivity by shortening the inspection time of 1) is exhibited.

In addition, the method for inspecting the pinch yoke according to an embodiment of the present invention includes a tap inspection process of the bolt assembly hole 1b and a serration hole 1a while the pinch yoke 1 is fixed by the pinch yoke fixing part 20. Since the tooth inspection process of the process proceeds at the same time, some operations are shared, but since the tap inspection process and the tooth inspection process of the serration hole 1a do not affect each other, the inspection time is reduced.

In addition, the pinch yoke inspection method according to an embodiment of the present invention improves productivity by shortening the inspection time because the tooth inspection of the serration hole 1a of the pinch yoke 1 is performed in an automated manner rather than manually. , Since the product having poor tooth shape of the serration hole 1a is automatically selected, the effect of improving the product reliability of the pinch yoke 1 is exhibited.

As described above, the present invention has been described by specific matters such as specific components, etc., and by limited embodiments and drawings, which are provided to help the overall understanding of the present invention, but the present invention is not limited to the above embodiments , Anyone having ordinary knowledge in the field to which the present invention pertains can make various modifications and variations from these descriptions.

Accordingly, the spirit of the present invention should not be limited to the described embodiments, and should not be determined, and all claims that are equivalent to or equivalent to the claims, as well as the claims to be described later, belong to the scope of the spirit of the present invention. .

1: Pinch yoke 1a: serration hole
1b: bolt assembly hole 1c: wing
1d: groove 1e: pin insertion hole
10: binding table 10a: binding area
20: pinch yoke fixing portion 21: first side adhesion portion
22: second side adhesion portion 21a: first adhesion plate
21b: first fixing cylinder 22a: second sealing plate
22b: second fixing cylinder 30: inspection head
31: tooth inspection shaft 32: removable connection
33: inspection head detachable assembly 33a: detachable body portion
33b: Washer for stopper 33c: Stopper fitting
33d: wire spring 33e: stopper ball
34: floating holder 34a: holder inner fitting
34b: Holder outer body 34c: Holder spring
34d: inner rotary ball 34e: steel ball for rotary ball
40: rotary drive 41: first bush rail
42: connecting bar 43: second bush rail
44: guide body 45: inspection head rotation motor
50: front and rear vibration driving part 51: seating body part
52: linear motor for forward and backward driving 60: serration inspection control unit
70: 1st axis linear motor part for tap inspection 80: 2nd axis linear motor part for tap inspection
90: third axis linear motor unit for tap inspection 100: seating mechanism for tap inspection
110: tap rotation motor unit 120: tap inspection rod
130: tap inspection control unit 140: lubricant receptor
150: 6-degree-of-freedom transport robot 151: Forceps

Claims (3)

In the pinch yoke inspection method for inspecting the teeth of the serration hole (1a) formed in the pinch yoke (1a) of the universal joint and the tab of the bolt assembly hole (1b) with automated equipment,
The six-degree-of-freedom transfer robot 150 having a clamp 151 for clamping the pinch yoke 1 lifts the pinch yoke 1 in a state in which the pinch yoke 1 is fastened to the fastener 10 A pinch yoke seating step of performing a pinch yoke seating mode (S10);
After the progress of the pinch yoke seating step (S10), the serration inspection control unit 60 so that the toothed area 31a of the inspection head 30 is in close contact with the entrance of the serration hole 1a of the pinch yoke 1 In the test head contact step (S20) to control the front and rear vibration driving unit 50 to advance the test head contact mode for advancing the rotation driving unit 40;
A state in which the central axis of the tooth inspection shaft 31 and the central axis of the serration hole 1a coincide in a state in which the groove of the pinch yoke 1 is in close contact with the binding region 10a of the binding table 10. In the serration inspection control unit 60, the first side contact portion 21 and the second side contact portion 22 of the pinch yoke fixing portion 20 fix both sides of the pinch yoke 1 A pinch yoke fixing step of performing a pinch yoke fixing mode (S30);
In the serration inspection control part 60, the front-rear driving part 50 is retracted by reversing the front-rear driving part 50 to retract the inspection head part 30 inserted into the serration hole 1a of the pinch yoke 1. An initial position return step (S40) in which an initial position return mode is performed so that the inspection head unit 30 connected to the 50 returns to the initial position;
The tap inspection control unit 130 performs tap inspection by driving the first axis linear motor unit 70 for tap inspection, the second axis linear motor unit 80 for tap inspection, and the third axis linear motor unit 90 for tap inspection. The third axis for the tap inspection in the state that the central axis of the rod 120 coincides with the central axis of the lubricant receptor 140, and the tap inspection rod 120 is rotated by driving the motor unit 110 for tap rotation. A lubricant supply step (S50) of driving the linear motor unit 90 to perform a lubricant supply mode in which the tap inspection rod 120 is inserted into the lubricant receptor 140;
The tap inspection control part 130 rotates by driving the first axis linear motor part 70 for tap inspection, the second axis linear motor part 80 for tap inspection, and the third axis linear motor part 90 for tap inspection. The tap inspection rod 120 in the state of being driven is driven to be inserted into the bolt assembly hole 1b of the pinch yoke 1, and the tap inspection rod 120 rotates while the bolt assembly hole 1b of the pinch yoke 1 is rotated. ) Is inserted into the bolt assembly hole tap inspection step (S60) to proceed to the tap inspection mode to select a tap defective product if the torque of the tap rotation motor unit 110 increases to a predetermined value or more;
The bolt assembly hole proceeds in parallel with the tap inspection step (S60), the pinch yoke 1 is seated on the fastener 10 and fixed by the pinch yoke fixing part 20 in the serration test control unit ( 60) by controlling the front-rear drive unit 50 to advance the front-rear drive unit 50, the toothed area 31a of the inspection head portion 30 connected to the rotation drive unit 40 is the pinch yoke 1 To be inserted into the serration hole (1a), if the torque value for rotation of the rotation drive unit 40 in the serration inspection control unit 60 is less than a predetermined value, the toothed area of the inspection head (30) ( An inspection head advance driving step (S70) in which an advance driving mode is performed so that 31a) is inserted into the serration hole 1a; And,
In the process of proceeding to the test head forward driving step (S70), when the torque value of the servo motor for forward and backward driving of the front-rear driving unit 50 is increased to a predetermined value or more, in the serration test control unit 60, When the detected and input torque value increases above a predetermined value, the serration inspection control unit 60 reverses the front-rear driving unit 50 to form the toothed area 31a of the inspection head unit 30 ) To be separated from the serration hole 1a, and the serration inspection control part 60 rotates the inspection head rotating motor 45 of the rotation driving part 40 at a predetermined angle to inspect the inspection head part 30 ) After rotating a certain angle, the inspection head angle adjustment step of performing the reverse driving mode to re-execute the forward driving mode (S80); Pinch yoke inspection method comprising a.
According to claim 1,
When the toothed area 31a of the inspection head portion 30 is inserted into the serration hole 1a of the pinch yoke 1 by the serration inspection control part 60, the serration inspection control part 60 The torque value for the rotational motor 45 for the inspection head of the rotary drive unit is periodically input and recorded, but the average value of the torque value is calculated and recorded, and the average value of the torque value is equal to or less than a preset value. A serration hole processing defect determination step (S90) of performing a serration defect processing detection mode in which the processing state of the serration hole 1a is judged to be in a defective state for the case of continuously rising without descending; Pinch yoke inspection method further comprising.
According to claim 1,
The inspection head 30 is
A tooth inspection shaft 31 formed at one end of the toothed area 31a and inserted into the serration hole 1a;
The end of the tooth inspection shaft 31, the shaft insertion hole (32a) is formed at one end to form the toothed tooth region (31a) is inserted into the shaft insertion hole (32a) detachable connector 32;
It is coupled to surround the outer periphery of the detachable connector 32, the tooth inspection shaft 31 is not separated from the detachable connector 32 when the tooth inspection shaft 31 and the detachable connector 32 are connected. A test head detachable assembly 33 to prevent the tooth inspection shaft 31 and the detachable connector 32 from being detached and fixed so as to prevent the fitting engagement from being released by external force; And,
A hole through which a part of the body of the detachable connector 32 is inserted is formed, so that the detachable connector 32 is connected, but the detachable connector 32 is formed to flow a certain distance in the axial direction, and the axis of the detachable connector 32 is formed. A floating holder 34 configured to cushion the axial force of the detachable connector 32 when the detachable connector 32 is drawn in the axial direction by providing a repulsive force in the direction, and to allow the detachable connector 32 to rotate; Pinch yoke inspection method, characterized in that comprises a.

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