JPH0929565A - Assembly facility for gear transmission - Google Patents

Abstract

(57) Abstract: In a facility for assembling a gear transmission using a handling device, a structure of a handling device capable of engaging gears even if phases of gear teeth are out of phase is simply configured. . SOLUTION: When the hand unit 4 holding the gear W is moved to another gear 23 side by a handling device, and the hand unit 4 slides with respect to the handling device, it is determined that the gear W could not be engaged with the gear 23. Then, the hand unit 4 is moved in the opposite direction to rotate the hand unit 4,
The hand portion 4 is again moved to the other gear 23 side.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure of an assembly facility for assembling a gear transmission using a handling device.

[0002]

2. Description of the Related Art In assembling a gear transmission using a handling device, the step of engaging the teeth of one gear with the teeth of another gear is one of the difficult steps. This is a state in which one gear is held by the handling device, and when the handling device (gear) is moved to another gear, the ridges of the teeth hit each other due to the phase of both gears and both gears cannot engage. This is because there are variations in the biting state of both gears, such as when the gear teeth are displaced and the gears smoothly mesh with each other.

Thus, when the gear is held in the handling device, the phase of the tooth portion of the gear is detected and stored, and the phase of the tooth portion of another gear with which the gear is engaged is recognized by an optical sensor or a camera. However, change the posture of the handling device (gear) so that the mountain parts of both gears do not hit,
It has been proposed to move the handling device to another gear side so that both gears are engaged.

[0004]

In the above-mentioned structure, the sensor for detecting the phase of the tooth portion of the gear held by the handling device, the storage device for storing the detected phase, and the phase of the tooth portion of another gear are detected. While changing the posture so that the light sensor, the camera, and the mountain parts of both gears do not hit,
An attitude control device or the like for moving the handling device (gear) to another gear side is required. As a result, the handling device becomes complicated and expensive, and there is room for improvement in terms of simplification of the structure of the handling device and cost reduction. An object of the present invention is to simplify the structure of the handling device and reduce the cost in an assembly facility for a gear transmission that uses the handling device.

[0005]

[Means for Solving the Problems]

[I] According to the feature of claim 1, for example, as shown in FIG. 10, the hand unit 4 holding the gear W is moved to another gear 23 side by the handling device, and the gear W held by the hand unit 4 is operated. The tooth portion of the other gear approaches the tooth portion of another gear 23 to be engaged (first control means). In this state, the posture of the hand portion 4 is not controlled so that the mountain portion of the gear W held by the hand portion 4 does not come into contact with the mountain portion of another gear 23. Is simply moving the hand portion 4 to the other gear 23 side.

In this case, the gear W held by the hand unit 4
If the mountain portion of is located between the pair of mountain portions of another gear 23, as the hand portion 4 moves to the gear 23 side,
The gear W held by the hand portion 4 meshes with another gear 23 without hindrance. As described above, if both gears W and 23 occlude without trouble, the hand portion 4 slides in the predetermined direction from the predetermined position with respect to the handling device (for example, refer to the state shown in FIG. 10 to the state shown in FIG. 11). Therefore, it is determined that the gear W held by the hand unit 4 is engaged with another gear 23, and the hand unit 4 holds the gear W held by the gear W.
Is operated (detection means and fifth control means).

[II] On the contrary, when the crest portion Wa of the gear W held by the hand portion 4 faces the crest portion 23a of another gear 23 as shown in FIG. Even if the hand portion 4 is moved to the side of the other gear 23 (first control means), the mountain portion Wa of the gear W held by the hand portion 4 contacts the mountain portion 23a of the other gear 23. , Both gears W and 23 cannot be engaged. In this case, the handling unit causes the hand unit 4 to move to another gear 2
When operated to move to the 3 side (first control means), for example, as shown in FIG. 11, the handling device moves to the right on the paper surface with the hand part 4 left, and the hand part 4 moves to the handling device. It is in a state of sliding in a predetermined direction from a predetermined position (for example, refer to the state shown in FIG. 10 to the state shown in FIG. 11).

In the above state, for example, FIG.
As shown in (b), the hand unit holding the gear W is moved to the left side (predetermined direction) of the drawing by the handling device, and the gear W held by the hand unit separates from the other gear 23 ( The second control unit) and the returning unit cause the hand unit that has slid in the predetermined direction to return to the predetermined position of the handling device. Thereafter, the hand portion is rotated about the axis P1 by a predetermined angle (third control means), the phase of the tooth portion of the gear W held by the hand portion is changed, and the hand portion holding the gear W is changed. It is moved again to the other gear 23 side by the handling device (fourth control means). Even in this state, the posture of the hand portion is not controlled so that the mountain portion Wa of the gear W held by the hand portion does not hit the mountain portion 23a of another gear 23. In the device, the hand portion is simply moved to another gear 23 side.

[III] As described in the above [I] and [II], in the feature of claim 1, when the gear held by the hand portion is engaged with another gear, the hand portion is simply moved to the side of another gear. If the gear held in the hand does not mesh with another gear by moving the hand, rotate the hand to change the phase of the gear teeth, and again move the hand to the other gear side. The step of moving is repeated, and the gear held by the hand is engaged with another gear.

Thus, in the feature of claim 1, the structure in which the hand portion is slidably connected to the handling device, the detection means for detecting that the hand portion has slid,
Further, a returning means for returning the slid hand portion to a predetermined position may be provided as an additional configuration, and other than that, the handling device may be operated by a simple and basic operation. Further, the structure for slidably connecting the hand part to the handling device, the detecting means and the returning means can also be simply configured by a linear guide, a proximity switch, a limit switch, a spring or the like.

Therefore, according to the first aspect of the invention, the sensor for detecting the phase of the tooth portion of the gear held in the hand portion, the storage device for storing the detected phase, and the light for detecting the phase of the tooth portion of another gear. There is no need for a sensor, a camera, a posture control device that moves the handling device (hand part and gear) to another gear side while changing the posture so that the mountain portions of both gears do not hit each other.

[IV] According to the feature of the second aspect, similar to the case of the first aspect, the "action" described in the above-mentioned [I], [II] and [III] is provided. It has various “actions”. When the gear is held rotatably in the hand part as in the feature of claim 2, when the hand part is moved to another gear side by the handling device, the mountain of the gear held in the hand part is changed. Even if the portion is not located in the center between the pair of crests of another gear, for example, as shown in FIG.
If a and 23a do not face each other, the gear W held by the hand unit is moved as the hand unit moves to the other gear 23 side.
The tooth surface of the other gear contacts the tooth surface of the other gear 23, and the gear W held by the hand portion rotates around the axis P1 and meshes with the other gear 23 without trouble.

As a result, the gear held in the hand portion easily engages with another gear regardless of the phase of the tooth portion of the gear. Therefore, as described in the above section [II], the hand portion is separated from the other gear. The state in which the process of repeating the process of rotating the hand unit by rotating the hand unit to another gear side again by repeating the operation of separating the hand unit from the other is reduced.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION

(1) In an axial plunger type hydraulic motor,
FIG. 1 shows the entire assembly facility for assembling a planetary gear reduction unit (corresponding to a gear transmission) in a case C of this hydraulic motor. As shown in FIG. 1, a support base 1 in which a case C of a hydraulic motor is installed, a work stocker 2 in which a thrust plate S and a gear W assembled in the case C are placed, an articulated robot hand 3 (a handling device) (Corresponding to the above), the assembly facility is configured with the hand portion 4 connected to the tip portion 5 of the robot hand 3.

(2) Next, the hand section 4 connected to the tip of the robot hand 3 will be described. As shown in FIG. 1, the tip portion 5 of the robot hand 3 is rotated by a motor (not shown) around an axis P1 (corresponding to an axis of a gear W described later) with respect to the main body side of the robot hand 3. It is freely connected. 4, 5 and 13 (a), the body block 6 of the hand portion 4 is arranged on the right side and the left side of the paper of FIG. 5 by the pair of guides 7 and one guide shaft 8 (to the axis of the gear W described later). 5 is slidably supported by the tip portion 5 of the robot hand 3 in a substantially orthogonal direction), and the main body block 6 is supported by the spring 9 (corresponding to the returning means) on the right side of FIG. Is urged by.

By supporting the support plate 6a of the main body block 6 supporting the guide shaft 8 against the tip portion 5,
The position of the main body block 6 with respect to the tip portion 5 is determined (corresponding to a predetermined position), and the proximity switch 10 (corresponding to detection means) that detects that the support plate 6a is separated from the tip portion 5 is provided.
Are provided on the support plate 6a.

As shown in FIGS. 4 and 5, the main body block 6
The support plate 11 is fixed downward, the support plate 12 is laterally fixed to the lower end of the support plate 11, and the cylindrical support member 13 is fixed to the support plate 12. A positioning shaft 14 is arranged in the support member 13, and a positioning portion 14a is formed by concentrating a small diameter portion and a large diameter portion.
Is provided at the lower end of the positioning shaft 14. The pin 15 fixed to the support member 13 has the positioning shaft 1
The positioning shaft 14 is slidably supported within the range of the elongated hole 14b and is urged downward by the spring 16 so that the positioning shaft 14 is prevented from rotating by the pin 15. . The support plate 11 is provided with a proximity switch 24 that detects that the positioning shaft 14 has been lifted by the upper end of the positioning shaft 14.

A cylindrical fixing member 17 is externally fitted to the support member 13 and is urged downward by a spring 18, and a stopper ring 19 for determining the position of the fixing member 17 is provided. A pair of hand arms 20 are supported on the lower surface of the main body block 6 so as to be freely slidable by compressed air in the left-right direction of the paper surface of FIG. 20b is fixed.

(3) In the assembly facility of the present invention, each of the four support shafts 21 in the case C of the hydraulic motor as shown in FIG. 2 and FIG. The thrust plate S and the gear W are attached. Next, the attachment of the thrust plate S by the robot hand 3 and the hand portion 4 will be described. First, the robot hand 3 moves to the work stocker 2 shown in FIG. 1, and the pair of hand arms 20 of the hand unit 4 is slid inward from the normal state shown in FIG. The thrust plate S is held by the claw portion 20a.

Next, the robot hand 3 moves to the case C shown in FIG. 1, and the hand portion 4 is operated to descend from directly above the support shaft 21, and the thrust plate S moves to the case C as shown in FIG. The support shaft 21 is inserted from above.
Then, as shown in FIG. 7, when the positioning portion 14a comes into contact with the support shaft 21 and the positioning shaft 14 starts to be lifted with the descending operation of the hand portion 4, the pair of hand arms 20 are largely slid outward. Then, the thrust plate S separates from the first claw portion 20a of the hand arm 20 and falls toward the bottom side of the case C. The above operation is repeated, and the thrust plate S is attached to each of the support shafts 21 of the case C.

(4) Next, attachment of the gear W to the support shaft 21 by the robot hand 3 and the hand portion 4 will be described. (4) -1 The hand unit 4 is moved to the work stocker 2 by the robot hand 3, and the hand arm 20 of the hand unit 4 is slid outward as shown in FIG. It is descended to. As a result, the positioning portion 14a of the positioning shaft 14 enters the hole portion of the gear W, and the positioning portion 14 is provided on the stepped portion on the inner surface of the hole portion of the gear W.
The lower end of a reaches, the fixing member 17 contacts the end surface of the gear W, and the positioning shaft 14 and the fixing member 17 are lifted with respect to the hand unit 4 as the hand unit 4 descends.

In this way, when the positioning shaft 14 is lifted and the upper end of the positioning shaft 14 reaches the position of the proximity switch 24 as shown in FIG. 8, the hand unit 4 (robot hand 3) stops. As a result, the first claw portion 20a of the hand arm 20 reaches the lower side of the gear W, the hand arm 20 is slid inward, and the hand portion 4 is moved upward as shown in FIG. It is held in part 4.

When the hand arm 20 is slid inward as described above, the second claw portion 20b of the hand arm 20 is moved to the ring member at the upper end of the lifted positioning shaft 14 as shown in FIGS. The positioning shaft 14 is held by the spring 16 so as not to move downward. As a result, in the state shown in FIG. 9, the gear W is in a state of being lightly pressed by the spring 18 and the fixing member 17 against the first claw portion 20a of the hand arm 20, and can freely rotate around the axis P1 of the gear W. It is ready to rotate.

(4) -2 Next, the robot hand 3 moves and operates the hand section 4 to the case C of the support base 1 shown in FIG. 1, and the operation is lowered almost directly above the support shaft 21 in the case C. . As shown in FIG. 10, the hand portion 4 is lowered so that the support plate 11 of the hand portion 4 faces the center side of the case C, and the hand portion 4 (robot hand 3) is positioned slightly above the support shaft 21. Stops.

As shown in FIGS. 2 and 3, a gear 23 (corresponding to another gear) is formed over the entire circumference of the inner peripheral portion of the case C, and as shown in FIG. The hand portion 4 is moved to the gear 23 side (opposite to the left side (predetermined direction) in FIG. 10 where the body block 6 of the hand portion 4 slides). As a result, the tooth portion of the gear W held by the hand portion 4 approaches the tooth portion of the gear 23 of the case C and tends to be engaged (corresponding to the first control unit).

In this case, the gear W held by the hand unit 4
Of the gear 23 of the case C is a pair of mountain portions 2 of
If it is located between 3a, the gear W held by the hand portion 4 meshes with the gear 23 of the case C without trouble as the hand portion 4 moves to the gear 23 side. And FIG.
As shown in (c), the peak portion Wa of the gear W held by the hand portion 4 is the pair of peak portions 23a of the gear 23 of the case C.
Even if it is not located in the center between the two, if the peak portions Wa, 23a of both gears W, 23 do not face each other, they are held by the hand portion 4 as the hand portion 4 moves to the gear 23 side. The tooth flank of the gear W of the case C contacts the tooth flank of the gear 23 of the case C, the gear W rotates around the axis P1, and the gear W held by the hand unit 4 meshes with the gear 23 of the case C without any trouble.

(4) -3 As shown in FIG. 14A, the crest portion Wa of the gear W held by the hand portion 4 is the crest portion 23 of the gear 23 of the case C.
If it faces a, the crest portion Wa of the gear W held by the hand portion 4 contacts the crest portion 23a of the gear 23 of the case C as the hand portion 4 moves toward the gear 23 side, W cannot be engaged with the gear 23.

As described above, the peak portion Wa of the gear W held by the hand portion 4 is the peak portion 23a of the gear 23 of the case C.
With the robot hand 3 in contact with
12 is moved to the gear 23 side, the hand portion 4 is left as shown in FIG.
12 (b) and 13 (b), the tip portion 5 of the robot hand 3 moves rightward on the paper surface of FIG. 11 along the guide 7 and the guide shaft 8, and the tip portion 5 moves to the main body block. The support plate 6a of 6 is separated from the support plate 6a to the right in the drawing of FIG.

As described above, when the tip portion 5 of the robot hand 3 moves away from the main body block 6 of the hand portion 4, this is detected by the proximity switch 10 and the hand portion 4 is detected.
(Robot hand 3) is stopped, and the robot hand 3 moves the hand unit 4 to the left side (predetermined direction) of the paper surface of FIG.
Is moved to stop the hand unit 4 (robot hand 3) (corresponding to the second control unit). As a result, the tooth portion of the gear W held by the hand portion 4 separates from the tooth portion of the gear 23 of the case C, and the hand portion 4 is urged by the spring 9.
Moves with respect to the tip portion 5 of the robot hand 3,
As shown in 0, 12 (a), and 13 (a), the support plate 6 a of the main body block 6 contacts the tip portion 5 of the robot hand 3.

Thereafter, as shown in FIG. 14B, the tip portion 5 (hand portion 4) of the robot hand 3 is rotated around the axis P1 by a predetermined angle (corresponding to the third control means),
As shown in FIG. 14C, the robot hand 3 moves the hand portion 4 to the gear 23 side again (corresponding to the fourth control means). In this case, the crest portion Wa of the gear W held by the hand portion 4 is located between the pair of crest portions 23a of the gear 23 of the case C, or the crest portions Wa, 23a of the both gears W, 23 are If they do not face each other, (4)-
As described in 2, the gear W held by the hand portion 4 meshes with the gear 23 of the case C.

On the contrary, the peak portions Wa, 23a of both gears W, 23
If they are still facing each other, the both ends of the gears W and 23 do not engage again and the tip 5 of the robot hand 3 separates from the main body block 6 of the hand 4 as shown in FIG. The operation of separating the gears W and 23 by the movement operation of the portion 4 and the rotation operation of the hand portion 4 around the axis P1 are performed again, and the hand portion 4 is again moved to the gear 23 side by the robot hand 3. .

Even if the above operation is repeated a predetermined number of times, the gear W held by the hand portion 4 is the gear 2 of the case C.
3 does not occlude, the hand unit 4 determines that the holding of the gear W is abnormal, and the robot hand 3 moves the hand unit 4 to a defective product box (not shown) to move the gear W to the hand. The hand unit 4 is placed on the defective product box from the unit 4, and the hand unit 4 is moved to the work stocker 2 to hold the next gear W by the hand unit 4.

(4) -4 When the hand portion 4 is moved to the gear 23 side as described in the above (4) -2 and 3, the tip portion 5 of the robot hand 3 is moved as shown in FIG. If is not separated from the main body block 6 of the hand unit 4 (based on the detection of the proximity switch 10), it is determined that the gear W held by the hand unit 4 is engaged with the gear 23 of the case C. In this way, the hand unit 4
When the gear W held by the gear meshes with the gear 23 of the case C, the gear W is positioned right above the support shaft 21 of the case C as shown in FIGS. The hand unit 4 is moved down by 3.

As a result, when the gear W held by the hand portion 4 meshes with the gear 23 of the case C, the hand portion 4
Is gradually lowered, and the hole of the gear W enters the support shaft 21 of the case C as shown in FIG. And
When the hand portion 4 is further lowered after the positioning portion 14a reaches the support shaft 21, the positioning shaft 14 is lifted with respect to the hand portion 4, and when this is detected by the proximity switch 24, the hand is moved. The unit 4 (robot hand 3) is stopped, and the hand arm 20 of the hand unit 4 is slid outward as shown in FIG. 18 (corresponding to fifth control means).

In this case, since the fixing member 17 is pressed against the gear W by the spring 18, when the hand arm 20 is slid outward as shown in FIG.
The gear W is pushed downward by the fixing member 17 and reaches the thrust plate S. This completes the attachment of one gear W, and the above operation is repeated to attach the gear W to each of the support shafts 21 of the case C.

[0036]

According to the first aspect of the present invention, in the assembly facility of the gear transmission using the handling device, the handling device is provided with the structure for slidably connecting the hand portion to the handling device, the detecting means and the returning means. The structure can be simplified and the cost can be reduced, and the cost of the gear transmission assembled in this assembly facility can be reduced.

According to the feature of claim 2, as in the case of claim 1, the "effect of the invention" of claim 1 is provided. According to the feature of claim 2, the state of repeating the process of operating the hand unit by moving it away from another gear, rotating the hand unit, and moving the hand unit again to another gear side is reduced, Since the assembly time of the gear transmission can be shortened, the cost of the gear transmission can be further reduced.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of drawings]

[Figure 1] Overall side view of the assembly facility

FIG. 2 is an overall perspective view of a case and gears of a hydraulic motor

FIG. 3 is an overall plan view of a hydraulic motor case and gears.

FIG. 4 is an overall front view of a hand unit

[Fig. 5] Overall side view of the hand unit

FIG. 6 is a front view showing a state in which the hand portion holding the thrust plate is operated to be lowered and the thrust plate is about to be attached to the support shaft of the case.

FIG. 7 is a front view showing a state in which a hand arm of a hand unit is slid outwardly and a thrust plate is attached to a support shaft of a case of a hydraulic motor.

FIG. 8 is a front view showing a state where the hand portion holds the gear in the work stocker.

FIG. 9 is a front view showing a state where a hand portion holding a gear in the work stocker is operated to be raised.

FIG. 10 is a side view showing a state in which the hand portion holding the gear is moved to the gear side of the case of the hydraulic motor.

FIG. 11 is a side view showing a state in which the gear held by the hand unit does not mesh with the gear of the case of the hydraulic motor and the hand unit slides with respect to the tip of the robot hand after the state shown in FIG. 10;

FIG. 12 is a vertical cross-sectional side view showing a state before and after the hand portion slides with respect to the tip portion of the robot hand at a connecting portion between the tip portion of the robot hand and the hand portion.

FIG. 13 is a cross-sectional plan view showing a state before and after the hand portion slides with respect to the tip portion of the robot hand at a connecting portion between the tip portion of the robot hand and the hand portion.

14 is a state in which, next to the state shown in FIG. 10, the gear portions held by the gears are in contact with each other and the gear held by the hand portion does not mesh with the gear of the hydraulic motor case; Cross-sectional plan views showing three states of a state in which the hand unit is operated to be separated from the gear and rotated around the axis, and a state in which the hand portion is moved and operated to the gear side of the case of the hydraulic motor again.

FIG. 15 is a side view showing a state in which the hand portion holding the gear is moved to the gear side of the case of the hydraulic motor, and both gears are engaged.

FIG. 16 is a front view showing a state in which, after the state shown in FIG. 15, the hand portion holding the gear in a state where both gears are engaged is operated to descend;

FIG. 17 is a front view showing a state in which the gear held by the hand portion is inserted into the support shaft of the case of the hydraulic motor after the state shown in FIG. 16;

FIG. 18 is a front view showing a state in which, after the state shown in FIG. 17, the hand arm of the hand portion is slid outward and the gear is attached to the support shaft of the case of the hydraulic motor.

[Explanation of symbols]

 3 Handling Device 4 Hand Section 9 Returning Means 10 Detecting Means 23 Gear W Gear P1 Gear Shaft Core

Front page continued (72) Inventor Kengo Adachi 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory Co., Ltd. (72) Toshikatsu Hirata 64, Ishizukita-machi, Sakai City Osaka Prefecture Kubota Sakai Factory, Inc.

Claims (2)

[Claims] 1. A hand unit (4) capable of holding and separating a gear (W) to be assembled and operated, and a handling device (3) operable to move the hand unit (4). 4) is rotatably operated around the axis (P1) of the gear (W) held by 4) and slidable from a predetermined position in a predetermined direction substantially orthogonal to the axis (P1) of the gear (W). A unit (4) attached to the handling device (3) for detecting that the hand unit (4) has slid in the predetermined direction from the predetermined position, and a hand that has slid in the predetermined direction. And a return means (9) for returning the part (4) to the predetermined position by sliding the part (4) in the opposite direction, and moving the hand part (4) in the direction opposite to the predetermined direction to move the hand part (4). ) Held by As the teeth of (W) is occlusal close to the teeth portion of another gear (23),
When it is detected that the first control means for operating the handling device (3) and the hand part (4) have slid from the predetermined position in the predetermined direction, the hand part (4) is moved along the predetermined direction. ) Is moved to operate the handling device (3) such that the tooth portion of the gear (W) held by the hand portion (4) is separated from the tooth portion of the other gear (23). Second control means, and when the hand part (4) moves along the predetermined direction, the hand part (4) is rotated about the axis (P1) with respect to the handling device (3) by a predetermined angle. When the control means and the hand part (4) are rotated by a predetermined angle around the axis (P1) with respect to the handling device (3),
The hand portion (4) is moved in the direction opposite to the predetermined direction so that the tooth portion of the gear (W) held by the hand portion (4) approaches the tooth portion of the other gear (23). Fourth control means for actuating and operating the handling device (3) so as to occlude, and the tooth portion of the gear (W) held by the hand portion (4) becomes the tooth portion of the other gear (23). Even if the hand part (4) moves so as to approach and occlude, if the hand part (4) is not detected to slide in the predetermined direction from the predetermined position, the hand part (4) holds it. And a fifth control means for actuating and operating the hand portion (4) so as to operate the released gear (W) separately. 2. The hand portion (4) is configured to hold the assembled gear (W) freely rotatably around the shaft core (P1) of the gear (W). Assembly facility for gear transmission described in 1.