JP7122857B2 - PARTS ASSEMBLY DEVICE AND PARTS ASSEMBLY METHOD - Google Patents

Description

The present invention relates to a component assembling apparatus and a component assembling method.

Japanese Patent Laying-Open No. 2004-243501 (Patent Document 1) discloses a parts assembly determination device. This parts assembly determination device determines the fitted state of the snap-fit portions by detecting the sound generated when the snap-fit portions are fitted.

Japanese Patent Application Laid-Open No. 2004-243501

However, in a noisy environment such as a factory, it is difficult to detect the sound generated when the snap-fit portions are engaged. Under such an environment, it is difficult to accurately determine the fitting state of the snap-fit portions using the parts assembly determination device disclosed in Patent Document 1. In addition, the dimensional variation of the snap-fit portion has a great effect on the volume and frequency of the sound generated when the snap-fit portion is fitted. Therefore, if the dimensions of the snap-fit portions vary, it is difficult to accurately determine the fitting state of the snap-fit portions. SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to provide a parts assembling apparatus and a parts assembling method that can more accurately determine the fitting state of snap-fit portions.

A component assembling apparatus of the present invention includes a first pressing section and a determination section. The first pressing portion is configured to apply a first force to the first surface portion of the first component. The determination unit is configured to determine a first fitting state of the first snap-fit portions provided on the first component and the second component based on the first ratio. The first ratio is a ratio of a second change in the first force to a first change in the first position of the first surface portion while the first force is applied to the first surface portion. be.

A component assembling method of the present invention includes applying a first force to a first surface portion of a first component using a first pressing portion, and applying a first force to the first component and the second component based on a first ratio. determining a first mating condition of a first snap fit provided. The first ratio is a ratio of a second change in the first force to a first change in the first position of the first surface portion while the first force is applied to the first surface portion. be.

In the parts assembling apparatus and the parts assembling method of the present invention, the first fitted state of the first snap-fit portion is determined based on the first ratio instead of the sound. Therefore, even in a noisy environment, the first fitted state of the first snap-fit portion can be accurately determined.

1 is a schematic diagram of a component assembling apparatus according to Embodiment 1; FIG. 4 is a schematic front view of the first component and the second component (before fitting of the first snap-fit portion) of the first embodiment; FIG. 4 is a schematic side view of the first component and the second component (before fitting of the first snap-fit portion) of the first embodiment; FIG. 4 is a schematic front view of the first component and the second component (after fitting of the first snap-fit portion) of the first embodiment; FIG. 4 is a schematic side view of the first component and the second component (after fitting of the first snap-fit portion) of the first embodiment; FIG. 3 is a block diagram of a storage unit included in the parts assembling apparatus of Embodiment 1; FIG. FIG. 10 is a graph showing changes in the first ratio when the first snap-fit portion is fitted in Embodiment 1; FIG. 10 is a graph showing changes in the first ratio when the first snap-fit portion is not fitted in Embodiment 1; FIG. 4 is a diagram showing a flowchart of a method for assembling parts according to Embodiment 1; FIG. 10 is a schematic diagram of a component assembling apparatus according to Embodiment 2; FIG. 10 is a diagram showing a flowchart of a method for assembling parts according to Embodiment 2; FIG. 11 is a schematic diagram of a component assembling apparatus according to Embodiment 3; FIG. 11 is a schematic side view of the first component and the second component (before fitting of the first snap-fit portion and the second snap-fit portion) of the third embodiment; FIG. 11 is a schematic side view of the first component and the second component (after fitting of the first snap-fit portion and the second snap-fit portion) of the third embodiment; FIG. 11 is a diagram showing a flowchart of a method for assembling parts according to Embodiment 3; FIG. 11 is a schematic partial enlarged view showing one step of a method for assembling parts according to Embodiment 3; FIG. 17 is a schematic partial enlarged view showing a step subsequent to the step shown in FIG. 16 in the component assembling method of Embodiment 3; FIG. 11 shows a graph representing a change in the first rate when the first snap-fit portion is fitted and a graph representing a change in the second rate when the second snap-fit portion is fitted in Embodiment 3; is. FIG. 11 is a schematic perspective view of a component assembling apparatus according to Embodiment 4; FIG. 12 is a diagram showing a flowchart of a method for assembling parts according to Embodiment 4; FIG. 11 is a schematic partial enlarged view showing one step of a method for assembling parts according to Embodiment 4; FIG. 22 is a schematic partial enlarged view showing a step subsequent to the step shown in FIG. 21 in the component assembling method of Embodiment 4; FIG. 11 is a schematic diagram of a component assembling apparatus according to Embodiment 5; FIG. 20 is a schematic side view of the first component and the second component (before fitting of the first snap-fit portion and the second snap-fit portion) of the fifth embodiment; FIG. 20 is a schematic side view of the first component and the second component (after fitting of the first snap-fit portion and the second snap-fit portion) of the fifth embodiment; FIG. 20 is a schematic partial enlarged view showing one step of the first example of the method of assembling parts according to Embodiment 5; FIG. 27 is a schematic partial enlarged view of a parts assembling apparatus showing a step subsequent to the step shown in FIG. 26 in the first example of the method of assembling parts according to Embodiment 5; FIG. 28 is a schematic partial enlarged view showing a step subsequent to the step shown in FIG. 27 in the first example of the component assembling method of Embodiment 5; FIG. 21 is a schematic partial enlarged view showing a step of a second example of a method of assembling parts according to Embodiment 5; FIG. 30 is a schematic partial enlarged view showing a step subsequent to the step shown in FIG. 29 in the second example of the method of assembling parts according to Embodiment 5; FIG. 20 is a schematic partial enlarged view showing one step of the third example of the component assembling method of Embodiment 5; FIG. 32 is a schematic partial enlarged view showing a step subsequent to the step shown in FIG. 31 in the third example of the method of assembling parts according to Embodiment 5; FIG. 33 is a schematic partially enlarged view showing a step subsequent to the step shown in FIG. 32 in the third example of the method of assembling parts according to Embodiment 5;

Embodiments of the present invention will be described below. In addition, the same reference numerals are given to the same configurations, and the description thereof will not be repeated.

Embodiment 1.
A parts assembling apparatus 1 according to Embodiment 1 will be described with reference to FIG. The component assembling apparatus 1 mainly includes a first pressing section 20 and a determination section 34 . The parts assembling apparatus 1 may further include a first sensor 25 , a first force sensor 26 , a storage section 33 and a first control section 30 . The component assembling apparatus 1 may further include a stage 7 and an alignment member 8 .

The component assembling apparatus 1 is configured to fit the first snap-fit portion 12 provided on the first component 10 and the second component 15 . Although the first component 10 is not particularly limited, it may be a resin molded product. The second component 15 is not particularly limited, but may be a resin molded product. A second component 15 is placed on the stage 7 . The second part 15 is positioned by the alignment member 8 . The alignment member 8 is not particularly limited, but may be an alignment pin.

The first part 10 is rotatably connected to the second part 15 on the side opposite the first snap-fit portion 12 . In one example, the first part 10 may be connected to the second part 15 via a deformable portion provided opposite the first snap-fit portion 12 . The deformable portion may be, for example, a thin portion of a resin molded product. Alternatively, the first part 10 may be connected to the second part 15 via a shaft provided on the opposite side of the first snap fit portion 12 . The first part 10 may include a recess 11 on its inner side. The second part 15 may include a recess 16 on its inner side.

The first part 10 includes a first snap-fit portion 12a. The second part 15 includes a second snap fit portion 12b. The second snap-fit portion 12b may be, for example, a pawl with an inclined surface. The first snap-fit portion 12a may include holes that fit over the claws. The first snap-fit portion 12 a and the second snap-fit portion 12 b constitute the first snap-fit portion 12 . The first pressing portion 20 presses the first component 10 toward the second component 15 when the first snap-fit portion 12 is not fitted (see FIGS. 2 and 3). Thus, as shown in FIGS. 4 and 5, the first snap fit portion 12 is in a fitted state.

The first pressing portion 20 is configured to apply a first force to the first surface portion of the first component 10 . The first pressing portion 20 may include, for example, a first head portion 20a, a first movable member 20b, and a first cylinder 20c. The first head portion 20 a is configured to contact the first surface portion of the first component 10 . The first surface portion is, for example, the surface 13 of the first component 10 facing the first pressing portion 20 . Specifically, the first head portion 20 a is positioned at the tip of the first pressing portion 20 (first movable member 20 b ) and contacts the first surface portion of the first component 10 . The first movable member 20b can move in the first direction (z-direction) within the first cylinder 20c. The first movable member 20b may move within the first cylinder 20c, for example, by varying the pressure in multiple chambers within the first cylinder 20c. The first pressing part 20 may be, for example, a pneumatic cylinder or a hydraulic cylinder. The first movable member 20b may be, for example, a plunger.

The first sensor 25 is configured to measure the position of the first movable member 20b. The first sensor 25 may be, for example, a laser displacement meter. The first sensor 25 may be attached to the first pressing portion 20 .

The first force sensor 26 is configured to detect a first force applied to the first surface portion of the first component 10 by the first pressing portion 20 . The first force sensor 26 is attached to the first pressing portion 20 . The first force sensor 26 may be, for example, a strain gauge force sensor or a piezoelectric force sensor. A signal output from the first force sensor 26 is input to the first controller 30 . The first control section 30 is configured to control the first pressing section 20 according to a signal output from the first force sensor 26, for example.

A signal output from the first sensor 25 is recorded in the storage unit 33 . As shown in FIG. 6, a first movement of the first surface portion of the first part 10 in a first direction (z-direction) while a first force is applied to the first surface portion of the first part 10 . The positions of 1 (z ₁ , z ₂ , . . . , z _n-1 , z _n , z _n+1 , . . . ) are recorded in the first area 33a of the storage unit 33 (n is a natural number). As used herein, the first position means the position of the first surface portion of the first part 10 or the position of the first movable member 20 b corresponding to the position of the first surface portion of the first part 10 . In the present embodiment, the position of the first movable member 20b while the first force is being applied to the first surface portion of the first component 10 is recorded in the first area 33a of the storage section 33. FIG.

A signal output from the first force sensor 26 is recorded in the storage unit 33 . As shown in _FIG . 6, _{a first force} ( _{F 1} , F ₂ , . . . , F _n−1 , F _n , F _n+1 , . The first forces (F ₁ , F ₂ , . . . , F _n−1 , F _n , F _n+1 , . ₁ , z ₂ , . . . , z _n−1 , z _n , z _n+1 , .

The determining portion 34 is configured to determine the first fitted state of the first snap-fit portion 12 based on the first ratio. The first ratio is a ratio of a second change in the first force to a first change in the first position of the first surface portion while the first force is applied to the first surface portion. be. Specifically, the determination section 34 includes a calculation section 35 and a comparator 36 . The calculator 35 is configured to calculate the first ratio. The calculation unit 35 calculates a first change (for example, , change in the position of the first movable member 20b, the amount of movement of the first movable member 20b, z _n −z _n−1 ). The calculator 35 is configured to calculate a second change in the first force (F _n -F _n-1 ) from the first force recorded in the storage unit 33 . The calculator 35 is configured to calculate the first ratio by dividing the second change (F _n −F _n-1 ) by the first change (z _n −z _n-1 ). .

The determination unit 34 is configured to determine that the first snap fit portion 12 is fitted when the first ratio is below the first reference value Ref1 and then exceeds the first reference value Ref1. ing. Comparator 36 is configured to compare the first percentage with a first reference value Ref1 (see FIGS. 6-8). As shown in FIG. 6, the first reference value Ref1 is stored in the third area 33c of the storage section 33. As shown in FIG. The first reference value Ref1 may be changed according to the types of the first part 10 and the second part 15 and the configuration of the first snap-fit portion 12 .

When the first snap-fit portion 12a of the first part 10 fits into the second snap-fit portion 12b of the second part 15, the moving speed of the first part 10 is temporarily changed to that of the first movable member 20b. It becomes larger than the movement speed (the movement speed of the first head section 20a). The first pressing portion 20 temporarily weakly contacts the first surface portion of the first component 10 or temporarily separates from the first surface portion of the first component 10 . As shown in FIG. 7, the first force temporarily greatly decreases, and the first ratio temporarily becomes equal to or less than the first reference value Ref1. When the first movable member 20b continues to move toward the second component 15, the first pressing portion 20 strongly contacts the first surface portion of the first component 10 again. The first force increases and the first percentage exceeds the first reference value Ref1.

On the other hand, if the first snap-fit portion 12a of the first part 10 does not fit into the second snap-fit portion 12b of the second part 15, as shown in FIG. There is no temporary large decrease, and the first ratio never becomes equal to or less than the first reference value Ref1. In this way, it is determined whether or not the first snap fit portion 12 is fitted by determining whether or not the first ratio falls below the first reference value Ref1 and then exceeds the first reference value Ref1. can do.

After the first ratio falls below the first reference value Ref1 and then exceeds the first reference value Ref1, the determination unit 34 determines that the first force becomes equal to or greater than the second reference value Ref2 (see FIG. 6). , it is determined that the fitting of the first snap-fit portion 12 has been properly completed. The determination section 34 controls the first pressing section 20 so that the first pressing section 20 does not further press the first component 10 . Specifically, the comparator 36 is configured to compare the first force with the second reference value Ref2. The determination section 34 is connected to the first control section 30 . When the first force becomes greater than or equal to the second reference value Ref2, the determination unit 34 controls the first pressing unit 20 via the first control unit 30 so that the first pressing unit 20 is applied to the first component 10 to prevent further pressure on the As shown in FIG. 6, the second reference value Ref2 is stored in the third area 33c of the storage section 33. As shown in FIG. The second reference value Ref2 may be changed according to the types of the first part 10 and the second part 15 and the configuration of the first snap-fit portion 12 .

After the first ratio falls below the first reference value Ref1 and then exceeds the first reference value Ref1, the first movable member 20b continues to move toward the second part 15. FIG. The first snap-fit portion 12a of the first part 10 contacts the second snap-fit portion 12b of the second part 15 to properly complete the fitting of the first snap-fit portion 12, and the first force is applied. is greater than or equal to the second reference value Ref2 (see FIG. 6). On the other hand, if at least one of the first snap-fit portion 12a of the first component 10 and the second snap-fit portion 12b of the second component 15 is damaged, the first percentage is below the first reference value Ref1. Even if the first movable member 20b continues to move toward the second part 15 after falling below and then exceeding the first reference value Ref1, the first force does not exceed the second reference value Ref2. By determining whether or not the first force is greater than or equal to the second reference value Ref2, it can be confirmed that fitting of the first snap-fit portion 12 has been properly completed.

A method of assembling parts according to the first embodiment will be described with reference to FIG.
Pressing of the first component 10 by the first pressing portion 20 is started. A first force is applied to the first surface portion of the first component 10 using the first pressing portion 20 (S10). Specifically, the first control section 30 controls the first pressing section 20 to move the first movable member 20 b and the first head section 20 a toward the second component 15 . The first pressing portion 20 contacts the first surface portion of the first component 10 and applies a first force to the first surface portion of the first component 10 .

The first movable member 20b and the first head portion 20a continue to move toward the second component 15, and the first pressing portion 20 continues to apply the first force to the first surface portion of the first component 10. As shown in FIG. While a first force is applied to the first surface portion of the first part 10, the first sensor 25 is used to detect a first displacement of the first surface portion of the first part 10 in a first direction (z-direction). (z ₁ , z ₂ , . . . , z _n-1 , z _n , z _n+1 , . . . ) are measured (S11). A first position of the first surface portion of the first component 10 (for example, the position of the first movable member 20 b ) is stored in the storage section 33 . While the first force is applied to the first surface portion of the first component 10 , the first force sensor 26 is used to determine the first force corresponding to the first position of the first surface portion of the first component 10 . Forces (F1, _F2 , ..., _{Fn-1 , Fn} , _Fn+1 , ...) are measured (S12). In the modified example of the present embodiment, the first sensor 25 detects that the first position of the first surface portion of the first component 10 (for example, the position of the first movable member 20b) has changed by a minute distance Δz. Each time a first force may be measured. A first force corresponding to the first position is recorded in the storage unit 33 .

The first position and first force of the first surface portion are measured multiple times until the first snap fit portion 12 is engaged. The first position and the first force of the first surface portion are not particularly limited, but may be measured at time intervals of 1/10 second or less, or may be measured at time intervals of 1/20 second or less. , may be measured at time intervals of 1/30 second or less, may be measured at time intervals of 1/50 second or less, or may be measured at time intervals of 1/100 second or less.

The calculation unit 35 calculates a first change in the first position of the first surface portion (for example, , the amount of movement (z _n −z _n−1 ) of the first movable member 20b is calculated (S13). The calculation unit 35 calculates a second change in the first force (F _n -F _n-1 ) from the first force recorded in the storage unit 33 (S14). The calculation unit 35 divides the second change by the first change to calculate the first ratio ((F _n −F _n-1 )/(z _n −z _n-1 )) (S15). .

The determination unit 34 determines the first fitting state of the first snap-fit portion 12 based on the first ratio (S20). Specifically, it is determined whether or not the first ratio falls below a first reference value Ref1 (see FIGS. 6 to 8) and then exceeds the first reference value Ref1. A comparator 36 compares the first ratio with the first reference value Ref1. The determination unit 34 determines that the first snap-fit portion 12 is fitted when the first ratio falls below the first reference value Ref1 and then exceeds the first reference value Ref1.

When the first snap-fit portion 12a of the first part 10 fits into the second snap-fit portion 12b of the second part 15, the moving speed of the first part 10 is temporarily changed to that of the first movable member 20b. It becomes larger than the movement speed (the movement speed of the first head section 20a). The first pressing portion 20 temporarily weakly contacts the first surface portion of the first component 10 or temporarily separates from the first surface portion of the first component 10 . The first force temporarily greatly decreases, and as shown in FIG. 7, the first ratio temporarily becomes less than or equal to the first reference value Ref1. On the other hand, if the first snap-fit portion 12a of the first part 10 does not fit into the second snap-fit portion 12b of the second part 15, as shown in FIG. There is no temporary large decrease, and the first ratio never becomes equal to or less than the first reference value Ref1. In this way, it is determined whether or not the first snap fit portion 12 is fitted by determining whether or not the first ratio falls below the first reference value Ref1 and then exceeds the first reference value Ref1. can do.

A first force is subsequently applied to the first surface portion of the first component 10 using the first pressing portion 20 . After the first ratio falls below the first reference value Ref1 and then exceeds the first reference value Ref1, the determination unit 34 determines that the first force becomes equal to or greater than the second reference value Ref2 (see FIG. 6). (S21). A comparator 36 compares the first force with a second reference value Ref2. When the first force becomes equal to or greater than a second reference value Ref2 after the first ratio falls below the first reference value Ref1 and then exceeds the first reference value Ref1, the determination unit 34 It is determined that the fitting of the snap-fit portion 12 has been properly completed. When the determination unit 34 determines that the fitting of the first snap-fit portion 12 has been properly completed, the determination unit 34 causes the first pressing unit 20 to further press the first component 10 via the first control unit 30 . The first pressing part 20 is controlled so that it does not. The first pressing portion 20 is pulled away from the first component 10 . Thus, the assembly of the first part 10 to the second part 15 is completed.

Effects of the parts assembling apparatus 1 and the parts assembling method of the present embodiment will be described.
The component assembling apparatus 1 of the present embodiment includes a first pressing section 20 and a determination section 34. As shown in FIG. The first pressing portion 20 is configured to apply a first force to the first surface portion of the first component 10 . The determination unit 34 is configured to determine a first fitting state of the first snap-fit portion 12 provided on the first component 10 and the second component 15 based on the first ratio. there is The first ratio is a ratio of a second change in the first force to a first change in the first position of the first surface portion while the first force is applied to the first surface portion. be.

The component assembling method of the present embodiment includes applying a first force to the first surface portion of the first component 10 using the first pressing portion 20 (S10), and applying a first force based on the first ratio. Determining a first fitting state of the first snap-fit portion 12 provided on the component 10 and the second component 15 (S20). The first ratio is a ratio of a second change in the first force to a first change in the first position of the first surface portion while the first force is applied to the first surface portion. be.

In the parts assembling apparatus 1 and the parts assembling method of the present embodiment, the first fitting state of the first snap-fit portion 12 is determined based on the first ratio instead of the sound. Therefore, the first fitting state of the first snap-fit portion 12 can be accurately determined even in a noisy environment. Furthermore, the first percentage is less sensitive to dimensional variations in the first snap fit portion 12 of the first component 10 than to sounds generated from the first snap fit portion 12 . Therefore, in the parts assembling apparatus 1 and the parts assembling method of the present embodiment, the first fitted state of the first snap-fit portion 12 can be accurately determined even if the first snap-fit portion 12 has dimensional variations. can do.

Embodiment 2.
A component assembling apparatus 1b according to the second embodiment will be described with reference to FIG. The parts assembling apparatus 1b of the present embodiment has the same configuration as the parts assembling apparatus 1 of the first embodiment, and has the same effect, but differs mainly in the following points.

The component assembling apparatus 1b further includes one or more distance sensors 41,42. Distance sensors 41 , 42 are configured to measure distances 43 , 44 between first part 10 and distance sensors 41 , 42 . Distances 43 and 44 are distances between the first component 10 and the first pressing portion 20 in the first direction (z direction). The first direction (z direction) is the moving direction of the first head portion 20a that contacts the first component 10 . The number and placement of the distance sensors 41, 42 may vary depending on the shape of the first surface portion (eg surface 13 of first component 10). The distance sensors 41 , 42 are desirably located at positions where the distances 43 , 44 change significantly as the first part 10 moves, such as above the first snap fit portion 12 . Distance sensors 41, 42 may be, for example, laser displacement meters or digital indicators. Signals output from the distance sensors 41 and 42 are output to the determination section 34 .

The determination unit 34 controls the first pressing unit 20 to stop the first pressing unit 20 from starting to press the first component 10 when the distances 43 and 44 are less than the first reference distance or greater than the second reference distance. is configured to control The second reference distance is greater than the first reference distance. Specifically, the comparator 36 is configured to compare the distances 43, 44 with a first reference distance and compare the distances 43, 44 with a second reference distance. The first reference distance and the second reference distance are stored in the storage section 33 . The first reference distance and the second reference distance may be changed according to the types of the first part 10 and the second part 15 and the configuration of the first snap fit portion 12 .

A method of assembling parts according to the second embodiment will be described with reference to FIG. The parts assembling method of the present embodiment further includes the following steps before the parts assembling method of the first embodiment.

Before applying the first force to the first part 10 (S10 in FIG. 9), the distances 43, 44 between the first part 10 and the distance sensors 41, 42 are measured (S1). It is determined whether the distances 43 and 44 are less than the first reference distance or greater than the second reference distance (S2). The second reference distance is greater than the first reference distance. Specifically, the comparator 36 is used to compare whether the distances 43 and 44 are less than the first reference distance or greater than the first reference distance.

If the distances 43 , 44 are less than or greater than the first reference distance, the first part 10 is not properly positioned with respect to the second part 15 . When the first pressing part 20 is used to press the first part 10 toward the second part 15, the first snap-fit part 12 is not fitted, and the first part 10, the second part 15, and the part assembly device 1b are not engaged. At least one may be damaged. When the determination unit 34 determines that the distances 43 and 44 are less than or greater than the first reference distance, the first pressing unit 20 stops pressing the first component 10 .

On the other hand, when the distances 43 and 44 are neither less than nor greater than the first reference distance, the first part 10 is properly positioned with respect to the second part 15 . When the first pressing part 20 is used to press the first part 10 toward the second part 15, the first snap-fitting part 12 is formed without damaging the first part 10, the second part 15, and the part assembling device 1b. can be mated. When the determination unit 34 determines that the distances 43 and 44 are not less than or greater than the first reference distance, the first pressing unit 20 starts pressing the first component 10 .

According to the parts assembling apparatus 1b and the parts assembling method of the present embodiment, the fitting failure of the first snap-fit portion 12 due to the misplacement of the first part 10 with respect to the second part 15 and the 10, at least one of the second component 15 and the component assembling device 1b can be prevented from being damaged.

Embodiment 3.
A component assembling apparatus 1c according to the third embodiment will be described with reference to FIG. A parts assembling apparatus 1c of the present embodiment has a configuration similar to that of the parts assembling apparatus 1 of Embodiment 1, and provides similar effects, but differs mainly in the following points.

The component assembling apparatus 1c further comprises a second pressing portion 50 configured to apply a second force to the second surface portion of the first component 10c. The second pressing portion 50 faces the second surface portion of the first component 10c. The second pressing portion 50 may have the same configuration as the first pressing portion 20 . The parts assembling apparatus 1c may further include a second sensor 55, a second force sensor 56, and a second controller 30c.

As shown in FIGS. 13 and 14, the first part 10c has the same configuration as the first part 10 of Embodiment 1, but further includes a third snap-fit portion 17a. The second part 15c has the same configuration as the second part 15 of the first embodiment, but further includes a fourth snap-fit portion 17b. The fourth snap-fit portion 17b may be, for example, a pawl having an inclined surface. The third snap fit portion 17a may include holes that fit into the fourth snap fit portion 17b. The third snap-fit portion 17a and the fourth snap-fit portion 17b constitute the second snap-fit portion 17. As shown in FIG. Unlike the first part 10 and the second part 15 of the first embodiment, the first part 10c and the second part 15c of this embodiment are not connected to each other.

The component assembling device 1c is configured to fit the first snap-fit portion 12 and the second snap-fit portion 17 provided on the first component 10c and the second component 15c. The component assembling apparatus 1c presses the first component 10c toward the second component 15c in a state where the first snap-fit portion 12 and the second snap-fit portion 17 are not fitted (see FIG. 13). . Thus, as shown in FIG. 14, the first snap-fit portion 12 and the second snap-fit portion 17 are in a fitted state.

The second pressing portion 50 is configured to apply a second force to the second surface portion of the first component 10c. The second pressing portion 50 may be configured in the same manner as the first pressing portion 20 . Specifically, the second pressing portion 50 may include, for example, a second head portion 50a, a second movable member 50b, and a second cylinder 50c. The second head portion 50a is configured to contact the second surface portion of the first component 10c. Specifically, the second head portion 50a is positioned at the tip of the second pressing portion 50 (second movable member 50b) and contacts the second surface portion of the first component 10c. The second movable member 50b can move in the first direction (z-direction) within the second cylinder 50c. The second movable member 50b may move within the second cylinder 50c, for example, by varying the pressure in multiple chambers within the second cylinder 50c. The second pressing part 50 may be, for example, a pneumatic cylinder or a hydraulic cylinder. The second movable member 50b may be, for example, a plunger.

The first surface portion is, for example, the portion of the surface 13 of the first component 10c that faces the first pressing portion 20 . The first surface portion is, for example, the portion of the surface 13 of the first component 10c on the first snap fit portion 12 side. The second surface portion differs in position from the first surface portion. The second surface portion is, for example, the portion of the surface 13 of the first component 10c that faces the second pressing portion 50 . The second surface portion is, for example, the portion of the surface 13 of the first component 10c on the second snap fit portion 17 side.

The second sensor 55 is configured to measure the position of the second movable member 50b. The second sensor 55 may be, for example, a laser displacement meter. The second sensor 55 may be attached to the second pressing portion 50 .

The second force sensor 56 is configured to detect a second force applied by the second pressing portion 50 to the second surface portion of the first component 10c. A second force sensor 56 is attached to the second pressing portion 50 . The second force sensor 56 may be, for example, a strain gauge force sensor or a piezoelectric force sensor. A signal output from the second force sensor 56 is input to the second control section 30c. The second control section 30c is configured to control the second pressing section 50 according to a signal output from the second force sensor 56, for example.

A signal output from the second sensor 55 is recorded in the storage unit 33 . A second position of the second surface portion of the first component 10c in the first direction (z-direction) while the second force is being applied to the second surface portion of the first component 10c is stored in the storage unit 33. Recorded. As used herein, the second position means the position of the second surface portion of the first part 10c or the position of the second movable member 50b corresponding to the position of the second surface portion of the first part 10c. In the present embodiment, the storage unit 33 records the position of the second movable member 50b while the second force is being applied to the second surface portion of the first component 10c.

A signal output from the second force sensor 56 is recorded in the storage unit 33 . A second force corresponding to the second position is recorded in the second area 33 b of the storage section 33 . The second force is the force applied to the second surface portion of the first part 10c when the second surface portion of the first part 10c is in the second position.

The determining portion 34 is configured to determine the second fitted state of the second snap-fit portion 17 based on the second ratio. The second ratio is a ratio of a fourth change in the second force to a third change in the second position of the second surface portion while the second force is applied to the second surface portion. be. Specifically, the calculator 35 is configured to calculate the second ratio. The calculation unit 35 calculates a third change (for example, , a change in the position of the second movable member 50b, and an amount of movement of the second movable member 50b). The calculation unit 35 is configured to calculate a fourth change in the second force from the second force recorded in the storage unit 33 . The calculator 35 is configured to calculate the second ratio by dividing the fourth change by the third change.

The determination part 34 determines that the second snap-fit part 17 is fitted when the second ratio falls below the third reference value Ref3 (see FIG. 18) and then exceeds the third reference value Ref3. configured to determine. Comparator 36 is configured to compare the second percentage with a third reference value Ref3. The third reference value Ref3 is stored in the storage section 33 . The third reference value Ref3 may be changed according to the types of the first component 10c and the second component 15c and the configuration of the second snap-fit portion 17. FIG.

When the third snap-fit portion 17a of the first part 10c fits into the fourth snap-fit portion 17b of the second part 15c, the speed of movement of the first part 10c temporarily increases to that of the second movable member 50b. It becomes larger than the movement speed (the movement speed of the second head section 50a). The second pressing portion 50 temporarily weakly contacts the second surface portion of the first component 10c or temporarily separates from the second surface portion of the first component 10c. As shown in FIG. 18, the second force temporarily greatly decreases, and the second ratio temporarily becomes equal to or less than the third reference value Ref3. When the second movable member 50b continues to move toward the second component 15c, the second pressing portion 50 strongly contacts the second surface portion of the first component 10c again. The second force increases and the second percentage exceeds the third reference value Ref3.

On the other hand, when the third snap-fit portion 17a of the first part 10c does not fit into the fourth snap-fit portion 17b of the second part 15c, the second force may be temporarily greatly reduced. Neither does the second ratio fall below the third reference value Ref3. Thus, it is determined whether or not the second snap fit portion 17 is fitted by determining whether or not the second ratio is below the third reference value Ref3 and then exceeds the third reference value Ref3. can do. The third reference value Ref3 for the second snap fit portion 17 may be the same as or different from the first reference value Ref1 for the first snap fit portion 12 .

When the second force becomes equal to or greater than the fourth reference value after the second ratio falls below the third reference value Ref3 and then exceeds the third reference value Ref3, the determination unit 34 determines the second force. After determining that the fitting of the snap-fit portion 17 has been properly completed, the second pressing portion 50 is controlled so as not to further press the first component 10c. The determination section 34 controls the second pressing section 50 so that the second pressing section 50 does not further press the first component 10c. Specifically, comparator 36 is configured to compare the second force to a fourth reference value. The determination unit 34 is connected to the second control unit 30c. When the second force becomes equal to or greater than the fourth reference value, the determination section 34 controls the second pressing section 50 via the second control section 30c so that the second pressing section 50 presses the first component 10c. Prevent further pressure. The fourth reference value is stored in storage section 33 . The fourth reference value may be changed according to the types of the first component 10c and the second component 15c and the configuration of the second snap-fit portion 17. FIG.

After the second ratio falls below the third reference value Ref3 and then exceeds the third reference value Ref3, the second movable member 50b continues to move toward the second part 15c. The third snap-fit portion 17a of the first part 10c abuts against the fourth snap-fit portion 17b of the second part 15c to properly complete the fitting of the second snap-fit portion 17, and the second force is applied. is greater than or equal to the fourth reference value. On the other hand, after the second percentage falls below the third reference value Ref3 and then exceeds the third reference value Ref3, the third snap-fit portion 17a of the first part 10c and the fourth snap-fit portion 17a of the second part 15c If at least one of the snap-fit portions 17b of the second part is broken, the second movable member 50b continues to the second part after the second percentage falls below the third reference value Ref3 and then exceeds the third reference value Ref3. Even if it is moved toward 15c, the second force does not exceed the fourth reference value. By determining whether or not the first force is greater than or equal to the fourth reference value, it can be confirmed that the fitting of the second snap-fit portion 17 has been properly completed.

A method of assembling parts according to the third embodiment will be described with reference to FIGS. 15 to 18. FIG. The parts assembling method of the present embodiment includes the following steps in addition to the parts assembling method of the first embodiment. After the fitting of the first snap-fit portion 12 is completed (see FIG. 16), the second snap-fit portion 17 uses the second pressing portion 50 to perform the fitting process of the first snap-fit portion 12. It becomes the fitted state according to the same process as .

The pressing of the first component 10c by the second pressing portion 50 is started. A second force is applied to the second surface portion of the first component 10c using the second pressing portion 50 (S30). Specifically, the second control section 30 c controls the second pressing section 50 to move the second movable member 50 b and the second head section 50 a toward the second component 15 . The second pressing portion 50 contacts the second surface portion of the first component 10c and applies a second force to the second surface portion of the first component 10c.

The second movable member 50b and the second head portion 50a continue to move toward the second component 15, and the second pressing portion 50 continues to apply the second force to the second surface portion of the first component 10c. A second sensor 55 is used to detect a second force on the second surface portion of the first part 10c in a first direction (z-direction) while a second force is applied to the second surface portion of the first part 10c. position is measured (S31). A second position of the second surface portion of the first component 10c (for example, the position of the second movable member 50b) is stored in the storage unit 33. FIG. While the second force is being applied to the second surface portion of the first part 10c, the second force sensor 56 is used to measure the second force corresponding to the second position (S32). In the modified example of the present embodiment, the second sensor 55 detects that the second position of the second surface portion of the first part 10c (for example, the position of the second movable member 50b) has changed by a minute distance Δz. Each time a first force may be measured. A second force corresponding to the second position is recorded in the storage unit 33 .

The second position and second force of the second surface portion are measured multiple times until the second snap fit portion 17 is engaged. The second position and the second force of the second surface portion are not particularly limited, but may be measured at time intervals of 1/10 seconds or less, or may be measured at time intervals of 1/20 seconds or less. , may be measured at time intervals of 1/30 second or less, may be measured at time intervals of 1/50 second or less, or may be measured at time intervals of 1/100 second or less.

The computing unit 35 calculates a third change (for example, a third 2 movement amount of the movable member 50b) is calculated (S33). The calculation unit 35 calculates a fourth change in the second force from the second force recorded in the storage unit 33 (S34). The calculation unit 35 calculates the second ratio by dividing the fourth change by the third change (S35).

The determination unit 34 determines the second fitted state of the second snap fit portion 17 based on the second ratio (S40). Specifically, it is determined whether or not the second ratio falls below a third reference value Ref3 (see FIG. 18) and then exceeds the third reference value Ref3. Comparator 36 compares the second ratio with third reference value Ref3. The determination part 34 determines that the second snap fit part 17 is fitted when the second ratio is below the third reference value Ref3 and then exceeds the third reference value Ref3.

When the third snap-fit portion 17a of the first part 10c fits into the fourth snap-fit portion 17b of the second part 15c, the speed of movement of the first part 10c temporarily increases to that of the second movable member 50b. It becomes larger than the movement speed (the movement speed of the second head section 50a). The second pressing portion 50 temporarily weakly contacts the second surface portion of the first component 10c or temporarily separates from the second surface portion of the first component 10c. The second force temporarily greatly decreases, and as shown in FIG. 18, the second ratio temporarily becomes less than or equal to the third reference value Ref3. On the other hand, when the third snap-fit portion 17a of the first part 10c does not fit into the fourth snap-fit portion 17b of the second part 15c, the second force may be temporarily greatly reduced. Neither does the second ratio fall below the third reference value Ref3. Thus, it is determined whether or not the second snap fit portion 17 is fitted by determining whether or not the second ratio is below the third reference value Ref3 and then exceeds the third reference value Ref3. can do.

In the component assembling method of the present embodiment, the plurality of snap-fit portions (for example, the first snap-fit portion 12 and the second snap-fit portion 17) provided on the first component 10c and the second component 15c are are pressed by the pressing portions (the first pressing portion 20 and the second pressing portion 50), and the fitted state of the plurality of snap-fit portions is determined individually. Therefore, the accuracy of determination of the fitted state of the plurality of snap-fit portions (for example, the first fitted state of the first snap-fit portion 12 and the second fitted state of the second snap-fit portion 17) is improved. obtain.

As shown in FIG. 18, in the method of assembling parts according to the present embodiment, after determining the first fitted state of the first snap-fit portion 12, the second fitted state of the second snap-fit portion 17 is determined. judging the state. Therefore, it is possible to easily distinguish which of the plurality of snap-fit portions provided on the first component 10c and the second component 15c is in the fitted state. The determination accuracy of the fitted state of a plurality of snap fit portions (for example, the first fitted state of the first snap fit portion 12 and the second fitted state of the second snap fit portion 17) can be improved.

A second force is subsequently applied to the second surface portion of the first component 10c using the second pressing portion 50 . The determination unit 34 determines whether the second force becomes equal to or greater than the fourth reference value after the second ratio falls below the third reference value Ref3 and then exceeds the third reference value Ref3 ( S41). Comparator 36 compares the second force with a fourth reference value. When the second force becomes equal to or greater than the fourth reference value after the second ratio falls below the third reference value Ref3 and then exceeds the third reference value Ref3, the determination unit 34 determines the second force. It is determined that fitting of the snap-fit portion 17 has been properly completed. When the determination unit 34 determines that the fitting of the second snap-fit portion 17 has been properly completed, the determination unit 34 causes the second pressing unit 50 to further press the first component 10c via the second control unit 30c. The second pressing part 50 is controlled so as not to press. The second pressing portion 50 is pulled away from the first component 10c. Thus, as shown in FIG. 17, the assembly of the first component 10c to the second component 15c is completed.

Note that in the modification of the present embodiment, the first fitting state of the first snap-fit portion 12 is determined, and the second fitting state of the second snap-fit portion 17 is determined. may be performed simultaneously.

Effects of the parts assembling apparatus 1c and the parts assembling method of the present embodiment will be described.
The component assembling apparatus 1c of the present embodiment further includes a second pressing portion 50 configured to apply a second force to the second surface portion of the first component 10c. The determination unit 34 is configured to determine a second fitting state of the second snap fit portion 17 provided on the first component 10c and the second component 15c based on the second ratio. there is The second ratio is a ratio of a fourth change in the second force to a third change in the second position of the second surface portion while the second force is applied to the second surface portion. be.

In the component assembling method of the present embodiment, the second pressure portion 50 is used to apply the second force to the second surface portion of the first component 10c (S30), and the first force is applied based on the second ratio. Determining a second fitting state of the second snap-fit portion 17 provided on the part 10c and the second part 15c (S40). The second ratio is a ratio of a fourth change in the second force to a third change in the second position of the second surface portion while the second force is applied to the second surface portion. be.

In the parts assembling apparatus 1c and the parts assembling method of the present embodiment, the first fitted state of the first snap-fit portion 12 and the second fitted state of the second snap-fit portion 17 are not sounded. Each determination is made based on the first percentage and the second percentage. Therefore, even in a noisy environment, the first fitted state of the first snap-fit portion 12 and the second fitted state of the second snap-fit portion 17 can be determined accurately. . Furthermore, even if the first snap-fit portion 12 and the second snap-fit portion 17 have dimensional variations, the first fitted state of the first snap-fit portion 12 and the second fitted state of the second snap-fit portion 17 are the same. can be accurately determined.

Embodiment 4.
A component assembling apparatus 1d according to the fourth embodiment will be described with reference to FIG. A parts assembling apparatus 1d of the present embodiment has a configuration similar to that of the parts assembling apparatus 1 of Embodiment 1, and has similar effects, but differs mainly in the following points.

The component assembling apparatus 1 d further includes a moving section 60 . The moving part 60 is configured to relatively move the first pressing part 20 along the surface 13 of the first component 10 including the first surface portion. The moving part 60 may be configured to move one of the first pressing part 20 and the stage 7 with respect to the other of the first pressing part 20 and the stage 7 .

Specifically, the moving section 60 may include a first linear actuator 61 and a second linear actuator 62 . The first linear actuator 61 extends in a second direction (x direction) perpendicular to the first direction (z direction). The second linear actuator 62 extends in a third direction (y direction) perpendicular to the first direction (z direction) and the second direction (x direction). The first pressing part 20 is movably attached to the moving part 60 . The first pressing part 20 can move along a first direction (z-direction) and a second direction (x-direction). In a modification of the present embodiment, the moving section 60 may be configured to move the stage 7 along the first direction (z direction) and the second direction (x direction).

A component assembly method according to the fourth embodiment will be described with reference to FIGS. 20 to 22. FIG. The parts assembling method of the present embodiment includes the following steps in addition to the parts assembling method of the first embodiment. After the fitting of the first snap fit portion 12 is completed (see FIG. 21), the first pressing portion 20 is moved from the first surface portion to the second surface portion of the first component 10c (S49). By moving one of the first pressing portion 20 and the stage 7 with respect to the other of the first pressing portion 20 and the stage 7 using the moving portion 60, the first pressing portion 20 is moved from the first surface portion to the first stage. It may be moved to a second surface portion of part 10c. Then, the second snap-fit portion 17 is fitted using the first pressing portion 20 according to the same process as the fitting process for the first snap-fit portion 12 .

A second force is applied to the second surface portion of the first component 10c using the first pressing portion 20 (S50)). A second position of the second surface portion of the first part 10c in the first direction (z-direction) is measured while the second force is applied to the second surface portion of the first part 10c (S51). . In this embodiment, the first sensor 25 is used to measure the position of the first movable member 20b. The second position of the second surface portion of the first component 10c is stored in the storage section 33. FIG. While the second force is being applied to the second surface portion of the first part 10c, the second force sensor 56 is used to measure the second force corresponding to the second position (S52). In the modified example of the present embodiment, the first sensor 25 detects that the second position of the second surface portion of the first component 10c (for example, the position of the first movable member 20b) has changed by a minute distance Δz. Each time a second force may be measured. A second force corresponding to the second position is recorded in the storage unit 33 .

The calculation unit 35 calculates a third change (for example, , the amount of movement of the first movable member 20b) is calculated (S53). The calculation unit 35 calculates a fourth change in the second force from the second force recorded in the storage unit 33 (S54). The calculation unit 35 calculates the second ratio by dividing the fourth change by the third change (S55).

The determination unit 34 determines the second fitted state of the second snap fit portion 17 based on the second ratio (S60). Specifically, it is determined whether or not the second ratio falls below a third reference value Ref3 (see FIG. 18) and then exceeds the third reference value Ref3. Comparator 36 compares the second ratio with third reference value Ref3. The determination part 34 determines that the second snap fit part 17 is fitted when the second ratio is below the third reference value Ref3 and then exceeds the third reference value Ref3.

When the third snap-fit portion 17a of the first part 10c fits into the fourth snap-fit portion 17b of the second part 15c, the speed of movement of the first part 10c temporarily increases to that of the second movable member 50b. It becomes larger than the movement speed (the movement speed of the second head section 50a). The first pressing portion 20 temporarily weakly contacts the second surface portion of the first component 10c or temporarily separates from the second surface portion of the first component 10c. The second force temporarily greatly decreases, and the second ratio temporarily becomes equal to or less than the third reference value Ref3 (see FIG. 18). On the other hand, when the third snap-fit portion 17a of the first part 10c does not fit into the fourth snap-fit portion 17b of the second part 15c, the second force may be temporarily greatly reduced. Neither does the second ratio fall below the third reference value Ref3. Thus, it is determined whether or not the second snap fit portion 17 is fitted by determining whether or not the second ratio is below the third reference value Ref3 and then exceeds the third reference value Ref3. can do.

A second force is subsequently applied to the second surface portion of the first component 10c using the first pressing portion 20 . The determination unit 34 determines whether the second force becomes equal to or greater than the fourth reference value after the second ratio falls below the third reference value Ref3 and then exceeds the third reference value Ref3 ( S61). Comparator 36 compares the second force with a fourth reference value. When the second force becomes equal to or greater than the fourth reference value after the second ratio falls below the third reference value Ref3 and then exceeds the third reference value Ref3, the determination unit 34 determines the second force. It is determined that fitting of the snap-fit portion 17 has been properly completed. When the determination unit 34 determines that the fitting of the second snap-fit portion 17 has been properly completed, the determination unit 34 causes the first pressing unit 20 to further press the first component 10c via the first control unit 30. The first pressing part 20 is controlled so that it does not. The first pressing portion 20 is pulled away from the first component 10c. Thus, as shown in FIG. 22, the assembly of the first part 10c to the second part 15c is completed.

The parts assembling apparatus 1d and the parts assembling method of the present embodiment have the following effects in addition to the effects of the parts assembling apparatus 1c and the parts assembling method of the third embodiment.

The positions of the first snap-fit portion 12 and the second snap-fit portion 17 change depending on the types of the first part 10c and the second part 15c. According to the parts assembling apparatus 1d and the parts assembling method of the present embodiment, the same parts assembling apparatus 1d can be used to attach the first snap-fits provided to various kinds of first parts 10c and second parts 15c. The first and second mating states of the portion 12 and the second snap-fit portion 17 can be accurately determined.

Embodiment 5.
A component assembling apparatus 1e according to the fifth embodiment will be described with reference to FIG. A parts assembling apparatus 1e of the present embodiment has the same configuration as that of the parts assembling apparatus 1 of the first embodiment, and has similar effects, but differs mainly in the following points.

As shown in FIGS. 23 to 25, the first component 10e has the same configuration as the first component 10c of the fourth embodiment, but the first component 10e facing the first pressing portion 20 is It differs in that the surface 13 is an inclined surface. The component assembling device 1e is configured to fit the first snap-fit portion 12 and the second snap-fit portion 17 provided on the first component 10e and the second component 15c. The component assembling apparatus 1e presses the first component 10e toward the second component 15c in a state where the first snap-fit portion 12 and the second snap-fit portion 17 are not fitted (see FIG. 26). . Thus, as shown in FIG. 27, the first snap-fit portion 12 is engaged, and subsequently, as shown in FIG. 28, the second snap-fit portion 17 is also engaged. become a state.

In the component assembling apparatus 1e, the first head section 20a is rotatably attached to the first movable member 20b. Specifically, the first head portion 20a is rotatably attached to a shaft 23 included in the first movable member 20b. The first head portion 20a is configured to contact the first surface portion. The first surface portion is, for example, the surface 13 of the first component 10 e facing the first pressing portion 20 . Specifically, when applying the first force to the first surface portion of the first component 10e, the first head portion 20a is moved to the first movable position so as to follow the shape of the first surface portion of the first component 10e. It rotates with respect to member 20b. The first head portion 20a may be in surface contact with the first surface portion.

A first example of the method of assembling parts according to the fifth embodiment will be described with reference to FIGS. 26 to 28. FIG. A first example of the parts assembling method of the present embodiment includes steps similar to those of the parts assembling method of the fourth embodiment, but differs mainly in the following points.

A first force is applied to the first surface portion of the first component 10e using the first pressing portion 20 (S10 in FIG. 9). When applying the first force to the first surface portion of the first component 10e, the first head portion 20a moves the first movable member 20b so as to follow the shape of the first surface portion (surface) of the first component 10e. to contact the first surface portion. Specifically, the first head portion 20a may be in surface contact with the first surface portion. Then, through steps similar to steps S11 to S20 (see FIG. 9) of the method for assembling parts according to the first embodiment, as shown in FIG. Become.

A first force is subsequently applied to the first surface portion of the first component 10e using the first pressing portion 20. As shown in FIG. Through steps similar to steps S51 to S60 (see FIG. 20) of the method of assembling the parts of the fourth embodiment, the second snap fit portion 17 is also fitted as shown in FIG. . After the first snap-fit portion 12 is in a fitted state and before fitting the second snap-fit portion 17, the first pressing portion 20 is pushed from the first surface portion of the first component 10e to the second position. It does not have to be moved to the surface part. Then, step S21 (see FIG. 9) of the parts assembling method of the first embodiment and S61 (see FIG. 20) of the parts assembling method of the fourth embodiment are performed. Thus, as shown in FIG. 28, the assembly of the first component 10e to the second component 15c is completed.

A second example of the method of assembling parts according to the fifth embodiment will be described with reference to FIGS. 29 and 30. FIG. A second example of the parts assembling method of the present embodiment includes steps similar to those of the parts assembling method of the first embodiment, but differs mainly in the following points. In this second example, the first component 10 and the second component 15 of the first embodiment are assembled together using the component assembling apparatus 1e of the present embodiment.

When the first snap-fit portion 12 is not engaged (see FIG. 29), the first pressing portion 20 is used to apply a first force to the first surface portion of the first component 10 (see FIG. 9). S10). When applying the first force to the first surface portion of the first component 10 , the first head portion 20 a moves the first movable member 20 b so as to follow the shape of the first surface portion (surface) of the first component 10 . to contact the first surface portion. Specifically, the first head portion 20a may be in surface contact with the first surface portion. Then, through steps similar to steps S11 to S21 (see FIG. 9) of the method of assembling the parts of the first embodiment, the first snap-fit portion 12 is brought into a fitted state as shown in FIG. Become.

A third example of the method of assembling parts according to the fifth embodiment will be described with reference to FIGS. 31 to 33. FIG. A third example of the parts assembling method of the present embodiment includes steps similar to those of the parts assembling method of the fourth embodiment, but differs mainly in the following points. In this third example, the first component 10c and the second component 15c of the fourth embodiment are assembled together using the component assembling apparatus 1e of the present embodiment.

A first force is applied to the first surface portion of the first component 10c using the first pressing portion 20 (S10 in FIG. 9). When applying the first force to the first surface portion of the first component 10c, the first head portion 20a moves the first movable member 20b so as to follow the shape of the first surface portion (surface) of the first component 10c. to contact the first surface portion. Specifically, the first head portion 20a may be in surface contact with the first surface portion. Then, through steps similar to steps S11 to S20 (see FIG. 9) of the method of assembling the parts of the first embodiment, the first snap-fit portion 12 is brought into a fitted state as shown in FIG. Become.

A first force is subsequently applied to the first surface portion of the first component 10c using the first pressing portion 20 . Through the steps similar to steps S51 to S60 (see FIG. 20) of the method for assembling parts according to the fourth embodiment, as shown in FIG. 33, the second snap fit portion 17 is also fitted. . After the first snap-fit portion 12 is in a fitted state and before fitting the second snap-fit portion 17, the first pressing portion 20 is pushed from the first surface portion of the first component 10c to the second position. It does not have to be moved to the surface part. Then, step S21 (see FIG. 9) of the parts assembling method of the first embodiment and S61 (see FIG. 20) of the parts assembling method of the fourth embodiment are performed. Thus, the assembly of the first component 10c to the second component 15c is completed.

Effects of the parts assembling apparatus 1e and the parts assembling method of the present embodiment will be described.
In the parts assembling apparatus 1e and the parts assembling method of the present embodiment, when applying the first force to the first surface portions of the first parts 10, 10c, 10e, the first head portion 20a moves the first parts 10, 10c, 10e. It rotates relative to the first movable member 20b so as to follow the shape of the first surface portions (surfaces) of 10c and 10e and contacts the first surface portions. It is possible to prevent a local strong pressing force from being applied to a part of the first parts 10, 10c, 10e. Damage to the first parts 10, 10c, 10e can be prevented.

When the first parts 10, 10c, 10e and the second parts 15, 15c have a plurality of snap fit parts, the first pressing part 20 does not have to be moved. In the parts assembling apparatus 1e and the parts assembling method of the present embodiment, the moving part 60 of the fourth embodiment can be omitted, so the configuration of the parts assembling apparatus 1e and the steps of the parts assembling method are simplified.

Embodiments 1 to 5 disclosed this time should be considered as examples in all respects and not restrictive. As long as there is no contradiction, at least two of Embodiments 1 to 5 disclosed this time may be combined. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

1, 1b, 1c, 1d, 1e component assembly device 7 stage 8 alignment member 10, 10c, 10e first component 11, 16 concave portion 12 first snap-fit portion 12a first snap-fit portion 12b second snap-fit portion, 13 surface, 15, 15c second part, 17 second snap-fit portion, 17a third snap-fit portion, 17b fourth snap-fit portion, 20 first pressing portion, 20a second 1 head part, 20b first movable member, 20c first cylinder, 23 shaft, 25 first sensor, 26 first force sensor, 30 first control part, 30c second control part, 33 storage part, 33a first region, 33b second area, 33c third area, 34 determination section, 35 calculation section, 36 comparator, 41, 42 distance sensor, 43, 44 distance, 50 second pressing section, 50a second head section, 50b second movable member , 50c second cylinder, 55 second sensor, 56 second force sensor, 60 moving part, 61 first linear actuator, 62 second linear actuator.

Claims (15)

a first pressing portion configured to apply a first force to a first surface portion of the first component;
a determination unit configured to determine a first fitted state of a first snap-fit portion provided on the first part and the second part based on a first ratio; The first ratio is a second ratio of the first force to a first change in the first position of the first surface portion while the first force is applied to the first surface portion. is the rate of change in
The determination unit is configured to determine that the first snap-fit portion is fitted when the first ratio falls below a first reference value and then exceeds the first reference value. parts assembly equipment. The determination unit determines that, when the first force becomes equal to or greater than a second reference value after the first ratio falls below the first reference value and then exceeds the first reference value, the It is configured to determine that fitting of the first snap-fit portion has been properly completed, and to control the first pressing portion so that the first pressing portion does not further press the first component, The parts assembling apparatus according to claim 1 . The determination unit includes a computing unit configured to calculate the first ratio, and a comparator configured to compare the first ratio and the first reference value, 3. The parts assembling apparatus according to claim 1 or 2 . further comprising a first sensor;
The first pressing portion includes a movable member,
the first sensor is configured to measure the position of the movable member;
4. The parts assembling apparatus according to claim 3 , wherein said calculation unit is configured to calculate an amount of movement of said movable member corresponding to said first change from said position of said movable member. 3. The first pressing portion further comprises a first head portion rotatably attached to the movable member, the first head portion being configured to contact the first surface portion. 5. The parts assembling apparatus according to 4 . 6. Any one of claims 1 to 5 , further comprising a moving part configured to relatively move the first pressing part along the surface of the first component including the first surface portion. 2. The parts assembling apparatus according to item 1. a first pressing portion configured to apply a first force to a first surface portion of the first component;
a determination unit configured to determine a first fitted state of a first snap-fit portion provided on the first part and the second part based on a first ratio; The first ratio is a second ratio of the first force to a first change in the first position of the first surface portion while the first force is applied to the first surface portion. is the rate of change in
further comprising a second pressing portion configured to apply a second force to a second surface portion of the first component;
The determination unit is configured to determine a second fitting state of a second snap-fit portion provided on the first component and the second component based on a second ratio. , said second ratio is a ratio of said second force to a third change in said second position of said second surface portion while said second force is being applied to said second surface portion; A part assembly machine that is a rate of change of 4. further comprising a distance sensor, said distance sensor configured to measure a distance between said first part and said distance sensor;
The determination unit stops the first pressing unit from starting operation when the distance is less than a first reference distance or greater than a second reference distance that is larger than the first reference distance. 8. The parts assembling apparatus according to any one of claims 1 to 7 , configured to control a part. applying a first force to the first surface portion of the first component using the first pressing portion;
Determining a first fitted state of a first snap-fit portion provided on the first part and the second part based on a first ratio, wherein the first ratio is: a ratio of a second change in the first force to a first change in the first position of the first surface portion while the first force is applied to the first surface portion ; ,
Determining the first fitting state of the first snap-fit portion includes determining the first fitting state when the first ratio falls below a first reference value and then exceeds the first reference value. A method for assembling parts , including determining that one snap fit portion is fitted . measuring the position of a movable member included in the first pressing portion;
10. The method of assembling parts according to claim 9 , further comprising calculating an amount of movement of said movable member corresponding to said first change from said position of said movable member. The first pressing part further includes a first head part rotatably attached to the movable member,
When applying the first force to the first surface portion of the first component, the first head portion is moved relative to the movable member so as to follow the shape of the first surface portion of the first component. 11. The method of assembling a component according to claim 10 , wherein the first surface portion is rotated by rotating the first surface portion. moving the first pressing portion from the first surface portion to the second surface portion of the first component;
applying a second force to the second surface portion of the first component using the first pressing portion;
Determining a second fitted state of a second snap-fit portion provided on the first part and the second part based on a second ratio, wherein the second ratio is the ratio of a fourth change in said second force to a third change in second position of said second surface portion while said second force is being applied to said second surface portion; 12. The method of assembling parts according to any one of claims 9 to 11 . applying a first force to the first surface portion of the first component using the first pressing portion;
Determining a first fitted state of a first snap-fit portion provided on the first part and the second part based on a first ratio, wherein the first ratio is: a ratio of a second change in the first force to a first change in the first position of the first surface portion during the application of the first force to the first surface portion;
applying a second force to a second surface portion of the first component using a second pressing portion;
Determining a second fitted state of a second snap-fit portion provided on the first part and the second part based on a second ratio, wherein the second ratio is the ratio of a fourth change in said second force to a third change in second position of said second surface portion while said second force is being applied to said second surface portion; There is a method of assembling parts . further comprising measuring a distance between the first component and a distance sensor prior to applying the first force to the first component;
Controlling the first pressing unit to stop starting the operation of the first pressing unit when the distance is less than the first reference distance or greater than the second reference distance greater than the first reference distance, The component assembly method according to any one of claims 9 to 13 . Determining the first fitted state of the first snap-fit portion may be performed after the first ratio falls below the first reference value and then exceeds the first reference value. When the force of No. 1 becomes equal to or greater than a second reference value, it is determined that the fitting of the first snap-fit portion is properly completed, and the first pressing portion does not further press the first part. 13. The method of assembling parts according to any one of claims 9 to 12, further comprising controlling the first pressing part at a time.

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