JPH0786049B2 - Shim supply method to work - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION A. Purpose of the Invention (1) Field of Industrial Application The present invention provides a shim supply to a work for supplying a shim having a thickness corresponding to the size of the gap to the gap of the work being conveyed. Regarding the method.

(2) Conventional Technology Conventionally, a device for supplying a shim is, for example, an actual Kaisho 60
It is already known from the publication such as -119031.

(3) Problem to be Solved by the Invention In the above-mentioned conventional one, a plurality of types of shims having different thicknesses are prepared by dividing them into a plurality of mazine racks, and one of the plurality of magazine racks is selectively selected. Then, the shims are paid out from the magazine rack. Thus, it is the result of the employee measuring the gap size of the work that determines from which magazine rack the shim is dispensed, and the dispensed shim is supplied to the gap of the work by the worker.

However, if the employee measures the gap size and supplies the shim to the work as described above, the work efficiency is inferior. Therefore, in order to improve the work efficiency, the gap dimension of the work is measured by a robot, one of the plurality of magazine racks is selected according to the dimension measurement result, and the shim is dispensed from the selected magazine rack, It is conceivable that the discharged shim is supplied to the work by a robot.

By the way, the thickness of the shim used for assembling the precision portion is, for example, about 0.01 to 0.05 mm. Therefore, it is common for an operator to store and operate the shims classified by thickness in the magazine rack, and the shims having the above-described thickness are definitely classified by the thickness and stored in each magazine rack. It is difficult to do so, and the magazine rack may be mixed with a shim having a thickness outside the section. Therefore, if the shim discharged from one of the plurality of magazine racks is automatically supplied to the gap of the work as described above, there is a possibility that the shim having a thickness not required is erroneously supplied to the work.

The present invention has been made in view of the above circumstances, and aims to improve the work efficiency by automating the supply of shims to the work, and the supplied shim surely has the required thickness. It is an object of the present invention to provide a method for supplying a shim to a workpiece that has been subjected to the above.

B. Configuration of the Invention (1) Means for Solving the Problems In order to achieve the above object, according to the method of the present invention, a plurality of types of shims having different thicknesses are prepared separately for each type, A robot measures the gap size of a workpiece in the middle of conveyance, and then the shim is discharged from the section corresponding to the measured gap size and the thickness of the discharged shim is measured. The measured thickness corresponds to the measured gap size. Only when it is a thing, the shim after the thickness measurement is supplied to the gap of the work by the robot.

(2) Operation According to the method of the present invention, it is possible to improve the work efficiency by measuring the gap size of the work and supplying the shim to the work by the robot, and moreover, reliably responding to the gap size of the work. It is possible to accurately supply a shim having a thickness.

(3) Embodiment One embodiment of the present invention will be described below with reference to the drawings.

First, in FIG. 1, an assembly of a work W, for example, a mission and an operating device of an internal combustion engine for a vehicle is a tact transfer device.
Transported intermittently by C _T. A support base T is fixedly arranged on the floor side beside the tact transfer device C _T ,
A shim dispensing device S and a control panel C are arranged on the support base T. A robot R is arranged between the support base T and the tact transfer device C _T. The gap size of the work W on the tact transfer device C _T is measured by the gap size measuring device M held by the robot R, and the shim discharged from the shim discharging device S which operates based on the measurement result is described above by the robot R. It is supplied to the gap of the work W, and the control panel C
Based on the measurement value of the gap size measuring device M, the shim dispensing device S
And the operation of the robot R.

In the second view to Figure 4, shim payout device S, the frame 2 fixed with a chute 1 at one end, a plurality of types of shims 3 ₁ of different thicknesses, ... 3 _4, 3 _5, 3 _6, 3 A plurality of magazine racks 4 arranged on the base 2 while accommodating ₇ , ..., 3 _N in a stacked state, the chute 1 and each magazine rack 4 ...
A plurality of pairs of shim guide rails 5 are arranged in parallel on the gantry 2 so as to connect the spaces, and the shims 3 _{1 to} 3 _N from the magazine rack 4 are connected to the shim guide rails 5 ... Each shim guide rail 5 to be pushed out to the chute 1 side along 6 ...
, 6 ... A plurality of pushers 7 that can move back and forth along with the push drive means 8 connected to the pushers 7 and the thickness of the shims 3 _{1 to} 3 _N discharged from each magazine rack 4 are measured. In order to do so, it is provided with a plurality of shim thickness measuring microgauges 9 arranged on the pedestal 2 in correspondence with each magazine rack 4.

Referring to FIG. 5 and FIG. 6 together, the pedestal 2 includes a fixed substrate 10 fixed on the support T, a plurality of pillars 11 ... Standing on the substrate 10, and legs thereof. The top plate 12 has a rectangular shape and is horizontally supported by the pillars 11. The chute 1 is connected to one end of the top plate 12 along the longitudinal direction. Further, the top plate 12 is provided with a plurality of rectangular long holes 13 ... Which are long in a direction orthogonal to the longitudinal direction thereof in parallel with each other.

The shim guide rails 5 and 6 are fixed on the top plate 12 along the both side edges of the respective long holes 13 from the middle portion of the long holes 13 to one side end of the top plate 12, that is, the chute 1. To be done. Thus, both shim guide rails 5 ..., 6 ...
The guide surface 5 is formed in a substantially L-shaped cross section with the side as the lower portion, and slides on both side ends of each shim 3 _{1 to} 3 _N.
and a and 6a on the upper surface of the lower portion.

Each magazine rack 4 ... is each shim guide rail 5
, 6 ... are respectively arranged corresponding to the ends separated from the chute 1. Each magazine rack 4 ... is a sim 3 ₁
A cylindrical shape having an outer shape substantially corresponding to the outer shape of ~ 3 _N , each of which is configured to be opened and closed along the longitudinal direction by the hinge 14 at a plurality of positions with a gap in the longitudinal direction, and the closed state is plural. It is maintained by tightening the screw member 15 of.

On the top plate 12 of the gantry 2, columns 16, 16 are erected at both ends along the longitudinal direction. An upper support frame 17 and a lower support frame are provided between the upper and lower parts of these columns 16,16.
18 is erected, and locking recesses 19 and 20 are provided in portions of both support frames 17 and 18 corresponding to the magazine racks 4 ... On the other hand, engaging hooks 21 and 22 which can be engaged from above the engaging recesses 19 and 20 are attached to the magazine racks 4 ,. Thus, each magazine rack 4 is in an upright state in which it is suspended from the upper and lower support frames 17 and 18 by engaging the engaging hooks 21 and 22 with the locking recesses 19 and 20,
The shim guide rails 5, 6 ... Are arranged corresponding to the ends of the shim guide rails 5, 6 ...

By the way, a square-shaped receiving frame 23 is provided on the end of each of the shim guide rails 5 ... 6 separated from the chute 1 to receive the lower end of each magazine rack 4 ... Suspended as described above. Each is fixed. With the magazine racks 4 placed on the receiving frame 23, the shims 3 _{1 to} 3 _N stored in the magazine racks 4 in a stacked state pass through the receiving frame 23 due to their own weight. The shim guide rails 5, 6 are sequentially supplied from the lower side onto the mounting surfaces 5a, 6a.

In addition, the receiving frames 23 ... Are mounted on the mounting surfaces 5a and 6a of the shim guide rails 5 ... 6 to notify that the corresponding shims among the shims 3 _{1 to} 3 _N should be reinforced on the magazine rack 4. detector 24 which rides are shim 3 ₁ to 3 _N and outputs a detection to signal that it is now approximately three example is mounted, respectively.

A plurality of pairs of guide rails 25, 25 extending along both side edges of the elongated holes 13 are fixed to the lower surface of the top plate 12 of the gantry 2, and the longitudinal direction is set in each elongated hole 13. The pushes 7 that are arranged so as to be movable to are fixed to sliders 26 that are movable along the guide rails 25, 25, respectively. Thus, the push plates 7a for pushing the shims 3 _{1 to} 3 _N on the placement surfaces 5a and 6a are provided integrally with the upper portions of the pushes 7 ... , The pusher 7 ... on the upper surface of the two mounting surfaces 5a, 6a
And their mounting surface 5a, it is set so as to be positioned between the upper surface of one shim 3 ₁ to 3 _N located on 6a. As a result, in accordance with the movement of the pusher 7 ... To the chute 1 side, the shims 3 _{1 to} 3 _N from the magazine racks 4 ... are discharged to the chute 1 side one by one along the shim guide rails 5 and 6. Become. Moreover, the tip of the pressing plate portion 7a is formed in an arcuate recess corresponding to the shims 3 _{1 to} 3 _N.

The micro gauges 9 for measuring the thickness of the shims 3 _{1 to} 3 _N delivered from the magazine racks 4 are provided with the magazine racks 4 and the shoots 1 along the shim guide rails 5 and 6, respectively. It is arranged in the middle part between. That is, the support frame 27 located above the middle portion of each shim guide rail 5 ..., 6 while surrounding each magazine rack 4 ... Between the lower portions of both columns 16, 16 erected on the top plate 12. Are provided, and the microgauges 9 are fixed to the fixtures 53 fixed to the portions of the support frame 27 corresponding to the magazine racks 4 while having the vertical axis. Moreover, each of the micro gauges 9 is elastically brought into contact with the upper surfaces of the shims 3 _{1 to} 3 _N on the mounting surfaces 5a and 6a so that the shims 3
In order to precisely measure the thickness of 3 _{1 to} 3 _N , the positions corresponding to the upper surfaces of the mounting surfaces 5a and 6a have been adjusted as zero points.

A pair of pressing rollers 28, 28 which can be routed between the positions where the shims 3 _{1 to} 3 _N are pressed on the mounting surfaces 5a and 6a and the positions where the pressing is released are provided on both sides of each my-gross gauge 9 ... It is arranged. A rotary shaft 29 having a horizontal axis perpendicular to the longitudinal direction of the shim guide rails 5, 6 is arranged between the micro gauges 9 and the magazine racks 4, and the rotation thereof is performed. Both ends of the shaft 29 are rotatably supported by bearing blocks 30, 30 fixed on the top plate 12. On the other hand, the pressing rollers 28, 28 are commonly supported by a shaft 31 which is parallel to the rotating shaft 29.
Both ends of the shaft 31 are rotated through the pair of connecting members 52, 52.
Connected to 9. Therefore, each pressing roller 28, 28 ...
It is rotatable about 31 and rotatable about the axis of the rotating shaft 29. Moreover, a cylindrical spacer 32 for maintaining a gap between the pressing rollers 28, 28 is fitted on the shaft 31 between the pressing rollers 28, 28.
On the outer side of 8, the shaft 29 is provided with stoppers 33, 3 for preventing both pressing rollers 28, 28 from moving in directions away from each other.
3 are fixed respectively.

Referring also to FIG. 7, at one end of the rotary shaft 29 protruding from the bearing block 30, an arm extending downward while having a contact portion 34a bent at a right angle at the tip is formed in a substantially L shape. The proximal end of 34 is fixed. On the other hand, a bracket 35 is fixed to the lower surface of the top plate 12 of the gantry 2, and the bracket 35
7 and the arm 34, as shown by the solid line in FIG. 7, the pressing rollers 28, 28 ... In the direction in which the shims 3 _{1 to} 3 _N press the mounting surfaces 5a and 6a, the arm 34, that is, the rotating shaft. The spring 36 for biasing 29 is contracted. Further, the arm 34 is in the direction opposite to the urging direction of the spring 36, that is, the pressing rollers 28, 28 have shims 3 _{1 to} 3 _N on the mounting surfaces 5a, 6a.
The shim-pressing cylinder 37 for rotating in the direction away from each other as shown by the chain line in FIG. While having it, it is fixedly supported by the bracket 35. Therefore, in a state where the shim pressing cylinder 37 is in the extension operation, the pressing rollers 28, 28 ... Are located away from the shims 3 _{1 to} 3 _N , and when the shim pressing cylinder 37 contracts and moves, the spring of the spring 36 is changed. Each pressing roller 28,2 by force
8 ... rotates to the position where the shims 3 _{1 to} 3 _N are pressed against the placement surfaces 5a and 6a.

The pressing drive means 8 connects the shims 3 _{1 to} 3 _N to the magazine racks 4 ...
From the microgauge 9 to the microgauge 9 and the second stroke to push the shims 3 _{1 to} 3 _N from the microgauge 9 to the chute 1 in two stages.
Each pusher 7 is configured to be capable of being driven by pressing.
Multiple dispensing cylinders 38 ... and shims individually coupled to ...
3 _{1 to} 3 _N from each magazine rack 4 ... to Micro gauge 9 ...
While being extruded, the plurality of regulating members 39 ... Which are individually provided corresponding to the respective dispensing cylinders 38 ... While being displaceable between the position that regulates the operation of the dispensing cylinders 38 ... And the position that releases the regulation state. And a single regulating cylinder 40 commonly connected to each regulating member 39.

Brackets 41 are fixed to the lower surface of the top plate 12 in correspondence with the ends of the long holes 13 of the gantry 2 on the side separated from the chute 1, and these brackets 41 ...
The pay-out cylinders 38 ... Each having a horizontal axis along the longitudinal direction of each of the long holes 13 ... Are fixedly supported. The tip ends of the piston rods 38a in the pay-out cylinders 38 ... Are respectively connected to the sliders 26. Therefore, according to the expansion and contraction operation of the payout cylinder 38, the pusher 7 corresponding to the payout cylinder 38 is moved to the shim guide rails 5, 6
It will move forward and backward along.

The restricting members 39 are individually arranged at the front positions of the pay-out cylinders 38, and are arranged on a common rotary shaft 42 having a horizontal axis orthogonal to the axis of the pay-out cylinders 38. Each is fixed. Both ends of the rotary shaft 42 are rotatably supported by bearing blocks 44, 44 fixed to the base plate 10 of the gantry 2 via bearing pedestals 43, respectively.

One end of a link 45 is connected to one end of the rotary shaft 42 protruding from one of the two bearing blocks 44,44. On the other hand, a bracket 46 provided on the base plate 10 of the gantry 2 supports a single restricting cylinder 40 having an axis line orthogonal to the rotating shaft 42 via a trunnion shaft 47. The pistol rod 40a is connected to the other end of the link 45. That is, a connecting ring 48 is connected to the tip of the piston rod 40a, and the other end of the link 45 is connected via a connecting pin 49 parallel to the rotating shaft 42 of the connecting ring 48. Moreover, a mounting member fixed on the substrate 10 at the front position of the connecting ring 48.
A screw member 51 that comes into contact with the connecting ring 48 and exerts a function as a stopper that restricts the maximum extension position of the restriction cylinder 40 is screwed into the 50 so as to be able to advance and retract.

Thus, the restriction cylinder 40 and the rotation shaft 42 are connected via the link 45 so that the rotation shaft 42 rotates approximately 90 degrees during the maximum expansion operation and the maximum contraction operation of the restriction cylinder 40. , Each regulating member 39 ... As shown by the solid line in FIG.
When the shim 3 _{1 to} 3 _N reaches the position corresponding to the micro gauge 9 by the pusher 7 and the pusher 7 abuts on the tip of the piston rod 38a of the pay-out cylinder 38, the further extension operation is prevented. When the restriction cylinder 40 is in the maximum contraction operation, the rotation shaft 42 is rotated by about 90 degrees as shown by the chain line in FIG. 4 so that the piston rod 38a is allowed to move forward. Fixed to. As a result, in response to controlling the expansion and contraction operation timing of the restriction cylinder 40, the pressing drive means 8 pushes the shims 3 _{1 to} 3 _N from each magazine rack 4 to the micro gauge 9 ...
Each push 7 can be pressed and driven in two steps, namely, the stroke of 2 and the second stroke of pushing the shims 3 _{1 to} 3 _N from the micro gauge 9 to the chute 1.

In FIG. 8, the robot R selects the tact transfer device.
An arm 55 that can be moved between C _T and the shim dispensing device S is provided, and at the tip of the arm 55, _one of the shims 3 _{1 to} 3 _N can be detachably held and the gap dimension measuring device M can be detachably attached. A holding part 56 is provided.

Referring to FIG. 9, the gap dimension measuring device M comprises, for example, a main body 57 which is attachable to and detachable from the holding portion 56 of the robot R, and a measuring portion 59 which is provided at the tip of a support rod 58 extending from the main body 57. belongs to. Thus, the measuring portion 59 is a gap insertion portion 60 provided at the tip of the support rod 58 with a wide middle portion made of high-elasticity resin, and strain gauges 61 provided on both side surfaces in the maximum width portion of the gap insertion portion 60, 61, and the gap size is measured by the strain of the strain gauges 61, 61 due to the deformation of the gap insertion part 6 according to the insertion of the gap insertion part 60 into the gap.

As shown in FIG. 1, the gap size measuring device M is arranged at a standby position P on the side of the tact transfer device C _T when not measuring, and the robot R when measuring the gap size of the work W.
It is held by and is moved to the work W on the tact transfer device C _T , and after the measurement is completed, it is returned to the original standby position P by the robot R. Moreover, the gap size measuring instrument M maintains the connection state to the control panel C regardless of the above movement.

Next, the operation of this embodiment will be described. When the work W being conveyed by the tact conveyance device C _T reaches a predetermined position, the conveyance operation of the tact conveyance device C _T is temporarily stopped.
Then, the robot R holds the gap size measuring device M at the standby position P and operates the arm 55 to the position of the work W which is temporarily stopped at the predetermined position of the tact transfer device C _T , and the gap size is measured. The gap of the gap is measured by the measuring instrument M. The gap dimension measurement value is supported by the control plate C from the gap dimension measurement value M, the operation control of the shim dispensing device S is started, and the robot R moves its arm 55 to the standby position P, and the gap dimension is measured. The measuring instrument M is returned to the standby position P.

In the control panel C, each dispense cylinder in the shim dispenser S corresponds to the gap dimension measurement value by the gap dimension measuring device M.
38 ... One, for example, payout cylinder corresponding to the shim 3 ₇
Start the extension operation of 38. Thus, before the pay-out cylinder 38 is extended, the regulating cylinder 40 is in a stretched operation state,
Each of the regulating members 39 is in the position shown by the solid line in FIG. 4, the shim pressing cylinder 37 is also extended, and the pressing rollers 28, 28 are placed on the mounting surfaces 5a of the shim guide rails 5 ,. , 6a
It is in a position away from…

When the payout cylinder 38 in such a state to start the decompression operation, the push 7, the mounting surface 5a of shim 3 ₇ ... both shim guide rails 5 and 6 of which are stacked and stored in the magazine rack 4, on the 6a rides and contact from behind the lowermost layer of the shim 3 _7, the lowest layer of the shim 3 ₇ only both mounting surface 5a, will extrude toward the chute 1 side while sliding on 6a.

When Thus to shim 3 ₇ has moved to a position corresponding to the micro gauge 9, the tip of the piston rod 38a of the payout cylinder 38 abuts against the regulating member 39, more forward operation is prevented. That pusher 7 comprises a shim 3 ₇ to be extruded in the first stroke from the magazine 4 to the micro-gauge 9. Thus shim 3 ₇ when advanced to a position corresponding to the micro gauge 9, shim pressing cylinder 37 is contracted operation. As a result, the pressing rollers 28, 28 ... Are placed on the mounting surfaces 5a, 6a by the spring force of the spring 36.
Rotates towards the side, the shim 3 ₇ will be pushed against the mounting surface 5a by both pressing rollers 28, 28 on both sides of the micro gauge 9, the 6a, the shim 3 ₇ by a micro-gauge 9 in this state
Is measured, and the measurement result is input to the control panel C.

Thus the thickness of the shim 3 _7, which is paid out from the magazine rack 4, will be measured accurately while avoiding quiescent Moreover placing surface 5a, the floating of the 6a, the control panel C
So it is possible to determine whether or not these have a thickness of the shim 3 ₇ paid out from the magazine rack 4 corresponding to the measurement value by the gap sizer M.

Cylinder for shim pressing after measurement with micro gauge 9
37 mounting surface 5a of shim 3 ₇ by both the pressing rollers 28, 28 by extending action, pressed to 6a is released, further regulation cylinder 40 is contracted operation. As a result, the restricting member 39 rotates about 90 degrees toward the front side as shown by the chain line in FIG. 4, and the state in which the extending operation of the dispensing cylinder 38 is restricted is released. Whereby payout cylinder 38 resumes extension operation, the pusher 7 is gradually extruded toward the shim 3 ₇ from the micro gauge 9 to the chute 1 side. That pusher 7 pushes the shim 3 ₇ at a second stroke from the micro gauge 9 until shoots 1.

Although Thereby the shim 3 ₇ chute 1 falls, the shim
3 ₇ whether those having a thickness as requested, is already determined by the control board C, as described above, in accordance with the determination result, whether to use the shim 3 ₇ in the chute 1 is determined To be done.

When the shim 3 _7, which is paid out to the chute 1 is determined to be those corresponding to the gap dimension of the workpiece W, the robot R
Workpiece W with the shim 3 ₇ of the chute 1 by the control signal from the control panel C and held at the tip of the holding portion 56 of the arm 55, in a stationary state moved the arm 55 to the tact transport device C _T
Supply to the gap. After the supply of the shim to the work W is completed, the robot R moves the arm 55 to the standby position P, and the operation of the tact transfer device C _T is restarted.

On the other hand, when the shim 3 _7, which is paid out to the chute 1 is determined does not correspond to the gap dimension of the work W, arm 55 and shim 3 ₇ of the chute 1 by the control signal from the robot R is the control panel C It is held by the holding portion 56 at the tip of the and is put in an error box (not shown). Thus, the shim payout device S
Repeats the payout operation until the correct thickness of the shim 3 ₇ are paid out to the chute 1.

The work W transported to the tact transport device C _T in this way
The robot R performs the gap dimension measurement and the shim supply, and the shim supply to the work can be automated along with the automation of the shim dispensing, and the work efficiency can be improved. Also, the shims supplied correspond exactly to the gap dimension measurements, which prevents erroneous supply of shims of different thickness.

In the above embodiment, the single robot R measures the gap size and supplies the shim to the work. However, dedicated robots may perform the measurement.

C. Effects of the Invention As described above, according to the present invention, a plurality of types of shims having different thicknesses are prepared separately for each type, and the gap size of the workpiece during conveyance is measured by the robot, and the gap is measured. Measure the thickness of the discharged shim together with discharging the shim from the section corresponding to the dimension measurement value, and only when the thickness measurement value corresponds to the gap dimension measurement value, the shim after the thickness measurement is performed by the robot. Since it is supplied to the gap of the work,
It is possible to improve the work efficiency by measuring the gap size of the work and supplying the shim to the work by the robot, and it is possible to accurately supply the shim having a thickness corresponding to the gap size of the work.

[Brief description of drawings]

The drawings show one embodiment of the present invention. FIG. 1 is an overall plan view of a shim feeder, FIG. 2 is an enlarged plan view of a shim dispenser, and FIG. 3 is a III-III line in FIG. Sectional view, FIG. 4 is a sectional view taken along line IV-IV of FIG. 3, FIG. 5 is an enlarged sectional view taken along line VV of FIG. 4, and FIG. 6 is a sectional view taken along line VI-VI of FIG. 7 is an enlarged sectional view taken along line VII-VII of FIG. 3, FIG. 8 is a perspective view of the robot, and FIG. 9 is a partially cutaway side view of the gap size measuring device. 3 _{1 to} 3 _N …… Sim R …… Robot, W …… Work

Claims (1)

[Claims] 1. A method for supplying a shim to a work for supplying a shim (3 _{1 to} 3 _N ) having a thickness corresponding to the size of the gap to the gap of the work (W) in the middle of being conveyed, a plurality of types having different thicknesses. The shims (3 _{1 to} 3 _N ) are prepared by classifying them, and the gap dimension of the workpiece (W) in the middle of conveyance is measured by the robot (R). From the category corresponding to the gap dimension measurement value Measure the thickness of the shim as well as the shim.
The shim supply to the work, wherein the shim after the thickness measurement is supplied to the gap of the work (W) by the robot (R) only when the measured thickness value corresponds to the measured gap dimension value. Method.