JPH0665449B2 - How to assemble parts - Google Patents

Description

Description: FIELD OF THE INVENTION The present invention relates to a method for assembling two parts such as an automobile engine and a transminction together.

2. Description of the Related Art An apparatus for positioning the engine and the transmission of an automobile in the rotational direction of the two is disclosed, for example, in Japanese Patent Laid-Open No. 59-73374. The one disclosed in the publication is such that the rotation type members of both the engine and the transmission are aligned by a contact type phase adjusting member.

Problems to be Solved by the Invention In the conventional method as described above, since it is a conventional method, it takes a long time to complete the phase matching, and the phase matching is performed in the facing gap between the engine and the transmission. Since the device and the like are located, it is necessary to secure a large above-mentioned facing gap. Therefore, it takes a long time from the completion of the phase matching to the actual connection of both parts.

Further, since the facing gap is large as described above, the distance for moving one of the two parts when connecting the two parts also becomes large, and it becomes difficult to maintain the accuracy at the time of completing the phase alignment.

Means for Solving the Problems The present invention is intended to solve the above-mentioned problems, and, with respect to two parts individually supported by a supporting means for driving an actuator, the respective assembling surfaces thereof are made to face each other. A method of assembling components by displacing the components closer to each other in the axial direction, wherein at least two detection points are previously set in a direction orthogonal to the axial direction of the components in the facing gap between the components. Set it, and for each detection point,
The mounting reference positions on both mounting surfaces are simultaneously imaged by a single camera through two reflecting mirrors arranged in a V shape in the facing gap between the two parts, and the mounting reference positions of both mounting reference positions are determined. After the step of obtaining the relative position error and the drive system of at least one of the supporting means based on the above-mentioned relative position error, a component position correction command is given to match both assembly reference positions, and then the supporting means is driven. And assembling the two parts with each other by the approaching displacement movement of the two parts in the axial direction.

The above-mentioned assembly reference position includes bolt holes, bolts and bolt holes, positioning pins and positioning holes, and the like.

Embodiment FIG. 4 to FIG. 6 are views showing an embodiment of the present invention and exemplify a case where an automobile engine and a transmission are assembled.

As shown in FIGS. 4 to 6, the engine E conveyed by the overhead conveyor 1 is transferred onto the lifter table 3 of the lifter 2 by the lifting operation of the lifter 2 as the supporting means. . The lifter table 3 moves up and down by horizontally moving the lower end of one of the links 5 among the X-shaped links 4 with a motor 6.

Similarly, the transmission M conveyed by the conveyor 7 is transferred onto the lifter 8 by transfer means not shown. As shown in FIG. 6, the lifter table 9 of the lifter 8 is moved up and down by horizontally moving the lower end of the link 10 by the motor 11. When the lower end of the link 10 is moved in the X ₁ direction, for example, the lower end of the other link 31 is simultaneously moved in the X ₁ direction by the motor 12 to move the lifter table 9 itself in the horizontal direction. be able to. Further, the lifter table 9 can change its inclination in the θ direction by operating the motor 13.

That is, the lifter table 3 can be moved up and down in the Z direction, while the lifter table 9 can move in the Z direction, the X direction, and the θ direction.
It can move in each direction.

There is a slide table 14 on the lifter table 9,
The slide table 14 slides in the Y direction by the operation of the motor 1.

A slide unit 16 is attached to the lifter table 9, two reflecting mirrors 18 are arranged in a V shape on the slide table 17, and a CCD camera (hereinafter, simply referred to as a camera) 19 is provided. It is installed. The slide table 17 equipped with the reflection mirror 18 and the camera 19 slides by the action of the motor 20.

Reference numeral 21 denotes a pair of calibration plates arranged opposite to each other, which serves as a reference for imaging the mounting surfaces of the engine E and the transmission M by the camera 19 as described later.

FIG. 1 schematically shows the state of FIG. 4, and as shown in FIG. 3, when the engine E and the transmission M are first positioned on the lifters 2 and 8, respectively.
The camera 19 is positioned at the calibration point Pc so that the calibration plate 21 enters the field of view of the camera 19. The second plate on the calibration plate 21
As shown in the drawing, reference marks 22 are provided, and the reference marks 22 of the pair of calibration plates 21 are set so that their positions in the X-axis and Z-axis directions of the equipment coordinate system are equal to each other. Therefore, the reference marks 22 on both of the calibration plates 21 are the reflection mirrors 18.
The image is taken by the camera 19 via the. The image at this time is the third
As shown in FIG. 10A, the coordinates (Xtc, Ztc), (Xec, Zec) of the reference mark 22 on this image are obtained.

Next, the slide table 17 equipped with the reflecting mirror 18 and the camera 19 is the first image capturing point P ₁ which is the detection point.
To the first assembly reference position on each assembly surface F of the engine E and the transmission M, for example, the bolt hole V ₁
Image. In this case, the reflection mirror 18 is located in the facing gap between the engine E and the transmission M, but at least the above bolt hole V ₁ is in the field of view of the camera 19 so that the engine E and the transformer can be focused beforehand. The mission M is preliminarily positioned. Then, the image at the first image capturing point P ₁ is as shown in FIG. 3 (b), and the bolt hole V ₁ on this image is
The coordinates (Xe ₁ , Ze ₁ ) and (Xt ₁ , Zt ₁ ) of are calculated. Similarly, at the second image capture point P ₂ which is the detection point,
The mounting reference position of, for example, the bolt hole V ₂ is imaged, and as shown in FIG. 3C, the bolt hole V ₂ coordinates (Xe ₂ , Ze
₂ ) and (Xt ₂ , Zt ₂ ) are calculated.

When each coordinate position is obtained as described above, the reflection mirror 18
While the slide table 17 having the camera 19 mounted thereon is retracted to the calibration position Pc, the relative position error between the bolt holes V ₁ and V ₂ on the engine E side and the transmission M side is calculated and obtained. In this case, the bolt holes with reference to the reference mark 22 on the calibration plate 21
Relative position error of V ₁ (first image capture point P ₁ ) (△ x ₁ ,
Δz ₁ ) is expressed by equation (1), and similarly, bolt hole V ₂ (second
Image capture point P ₂₎ of the phase position error (△ x _2, △ z ₂₎ is expressed by equation (2).

_{(△ x 1, △ z 1} ) = {(Xec-Xe 1) - (Xtc-Xt 1), (Zec-Ze 1) - (Ztc-Zt 1)} ... (1) (△ x 2, △ z ₂ ) = {(Xec−Xe ₂ ) − (Xtc−Xt ₂ ), (Zec−Ze ₂ ) − (Ztc−Zt ₂ )} (2) Then, it is calculated by the equations (1) and (2). Based on the obtained relative position errors (Δx ₁ , Δz ₁ ) and (Δx ₂ , Δz ₂ ), for example, how much the position of the transmission M should be corrected when the engine E is fixed. Is calculated. In this case, if the amount to be corrected in the X direction is Δx, and similarly in the Z and θ directions, ΔZ, Δθ, Δx, Δz, Δθ can be obtained by the following equation.

△ x = fx (△ x ₁ , △ x ₂ , △ z ₁ , △ z ₂ ) △ z = fz (△ x ₁ , △ x ₂ , △ z ₁ , △ z ₂ ) △ θ = fθ (△ x ₁ , Δx ₂ , Δz ₁ , Δz ₂ ) where fx, fz and fθ are functions unique to the equipment.

Next, the correction amounts fx, fz, fθ obtained as described above are given to the control system of the lifter 8 as correction commands. as a result,
As shown in FIGS. 5 and 6, the X-direction position of the transmission M is corrected by the action of the motors 11 and 12, and the Z-direction position is changed by the action of the motor 11 in the same manner. Thus, the positions in the θ direction are respectively corrected, and the positions of the bolt holes V ₁ , V ₁ and V ₂ , V ₂ on the engine E side and the transmission M side match. When the transmission M is advanced toward the engine E in the Y direction by the action of the motor 15,
Both the assembling surfaces F are joined to each other and bolted by a robot or an operator to integrate them.

EFFECTS OF THE INVENTION According to the present invention, since the corresponding assembly reference position is recognized and corrected by a single camera, the cycle time can be shortened as compared with the conventional contact type, and in addition, two parts can be used. The facing gap can be made small, and the positional accuracy of actually joining the two parts after the two parts are aligned does not pose a problem.

[Brief description of drawings]

FIG. 1 is an explanatory view showing an embodiment of the method of the present invention, FIG. 2 is a perspective view of a calibration plate, FIG. 3 is a flow chart of the procedure in FIG. 1, and FIG. FIG. 5 is a plan view, FIG. 5 is a front view of FIG. 4, and FIG. 6 is a view in the direction of arrow A in FIG. 2,8 …… Lifter as support means, 18 …… Reflecting mirror, 19 …… Camera, E …… Engine, M …… Transmission, V ₁ , V ₂ …… Bolt hole as assembly reference position, P
₁ ... 1st image capture point as detection point, P ₂
...... The second image capture point as the detection point.

Claims (1)

[Claims] 1. A method for assembling two parts, which are individually supported by actuator-driving support means, in which respective assembling surfaces are opposed to each other, and the parts are coupled by displacing them closer to each other in the axial direction. In the opposing gap between the components, at least two detection points are set in advance in a direction orthogonal to the axial direction of those components, and each detection point is assembled on both mounting surfaces. The reference position is V within the facing gap between these two parts.
A step of simultaneously taking an image with a single camera through two reflecting mirrors arranged in a character shape to obtain a relative position error between both assembly reference positions, and at least one of the above based on the relative position error. After a component position correction command is given to the drive system of the support means to make both assembly reference positions coincide with each other, the two parts are assembled to each other by the approach displacement movement of the two parts in the axial direction based on the drive of the support means. A process for assembling parts, including: