JP3134670B2 - Automatic assembly method of resin hose - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improved method for automatically assembling a resin hose to a connector by a robot.

[0002]

2. Description of the Related Art In a vehicle such as an automobile, a resin hose made of rubber or the like is used as a fluid passage for an intake system and a cooling system of an engine. Of the connector.

[0003] In recent years, such a resin hose has been assembled by a robot hand provided with a gripping means such as a manipulator. As shown in FIG. While holding the side, the connector 6 is fixed by locking means (not shown). Then, after driving the hand 91 to displace the rubber hose 5 to the coaxial position with the connector 6, the hand 91 is driven to displace the rubber hose 5 in the axial direction, and the connector 6 is driven.
After the inner circumference of the rubber hose 5 is fitted to the outer circumference of the rubber hose, it is inserted.

At this time, in order to detect an assembly failure in which the rubber hose 5 is not completely inserted into the connector 6, it is known that the quality of the assembly process of the rubber hose 5 is determined by image recognition, as shown in FIG. In addition, an assembly failure is determined by comparing whether the detected image calculated from the difference between the previously captured original image of the rubber hose 5 and the connector 6 and the acquired image actually captured in the assembly process is zero. In the case where the rubber hose 5 is not attached to the connector 6 as shown in FIG. 18, the detected image is a rubber hose 5 'obtained by subtracting the pixels of the connector 6 which was not properly attached from the original image.
Since the above image remains, control means (not shown) automatically determines that the rubber hose is not properly assembled.

[0005]

However, in such a conventional method for automatically assembling a resin hose,
In addition to the case where the rubber hose 5 is not inserted into the connector 6 as shown in FIG. 18, the case where the rubber hose 5 is fitted with the end surface of the rubber hose 5 partially abutting on the end surface thereof as shown in FIG. Since such an assembly failure occurs around the axis of the connector 6 and does not have a fixed directionality, it is difficult to determine the assembly failure only from an image in a single plane, and it is also necessary to take images from a large number of surfaces. In such a case, it is possible to detect such an improper assembly.On the other hand, there is a problem that the equipment is complicated and the capital investment is increased.
Since it may take about 5 seconds, there is a problem that the tact time is increased and the production efficiency is reduced.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a method for automatically assembling a resin hose, which is capable of reliably and quickly detecting a failure in assembling a resin hose and easily determining the direction of the assembly failure. The purpose is to provide.

[0007]

According to a first aspect of the present invention, there is provided a method for automatically assembling a resin hose including a step of inserting a resin hose gripped by a robot hand into a connector in FIG. After the step is completed, a driving step of displacing the hand in the shearing direction of the resin hose (step S2), a step of detecting bending applied to the hand (step S3), and assembling of the resin hose based on the detection result Determining a state (steps S4 to S6).

A second invention relates to a method for automatically assembling a resin hose including a step of inserting a resin hose gripped by a robot hand into a connector in FIG.
A first insertion step of inserting the resin hose into the connector by a predetermined amount (step S1A), a driving step of displacing the hand in a shear direction of the resin hose (step S2),
Detecting a bending applied to the hand (step S
3) If the detection result exceeds a preset value, it is determined that the resin hose has been assembled. Otherwise, it is determined that the resin hose is not properly assembled (Step S).
4, S5) and a second insertion step (Step S6A) of inserting the resin hose to a predetermined mounting position of the connector if the determination result indicates that the mounting is completed.

[0009] In a third aspect of the present invention, the first or second aspect is provided.
In the invention, the driving step sequentially displaces the hand to a plurality of predetermined positions separated from the axis of the connector by a predetermined amount.

[0010] In a fourth aspect, the present invention provides the first to third aspects.
In any one of the inventions, while the driving step holds the hand displaced to a predetermined position in the shearing direction of the resin hose for a predetermined time, the bending detecting step is performed within the predetermined time.

A fifth invention is directed to the third or fourth embodiment.
In the invention, the determination step determines that the resin hose has been completely assembled if the detection result of the bending applied to the hand is equal to or more than a predetermined value. The direction in which the resin hose comes off the connector is determined according to the determination result.

According to a sixth aspect of the present invention, in the fifth aspect, when it is determined that the resin hose is not properly assembled in the determining step, the hand is driven to disconnect the resin hose from the connector. After displacing the resin hose by a predetermined amount in the direction away from the connector, the process returns to the insertion step.

[0013]

[0014] In a seventh aspect , the first to sixth aspects are described.
In any one of the inventions, while the hand includes a plurality of claws for gripping a resin hose, a means for detecting bending is arranged on each of the claws, and the detecting step is based on a detection result of these detecting means. judge.

In an eighth aspect based on the seventh aspect , the detecting means comprises a strain gauge, and the judging step comprises the step of detecting the strain gauge with a predetermined value. In this case, it is determined that the mounting of the resin hose is completed. On the other hand, if it is less than the predetermined value, it is determined that the mounting of the resin hose is defective.

[0016]

According to a first aspect of the invention, when the hand is displaced in the shearing direction of the resin hose after the step of inserting the resin hose into the connector is completed, the robot responds to the elastic reaction force of the resin hose inserted into the connector. The hand is bent. In addition to detecting the bending applied to the hand, it is possible to easily and quickly determine the completion or failure of assembling the resin hose based on the detected bending size.

Further, according to a second aspect of the present invention, after the first insertion step of inserting a predetermined amount of the resin hose into the connector is completed,
When the hand is displaced in the shear direction of the resin hose, the hand of the robot is bent in accordance with the elastic reaction force of the resin hose inserted into the connector. In addition to detecting the bending applied to the hand, it is possible to easily and quickly determine the completion or failure of the resin hose based on the detected bending size. For example, in the second insertion step, the resin hose is further inserted to a predetermined assembly position.

Further, the third invention detects the bending applied to the resin hose at a plurality of positions separated by a predetermined distance from the shaft of the connector, and accurately determines the assembled state of the resin hose according to the plurality of detection results. It is possible to determine the direction in which the resin hose has come off, based on the detection results at a plurality of positions in the case of an assembly failure.

According to the fourth aspect of the present invention, by holding the hand displaced to a predetermined position in the shearing direction of the resin hose for a predetermined time, the bending applied to the hand can be detected in a stable state.

According to a fifth aspect of the present invention, if the detection result of the bending applied to the hand is equal to or more than a predetermined value, it is determined that the resin hose is completely assembled. The direction in which the resin hose comes off the connector is determined according to these determination results.

According to a sixth aspect of the present invention, when it is determined in the determining step that the resin hose is improperly assembled, the hand is driven to disconnect the resin hose from the connector, and then the resin hose is disconnected from the connector. By displacing by a predetermined amount and returning to the insertion step, the resin hose assembly failure can be smoothly recovered.

[0022]

According to a seventh aspect of the present invention, the hand has a plurality of claws for gripping a resin hose, and the claws are provided with a means for detecting a bend. When the output of the plurality of bending detecting means exceeds a predetermined value without being detected, it is possible to determine that the resin hose has been assembled. If none of the outputs exceed the predetermined value, it is determined that the assembly is defective. can do.

According to an eighth aspect of the present invention, the detecting means comprises a strain gauge, and detects an elastic reaction force of the resin hose applied to the nail as a bending strain, and the detected value of the strain gauge is equal to or more than a predetermined value. While it is determined that the resin hose has been completely assembled, if it is less than the predetermined value, it can be determined that the resin hose has been improperly assembled.

[0025]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

As shown in FIGS. 3 to 5, the articulated robot 1 is provided with a hand 2 constituted by gripping means such as an air chuck, and the hand 2 is provided with a rubber hose 5 as a resin hose. A pair of graspable claws 21 and 22 are provided to protrude in the Y-axis direction in the figure.

The claws 21 and 22 are supported at their base ends so as to be displaceable by the hand 2, while the claws 21 and 22 are formed at their free ends facing each other by a concave portion which can be engaged with the rubber hose 5. The claws 21 and 22 are relatively displaced in the X-axis direction shown in FIG. 4 by driving the hand 2 to grip and release the rubber hose 5.

The hand 2 can be displaced in the X, Y, and Z directions in the drawing and can rotate around the Y axis. The connector 6 is locked in the Z axis direction by a clamp (not shown) or the like.
The rubber hose 5 gripped by the hand 2 through the connector 2 is fitted and inserted into the connector 6 as shown in FIG.
Drives the robot 1.

Here, the claws 21 and 22 constituting the hand 2
Are formed in a rectangular cross-section, and in the middle of the full length direction, as strain gauges 3 and 4 for detecting bending strain of the claws 21 and 22 as means for detecting a bending load applied to the claws 21 and 22 from the X-axis direction. Are fixedly installed.

The strain gauges 3 and 4 are fixedly mounted on the side opposite to the side where the claws 21 and 22 face each other.
The strains ε ₁ and ε ₂ detected by the strain gauges 3 and 4 are input to comparators 8 and 8 via an amplifier 7, respectively.

In the comparator 8, the input distortion ε ₁ ,
Compared whether more than a predetermined value epsilon _K indicating success epsilon ₂ is assembled, it is to feed back the comparison result to the sequencer 9.

In the above configuration, the rubber hose 5 is automatically assembled to the connector 6 based on the flowchart shown in FIG. 6, and the outline of this assembly is shown in FIG.

First, the rubber hose 5 will be described with reference to FIGS.
The flow of the entire automatic assembling process will be described.
In the approach of bringing the rubber hose 5 gripped by the step closer to the connector 6, as shown in FIG. 7 (a), the end face of the rubber hose 5 is tilted by a predetermined angle θ with respect to the axis of the connector 6, and It is made to approach (step S11 of the flowchart of FIG. 6).

In the primary insertion step shown in FIGS. 7B to 7D, the inner periphery of the end surface of the rubber hose 5 is first placed on the outer periphery of the end surface of the connector 6 while maintaining the inclination angle θ as shown in FIG. abutted to mate, further FIG. 7 (c), the inserted to a predetermined position where the end surface of the rubber hose 5 consists of the end face of the connector 6 to a predetermined depth L ₁ as (d), to a depth L ₁ At the time of insertion, a raising operation is performed to rotate the hand 2 so that the axis of the rubber hose 5 coincides with the axis of the connector 6 (same steps S12 to S14).

Next, in the assembly confirmation step of FIG. 7E, the rubber hose 5 gripped by the hand 2 is
That is, the rubber hose 5 is displaced by a predetermined amount r from the axis of the connector 6 in the shearing direction, and in this state, the elastic reaction force of the rubber hose 5 is applied to the claws 21 and 22 of the hand 2 as a bending load. The claws 21 and 22 undergo bending deformation in accordance with the bending load, and the bending deformation is detected as strains ε ₁ and ε ₂ output from the strain gauges 3 and 4 provided on the claws 21 and 22, and will be described later. The completed or defective assembly of the rubber hose 5 is determined by comparing the detected strains ε ₁ and ε ₂ with a predetermined value ε _K exceeding only when the assembly is successful (similarly, in step S15,
S16).

If it is determined in the assembling confirmation step that the rubber hose 5 has been correctly inserted into the connector 6, the assembling is completed, and the process proceeds to the secondary insertion operation shown in FIGS. 7 (f) and 7 (g).

The secondary insertion operation includes a lifting operation and an insertion operation. The lifting operation is performed by temporarily moving the rubber hose 5 upward in the figure in the axial direction as long as the rubber hose 5 does not come out of the connector 6 as shown in FIG. Fig. 7
By the insertion operation shown in (g), to a predetermined position where the end surface of the rubber hose 5 consists of the end face of the connector 6 to a predetermined depth L ₂ and the hand 2 is displaced in the axial direction to assemble the rubber hose 5 to the connector 6 (also step S17 , S18).

Thereafter, the hand 2 opens the claws 21 and 22 to release the rubber hose 5, and moves on to the next cycle.

On the other hand, if it is determined in step S16 in FIG. 6 that the assembly is defective, the rubber hose 5 is disconnected from the connector 6 and the procedure returns to the approach (step S11).
The operation of inserting the rubber hose 5 is performed again.

Here, the assembling confirmation process in steps S15 and S16 determines whether or not the rubber hose 5 has been correctly inserted into the connector 6 based on the output of the strain gauges 3 and 4. The method is performed based on the flowchart shown in FIG. 8, in which the hand 2 is driven in the shearing direction of the rubber hose 5 and the bending applied to the claws 21 and 22 is detected by the strain gauges 3 and 4, and the driving method of the hand 2 has been described. The flowchart will be described later.

First, the operation direction of the hand 2 will be described with reference to FIG.
11, the hand 2 is performed in a shear direction of the rubber hose 5, that is, in a plane orthogonal to the axis of the rubber hose 5 and the connector 6 shown by the XY plane in the figure, and the claws 21 and 22 are provided. A bending detection position P ₁ on an orthogonal axis ψ, ω having an angle of 45 degrees with respect to the X axis which is the gripping direction of the connector 6 and separated from the axis of the connector 6 by a predetermined distance r.
P _1, P ₃ toward the ~P _4, P _4, the driving of the hand 2 in the order of P ₂ is performed.

When the hand 2 is displaced in the XY plane with the rubber hose 5 inserted into the connector 6, a reaction force is applied to the hand 2 according to the elasticity of the rubber hose 5, and the claws 21 and 22 are formed according to the reaction force. Bending occurs.

The bending generated on the claws 21 and 22 is detected from the output of the strain gauges 3 and 4.
9 and 11 are displaced in the Y-axis direction, which is the direction in which the claws 21 and 22 protrude, the reaction force of the rubber hose 5 is applied to the claws 21 and 22 as a buckling or tensile load, so that the detection of bending is not possible. I can't.

In order to make the bending applied to the claws 21 and 22 almost uniform at each position, the bending detection position P ₁ is set on the orthogonal axis ψ, ω that forms an angle of 45 degrees with the gripping direction of the claws 21 and 22. previously setting a plurality of positions to P _4.

Then, as shown in FIG.
2 of the upper end surface of the lower surface and the connector 6 is set in advance to leave a predetermined distance L _C, the distance L _C can be detected by the strain gages 3,4 by the elastic reaction force of the rubber hose 5 by the provision of bending nails 21, The distance L _C is set to a predetermined value equal to or less than の of the outer diameter of the rubber hose 5 and equal to or greater than 0.

Further, in order to determine the direction in which the rubber hose 5 has deviated, eight directions A _{1 to} A ₈ at 45-degree intervals based on the X axis are set clockwise in the XY plane in the same manner as described above.
Here, the bending detection positions P _{1 to} P ₄ are A ₂ , A ₄ ,
Corresponds to A ₆ and A ₈ directions.

As described above, the bending detection position P of the claws 21 and 22 is determined.
₁ to P ₄ are set, assembling confirmation step of the rubber hose 5 with reference to the flow chart shown in FIG. 8 is performed.

In step S21, the bending detection positions P _{1 to} P ₄
It is determined whether or not all of the driving has been completed. If the driving has been completed, the process proceeds to the determination process of the departure direction after step S27, while if not completed, the process proceeds to step S22.

At step S22, P ₁ , P ₃ , P
_4, the hand 2 in the order of P ₂ intended for driving the shearing direction of the rubber hose 5, the hand 2 if the first-time process 7
Since the rubber hose 5 immediately after the end of the primary insertion step shown in (d) is held coaxially with the connector 6, FIG.
The hand 2 is displaced by a predetermined distance r toward the bending detection position P ₁ shown in FIG. 1, and in the case of the second processing, the hand 2 is driven from the bending detection position P ₁ to P ₃ , and the third and fourth times , The hand 2 is displaced to P ₄ and P ₂ respectively, and the hand 2 is displaced at each of the bending detection positions P _{1 to} P ₄ for a preset time.
Hold.

In step S23, the bending detection positions P _{1 to} P ₄
Then, the outputs ε ₁ and ε ₂ of the strain gauges 3 and 4 are read, and the strains ε ₁ and ε ₂ read in step S24 are compared with a predetermined strain ε _K generated only when assembly is successful.
The reading in step S23 is performed in a state where the hand 2 holds the predetermined bending detection position. The output of the strain gauges 3 and 4 can be stabilized as compared with the reading during the driving of the hand 2, and the comparison result This is to improve reliability.

Here, the outputs ε ₁ and ε ₂ of the strain gauges 3 and 4
When the rubber hose 5 is correctly inserted into the connector 6,
A graph shown in FIG. 13 is obtained.

The strains ε ₁ and ε ₂ both become strain ε> 0 when bending deformation occurs in a direction (X direction) in which the gripping grooves 23 of the claws 21 and 22 are opened to each other, and when the rubber hose 5 is gripped, the claws 21 , 22 both of the initial strain ε ₀ according to the gripping pressure
When the hand 2 is displaced upward in the figure along the X axis in FIG. 9, the bending distortion of the claws 21 increases from the initial value ε ₀ according to the elastic reaction force of the rubber hose 5, while the claws 22 bend. The distortion decreases from the initial value ε ₀ . These strains ε ₁ and ε
_{If one of the two} exceeds a predetermined value ε _K indicating successful assembly, it is determined that the assembly is completed, while if both the strains ε ₁ and ε ₂ are less than the predetermined value ε _K , it is determined that the assembly is defective.

When the rubber hose 5 has been assembled normally, the hand 2 is driven to the bending detection position P ₁ and is held for a predetermined time to detect the strains ε ₁ and ε ₂ . The claw 21 side is displaced against the elasticity of the rubber hose 5 so that the output ε ₁ of the strain gauge 3 exceeds a predetermined value ε _K , while the claw 22 side is for the rubber hose 5 to recover toward the axis of the connector 6. Since the value becomes less than the bending strain ε ₀ due to the gripping pressure, and the strain ε ₁ is equal to or larger than the predetermined value ε _K , the detachment determination flag F ₁ indicating the improper assembly of the rubber hose 5 is set to 0 in step S 25. Incidentally, out determination flag _F 1 to F ₄ position P ₁
Corresponding respectively to ~P _4.

On the other hand, as a rubber hose 5 is shown in FIG. 15, in the case of defective assembly end face of the bending detection position P _3, P ₄ side is not inserted correctly rides on the end surface of the connector 6, A ₇ direction in FIG. 12 Will be off
Strain epsilon ₁ due to elastic reaction force of the rubber hoses 5 to the nail 21 be the hand 2 is displaced to the P ₁ side is lower than normal, the predetermined value so that the output epsilon ₁ of the strain gauges 3 are shown in FIG. 14 for example epsilon _{Since K is} smaller than _K and the distortions ε ₁ and ε ₂ are both the predetermined values ε _K , the departure determination flag F ₁ is set to 1 in step S26.

[0055] Thus, with sequentially driving the hand 2 to the detection position P ₁ to P ₄ each bend in step S21 to S26, the output epsilon ₁ of the strain gauge 3, 4 epsilon ₂ and the predetermined value epsilon _K at each position comparison to set each determination flag F ₁ to F ₄ in.

When the detection of the bending strain at each of the bending detection positions P _{1 to} P ₄ is completed, the assembly state of the rubber hose 5 is determined in step S27, and if all the disconnection determination flags F _{1 to} F ₄ are 0, while rubber hose 5 to end the check process of assembling in step S30 is determined to have been inserted properly into the connector 6, out determination of at least one of the flags F ₁ to F ₄ is the direction of the off in step S28 if 1 Make a decision.

In step S28, the departure determination flags F ₁ -F1
The determination result of F ₄ compared with preset map as shown in FIG. 16, off set to one determination flag F ₁ to F ₄
Out direction A ₁ of the rubber hose 5 by a combination of to A ₈
Is determined.

In FIG. 16, when the release direction is "error", it indicates that the drive or bending of the hand 2 is detected or the device is abnormal. In step S29, if the determination result of the release direction is "error", the release is performed. Determination flag F _1-
Returns to the step S21 resets the F _4, confirms assembly process again.

In this manner, the process proceeds to step S16 in FIG. 6 based on the determination of the completion of the assembly of the rubber hose 5 obtained in step S30 or the disengagement directions A _{1 to} A ₈ of the rubber hose 5 obtained in step S29. If there is, the process proceeds to the above-described secondary insertion process, while if the assembly is defective, the process returns to step S11 and starts again from the approach.

Here, if it is determined in step S29 that the rubber hose 5 has come off, the flow proceeds to step S1 in FIG.
At this time, the approach is performed, and the rubber hose 5 is displaced by a predetermined amount in the direction in which the rubber hose 5 is displaced, and then the approach and the primary insertion step are performed to improve the probability of the successful assembly of the rubber hose 5. is to be able, for example, as shown in FIG. 15, when the rubber hose 5 is deviated in a ₇ side is performed to approach the rubber hose 5 in the state of being displaced by a predetermined amount to a ₇ direction.

As described above, while the strain gauges 3 and 4 for detecting bending are provided on the claws 21 and 22 of the hand 2, the hand 2 is inserted into the connector 6 after the rubber hose 5 is inserted into the connector 6. By comparing the strains ε ₁ , ε ₂ detected by the strain gauges 3, 4 with the predetermined value ε _K , it is possible to reliably determine whether the rubber hose 5 has been assembled or defective. Can easily determine the direction in which the rubber hose 5 comes off in accordance with the detection result of the bending strain at a plurality of predetermined positions,
By simplifying the configuration of the device as compared to the conventional example, it is possible to suppress an increase in capital investment, and it is possible to reduce the determination time of the assembled state as compared with the conventional example. The production efficiency can be improved by reducing the tact time.

Further, if the rubber hose 5 is improperly assembled, it is displaced by a predetermined amount in the disengaged direction, and the insertion step is performed again to improve the probability of successful assembly, thereby suppressing a decrease in production efficiency due to re-assembly. You can do it.

[0063] In the above embodiment, it was confirmed assembly process after the first insertion process, even by inserting a rubber hose 5 to a predetermined depth L ₂ in the first insertion step by omitting the second insertion step In this case, if the rubber hose 5 is correctly assembled, the tact time can be shortened. However, if the rubber hose 5 is improperly assembled, the displacement amount of the hand 2 accompanying the pulling-out operation for re-starting increases, and the tact time is reduced. May increase.

In the above embodiment, the hand 2 was driven in the order of the bending detection positions P ₁ , P ₃ , P ₄ , and P _{2. In} FIG. The positions on the circumference may be driven in the order of P ₁ , P ₂ , P ₃ , and P _4. The driving amount of the hand 2 can be reduced as compared with the above embodiment, and the speed of the assembly confirmation process can be increased. Can be promoted.

Further, steps S24 to S26 in FIG.
, The strains ε ₁ , ε ₂
If either one of them is equal to or more than the predetermined value ε _K , it is determined that the assembly is completed. However, the determination may be made based on only one of the distortions set in advance according to the bending detection position. For example, in FIG. _1, a P ₄ in the strain epsilon ₁ is compared with a predetermined value epsilon _K, similarly position P _3, the P ₂ epsilon ₂ intended to be compared with a predetermined value epsilon _K, state and out of assembling the rubber hose 5 in the same manner as described above Direction can be determined reliably and quickly.

Although the _four bending detection positions P _{1 to} P ₄ are set, a larger number of positions are set, and a determination map for the deviation direction as shown in FIG. 16 is set in advance according to the positions. In addition, the deviation of the rubber hose 5 from the shaft of the connector 6 when the assembly is determined to be defective can be grasped more accurately.

When the hand 2 is driven in the shearing direction of the rubber hose 5, the bending load applied to the hand 2 is changed by the claws 21, 2.
2 was detected as the bending strain generated in
May be directly detected.

[0068]

As described above, the first aspect of the present invention relates to a method for automatically assembling a resin hose including an insertion step of fitting a resin hose gripped by a hand of a robot to a connector. After the inserting step to be combined is completed, a driving step of displacing the hand in the shearing direction of the resin hose, a step of detecting bending applied to the hand, and determining an assembled state of the resin hose based on the detection result. If the resin hose is securely inserted into the connector, the elastic reaction force of the resin hose displaced in the shear direction will impart bending to the hand,
It is possible to determine the assembled state of the resin hose on the basis of this bending, simplify the configuration of the apparatus as compared with the conventional example, suppress an increase in capital investment, and reduce the time required for the determination. It is possible to improve production efficiency.

According to a second aspect of the present invention, there is provided an automatic resin hose assembling method including a step of inserting a resin hose gripped by a robot hand into a connector, wherein a first insertion step of inserting a predetermined amount of the resin hose into the connector. A driving step of displacing the hand in the shear direction of the resin hose, a step of detecting bending applied to the hand, and determining that the resin hose has been assembled when the detection result exceeds a preset value. If not, a second insertion step of inserting the resin hose to a predetermined mounting position of the connector if the determination result indicates that the assembly is completed, and the first insertion step If the connector is securely inserted into the connector, the elastic reaction force of the resin hose displaced in the shearing direction will cause the hand to bend. The assembly state of the resin hose is determined based on the above. If the assembly is completed, the resin hose can be completely assembled to the connector in the second insertion step. Therefore, it can be easily pulled out, and the time for the return can be shortened and the increase in the tact time can be suppressed.

According to a third aspect of the present invention, in the driving step, the hand is sequentially displaced to a plurality of predetermined positions separated from the axis of the connector by a predetermined amount, and the bending applied to the hand is detected at the plurality of positions. The assembled state of the resin hose can be accurately determined based on the plurality of detection results, and the reliability of the determination result can be improved.

According to a fourth aspect of the present invention, the driving step holds the hand displaced to a predetermined position in the shearing direction of the resin hose for a predetermined time, while performing the bending detection step within the predetermined time. Can be detected in a stable state, and the reliability of the determination result can be improved.

According to a fifth aspect of the present invention, in the determination step, if the detection result of the bending applied to the hand is equal to or more than a predetermined value, it is determined that the resin hose has been assembled. The direction in which the resin hose is detached from the connector is determined in accordance with the results of these determinations. It is possible to easily determine the direction while suppressing an increase in capital investment, and it is possible to improve production efficiency.

According to a sixth aspect of the present invention, when the resin hose is determined to be improperly assembled in the determining step, the hand is driven to disconnect the resin hose from the connector, and then the resin hose is disengaged from the connector. After the hose is displaced by a predetermined amount, the process returns to the insertion step. Therefore, it is possible to smoothly recover the resin hose from being improperly assembled, thereby improving the production efficiency.

[0074]

According to a seventh aspect of the present invention, the hand has a plurality of claws for gripping a resin hose, and these claws are provided with means for detecting a bend. Therefore, in the determination step, the assembled state of the resin hose can be determined without being affected by the driving direction of the hand, and the reliability of the determination result can be improved.

According to an eighth aspect of the present invention, the detecting means is constituted by a strain gauge, and the judging step judges completion of assembling of the resin hose when the detected value of the strain gauge is a predetermined value or more. On the other hand, if less than the predetermined value, it is determined that the resin hose is improperly assembled, the elastic reaction force of the resin hose applied to the claws is detected as bending distortion, and the assembled state of the resin hose can be determined based on this distortion,
The configuration of the apparatus can be simplified as compared with the conventional example, and an increase in capital investment can be suppressed and a reduction in manufacturing cost can be promoted.

[Brief description of the drawings]

FIG. 1 is a claim correspondence diagram corresponding to the first invention.

FIG. 2 is a diagram corresponding to claims corresponding to the second invention.

FIG. 3 is a schematic configuration diagram showing an embodiment of the present invention.

FIG. 4 is a front view showing a robot hand.

FIG. 5 is a side view of the same.

FIG. 6 is a flowchart showing the steps of the present invention.

FIG. 7 is a schematic explanatory view similarly.

FIG. 8 is a flowchart of an assembling confirmation step.

FIG. 9 is a schematic diagram showing a driving direction of the hand.

FIG. 10 is a schematic diagram showing the relationship between the hand and the connector.

FIG. 11 is a schematic view showing a bending detection position.

FIG. 12 is a schematic diagram showing the direction in which the rubber hose comes off.

FIG. 13 is a graph showing an output of a strain gauge when assembly is completed.

FIG. 14 is a graph showing the output of a strain gauge in the case of an improper assembly.

FIG. 15 is a schematic view showing a rubber hose that is not properly assembled.

FIG. 16 is a table showing conditions for determining a departure direction.

FIG. 17 is a side view showing the inserted rubber hose.

FIG. 18 is a conceptual diagram showing a conventional image recognition method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Robot 2 Hand 3 and 4 Strain gauge 5 Rubber hose 6 Connector 7 Amplifier 8 Comparator 9 Sequencer 21, 22 Claw

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-5-200638 (JP, A) JP-A-6-55386 (JP, A) JP-A-7-108427 (JP, A) JP-A-7-108 178636 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B62D 65/10

Claims (8)

(57) [Claims] 1. A method for automatically assembling a resin hose including a step of inserting a resin hose gripped by a hand of a robot into a connector, a driving step of displacing the hand in a shearing direction of the resin hose after the insertion step is completed. Detecting a bending applied to the hand; and determining that the resin hose has been completely assembled if the detection result exceeds a preset value; otherwise, determining a defective assembly. An automatic method for assembling a resin hose. 2. A method for automatically assembling a resin hose including a step of inserting a resin hose gripped by a robot hand into a connector, a first insertion step of inserting the resin hose into the connector by a predetermined amount, and A driving step of displacing the hose in the shearing direction, a step of detecting bending applied to the hand, and if this detection result exceeds a preset value, it is determined that the resin hose has been assembled. A method for automatically assembling a resin hose, comprising: a step of determining an assembly failure; and a second insertion step of inserting the resin hose to a predetermined assembly position of the connector if the result of the determination is complete. 3. The automatic resin hose as claimed in claim 1, wherein the driving step sequentially displaces the hand to a plurality of predetermined positions separated by a predetermined amount from an axis of the connector. Assembly method. 4. The method according to claim 1, wherein the driving step holds the hand displaced to a predetermined position in the shear direction of the resin hose for a predetermined time, and performs the bending detection step within the predetermined time. The method for automatically assembling a resin hose according to claim 3. 5. The method according to claim 1, wherein the determining step determines that the resin hose has been completely assembled if the detection result of the bending applied to the hand is equal to or greater than a predetermined value, and determines that the resin hose has been incorrectly assembled if the detection result is less than the predetermined value. The method for automatically assembling a resin hose according to claim 3 or 4, wherein a direction in which the resin hose is detached from the connector is determined according to the detection result. 6. When the determining step determines that the resin hose is improperly assembled, the hand is driven to disconnect the resin hose from the connector, and then the resin hose is removed by a predetermined amount in a direction away from the connector. The method for automatically assembling a resin hose according to claim 5, wherein the method returns to the inserting step after the displacement. 7. A plurality of said hands gripping a resin hose.
While providing a means for detecting bending in these claws.
And the detection step is based on the detection results of these detection means.
2. The method according to claim 1, wherein the determination is made based on
Automatic assembly of resin hose as described in any one of 6.
Method. 8. The detecting means comprises a strain gauge.
At the same time, the judgment step determines whether the detected value of the strain gauge is
Judgment of completion of resin hose assembly when the value is above the specified value
On the other hand, if it is less than the specified value, the resin hose
The resin resin according to claim 7, which is determined to be good.
Automatic assembling method of base.