CN115107907A - Component mounting device - Google Patents

Abstract

The present invention suppresses clogging of components within the mounting device. A mounting device for mounting a component to an opening of a to-be-mounted body includes a holding portion having a plurality of hole portions arranged in a line in the circumferential direction around an axis, and one hole portion of the plurality of hole portions holds one component. A plurality of components are held in a manner; a protruding portion, which is a component to be mounted to the opening of the mounted body, out of the plurality of components held by the plurality of holes, that is, the mounting component, protrudes from the hole portion along the axis, so as to mount the mounting member. The component is fitted into the opening of the object to be mounted; and the rotation driving part relatively rotates the holding part with respect to the protruding part about the axis.

Description

Parts mounting device

technical field

The present disclosure relates to mounting devices for components.

Background technique

Patent Document 1 discloses an assembling device that assembles a member called a plug having rubber elasticity into an opening provided in a vehicle body of an automobile. In this assembling device, the most rearmost component is pushed out to the platform by pressing the most rearmost component among a plurality of components that are arranged in a row in the longitudinal direction and accommodated in the cylindrical box by the rod member, so that the most advanced component is pushed out to the platform, and is The member pushed out to the platform is assembled to the opening.

Patent Document 1: Japanese Patent Application Laid-Open No. 2020-032516

SUMMARY OF THE INVENTION

In the above-mentioned apparatus, the last component is pushed out of the plurality of components arranged in a line in the cassette, and the leading component is sent out of the cassette. Therefore, the components are pressed against each other and the arrangement tends to be disturbed. Therefore, there is a possibility that the disorderly arranged components may be jammed in the cassette and the components may not be sent out normally.

The present disclosure can be implemented as the following forms.

(1) According to one aspect of the present disclosure, there is provided an attachment device for attaching a component to an opening of a to-be-attached body. This mounting device includes: a holding part having a plurality of hole parts arranged in a line in the circumferential direction about the axis, and among the plurality of hole parts, a plurality of parts are held so that one hole part holds one part; The mounting member, which is a member of the plurality of members held by the plurality of hole portions that is mounted to the opening portion of the body to be mounted, protrudes from the hole portion along the shaft, thereby inserting the mounting member into the opening of the to-be-mounted body; and a rotation driving portion for relatively rotating the holding portion with respect to the protruding portion around the shaft.

According to the mounting device of the present aspect, among the plurality of hole portions provided in the holding portion, a plurality of members are held so that one hole portion holds one member, so that mutual pressing of the members in the holding portion can be eliminated. Therefore, it is possible to suppress the fact that the member is blocked in the holding portion and the member cannot be properly protruded from the holding portion.

(2) In the mounting device of the above aspect, the inner wall of the hole portion may be provided with a convex portion that restricts movement of the member along the shaft toward the center of the hole of the hole portion.

According to the mounting device of this aspect, since the movement of the member along the shaft is restricted by the convex portion, it is possible to prevent the member from falling out of the hole portion.

(3) In the mounting device of the above aspect, an odd number of the protrusions may be provided on the inner wall of the hole portion at equal intervals along the circumferential direction centered on the hole center of the hole portion.

According to the mounting device of this aspect, since the convex portions are not arranged to face each other across the hole center of the hole portion, the width of the passage for projecting the member can be suppressed from being too narrow. Therefore, it is possible to prevent the member from falling off from the hole portion while ensuring that the member easily protrudes from the hole portion.

(4) The attachment device of the above aspect may include a force measurement unit that measures the force along the shaft when the attachment member is fitted into the opening of the body to be attached.

According to the mounting device of this aspect, the mounting defect of the mounting member can be detected using the force measured by the force measuring unit.

(5) The attachment device of the above aspect may include a height measurement unit that measures the height of the attachment member fitted into the opening of the attachment body from the attachment body.

According to the mounting apparatus of this aspect, the mounting defect of the mounting member can be detected using the height measured by the height measuring part.

(6) In the attachment device of the above aspect, the projection portion may be provided with a suction hole for sucking and sucking the attachment member when projecting along the shaft.

According to the mounting device of the present aspect, since the mounting member can be sucked to the protruding portion by suction through the suction hole, positional displacement of the mounting member with respect to the protruding portion can be suppressed during protruding. Therefore, the attachment member can be attached to the opening of the attached body with high accuracy.

The present disclosure can also be implemented in various ways other than the mounting device. For example, it can be realized by installing a robot or the like.

Description of drawings

FIG. 1 is a front view showing a schematic configuration of a mounting robot including the mounting device according to the first embodiment.

FIG. 2 is a first perspective view showing a schematic configuration of the mounting device according to the first embodiment.

3 is a second perspective view showing a schematic configuration of the mounting device according to the first embodiment.

FIG. 4 is a plan view showing the structure of a hole portion.

FIG. 5 is a sectional view taken along the line V-V in FIG. 4 .

FIG. 6 is a flowchart showing the contents of the installation process.

FIG. 7 is a first explanatory view showing a state in which the hole plug is attached to the opening of the vehicle body.

FIG. 8 is a second explanatory view showing a state in which the hole plug is attached to the opening of the vehicle body.

FIG. 9 is a third explanatory view showing a state in which the hole plug is attached to the opening of the vehicle body.

FIG. 10 is a first explanatory diagram showing the force measured by the force measuring unit.

FIG. 11 is a second explanatory diagram showing the force measured by the force measuring unit.

Detailed ways

A. 1st Embodiment:

FIG. 1 is a front view schematically showing a schematic configuration of a mounting robot 10 including a mounting device 11 in the first embodiment. In FIG. 1 , the body 200 of the automobile under assembly suspended from the hanger 300 is shown together with the installation robot 10 . The mounting robot 10 includes the aforementioned mounting device 11 , the robot arm 12 , and the centralized control device 13 . In the present embodiment, the attachment device 11 is configured as an end effector attached to the distal end portion of the robot arm 12 . The specific configuration of the mounting device 11 will be described later.

The robot arm 12 changes the position and orientation of the mounting device 11 . In the present embodiment, the robot arm 12 is constituted by a vertical articulated robot having six rotation axes J1 to J6. In addition, the robot arm 12 is not limited to the vertical articulated robot, and may be constituted by, for example, a horizontal articulated robot.

The centralized control device 13 controls the mounting device 11 and the robotic arm 12 so that the mounting device 11 and the robotic arm 12 cooperate with each other. In the present embodiment, the centralized control device 13 is constituted by a programmable logic controller (Programmable Logic Controller: PLC).

In the present embodiment, the mounting device 11 attaches the hole plug 100 to the opening of the vehicle body 200 by inserting the hole plug 100 into the opening of the vehicle body 200 under the control of the centralized control device 13 . The hole plug 100 is a member for closing the opening. The hole plug 100 is formed of, for example, a rubber material such as ethylene propylene rubber or silicone rubber, or a resin material such as polyethylene or nylon. In this embodiment, the hole plug 100 is formed of a rubber material. The hole plug 100 is sometimes simply referred to as a plug. In addition, the mounting device 11 may mount a grommet formed of, for example, a rubber material or a resin material to the opening of the vehicle body 200 instead of the mounting hole plug 100 . The grommet is a member for protecting the wire harness inserted into the opening of the vehicle body 200 . An object to which components such as the hole plug 100 and the grommet are attached via the attachment device 11 such as the vehicle body 200 described above is sometimes referred to as a to-be-attached body. A member which is attached to a to-be-attached body, such as the hole plug 100 and a grommet, is sometimes referred to as an attachment member.

FIG. 2 is a first perspective view showing a schematic configuration of the mounting device 11 . FIG. 3 is a second perspective view showing a schematic configuration of the mounting device 11 . 2 and 3 show the mounting device 11 viewed from different directions. 2 and 3 show arrows representing X, Y, and Z axes that are three coordinate axes orthogonal to each other. The Z axis is a coordinate axis perpendicular to the mounting surface PL of the distal end portion of the robot arm 12 . In the following description, in the case of a specific orientation, the forward direction, which is the direction indicated by the arrow, is referred to as "+", and the reverse direction, which is the direction opposite to the direction indicated by the arrow, is referred to as "-". Negative sign. The arrows indicating the X, Y, and Z axes are shown in FIG. 4 and subsequent directions, and the directions indicated by the arrows are also appropriately illustrated corresponding to FIGS. 2 and 3 .

As shown in FIG. 2 , in the present embodiment, the mounting device 11 includes a base portion 20 , a rotational drive portion 30 , a holding portion 40 , a projection portion 50 , a force measurement portion 60 , a height measurement portion 70 , a camera 80 , and a control portion 90 .

In the present embodiment, the base portion 20 is configured by combining the upper panel 21 , the bottom panel 22 , and the side panel 23 . The upper panel 21, the bottom panel 22, and the side panel 23 are flat plates, and have a large thickness in order to ensure rigidity. The bottom plate 22 is arranged in parallel with the mounting surface PL of the distal end portion of the robot arm 12 , and is fixed to the distal end portion of the robot arm 12 via the force measuring unit 60 . The upper panel 21 is arranged on the +Z direction side with respect to the bottom panel 22 . The upper panel 21 and the bottom panel 22 are arranged in parallel. The side panel 23 connects the edge part on the -X direction side of the upper panel 21 and the end part on the -X direction side of the bottom panel 22 . The upper panel 21 and the side panel 23 are fixed to each other by welding, bolts, or the like. The bottom panel 22 and the side panel 23 are fixed to each other by welding, bolts, or the like.

The rotary drive unit 30 is fixed to the surface on the +Z direction side of the upper panel 21 . The rotation drive unit 30 rotates the holding unit 40 . In the present embodiment, the rotation driving unit 30 is constituted by, for example, a motor such as a servo motor and a stepping motor, and an orthogonal shaft type reducer having an output shaft orthogonal to the output shaft of the motor, and the output shaft of the reducer can The holding part 40 is detachably fixed. In addition, the rotation drive part 30 may not be provided with a speed reducer.

The holding part 40 is arranged on the +Z direction side of the rotation driving part 30 and is supported by the rotation driving part 30 . The holding portion 40 is configured in a disk shape centered on a central axis CL1 parallel to the Z axis. The holding part 40 is rotated about the central axis CL1 by the rotation driving part 30 . The holding portion 40 is provided with 15 hole portions 42 at equal intervals in the circumferential direction with the center axis CL1 as the center. The holding portion 40 holds the hole plug 100 in each hole portion 42 so that one hole portion holds one hole plug. The holding portion 40 may be formed of a metal material, or may be formed of a resin material or a ceramic material. In addition, the number of the hole parts 42 provided in the holding|maintenance part 40 is not limited to 15, For example, 2 to 14 may be sufficient, and 16 or more may be sufficient as it. The holding part 40 may be formed in a polygonal plate shape such as an octagon instead of a circular plate shape, for example. The holding part 40 may not be a plate shape but a block shape. The central axis CL1 is sometimes simply referred to as a shaft.

The protruding portion 50 includes a shaft 51 , a bearing 52 , a connecting member 53 , a shaft driving portion 55 , and a vacuum generator 59 . The shaft 51 is a shaft member that protrudes the hole plug 100 from the hole portion 42 . In this embodiment, the shaft 51 has a hollow cross section. The shaft 51 is arranged on the -Z direction side with respect to the holding portion 40 and along the Z axis on the -X direction side of the side panel 23 . The shaft 51 is supported by the bearing 52 fixed to the upper panel 21, and can move along the Z axis. The front end portion of the shaft 51 faces the holding portion 40 . The rear end portion of the shaft 51 is connected to the shaft driving portion 55 via the connecting member 53 .

The shaft drive unit 55 is arranged adjacent to the shaft 51 . The shaft drive unit 55 is fixed to the upper panel 21 . The shaft drive unit 55 moves the shaft 51 along the Z axis. In the present embodiment, the shaft drive unit 55 is constituted by an air cylinder, and moves the shaft 51 connected by the connection member 53 by expanding and contracting with compressed air supplied from a compressor (not shown). In addition, the shaft drive part 55 is not limited to an air cylinder, For example, an electric linear actuator may be comprised.

The vacuum generator 59 is arranged between the upper panel 21 and the bottom panel 22 , and is fixed to the surface on the +X direction side of the side panel 23 . The vacuum generator 59 is connected to the rear end portion of the shaft 51 via a not-shown flexible tube or the like, and communicates with the hollow portion of the shaft 51 . In the present embodiment, the vacuum generator 59 is constituted by an ejector, receives a supply of compressed air from a compressor (not shown), and generates a vacuum by the Venturi effect. In the present embodiment, the compressor that supplies compressed air to the ejector serving as the vacuum ejector 59 is the same as the compressor that supplies compressed air to the cylinder serving as the shaft drive unit 55 . Therefore, the area occupied by the compressor at the location where the compressor is installed can be reduced.

The force measurement unit 60 is arranged between the bottom panel 22 and the front end portion of the robot arm 12 , and is fixed to the bottom panel 22 and the robot arm 12 . The force measuring unit 60 measures the force acting on the mounting device 11 . The force measurement unit 60 is constituted by a force sensor capable of measuring the force in the direction along the central axis CL1 of the holding unit 40 . That is, in the present embodiment, the force measurement unit 60 is constituted by a force sensor capable of measuring the force in the Z direction. Information on the force measured by the force measurement unit 60 is sent to the control unit 90 .

As shown in FIG. 3 , the height measurement unit 70 is arranged to protrude outward from between the upper panel 21 and the bottom panel 22 more than the outer peripheral side surface of the holding unit 40 , and is fixed to the surface on the +Z direction side of the bottom panel 22 . The height measuring unit 70 measures the height of the surface of the hole plug 100 with respect to the surface of the vehicle body 200 after the hole plug 100 is attached to the opening of the vehicle body 200 . In the present embodiment, the height measurement unit 70 is constituted by a laser displacement gauge. Information on the height measured by the height measurement unit 70 is sent to the control unit 90 . In other embodiments, the height measuring unit 70 may not be a non-contact type like the above-described laser displacement meter, but a contact type that measures the height by tracing the surface of the vehicle body 200 and the surface of the hole plug 100 with a probe.

The camera 80 is arranged to protrude outward from between the upper panel 21 and the bottom panel 22 more than the outer peripheral side surface of the holding portion 40 , and is fixed to the surface on the +Z direction side of the bottom panel 22 . The camera 80 is used to detect the positional displacement between the opening of the vehicle body 200 and the hole 42 holding the hole plug 100 attached to the opening. The image captured by the camera 80 is sent to the control unit 90 .

As shown in FIG. 2 , the control portion 90 is held in a control box 95 fixed to the base portion 20 . The control unit 90 is constituted by a computer including a CPU, a memory, and an output/output interface. In the present embodiment, the control unit 90 controls the rotation drive unit 30 , the shaft drive unit 55 , the force measurement unit 60 , the height measurement unit 70 , and the camera 80 . In addition, the control unit 90 may be constituted by a combination of a plurality of circuits instead of a computer.

FIG. 4 is a plan view showing the configuration of the hole portion 42 . FIG. 5 is a sectional view taken along the line V-V in FIG. 4 . In FIGS. 4 and 5 , one of the 15 holes 42 provided in the holding portion 40 is shown. In FIG. 5 , the hole plug 100 held by the hole portion 42 and the distal end portion 56 of the shaft 51 are shown together with the hole portion 42 .

As shown in FIG. 4 , the opening shape of the hole portion 42 is substantially circular. The hole portion 42 has a large diameter portion 45 and a small diameter portion 46 . As shown in FIG. 5 , the diameter D1 of the large-diameter portion 45 is larger than the diameter D2 of the small-diameter portion 46 . The portion on the +Z direction side in the hole portion 42 is constituted by the large diameter portion 45 , and the portion on the −Z direction side in the hole portion 42 is constituted by the small diameter portion 46 . The inner wall surface of the large diameter portion 45 is connected to the inner wall surface of the small diameter portion 46 via the stepped surface 47 . The hole plug 100 is held in the large diameter portion 45 .

As shown in FIG. 4 , the large diameter portion 45 is provided with five convex portions 49 . Each convex part 49 is provided so as to protrude from the inner wall surface of the large diameter part 45 toward the center axis CL2 of the hole part 42 . The five convex portions 49 are provided at equal intervals along the circumferential direction around the central axis CL2 of the hole portion 42 . As shown in FIG. 5 , each convex portion 49 is provided at the end portion on the +Z direction side of the hole portion 42 . In this embodiment, the hole plug 100 is formed of a rubber material, and the convex portion 49 is formed of a metal material, a resin material, or a ceramic material. When the hole plug 100 is formed of a resin material, the convex portion 49 may be formed of a rubber material. In addition, the number of the convex parts 49 provided in the large diameter part 45 is not limited to five, It may be 1 to 4, and 6 or more may be sufficient as it. The convex parts 49 may be provided so as to surround the large diameter part 45 without any space therebetween. The central axis CL2 of the hole portion 42 is sometimes referred to as the hole center of the hole portion 42 .

In the present embodiment, the hole plug 100 has a columnar portion 101 , a connecting portion 102 and an annular portion 103 . The columnar portion 101 is configured in a columnar shape. The annular portion 103 is formed in a substantially annular shape so as to surround the lower end portion of the columnar portion 101 . The annular portion 103 is curved so as to be raised upward toward the outside. The connection portion 102 connects the upper end portion of the columnar portion 101 and the inner peripheral end portion of the annular portion 103 . A gap is provided between the lower end portion of the columnar portion 101 and the lower end portion of the connecting portion 102 . The connecting portion 102 is provided with a locking portion 104 protruding toward the radially outer side of the hole plug 100 . The diameter Df of the annular portion 103 is smaller than the diameter D1 of the large diameter portion 45 and larger than the diameter D2 of the small diameter portion 46 . The hole plug 100 held by the large diameter portion 45 supports the annular portion 103 by the stepped surface 47 in a state in which the stepped surface 47 faces the upper side in the direction of gravity. The annular portion 103 is supported by the convex portion 49 in a state where the stepped surface 47 faces the lower side in the direction of gravity.

As described above, the shaft 51 has a hollow cross-section. The inner diameter of the shaft 51 is enlarged at the front end portion 56 . The hollow portion of the shaft 51 is called a suction hole 58 . The suction hole 58 is connected to the vacuum generator 59 via a flexible cable connected to the rear end portion of the shaft 51 .

FIG. 6 is a flowchart showing the contents of the mounting process for mounting the hole plug 100 to the opening of the vehicle body 200 by the mounting robot 10 . This process is started by the centralized control apparatus 13, for example, when the start button provided in the centralized control apparatus 13 is pressed. Before the process starts, the hole plug 100 is loaded in the holding part 40 . In addition, before this process starts, the vehicle body 200 suspended by the hanger 300 is conveyed to the place where the installation robot 10 is installed. The mounting device 11 is arranged at a predetermined standby position so as not to interfere with the conveyance of the vehicle body 200 .

First, in step S110 , the centralized control device 13 controls the robot arm 12 to move the attachment device 11 to an attachment position for attaching the hole plug 100 to the opening of the vehicle body 200 . When the mounting device 11 is moved to the mounting position, the front end of the shaft 51 faces the opening of the vehicle body 200 to which the hole plug 100 is to be mounted. Furthermore, the centralized control device 13 controls the camera 80 via the control unit 90 to check the positional deviation between the front end portion of the shaft 51 and the opening portion of the vehicle body 200 . When a positional shift is detected by the camera 80 , the centralized control device 13 controls the robot arm 12 to correct the position of the mounting device 11 . Therefore, it is possible to suppress the occurrence of installation defects of the hole plug 100 due to the positional deviation between the shaft 51 and the opening portion of the vehicle body 200 .

Then, in step S120, the centralized control device 13 causes the mounting device 11 to execute the mounting preparation operation. During the installation preparation operation, the control unit 90 controls the rotation drive unit 30 to rotate the holding unit 40 to move the plug 100 attached to the opening between the opening of the vehicle body 200 and the shaft 51 . Then, the control unit 90 starts the suction through the suction hole 58 of the shaft 51 by controlling the vacuum ejector 59 . Furthermore, the control unit 90 starts the measurement of the force by the force measurement unit 60 .

In step S130, the centralized control device 13 causes the mounting device 11 to execute the mounting operation. During the mounting operation, the control unit 90 controls the shaft drive unit 55 to move the shaft 51 in the +Z direction, thereby projecting the plug 100 from the hole 42 and fitting the plug 100 into the opening of the vehicle body 200 . Further, in another embodiment, the central control device 13 may move the robot arm 12 toward the opening of the vehicle body 200 in a state in which the hole plug 100 is protruded from the hole portion 42 by the shaft 51 so that the hole plug 100 is inserted into the body 200 . The opening of the vehicle body 200 .

In the present embodiment, the hole plug 100 protrudes from the hole portion 42 in a state of being attracted by the front end portion of the shaft 51 and is fitted into the opening portion of the vehicle body 200 . After the hole plug 100 is inserted into the opening of the vehicle body 200, the suction from the suction hole 58 stops. Then, the control unit 90 controls the shaft drive unit 55 to move the shaft 51 in the −Z direction to disengage the shaft 51 from the opening and the hole 42 of the vehicle body 200 . After the shaft 51 is released from the opening of the vehicle body 200 , the control unit 90 ends the force measurement by the force measurement unit 60 . In addition, in another embodiment, when the state where the shaft 51 protrudes from the hole portion 42 is not changed, the central control device 13 may move the robot arm 12 to disengage the shaft 51 from the opening of the vehicle body 200 . The control part 90 disengages the shaft 51 from the hole part 42 .

In step S140, the centralized control device 13 makes the mounting device 11 determine whether or not a mounting defect of the hole plug 100 has occurred. In the present embodiment, the control unit 90 uses the waveform of the force measured by the force measurement unit 60 to determine whether or not a mounting defect of the hole plug 100 has occurred. When the force measured by the force measurement unit 60 does not exhibit a predetermined waveform, the control unit 90 determines that a mounting defect of the hole plug 100 has occurred. A method for determining whether or not a mounting defect has occurred with respect to the control unit 90 using the waveform of the force will be described later.

In addition, in the present embodiment, the control unit 90 determines whether or not a mounting defect of the hole plug 100 occurs by measuring the height of the surface of the hole plug 100 relative to the surface of the vehicle body 200 using the height measuring unit 70 . In the present embodiment, the height measuring unit 70 constituted by a laser displacement gauge measures the surface of the hole plug 100 relative to the surface of the vehicle body 200 around the opening where the hole plug 100 is attached by scanning the surface of the hole plug 100 with the laser light. The height of the surface of the vehicle body 200 . When the height measured by the height measuring unit 70 exceeds a predetermined range, the control unit 90 determines that the mounting defect of the hole plug 100 has occurred.

The determination result in step S140 is transmitted from the control part 90 to the centralized control apparatus 13. When it is determined in step S140 that the installation defect of the hole plug 100 has occurred, in step S145, the centralized control device 13 notifies the operator or the like of the occurrence of the hole by, for example, operating a lamp or a buzzer installed in the installation place. In the case of defective installation of the plug 100 . On the other hand, when it is not determined in step S140 that the mounting defect of the hole plug 100 has occurred, the centralized control device 13 skips the processing of step S145.

In step S140 or step S150 subsequent to step S145, the control unit 90 moves the mounting device 11 to the standby position. Then, the control unit 90 ends this process. Since the holding part 40 can hold 15 hole plugs 100 , the centralized control device 13 repeats this process so that the mounting robot 10 can continuously perform the mounting of the hole plugs 100 up to 15 times.

FIG. 7 is a first explanatory diagram showing a state in which the hole plug 100 is attached to the opening 205 of the vehicle body 200 by executing step S130 of the attachment process described above. FIG. 8 is a second explanatory diagram showing a state in which the hole plug 100 is attached to the opening 205 of the vehicle body 200 . FIG. 9 is a third explanatory view showing a state in which the hole plug 100 is attached to the opening 205 of the vehicle body 200 .

As shown in FIG. 7 , when the shaft 51 moves from the position shown in FIG. 5 to the +Z direction side, the front end portion 56 of the shaft 51 is inserted between the lower end portion of the columnar portion 101 of the hole plug 100 and the lower end portion of the connecting portion 102 The gap is in contact with the hole plug 100. The hole plug 100 is vacuum-sucked to the distal end portion 56 by the suction force from the suction hole 58 . In the present embodiment, the shaft 51 is in contact with the side surface portion of the columnar portion 101 of the hole plug 100 in a state where the hole plug 100 is vacuum-adsorbed to the distal end portion 56 . There are gaps between the outer peripheral side surface of the shaft 51 and the lower end of the connecting portion 102 of the hole plug 100 , and between the surface of the opening of the suction hole 58 provided in the shaft 51 and the bottom surface of the columnar portion 101 of the hole plug 100 . In addition, in other embodiments, in the state where the hole plug 100 is vacuum-adsorbed to the front end portion 56 , the shaft 51 may not be in contact with the side surface portion of the columnar portion 101 of the hole plug 100 but may be in contact with the connecting portion 102 , or may not be in contact with the connecting portion 102 . The side surface portion of the columnar portion 101 and the connecting portion 102 are in contact with the bottom surface of the columnar portion 101 .

When the shaft 51 moves to the +Z direction side together with the hole plug 100 , the annular portion 103 is pressed against the convex portion 49 . The annular portion 103 and the connecting portion 102 are elastically deformed, and the annular portion 103 goes over the convex portion 49 . In this way, as shown in FIG. 8 , the hole plug 100 protrudes from the large diameter portion 45 .

When the shaft 51 moves further to the +Z direction side together with the hole plug 100 , the upper end of the hole plug 100 enters the opening 205 of the vehicle body 200 , and the locking portion 104 is pressed against the edge of the opening 205 . When the locking portion 104 and the connecting portion 102 are elastically deformed, the locking portion 104 goes over the edge of the opening portion 205 . In this way, as shown in FIG. 9 , the hole plug 100 is fitted into the opening portion 205 . After the vacuum suction with respect to the hole plug 100 is released, the shaft 51 moves to the −Z direction side and returns to the original position.

FIG. 10 is a first explanatory diagram showing the force measured by the force measurement unit 60 . FIG. 11 is a second explanatory diagram showing the force measured by the force measurement unit 60 . In FIGS. 10 and 11 , the horizontal axis represents time, and the vertical axis represents force. FIG. 10 shows an example of the waveform of the force in the Z direction measured by the force measuring unit 60 when the mounting defect of the hole plug 100 does not occur, and FIG. 11 shows the case where the mounting defect of the hole plug 100 occurs. An example of the waveform of the force in the Z direction measured by the force measurement unit 60 .

As shown in FIG. 10 , in the case where the mounting defect of the hole plug 100 does not occur, a peak PK1 and a valley PK2 appear in the waveform CV1 of the force. The reaction force from the vehicle body 200 is measured from the time when the locking portion 104 of the hole plug 100 contacts the edge portion of the opening portion 205 of the vehicle body 200 to the time when the edge portion of the opening portion 205 passes over the opening portion 205. Therefore, the force measured by the force measuring unit 60 varies with the increase over time. When the locking portion 104 goes over the edge of the opening portion 205, the force measured by the force measuring portion 60 decreases sharply. Therefore, the peak PK1 first appears in the waveform CV1 of the force measured by the force measuring unit 60 . Since the annular portion 103 presses the surface of the vehicle body 200 until the pressing of the hole plug 100 by the shaft 51 is released, the force measured by the force measuring portion 60 increases again. Therefore, a valley PK2 appears in the waveform CV1 of the force measured by the force measuring section 60 . Then, since the shaft 51 is separated from the hole plug 100, the force measured by the force measurement part 60 is reduced.

As shown in FIG. 11 , when the valley PK2 does not appear in the waveform of the force, there is a possibility that the mounting defect of the hole plug 100 may occur. For example, when the pressing of the hole plug 100 by the shaft 51 is released without the locking portion 104 passing over the edge of the opening portion 205 of the vehicle body 200 , the locking portion 104 is caused by passing over the edge of the opening portion 205 . There is no sharp reduction in force, so no trough PK2 appears in the force waveform CV2.

In the present embodiment, in step S140 of the above-described mounting process, when the force measured by the force measuring unit 60 exceeds the second threshold value F2 and then falls below the first threshold value F1, that is, a valley appears in the waveform of the force In the case of , the control unit 90 determines that the mounting defect of the hole plug 100 has not occurred. When the force measured by the force measuring unit 60 exceeds the first threshold value F1 and does not exceed the second threshold value F2, or when the force exceeds the second threshold value F2 and then falls below the first threshold value F1, the control unit 90 determines that the occurrence of The installation defect of the hole plug 100 is solved. In addition, in another embodiment, the control unit 90 may use a learning model generated by machine learning to determine whether or not a mounting defect of the hole plug 100 has occurred. For example, the control unit 90 may perform supervised learning using the data of the force waveform indicating the occurrence of a mounting defect, generate a learning model, and use the learning model to determine whether or not a mounting defect of the hole plug 100 has occurred.

According to the mounting device 11 of the present embodiment described above, since the 15 hole plugs 100 are held one by one in the 15 hole portions 42 provided in the holding portion 40 , the shaft 51 of the protruding portion 50 through the rotational driving portion 30 is When the hole plugs 100 are transported and when the hole plugs 100 are protruded from the hole portion 42 by the shaft 51 , the arrangement of the hole plugs 100 can be prevented from being pressed against each other in the holding portion 40 . Therefore, it can be suppressed that the hole plug 100 is clogged in the holding portion 40 and the hole plug 100 cannot be properly protruded from the holding portion 40 .

In addition, in the present embodiment, the hole portion 42 holding the hole plug 100 is provided with the convex portion 49 that restricts the movement of the hole plug 100 in the direction along the central axis CL1 of the holding portion 40, so even if the hole plug 100 is held Even if the portion 40 is inclined or turned upside down, the hole plug 100 can be prevented from falling off from the hole portion 42 . In particular, in the present embodiment, in one hole portion 42 , the odd-numbered convex portions 49 are arranged at equal intervals along the circumferential direction centered on the central axis CL2 of the hole portion 42 , and the hole portion 42 is not interposed therebetween. Since the convex parts 49 are arranged to face each other, the width of the passage for the protruding hole plug 100 can be suppressed from being too narrow. Therefore, it is possible to prevent the hole plug 100 from falling off from the hole portion 42 while ensuring that the hole plug 100 easily protrudes from the hole portion 42 .

In addition, in the present embodiment, the control unit 90 judges whether or not a mounting defect of the hole plug 100 has occurred using the force measured by the force measuring unit 60 , and when it is determined that a mounting defect of the hole plug 100 has occurred, reports a notification of the mounting defect. occur. Therefore, even if the mounting state of the hole plug 100 is not checked visually or the like, the occurrence of a mounting defect of the hole plug 100 can be grasped.

In addition, in the present embodiment, the control unit 90 uses the height of the surface of the hole plug 100 relative to the surface of the vehicle body 200 measured by the height measuring unit 70 to determine whether or not a mounting defect of the hole plug 100 has occurred, and when it is determined that the hole plug has occurred In the case of 100 installation defects, the report notifies the occurrence of installation defects. Therefore, even if the mounting state of the hole plug 100 is not checked visually or the like, the occurrence of a mounting defect of the hole plug 100 can be grasped. In particular, in the present embodiment, using the force measured by the force measuring part 60 and the height of the surface of the hole plug 100 relative to the surface of the vehicle body 200 measured by the height measuring part 70 , it is possible to double check the installation state of the hole plug 100 , therefore, the installation defect of the hole plug 100 can be detected with high accuracy.

In addition, in the present embodiment, by suction through the suction hole 58 provided in the shaft 51 , the hole plug 100 can be vacuum suctioned at the distal end portion of the shaft 51 . Therefore, when the hole plug 100 is fitted into the opening portion 205 of the vehicle body 200, it can be suppressed that the position of the hole plug 100 is displaced.

B. Other Embodiments:

(B1) In the above-described mounting device 11 of the first embodiment, the convex portion 49 is provided in the hole portion 42 of the holding portion 40 . On the other hand, the convex portion 49 may not be provided in the hole portion 42 . In this case, by controlling the holding portion 40 not to incline, the hole plug 100 can be suppressed from falling off from the hole portion 42 .

(B2) In the above-described mounting device 11 of the first embodiment, the force measuring unit 60 is provided. On the other hand, the force measuring unit 60 may not be provided in the mounting device 11 .

(B3) In the attachment device 11 of the above-described first embodiment, the height measurement unit 70 is provided. On the other hand, the height measuring unit 70 may not be provided in the mounting device 11 .

(B4) The camera 80 is provided in the mounting apparatus 11 of the above-described first embodiment. On the other hand, the camera 80 may not be provided in the mounting device 11 .

(B5) In the above-described mounting device 11 of the first embodiment, the shaft 51 is provided with the suction hole 58 communicating with the vacuum generator 59 , and the hole plug 100 is vacuum suctioned on the distal end 56 of the shaft 51 . On the other hand, the suction hole 58 and the vacuum generator 59 may not be provided. Even in this case, the hole plug 100 can be protruded through the front end portion 56 of the shaft 51 and the hole plug 100 can be fitted into the opening portion 205 of the vehicle body 200 .

(B6) The mounting device 11 of the first embodiment described above is fixed to the front end of the robot arm 12, and the relative position of the mounting device 11 with respect to the opening of the vehicle body 200 is changed by the movement of the robot arm 12. On the other hand, the mounting device 11 may be moved not by the robot arm 12 but by, for example, an electric linear actuator or the like, whereby the relative position of the mounting device 11 with respect to the opening of the vehicle body 200 may be changed. In addition, the vehicle body 200 may be moved without moving the mounting device 11, and the relative position of the mounting device 11 with respect to the opening of the vehicle body 200 may be changed.

(B7) In the above-described mounting device 11 of the first embodiment, the rotary drive part 30 arranges the hole plug 100 on the shaft 51 of the protruding part 50 by rotating the holding part 40 relative to the protruding part 50 . On the other hand, the hole plug 100 may be arranged on the shaft 51 by fixing the holding part 40 to the base part 20 , and the rotation driving part 30 may rotate the protruding part 50 instead of rotating the holding part 40 . Alternatively, the hole plug 100 may be arranged on the shaft 51 by rotating the protrusion portion 50 and the holding portion 40 so as to rotate the holding portion 40 relative to the protrusion portion 50 by the rotation driving portion 30 .

(B8) In the above-described mounting device 11 of the first embodiment, in the mounting process shown in FIG. 6 , the control unit 90 determines whether or not to use the waveform of the force measured by the force measurement unit 60 after the mounting operation in step S130. An installation defect of the hole plug 100 occurs. On the other hand, during the execution of the mounting operation, the control unit 90 may use the waveform of the force measured by the force measurement unit 60 to determine whether or not a mounting defect of the hole plug 100 has occurred. For example, when the force measured by the force measuring unit 60 does not exceed the first threshold value or the second threshold value even if the shaft 51 is moved by a predetermined amount, the control unit 90 may determine that the mounting of the hole plug 100 has occurred. Defect, so that the installation action is aborted.

(B9) In the above-described mounting device 11 of the first embodiment, the protruding portion 50 includes one shaft 51 , and the one hole plug 100 is protruded from the hole portion 42 through the one shaft 51 . On the other hand, the protruding portion 50 may include a plurality of shafts 51 , and the plurality of hole plugs 100 may be simultaneously protruded by the plurality of shafts 51 .

The present disclosure is not limited to the above-described embodiments, and can be implemented in various configurations without departing from the gist of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention can be appropriately replaced or combined in order to solve a part or all of the above problems or achieve a part or all of the above effects. In addition, these technical features can be deleted as appropriate unless they are described as essential features in this specification.

Description of the label

10...Mounting robot, 11...Mounting device, 12...Robot arm, 13...Central control device, 20...Base, 21...Top panel, 22...Bottom panel, 23...Side panel, 30...Rotation drive unit, 40...Holding unit , 42...hole, 45...large diameter, 46...small diameter, 47...step surface, 49...convex, 50...convex, 51...shaft, 52...bearing, 53...connecting member, 55...shaft drive part, 56...tip part, 58...suction hole, 59...vacuum generator, 60...force measuring part, 70...height measuring part, 80...camera, 90...control part, 95...control box, 100...hole plug, 101 ...columnar portion, 102...connecting portion, 103...ring-shaped portion, 104...locking portion, 200...body, 205...opening, 300...hanger

Claims (6)

1. A mounting device that mounts a component to an opening of a body to be mounted, The installation device includes: a holding portion having a plurality of hole portions arranged in a line in a circumferential direction around an axis, and among the plurality of hole portions, a plurality of members are held in such a manner that one hole portion holds one member; A protruding portion that protrudes from the hole portion along the shaft by a mounting member, which is a member of the plurality of members held by the plurality of hole portions that is mounted to the opening portion of the to-be-mounted body , thereby inserting the mounting member into the opening of the mounted body; and A rotation driving part that relatively rotates the holding part with respect to the protruding part about the shaft. 2. The mounting device of claim 1, wherein: On the inner wall of the hole portion, a convex portion that restricts movement of the member along the shaft is provided toward the center of the hole of the hole portion. 3. The mounting device of claim 2, wherein: An odd number of the protrusions are provided on the inner wall of the hole portion at equal intervals along the circumferential direction centered on the hole center of the hole portion. 4. The mounting device of any one of claims 1 to 3, wherein: A force measurement unit is provided that measures the force along the axis when the attachment member is fitted into the opening of the body to be attached. 5. The mounting device of any one of claims 1 to 4, wherein: A height measurement unit is provided which measures the height of the attachment member fitted into the opening of the attachment body from the attachment body. 6. The mounting device of any one of claims 1 to 5, wherein: The protrusion part is provided with a suction hole for attracting and sucking the mounting member when the protrusion is projected along the shaft.

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