JP3078438B2 - Automatic assembly method and automatic assembly device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic assembling method and an automatic assembling apparatus for automatically assembling two parts in a fitting relationship.

[0002]

7 to 13 are views showing a conventional automatic assembling method and a conventional automatic assembling apparatus. FIG. 7 is a perspective view showing a part to be assembled, and FIG. 8 shows a part to be assembled and a positioning or supply mechanism thereof. 9 is a front view showing a basic configuration of the automatic assembling apparatus, FIG. 10 is a partially enlarged view of the automatic assembling apparatus shown in FIG. 9, and FIG. 11 shows a pneumatic circuit for driving a chuck mechanism of the automatic assembling apparatus. FIG. 12 is a front view showing the operation of the automatic assembling apparatus or the automatic assembling method, and FIG. 13 is a side view showing the operation or the automatic assembling method of the automatic assembling apparatus.

In FIG. 7, reference numeral 1 denotes a first member provided with a shaft portion 1a.
The component 2 is a second component having a hole 2a into which the shaft portion 1a is fitted. In FIG. 8, 3 is a positioning mechanism for positioning and holding the first component 1 and 4 is a component supply mechanism for positioning and supplying the second component 2 to the apparatus (for example, from a component supply unit to a positioning unit by a turntable). Move to).

In FIG. 9, reference numeral 5 denotes a chuck mechanism for holding the second component 2, and reference numeral 6 denotes an XYZθ (horizontal movement, vertical movement, wrist horizontal rotation) generally called a scalar robot.
A robot 7 having four degrees of freedom is a connecting mechanism for connecting the tip end of the wrist (that is, the work tool mounting portion) 6a of the robot 6 and the chuck mechanism 5.

In FIG. 10, reference numeral 8 denotes two band-shaped fingers constituting the chuck mechanism 5, reference numeral 9 denotes an opening / closing mechanism of the chuck mechanism 5 for opening and closing the fingers 8 by compressed air, and reference numeral 10 denotes an inner surface of the finger 8. The formed stepped stopper 11 is a part of the connecting mechanism 7 and is generally RCC (REMOTE CENTER COMPLIANC).
A misalignment absorbing mechanism called E) that absorbs misalignment due to its flexibility, and 12 is an insertion force detecting mechanism which is a part of the coupling mechanism 7.

The insertion force detecting mechanism 12 includes a plate 16 attached to the wrist tip 6a of the robot 6 and a misalignment absorbing mechanism 11
And a guide 13 that allows the plate 17 to slide only in the Z-axis direction (vertical direction) of the robot 6 with respect to the plate 16, and is provided between the plate 16 and the plate 17. And a proximity switch 15 that detects the approach of the detection member 15a and turns on the output signal when the amount of deflection of the compression coil spring 14 exceeds a predetermined value. Here, the guide 13, the compression coil spring 14, the plate 16 and the plate 17 constitute a float mechanism for causing the chuck mechanism 5 to float in the direction opposite to the component insertion direction.

The opening / closing mechanism 9 is formed of a pneumatic cylinder and is generally called an air chuck, and operates by a pneumatic circuit (not shown in FIG. 9) as shown in FIG. That is, the opening / closing mechanism 9 is connected to the compressed air supply source 20 via the electromagnetic valve 18 and the pressure reducing valve 19.
By the switching of 8, compressed air is sent into one of the working chambers, and the other working chamber is opened. Here, the pressure reducing valve 19 is for maintaining the pressure of the compressed air supplied to the opening / closing mechanism 9 at a constant value.
The pressure (eg, 5 kgf / cm ² ) is set so that the second component 2 can be gripped as strongly as possible without damaging it.

The robot 6 and the electromagnetic valve 18 are automatically controlled by, for example, a teaching-playback method by a controller (not shown), and the first component is inserted into the hole 2a of the second component 2 in a procedure described later. Shaft 1 of 1
An assembling operation for fitting a is performed. When the output of the proximity switch 15 is turned on, the operation program of the controller is set so that the robot 6 is stopped urgently.

Next, the operation will be described. First, the robot 6 operates to move the wrist tip 6a, and the chuck mechanism 5
Is positioned with respect to the second component 2 supplied by the component supply mechanism 4. At this time, the electromagnetic valve 18 is in a position where the finger 8 is opened, and the chuck mechanism 5 is configured such that the finger 8 is in the second position.
Stopper 1 located on both sides of component 2 and formed on finger 8
0 is positioned at a horizontal position and a height slightly above the upper end of the second component 2. In addition, the second
The reason for providing a gap between the upper end of the component 2 and the stopper 10 is because of the variation in height of the second component 2 and the robot 6
This is because it is necessary to provide a margin for absorbing the positioning error.

Next, the electromagnetic valve 18 is switched to operate the opening / closing mechanism 9, the finger 8 is closed, and the second component 2 is gripped.
Then, as shown in FIG. 12, the robot 6 operates to move the wrist tip 6a, and the second component 2 is moved to the positioning mechanism 3
After being positioned above the first component 1 positioned by (1), it is lowered to fit the first component 1.

Then, in the process of lowering the second component 2, the second component 2 is usually slightly misaligned with respect to the first component 1. The lower end of the portion 2a contacts the chamfered portion at the upper end of the shaft portion 1a of the first component 1. Therefore, as shown in FIG. 13, a force indicated by a symbol F acts on the second component 2, and as long as the second component 2 does not slide on the finger 8, the misalignment is passively caused. Will be modified. That is, the misalignment is absorbed by the deflection of the misalignment absorbing mechanism 11, and the fitting is smoothly realized.

At this time, if the second component 2 slides with respect to the finger 8 due to the force F, as shown in FIG.
Part 2 is inclined with respect to the first part 1 by an amount corresponding to the gap between the stopper 10 and a so-called twisting state, and even if the misalignment absorbing mechanism 11 has flexibility, smooth fitting cannot be performed, or in the worst case. In the case of, fitting is impossible. When the fitting becomes impossible, the chuck mechanism 5 does not follow the descent of the wrist tip 6a of the robot 6, so that the compression coil spring 1
4, the plates 16 and 17 are prevented from moving in a direction approaching each other to apply an overload to the robot, and finally, the proximity switch 15 is turned on and the robot 6 is stopped urgently.

[0013]

Since the conventional automatic assembling method and automatic assembling apparatus are configured as described above, during the process of fitting the second component 2 to the first component 1, the second It is essential that a frictional force that prevents the component 2 from slipping against the finger 8 is secured. Therefore, the gripping force by the opening / closing mechanism 9 (that is, the pressure of the compressed air sent to the opening / closing mechanism 9) must be sufficiently large. . However, in fact, the second
In many cases, the gripping force of the opening / closing mechanism 9 cannot be sufficiently increased due to the problem of deformation or scratching of the component 2 of the second component 2. In the process of fitting the second component 2 to the first component 1 as described above, When the second component 2 slides so as to incline with respect to the finger 8, the second component 2 is in a state of being twisted with respect to the first component 1, and there is a problem that a case where fitting cannot be performed occurs.

In addition, the conventional automatic assembling apparatus has a disadvantage that when there are several types of heights of the second part 2, the supplied second
There was no function that could check if the part 2 was of the correct type.

[0015] The invention of claim 1及 beauty claim 3 has been made to solve the above problems, an automatic assembling method or automatic assembly can be reliably automated assembly the two components in the fitting relationship The aim is to get the device.

The second and fifth aspects of the present invention have been made in order to solve the above-mentioned problems, and it is possible to surely automatically assemble two parts in a mating relationship and to reduce the number of supplied parts. It is an object of the present invention to obtain an automatic assembling method or an automatic assembling apparatus capable of checking whether the height is correct.

The invention according to claim 4 has been made to solve the above-mentioned problem, and it is possible to reliably and automatically assemble two parts in a fitting relationship, and to reduce the number of parts by sharing a sensor. The purpose is to obtain an automatic assembly device that can contribute.

[0018]

[0019]

According to the first aspect of the present invention, there is provided an automatic assembling method in which a gripping force of a chuck mechanism is set to a first gripping force at which sliding with a second component easily occurs. Then, after gripping the positioned second component and moving the chuck mechanism in the fitting direction so that the end surface of the second component abuts on the stopper, the gripping force of the chuck mechanism does not damage the second component. The second gripping force is switched to a second gripping force that is larger than the first gripping force within the range, and the gripped second component is moved and fitted to the positioned first component.

According to a second aspect of the present invention, in the automatic assembling method, the position data of the robot at the time when the controller detects that the end face of the positioned second component has come into contact with the stopper of the chuck mechanism is determined in advance. By comparing with the stored appropriate position data, it is determined whether or not the height of the second component is appropriate.

According to a third aspect of the present invention, there is provided an automatic assembling apparatus, wherein a controller automatically controls a chuck mechanism, a robot for moving the chuck mechanism, and a gripping force switching mechanism of the chuck mechanism so that the second component slides easily. Gripping the second component positioned in a state where the gripping force is set to 1;
After the chuck mechanism is moved in the fitting direction until the pressing detection mechanism detects that the end face of the component abuts on the stopper, the chucking force is larger than the first gripping force within a range that does not damage the second component. By switching to the second gripping force, the gripped second component is moved and fitted to the positioned first component.

According to a fourth aspect of the present invention, an automatic assembling apparatus detects that an excessive external force in a direction opposite to a fitting direction is applied to the chuck mechanism between the robot and the chuck mechanism in order to prevent an overload. An insertion force detection mechanism is provided, and this insertion force detection mechanism functions as a pressing detection mechanism.

In the automatic assembling apparatus according to the fifth aspect of the present invention, the position data of the robot at the time when it is detected that the end face of the positioned second part has come into contact with the stopper of the chuck mechanism is stored in advance. The controller has an inspection function of determining whether the height of the second component is appropriate by comparing it with the appropriate position data.

[0024]

[0025]

Automatic assembling method in the invention of [action] claim 1, in a state readily set to a first gripping force sliding occurs between the second part of the gripping force of the chuck mechanism, the second component The chuck mechanism is moved with respect to the second part so that the end face contacts the stopper. For this reason, the operation of gripping the end surface of the second component in contact with the stopper is performed smoothly, and the second component is reliably prevented from being damaged. Further, after the gripping is performed in this manner, the fitting operation is performed by switching the gripping force of the chuck mechanism to a second gripping force that is larger than the first gripping force without damaging the second component. However, damage to the second component is prevented, and the second component is less likely to slip when fitted.

The automatic assembling method according to the second aspect of the present invention
Based on the position data of the robot at the time when the controller detects that the positioned end surface of the second component has come into contact with the stopper of the chuck mechanism, whether the height of the second component is appropriate or not. to decide.

The stopper according to the third aspect of the present invention contacts the end face of the second component when the chuck mechanism grips the second component, moves the second component in the fitting direction, and fits the first component. Therefore, the reaction force at the time of fitting is reliably received, and at least the second component is prevented from sliding with respect to the chuck mechanism to such an extent that fitting becomes impossible. Further, the gripping force switching mechanism in the present invention is controlled by the controller,
When the chuck mechanism is moved with respect to the second part so that the end face of the part contacts the stopper, the gripping force of the chuck mechanism is reduced to the first gripping force at which sliding easily occurs with the second part. Set. For this reason, the operation of gripping the end surface of the second component in contact with the stopper is performed smoothly, and the second component is reliably prevented from being damaged. Further, the gripping force switching mechanism switches the gripping force of the chuck mechanism to a second gripping force larger than the first gripping force within a range that does not damage the second component after the gripping is performed in this manner. Also in this respect, the damage of the second component is prevented,
Further, the second component is less likely to slip when fitted.

The insertion force detecting mechanism according to the fourth aspect of the present invention detects that an excessive external force in a direction opposite to the fitting direction is applied to the chuck mechanism in order to prevent overload,
It also functions as a pressing detection mechanism that detects that the end surface of the second component has come into contact with the stopper.

According to a fifth aspect of the present invention, the controller comprises:
By comparing the position data of the robot at the time when it is detected that the end surface of the positioned second component has come into contact with the stopper of the chuck mechanism with the appropriate position data stored in advance, the height of the second component is obtained. Is determined to be appropriate.

[0030]

[Embodiment 1] An embodiment of the present invention will be described below with reference to the drawings. FIG.
Pneumatic circuit diagram illustrating the pneumatic circuit for driving the opening and closing mechanism of an automatic assembling apparatus according to an embodiment of the invention of claim 3 and claim 4, FIGS. 2 to 6 are operation and the invention of claim 1 of the apparatus FIG. 4 is a front view or a side sectional view showing an automatic assembling method according to one embodiment. The automatic assembling apparatus of this embodiment differs from the above-described conventional apparatus only in the configuration of the pneumatic circuit for driving the opening and closing mechanism and the function of the controller. Description is omitted.

In FIG. 1, 21 and 22 are solenoid valves connected in parallel on the upstream side of the solenoid valve 18, 23 is a plug attached two by two to partially block the ports of the solenoid valves 21 and 22, 24 is a solenoid valve 21 and a compressed air supply source 20
A pressure reducing valve 25 is connected between the solenoid valve 22 and the compressed air supply source 20. In addition,
These solenoid valves 21, 22, plug 23 and pressure reducing valve 24,
Reference numeral 25 denotes a gripping force switching mechanism 26 that switches the gripping force of the opening / closing mechanism 9 (that is, the pressure of the air supplied to the opening / closing mechanism 9 in this case).

Here, the solenoid valves 21 and 22 respectively allow the primary side and the secondary side to communicate with each other in a non-excited state, and when excited, connect the primary side and the secondary side to the port to which the plug 23 is connected. It is connected and closed, and operates with the excitation state controlled by the controller of the device.

When the secondary pressure P ₁ is equal to or higher than the minimum pressure at which the opening / closing mechanism 9 is operated and the second component 2 can be sandwiched by the finger 8 when the secondary pressure P ₁ is lower than the minimum pressure P ₁ , The frictional force generated between the component 2 and the component 2 is set to be smaller than the minimum pressure that can compress the compression coil spring 14 of the insertion force detection mechanism 12. The pressure reducing valve 25 has a secondary pressure P
₂ does not damage the second part 2 by the finger 8 at a pressure higher than the minimum pressure at which the frictional force generated between the finger 8 and the second part 2 can deflect the misalignment absorbing mechanism 11. The pressure is set below the pressure at which the grip can be held as strongly as possible.

The pressure P ₁ is, specifically, the pressure P
_The gripping force F1 generated in the chuck mechanism 5 by ₁ is set, for example, to ₁ kgf. The pressure P ₂
The gripping force F ₂ generated by the pressure P ₂ to the chuck mechanism 5 is set to be for example a 5 Kgf.

In this embodiment, the insertion force detection mechanism 12 also functions as a pressing detection mechanism. Further, the controller for controlling the apparatus has a function of automatically controlling the robot 6 or each of the solenoid valves 18, 21, 22 as will be described later, by setting a predetermined operation program in advance by teaching or the like.

Next, the operation will be described. When the second component 2 is supplied by the component supply mechanism 4 and receives an assembly command from a central control device or the like (not shown) at an assembly site, the controller operates the robot 6 or each solenoid valve 1 as follows.
8, 21 and 22 are automatically controlled. That is, first, the robot 6 is operated to move the wrist tip 6a, and the chuck mechanism 5 is positioned with respect to the second component 2 positioned by the component supply mechanism 4, as shown in FIG. At this time, the controller sets the state of the solenoid valve 18 to the position where the finger 8 is opened, and sets the chuck mechanism 5 so that the finger 8 is located on both sides of the second component 2 and the stopper 10 formed on the finger 8 is in the second position. It is positioned at a horizontal position and height slightly above the upper end of the component 2.

Next, the solenoid valve 21 is de-energized and the solenoid valve 22 is excited to set the air pressure supplied to the opening / closing mechanism 9 via the solenoid valve 18 to the secondary pressure P _{1 of the} pressure reducing valve 24. As shown in FIG. 3, the electromagnetic valve 18 is switched to operate the opening / closing mechanism 9, and the finger 8 is closed to grip the second component 2 (first step). Next, while the air pressure supplied to the opening and closing mechanism 9 was maintained at a pressure P _1, the output of the proximity switch 15 actuates the robot 6 until the on lowering the wrist tip 6a (second step).

Then, the gripping force of the finger 8 at this time is such that the frictional force generated between the finger 8 and the second component 2 causes the compression coil spring 14 to contract due to the setting of the secondary pressure P _1. Since the force F ₁ is not so small, the sliding occurs between the second component 2 and the finger 8 without the contraction of the compression coil spring 14 (that is, the relative movement of the plates 16 and 17), The stopper 10 on the inner surface 2 starts to move closer to the upper end of the second component 2. When the stopper 10 comes into contact with the upper end of the second component 2, the finger 8 cannot move with respect to the second component 2 and stops. Accordingly, the compression coil spring 1
4, the plates 16 and 17 begin to relatively move in the direction in which they approach each other.

At this time, the controller continues the lowering operation of the tip 6a of the wrist until the relative movement of the plates 16 and 17 progresses and the output of the proximity switch 15 is turned on, and as shown in FIG. When the output is turned on by detection by the switch 15, the lowering operation of the wrist tip 6a is stopped.

Next, the solenoid valve 22 is de-energized and the solenoid valve 21 is excited, and the air pressure supplied to the opening / closing mechanism 9 is set to the secondary pressure P _{2 of the} pressure reducing valve 25, and the gripping force of the chuck mechanism 5 is set. the switch to F _2, firmly gripping the extent that does not damage the second component 2 (third step). Then, the robot 6 is operated to move the wrist tip 6a, and as shown in FIG. 5, the second component 2 is positioned above the first component 1 positioned by the positioning mechanism 3, and then the second component 2 is positioned. It is lowered so as to be fitted to the first component 1 (fourth step).

Then, if the second component 2 is not misaligned with respect to the first component 1, the shaft portion 1a of the first component 1 is directly inserted into the hole 2a of the second component 2 and fitted. Assembling is performed. In the process of lowering the second component 2, if the second component 2 is slightly misaligned with respect to the first component 1, the lower end of the hole 2 a of the second component 2 is The first part 1 comes into contact with the chamfered part at the upper end of the shaft part 1a. Then, as shown in FIG. 6, a reaction force indicated by a symbol F acts on the second component 2, whereby the misalignment is passively corrected.

That is, the gripping force of the finger 8 at this time is such that the frictional force generated between the finger 8 and the second component 2 deflects the misalignment absorbing mechanism 11 by the setting of the secondary pressure P _2. Since the force F ₂ can be deflected, the misalignment absorbing mechanism 11 flexibly absorbs the misalignment. Moreover,
In order not to damage the second part 2, the secondary pressure P2
Is smaller than a value that can prevent the sliding between the finger 8 and the second component ₂ only by the gripping force F2, the stopper 10 may contact the upper end surface of the second component 2. Due to the contact, the tilting of the second component 2 with respect to the finger 8 as shown in FIG. 14 which may occur conventionally cannot occur. For this reason, even if there is a slight misalignment, the fitting is reliably and smoothly realized.

At this time, if there is a misalignment exceeding the width of the chamfered portion at the upper end of the shaft portion 1a of the first component 1 due to a defect of the positioning mechanism 3 or the like, the fitting becomes impossible. Since the chuck mechanism 5 does not follow the descent of the wrist tip 6a of the robot 6, the compression coil spring 14 contracts and the plates 16, 17 move in a direction approaching each other, and the proximity switch 15 is turned on. The controller stops the robot 6 in an emergency to prevent an excessive load from being applied. Thus, in the present embodiment, the proximity switch 1
5 is grasped as a signal indicating that an overload is applied, and a case where the output signal is grasped as a signal indicating that the stopper 10 and the second part 2 are in contact with each other as in the second step described above. However, for example, when the process of the second step is being executed, if an operation program of the controller or the like is set so as to be treated as the latter signal,
There is no confusion.

As described above, according to the automatic assembling apparatus or the automatic assembling method of the above embodiment, the second part 2 can be gripped without damage and securely and smoothly fitted to the first part 1. There is an effect that can be done. The output of the proximity switch 15 is handled in two ways as described above, and the insertion force detecting mechanism 1
2 also functions as the pressing detection mechanism of the present invention, so that compared with the case where different detection means are provided,
This has the effect of reducing the number of parts.

It should be noted that the present invention is not limited to the above-described embodiment, and various embodiments are possible. For example, a proximity switch different from the proximity switch 15 is attached to the finger 8, and this proximity switch constitutes a pressing detection mechanism that detects that the upper end of the second component 2 has been pressed against the stopper 10. Is also good.

Further, the gripping force of the chuck mechanism 5 does not necessarily need to be switched as described above, and the second component 2 can be appropriately slid in order to grip the second component 2 in contact with the stopper 10. As long as the second component 2 at least does not drop when the second component 2 is lifted from the component supply mechanism 4, the reliability of the fitting operation can be improved at least as compared with the related art. That is, if the end surface of the second component 2 is in contact with the stopper 10 as shown in FIG. 6 at the time of fitting, the phenomenon that the second component 2 slips as shown in FIG. 14 is unlikely to occur. Because.

Further, even when the gripping force of the chuck mechanism 5 is switched, it is not always necessary to set the gripping force in consideration of the relationship with the compression coil spring 14 and the misalignment absorbing mechanism 11 as in the above embodiment. That is, in the second step, the end face of the second component 2 only needs to be in contact with the stopper 10 before the proximity switch 15 is turned on, and as long as this condition is satisfied, the compression coil spring 1
There is no problem even if 4 is slightly bent. In the fourth step, even if the second component 2 slips before the misalignment absorbing mechanism 11 is bent by the reaction force F when the state shown in FIG. No. 2 is highly likely to slide sideways along the stopper 10, whereby the misalignment is eliminated and the possibility of fitting is also high.

It is not always necessary to provide the misalignment absorbing mechanism 11 as in the above embodiment.
The arm may have elastic flexibility to absorb misalignment, or the positioning mechanism 3 may have elastic flexibility in the lateral direction to absorb misalignment.

Embodiment 2 FIG. Next, one embodiment of the second and fifth aspects of the present invention will be described. Since the automatic assembling apparatus or the apparatus for performing the automatic assembling method of this embodiment is the same as that of the first embodiment except for the controller, the explanation will be made with reference to the drawings and reference numerals used in the first embodiment as necessary.

The controller in this embodiment has the following configuration and functions in addition to the functions in the first embodiment. That is, as shown in FIGS. 3 and 4, the position data of the robot 6 when the proximity switch 15 is turned on at the time of gripping the second component 2 and lowering the finger 8 (second step), The second where the height dimension is the reference value
And a storage unit for storing position data (hereinafter referred to as reference position data) for each of the components 2 having different height dimensions. When the second step is executed, the position data of the robot 6 when the proximity switch 15 is turned on is grasped, and a signal indicating the type of the second part 2 given in advance from a central control device or the like at the site. The corresponding reference position data is read out from the storage unit based on the reference position data, the reference position data is compared with the position data, and when the difference exceeds a predetermined allowable value, the supplied second component 2 is read. Has the function of outputting a signal indicating that the height of the device is not appropriate to the central control device or the like at the site.

In the present embodiment, when there is a type in the height dimension of the second part 2, the reference position is registered for each type, and when the assembling command is input to the controller, the reference position is registered at the same time. By inputting a signal indicating the type, it is possible to inspect whether the height of the second component 2 is appropriate or not for each type.

That is, when the finger 8 is lowered by gripping the second component 2, the height position of the wrist tip 6 a of the robot 6 when the proximity switch 15 is turned on is determined by the stopper 10 on the inner surface of the finger 8. Since the compression coil spring 14 is lowered by a certain amount after contacting the upper end of the second component 2, the second component 2 is positioned as long as the component supply mechanism 4 positions the second component 2. This value is determined by the height of the component 2. For this reason, when the height dimension of the second component 2 exceeds the allowable range and differs from the appropriate value, a signal indicating improper because the difference in the comparison judgment of the controller exceeds the allowable value is output. .

In the present embodiment, when there are a plurality of types of the second component 2, the type is distinguished to determine whether the height dimension is appropriate or not. The present invention is not limited to this, and includes a case where the height dimension is appropriate if the second component 2 is of one type (the reference position data is of one type).

[0054]

[0055]

Effects of the Invention in a state readily set to a first gripping force sliding occurs between the second part of the gripping force of the chuck mechanism according to the invention of claim 1, the second positioned After gripping the component and moving the chuck mechanism in the fitting direction so that the end surface of the second component abuts against the stopper, the gripping force of the chuck mechanism is reduced from the first gripping force within a range that does not damage the second component. Is also switched to the large second gripping force, and the gripped second
The second component is moved and fitted to the positioned first component, so that the operation of gripping the second component while the end face of the second component is in contact with the stopper is performed smoothly. Is reliably prevented from being damaged, and the fitting operation is performed by switching to the second gripping force that is larger than the first gripping force. There is an effect that the reliability of the fitting operation is remarkably improved.

According to the second aspect of the present invention, the position data of the robot at the time when the controller detects that the end surface of the positioned second component has come into contact with the stopper of the chuck mechanism is stored in the appropriate position. By comparing the position data with the position data, it is determined whether the height of the second component is appropriate or not. Therefore, it is possible to prevent a failure in assembling the second component having an inappropriate height dimension. Has the effect.

According to the third aspect of the present invention, the controller automatically controls the chuck mechanism, the robot for moving the chuck mechanism, and the gripping force switching mechanism of the chuck mechanism, and the first gripping force with which the second component slides easily. After gripping the second component positioned in the state set in the above, and moving the chuck mechanism in the fitting direction until the pressing detection mechanism detects that the end face of the second component has contacted the stopper. , Second
The first gripping force is switched to a second gripping force that is larger than the first gripping force within a range that does not damage the component, and the gripped second component is moved and fitted to the positioned first component. In addition, at the time of fitting, the second component is firmly gripped, and the stopper reliably receives the reaction force at the time of fitting, thereby reliably preventing the second component from sliding with respect to the chuck mechanism. The smoothness and reliability of the automatic assembly work can be remarkably improved. In addition, when the end face of the second component is held against the stopper and gripped, the gripping force is weakened, and the second component is reliably prevented from being damaged.

According to the fourth aspect of the present invention, an insertion force detecting mechanism for detecting that an excessive external force in a direction opposite to the fitting direction is applied to the chuck mechanism between the robot and the chuck mechanism in order to prevent an overload. Is provided, and this insertion force detection mechanism is configured to function as a pressing detection mechanism. Therefore, the number of components can be reduced and the cost of the apparatus can be reduced.

According to the fifth aspect of the present invention, the position data of the robot at the time when it is detected that the end face of the positioned second component has come into contact with the stopper of the chuck mechanism is combined with the appropriate position data stored in advance. By making a comparison, the controller is provided with an inspection function for judging whether the height of the second component is appropriate or not.
It is possible to prevent a failure in assembling the part beforehand.

[Brief description of the drawings]

1 is a pneumatic circuit diagram illustrating the pneumatic circuit for driving the opening and closing mechanism of an automatic assembling apparatus according to an embodiment of the invention of claim 3 and claim 4.

FIG. 2 is a front view showing the operation of the automatic assembling apparatus according to one embodiment of the third and fourth aspects of the present invention and the automatic assembling method according to one embodiment of the first aspect of the present invention;

FIG. 3 is a front view showing the operation of the automatic assembling apparatus according to one embodiment of the third and fourth aspects of the present invention and the automatic assembling method (first step) according to the one embodiment of the first aspect of the present invention;

FIG. 4 is a front view showing the operation of the automatic assembling apparatus according to one embodiment of the third and fourth aspects of the present invention and the automatic assembling method (second step) according to one embodiment of the first aspect of the present invention;

FIG. 5 is a front view showing the operation of the automatic assembling apparatus according to one embodiment of the third and fourth aspects of the present invention and the automatic assembling method (fourth step) according to one embodiment of the first aspect of the present invention;

FIG. 6 is a side sectional view showing the operation of the automatic assembling apparatus according to one embodiment of the third and fourth aspects of the present invention and the operation of the automatic assembling method according to one embodiment of the first aspect of the present invention;

FIG. 7 is a perspective view showing a component to be assembled.

FIG. 8 is a sectional view showing a component to be assembled and a positioning or supply mechanism thereof.

FIG. 9 is a front view showing a basic configuration of the automatic assembling apparatus.

FIG. 10 is a partially enlarged view of FIG. 9;

FIG. 11 is a pneumatic circuit diagram showing a pneumatic circuit for driving a chuck mechanism of a conventional automatic assembling apparatus.

FIG. 12 is a front view showing the operation of the conventional automatic assembling apparatus or the automatic assembling method.

FIG. 13 is a side sectional view showing an operation of the conventional automatic assembling apparatus or an automatic assembling method.

FIG. 14 is a side sectional view showing an operation of the conventional automatic assembling apparatus or an automatic assembling method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 1st component 2 2nd component 3 Positioning mechanism 4 Component supply mechanism 5 Chuck mechanism 6 Robot 10 Stopper 12 Insertion force detection mechanism (pressing detection mechanism) 26 Gripping force switching mechanism

──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Tsuneori Mori 6-66, Teira, Wakayama-shi Mitsubishi Electric Corporation Wakayama Works (56) References JP-A-3-239487 (JP, A) JP-A Heisei 3-170288 (JP, A) JP-A-62-162432 (JP, A) JP-A-57-181561 (JP, U) JP-A-5-93709 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23P 19/02

Claims (5)

(57) [Claims] 1. A second component to be fitted and assembled to a first component is brought into contact with an end face of the second component so that the second component slides in a direction opposite to a fitting direction. A chuck mechanism provided with a stopper for preventing movement is gripped from a lateral direction orthogonal to the fitting direction, and the chuck mechanism is moved with respect to the first component by a robot to move the second component to the second component. An automatic assembling method for fitting to a first component, wherein the gripping force of the chuck mechanism is set to a first gripping force at which sliding easily occurs between the chuck mechanism and a second component, In a state where there is a gap between the stopper and the end face of the second component, the chuck mechanism
A first step of gripping the positioned second component, and operating the robot to move the chuck mechanism in the fitting direction until it is detected that the end surface of the second component has contacted the stopper. And a third step of switching the gripping force of the chuck mechanism to a second gripping force that is larger than the first gripping force within a range that does not damage the second component.
And a fourth step of operating the robot to move the second component gripped by the chuck mechanism to the positioned first component, and fit and assemble the second component. Method. 2. The robot controller according to claim 1, wherein said second step stores in advance a proper position data of said robot at a time point when it is detected that an end face of said second part has contacted said stopper. When the two steps are executed, the controller reads the position data of the robot at the time when the end surface of the second part contacts the stopper in the second step, and compares the position data with the proper position data. The second to be assembled
Height is determined whether or not the proper parts, automated assembly process according to claim 1, wherein the outputting the determination result. 3. A positioning mechanism for positioning a first component, a component supply mechanism for positioning a second component to be assembled by fitting the first component, and a fitting direction of the second component. A chuck mechanism for gripping from a lateral direction perpendicular to the second direction, and a gripping second component that slides in a direction opposite to the fitting direction by contacting an end surface of the second component provided in the chuck mechanism. And a robot for moving and positioning the chuck mechanism, a gripping force of the chuck mechanism, a first gripping force that easily slides between the chucking mechanism and a second component, A gripping force switching mechanism for switching to at least two or more types of second gripping force larger than the first gripping force within a range not damaging the second component, and an end face of the second component contacting the stopper. Press to detect contact The contact detection mechanism and the gripping force switching mechanism are operated to reduce the gripping force of the chuck mechanism to the first force.
A first step of gripping the second component positioned by the component supply mechanism by the chuck mechanism in a state where a gap is provided between the stopper and the end surface of the second component. A second step of operating the robot to move the chuck mechanism in the fitting direction until the pressing detection mechanism detects that the end face of the second component has come into contact with the stopper; A third step of operating a mechanism to switch the gripping force of the chuck mechanism to the second gripping force, and a third step of operating the robot and positioning a second component gripped by the chuck mechanism by the positioning mechanism. An automatic assembling apparatus comprising: a controller that sequentially executes a fourth step of moving, fitting, and assembling the first component. 4. An insertion force detection mechanism is provided between the robot and the chuck mechanism for detecting that an excessive external force in a direction opposite to the fitting direction is applied to the chuck mechanism in order to prevent an overload. And the controller treats a detection signal of the insertion force detection mechanism as a detection signal of the pressing detection mechanism at least in the second step, and the insertion force detection mechanism functions as the pressing detection mechanism. The automatic assembling apparatus according to claim 3, wherein: 5. A storage unit for preliminarily storing proper position data of the robot at the time when it is detected in the second step that the end face of the second component abuts on the stopper by the pressing detection mechanism. Has the controller,
When the second step is executed, the position data of the robot at the time when it is detected in the second step that the end face of the second component has come into contact with the stopper by the pressing detection mechanism is read. By comparing the data with the appropriate position data stored in the storage unit, it is possible to determine whether the height of the second component to be assembled is appropriate or not, and to output an inspection result to the inspection function. controller automatic assembling apparatus according to claim 3 or claim 4 Symbol mounting characterized by comprising.