JP2002370679A - Abnormality coping method in drive shaft assembling line - Google Patents

Abstract

PROBLEM TO BE SOLVED: To quickly and easily cope with avoidance of the abnormal situation in a drive shaft assembling line. SOLUTION: This drive shaft assembling line is composed of constitutive parts including a fixed constant velocity universal joint, a sliding type constant velocity universal joint, a shaft, boots, and a boot band. One articulated robot interlocks and operates with an abnormal articulated robot, and executes operation for avoiding the abnormal situation when the abnormal situation including failure of either articulated robot is caused at execution time by distributively executing the work content of an assembling process including a process of fixedly arranging the respective constitutive parts in a prescribed position, a process of inserting the shaft into the respective boots, a process of respectively fitting inside joint members of respective joints to shaft both end parts, a process of respectively fitting outside joint members of the respective joints to the inside joint members of the shaft both end parts, and a process of putting the boots on the outside joint members of the respective joints by sealing grease in the boots by articulated robots R1 to R5 arranged in a plurality of positions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for dealing with abnormalities in a drive shaft assembly line, and more particularly, to a drive shaft assembly line in which a fixed type constant velocity universal joint and a sliding type constant velocity universal joint are respectively assembled to both ends of a shaft. The present invention relates to a method for coping with an abnormal situation such as a stoppage of supply of parts.

[0002]

2. Description of the Related Art A drive shaft used as a power transmission mechanism for transmitting power from an automobile engine to drive wheels has a sliding type constant velocity universal joint and a fixed type constant velocity universal joint at both ends of one shaft. And a unit which is coupled to each other so as to be able to transmit torque.

[0003] In this drive shaft, it is necessary to cope with angular displacement and axial displacement due to a change in the relative positional relationship between the engine and the wheels, so that the engine side (inboard side) and the drive wheel side (outboard side). And one end of the shaft is differentially connected via a sliding type constant velocity universal joint, and the other end is connected to a driving wheel via a fixed type constant velocity universal joint and a wheel bearing. Connected. Each of the sliding type constant velocity universal joint and the fixed type constant velocity universal joint is provided with a sealing boot for preventing intrusion of foreign matter or the like into the inside and leakage of grease to the outside. Usually, a resin boot is used for the fixed type constant velocity universal joint located on the outboard side, and a rubber boot is used for the sliding type constant velocity universal joint located on the inboard side. And the outer joint member of each constant velocity universal joint is fastened and fixed by a boot band.

The sliding type constant velocity universal joint absorbs not only angular displacement but also axial displacement by so-called plunging, while the fixed type constant velocity universal joint allows only angular displacement. I have. One type of the sliding type constant velocity universal joint is a tripod type constant velocity universal joint.This tripod type constant velocity universal joint has three leg shafts protruding in the radial direction, and a serration is provided at one end of the shaft through a serration. A tripod member which is connected so as to be able to transmit torque and is prevented from being removed by a snap ring, an outer joint member which accommodates the tripod member and is attached to a differential on the vehicle body side, and a plurality of needle rollers on a leg shaft of the tripod member. And a roller housed in a track groove formed on the inner peripheral surface of the outer joint member and guided by roller guide surfaces on both sides of the track groove. In addition, the fixed type constant velocity universal joint is provided between the outer joint member attached to the drive wheel via the wheel bearing, the inner joint member attached to the other end of the shaft, and both track grooves of the inner and outer joint members. The main constituent members are a plurality of balls for transmitting torque and a cage interposed between the inner and outer joint members to hold each ball.

The outline of the assembly of the drive shaft comprising the shaft, the sliding type constant velocity universal joint and the fixed type constant velocity universal joint is as follows. In addition, since there are various patterns in the assembling procedure of each component member, the following description will be made separately for a sliding type constant velocity universal joint and a fixed type constant velocity universal joint.

[0006] First, a boot band is fixedly arranged at the shaft side end of the boot of the fixed type constant velocity universal joint, and the boot is inserted into one end of the shaft. Then, an assembly (assembly) unitized by assembling the inner joint member, the ball, the cage, and the outer joint member is attached to the end of the shaft. At this time, the inner joint member of the assembly is fitted to the shaft with the phases of the serration formed on the outer peripheral surface of the end portion of the shaft and the serration formed on the inner peripheral surface of the inner joint member matched. Then, after the grease is sealed in the boot, the joint side end of the boot is attached to the outer joint member, a boot band is fixedly arranged on the joint side end, and the shaft end of the boot and the joint side end of the boot. Tighten and fix the boot band.

On the other hand, a boot band is fixedly arranged at the shaft side end of the boot of the sliding type constant velocity universal joint, and the boot is inserted into the other end of the shaft. Then, a tripod member and a roller are mounted on the end of the shaft. The tripod kit in which the tripod member and the roller are unitized is fitted to the shaft in a state where the serration formed on the outer peripheral surface of the end of the shaft and the serration formed on the inner peripheral surface of the tripod member are in phase. . Cover the outer joint member on the tripod attached to this shaft,
After the grease is sealed in the boot, the joint side end of the boot is attached to the outer joint member, and a boot band is fixedly arranged on the joint side end. Tighten the band.

[0008] As described above, a drive shaft in which a sliding type constant velocity universal joint and a fixed type constant velocity universal joint are assembled to a shaft is finally manufactured into a product through a post-process such as an appearance inspection process and various test processes. Will be.

[0009]

At present, the assembly of the drive shaft described above relies on manual labor, and a plurality of workers are required to have a sliding type constant velocity universal joint and a fixed type constant velocity universal joint. The company also assembles each component of the shaft, using a division of labor. There are considerable weights among various parts of the sliding type constant velocity universal joint, the fixed type constant velocity universal joint and the shaft which constitute this kind of drive shaft,
Workers handle these heavy objects, which leads to a deterioration of the work environment.Moreover, since multiple workers need a certain amount of work space to execute the shared work, It has been difficult to effectively use the working space in the entire shaft assembly.

Further, when attaching the inner joint members of the two constant velocity universal joints to the shaft, skill is required to adjust the phases of the serrations of both joints, and the operation of attaching the end of the boot to the outer joint member is required. In the case of manual operation, skill is required, and it is very difficult to improve work efficiency and shorten work time.

Therefore, in assembling the drive shaft, automation by an assembling robot is demanded in order to improve a working environment, effectively use a working space, improve working efficiency and shorten working time. However, in a drive shaft assembly line using an assembly robot, an abnormal situation due to a failure of the assembly robot, an abnormal situation due to a supply stop of a part or an assembly (assembly), an abnormal situation such as a line stop due to waiting for a part or an assembly, and the like occur. In some cases, when an abnormal situation occurs, a prompt response to avoid it is required.

The present invention has been proposed to satisfy the above-mentioned demands, and aims at improving the working environment, effectively using the working space, improving the working efficiency, and shortening the working time. It is an object of the present invention to provide a countermeasure that can easily realize a quick response to avoid an abnormal situation in a shaft assembly line.

[0013]

As a technical means for achieving the above object, the present invention provides a fixed type constant velocity universal joint,
A sliding type constant velocity universal joint, a shaft fitted to an inner joint member of these joints, a boot for sealing the inside of an outer joint member of the joint, a boot band for fixing an end of the boot to the shaft or the outer joint member. In a drive shaft assembly line including components, a step of disposing each component of the drive shaft at a predetermined position, a step of inserting the shaft into each of the boots, and a step of connecting each joint to both ends of the shaft. The step of fitting the inner joint members of the joints respectively, the step of fitting the outer joint members of the respective joints to the inner joint members at both ends of the shaft, and sealing grease in the boots of the respective joints, A set including a step of covering an outer joint member of each joint, and a step of fixing an end of a boot to a shaft or an outer joint member by the boot band. The work steps, to be executed by distributing the articulated robot disposed in a plurality of positions,
If an abnormal situation including a failure of any one of the articulated robots occurs during the execution, another articulated robot that cooperates with the articulated robot executes an operation to avoid the abnormal situation.

According to the present invention, when an abnormal situation including a failure of the articulated robot occurs, the operation for avoiding the abnormal situation executed by another articulated robot operating in cooperation with the articulated robot includes the following. .

The other articulated robot adjacent to the articulated robot has a function that overlaps with a part of the work performed by the articulated robot. The other adjacent articulated robot partially performs the work of the articulated robot.

If the failure of the articulated robot in the preceding process or the stoppage of the supply of parts or assemblies from the preceding process occurs as an abnormal situation, the articulated robot in the next process is determined in advance until the abnormal situation is recovered. Stop at the position where it was set and wait for the process.

A buffer for temporarily storing the part or the assembly is provided on the assembly line, and the articulated robot pools the part or the assembly in the buffer, and the line for waiting for the part or the assembly is provided. Avoid outages.

[0018] In addition to the plurality of articulated robots, at least one auxiliary robot for avoiding a line stop when an abnormal situation occurs is provided.

In an assembly line for a drive shaft composed of components including a sliding type constant velocity universal joint, a fixed type constant velocity universal joint, and a shaft, a plurality of articulated robots are used in cooperation with each other. By performing assembly of each component, the assembly line is automated, and as a result, the number of workers is reduced, the work environment is improved, the work space is effectively used, the work efficiency is improved, and the work time is shortened.

In this assembly line, when an abnormal situation including a failure of any one of the articulated robots occurs when the work content of the assembling process is executed by the articulated robot, another articulated robot operating in cooperation with the articulated robot is operated. By performing the operation of avoiding the abnormal situation, the robot can more easily improve the work efficiency and shorten the work time.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail. In the following embodiments, a drive shaft having a sliding constant velocity universal joint and a fixed constant velocity universal joint attached to both ends of the shaft will be referred to as a tripod constant velocity universal joint (hereinafter, TJ). ), As a fixed type constant velocity universal joint, a Zepper type constant velocity universal joint (hereinafter BJ).
Will be described. In addition, TJ
In addition to the above, the present invention is also applicable to a drive shaft in which another sliding type constant velocity universal joint such as DOJ and another fixed type constant velocity universal joint such as UJ other than BJ are attached to both ends of the shaft.

The drive shaft assembly line is divided into a front assembly line and a rear assembly line. FIG. 1 shows an arrangement layout including articulated robots R1 to R5 in a front assembly line, and FIG. 2 shows an arrangement layout including articulated robots R6 to R10 in a rear assembly line. These layouts are merely examples, and the design can be changed in accordance with the assembly contents of the drive shaft.

Between the front assembly line and the rear assembly line, a transfer device 20 for transferring the assembly from the front assembly line to the rear assembly line is provided. This transfer device 20
Depending on the difference in processing speed between the pre-assembly line and the post-assembly line, a function as a buffer is also exhibited. In other words, the transfer device 20 can temporarily store a part or an assembly, which is a workpiece, thereby avoiding an abnormal situation such as a line stop due to a waiting for a part or an assembly. Such a buffer is provided in the front assembly line or the rear assembly line, for example, the articulated robots R1 to R
5, it is also possible to install within the movement range of R6 to R10.

FIGS. 3 and 4 illustrate the procedure for assembling the drive shaft using the TJ, BJ and shaft as main components in each of the front assembly line and the rear assembly line. It should be noted that the drive shaft assembling procedure can be appropriately changed in design. Although the shafts in the figure have the same posture, they are held in either a vertical state or a horizontal state in accordance with the work operation of the articulated robot on the front assembly line and the rear assembly line as described later. The holding of the attitude of the shaft is realized by gripping by the articulated robots R1 to R5, R6 to R10, or chucking by a support device.

In the pre-assembly line and the post-assembly line shown in FIGS. 1 and 2, articulated robots R1 to R5 and R6 to R10 are arranged at a plurality of positions (five at each line). The tasks assigned to R1 to R5 and R6 to R10 are executed. In each of the front assembly line and the rear assembly line, a plurality of articulated robots R1 to R5, R6 to R10 (five in the front assembly line and five in the rear assembly line in this embodiment) are installed. However, the number of the articulated robots to be installed can be arbitrarily changed together with the arrangement layout described above as needed.

These articulated robots R1-R5, R6-
R10 has a function that overlaps with a part of the work performed by another articulated robot, and performs the work in place of another articulated robot according to the amount of work held by the articulated robot. It is possible to assist this articulated robot.
This articulated robot assists not only during normal operation of the articulated robot, but also when the articulated robot is in an abnormal state such as occurrence of a failure. Part of the work is performed on the part that overlaps with the moving range of the work.

Each articulated robot R1 to R5, R6 to R1
0 executes the articulated robots R1 to R5.
Various handling tools (attachments) having gripping functions according to parts or assemblies are detachably installed in the range of movement of the arm tip portions 21 of R6 to R10, and the articulated robots R1 to R5 and R6 to R10 are mounted. After selecting a desired handling tool and mounting it on the arm tip 21, the arm tip 21 moves within a three-dimensional turning range in the XYZ directions by horizontal rotation of the installation base and bending drive by multiple joints. , And by rotating about an axis.

First, as shown in FIG. 1, around the work area 22 of the pre-assembly line, components of the drive shaft, that is, BJ boots, TJ boots, BJ small bands, TJ small bands, shafts, small round clips , Tripod kit, BJ assembly (BJ assembly), supply unit 23-3 such as hopper for supplying snap ring
1 is provided. An image processing device is provided in each of the supply units 23 to 31. The image processing device detects the presence / absence or posture of a part, and a predetermined handling tool mounted on the articulated robots R1 to R5 based on the detection signal. Is set so as to grasp and take out a predetermined part of the component.

The part or assembly is placed on a portion of the movement range of the arm tip 21 of the articulated robots R1 to R5 which overlaps the movement range of the arm tip of the adjacent articulated robot. Stations S1 to S4 (work benches) for executing work by the joint robots R1 to R5 are arranged. These stations S1 to S
4 is provided with a support device for supporting a part or an assembly in a vertical or horizontal state, various inspection devices, and the like. Although the station S4 is within the arm movement range of only the articulated robot R4, a transfer device 20 to the post-assembly line is provided.

In this pre-assembly line, a BJ boot 1 is fixedly arranged as shown in FIG. 3, and a BJ small band 2 is fixedly arranged at a small diameter end (shaft side end) of the BJ boot 1.
The BJ side end of the shaft 3 is inserted into the small diameter end of the J boot 1. In addition, TJ boots 4 are arranged regularly, and the TJ boots 4
The TJ small band 5 is fixedly arranged at the small diameter side end (shaft side end), and the TJ small band 5
Insert the J-side end.

A tripod kit 6 is attached to the TJ side end of the shaft 3 and a clip 7 (hereinafter, a small circle clip) for preventing the inner joint member (hereinafter, referred to as an inner ring) from coming off is attached to the BJ side end of the shaft 3. ) Is inserted. The tripod kit 6 is a unit in which a tripod member as an inner race and a roller are unitized, and includes a serration formed on an outer peripheral surface of a TJ side end of the shaft 3 and a serration formed on an inner diameter surface of the tripod member. The shaft 3 is fitted to the end on the TJ side in a state where the phases are matched.

After that, the BJ assembly 8 is attached to the end of the shaft 3 on the BJ side. This BJ assembly 8
An inner ring, a ball, a cage, and an outer joint member (hereinafter, referred to as an outer ring) are incorporated in advance, and the BJ side of the shaft 3 is reduced while the diameter of the small round clip 7 attached to the BJ side end of the shaft 3 in the previous process is reduced. The serrations formed on the outer peripheral surface of the BJ side end of the shaft 3 and the inner diameter surface of the inner race are formed in the same manner as in the case of the tripod kit 6 attached to the end and assembled to the TJ side end of the shaft 3 described above. B of the shaft 3 in phase with the serration
Fitted to the J-side end.

Finally, a snap ring 9 for retaining the tripod kit 6 is attached to the TJ side end of the shaft 3 on which the tripod kit 6 is mounted. FIG. 3 shows an example of the order of assembling a series of parts to the shaft 3 in the pre-assembly line. The assembling order may be reversed depending on the type of parts constituting the drive shaft. It is possible.

Next, as shown in FIG. 2, around the work area 32 of the post-assembly line, components of the drive shaft, that is, a TJ outer ring, a large BJ band, a hopper for supplying a large TJ band, and the like are provided. Supply units 33 to 35 are provided. An image processing device is provided in each of the supply units 33 to 35. The image processing device detects the presence / absence or posture of the component, and based on the detection signal, detects the articulated robot R.
6 to R10 are set so that predetermined parts of the component are gripped and taken out by a predetermined handling tool mounted on R10.

A part or assembly is placed on a portion of the moving range of the arm tip 21 of the articulated robots R6 to R10 that overlaps the moving range of the arm tip of the adjacent articulated robot, and the multi-joint robot is mounted. Stations S5 to S8 (work tables) for executing the work by the robots R6 to R10 are arranged. These stations S5 to S
As in the pre-assembly line 8 described above, a support device for supporting parts or assemblies in a vertical or horizontal state, various inspection devices, and the like are installed. The transfer device 20 from the pre-assembly line is attached to the station S5. Further, the station S8 is within the arm movement range of only the articulated robot R10, but the drive shaft that has been assembled on the post-assembly line is fixedly arranged.

In the subsequent assembly line, first, as shown in FIG.
The TJ outer ring 10 is assembled to the end of the shaft 3 on the TJ side.
In other words, the tripod kit 6 attached to the TJ side end of the shaft 3
The J outer ring 10 is fixed. Grease is sealed between the TJ outer ring 10 and the TJ boot 4, and between the BJ assembly 8 and the BJ boot 1, respectively.

After the grease is filled, the large-diameter ends (ends on the joint side) of the BJ boot 1 and the TJ boot 4 are connected to the TJ outer ring 1.
0 and BJ assembly 8 and BJ large band 11
And the TJ large band 12 are inserted and fixedly arranged at the large diameter ends of the BJ boot 1 and the TJ boot 4, respectively, and then tightened and fixed by temporary caulking and final caulking. In addition,
BJ small band 2, BJ large band 11 and TJ
As the large band 12, a band that can be tightened by plastic deformation by crimping is used, and as the TJ small band 5, a band that can be tightened by a one-touch method is used. These two types of boot bands can be selectively used by appropriately changing them according to various conditions such as an attachment position.

Articulated robots R1 to R5, R6 in each process
R10 to R10 are placed on the station while holding the parts or assemblies in a posture that matches the start of the work of the articulated robot in the next step. It is not always necessary to place the parts on the station, and the delivery of parts or assemblies can be performed directly by the articulated robot between the handling tools at the tip of the arm. Further, a sensor for detecting the presence / absence of a component may be provided at the tip of the handling tool of the articulated robot.

Further, the articulated robots R1 to R5, R6 to
R10 can also perform common tasks for assembling BJ and TJ to the drive shaft. That is, the work common to the assembly of the BJ and TJ on the drive shaft can be shared by one articulated robot without using separate articulated robots for the BJ and TJ. Also, the assembly of the BJ and TJ to the drive shaft is divided into two assembly lines before and after. Alternatively, one of the BJ and TJ can be assembled off-line.

Further, the articulated robots R1 to R5, R6
When an abnormal situation such as a stop of the supply of parts or assemblies from the previous process or a failure of the articulated robot in the previous process occurs, a predetermined position until the abnormal situation is recovered, for example, to R10, It is set so that it stops at a position where the work operation of another articulated robot is not hindered and waits for a process, and restarts the operation when the supply of parts or assemblies is resumed or the articulated robot returns to normal.

The articulated robots R1 to R5, R6 to R
The detection of an abnormal situation such as the occurrence of a failure in 10 is performed by a sensor provided in the articulated robot or a sensor provided in the articulated robot in the next step. These sensors can be provided in, for example, a handling tool, a station, a part supply unit, or the like, in addition to the articulated robot. An abnormal situation can also be detected by an articulated robot, an image processing device that monitors a station or a part supply unit, or the like.

In these front and rear assembly lines, peripheral devices (articulated robots R1 to R5, R6 to R1) are controlled by sequencers 36 and 37 as shown in FIGS.
0, parts supply units 23 to 31, 33 to 35, fixed displays 38, 39, handy displays 40, 41, image processing devices 42 to 43, 44 to 45) and information to the peripheral devices. Based on the multi-joint robots R1 to R5, R
Work in each process using 6 to R10, supply of various parts and BJ assembly, image processing devices 42 to 43, 4
The presence / absence of components and the detection of the posture are performed by 4-45.

FIGS. 7 and 8 show the assembly flow of the components of the drive shaft in the front assembly line and the rear assembly line.
And the articulated robots R1 to R5 and R6 to R10 installed on the front assembly line and the rear assembly line.
Are shown in FIGS. 9 to 18.
The front assembly line (see FIGS. 5, 7, 9 to 13) and the rear assembly line (see FIGS. 6, 8, 14 to 18) will be described separately.

[Pre-Assembly Line] In the pre-assembly line of the embodiment shown in FIG. 1, a sequencer 36 shown in FIG. 5 includes a fixed display 38 and a handy display 40, supply parts 23 to 31 for various parts, an image processing apparatus. The following information is transmitted and received between each of the articulated robots 42 and 43, the articulated robots R1 to R5, and the stations S1 to S4.

Fixed display 38 and handy display 40
As for, transmission / reception of a display command of operation status / abnormality information, line operation instruction / manual operation information, presence / absence of work / error information based on the display instruction is executed. Supply section 27 for shaft 3, supply sections 23 and 24 for BJ boot 1 and TJ boot 4, supply section 30 for BJ assembly 8, supply section 31 for snap ring 9, supply of tripod kit 6 (hereinafter simply referred to as tripod). With respect to the unit 29, the supply units 25 and 26 of the BJ small band 2 and the TJ small band 5, and the supply unit 28 of the small circle clip 7, transmission / reception of the work instruction and work presence / absence information based on the operation instruction is executed. TJ small band supply camera 46, BJ small band supply camera 47, BJ assembly supply camera 48,
Regarding the image processing device 42 having the TJ boot phase detection camera 49 and the image processing device 43 having the BJ boot supply camera 50, the TJ boot supply camera 51, and the tripod supply camera 52, the operation command and the operation command Transmission / reception of work presence / error information is performed based on the information.
For the five articulated robots R1 to R5, transmission / reception of operation command / data / setup information and operation completion / data / error information based on the information are executed. Regarding the boot insertion / small band caulking station S1, the shaft serration detection / tripod fitting station S2, the press station S3, and the ejection / snap ring assembling station S4, transmission / reception of an operation command and work presence / absence / error information based on the operation command are performed. Be executed.

In the pre-assembly line of the embodiment shown in FIG. 1, the articulated robots R1 to R5 are referred to with reference to the assembly flow of parts shown in FIG. 7 and the operation of the articulated robots R1 to R5 shown in FIGS. A detailed description will be given mainly.

First, as shown in FIGS. 7 and 9, the arm tip 21 of the articulated robot R1 is arranged within the movement range of the articulated robot R1 in order to mount a handling tool for gripping boots. Then, the user moves to the handling tool and attaches the handling tool. At this time, the presence / absence of the mounting of the handling tool can be detected by the electrical contact between the arm tip 21 and the handling tool. It should be noted that the detection of the presence / absence of the mounting of the handling tool is the same for all the handling tools described below.

After the supply device (hopper) in the supply unit 23 of the BJ boot 1 is rotated, the presence / absence and posture of the BJ boot 1 in the supply device are determined by the BJ boot supply camera 50 of the image processing device 43. The data is detected without contact and stored. Based on this data, the articulated robot R <b> 1 performs the work of taking out the BJ boot 1 from the supply unit 23. BJ boots 1 can be taken out,
Also, after confirming that the BJ boots 1 can be fixedly arranged on the station S1, the arm tip 21 is moved to the supply unit 23 of the BJ boots 1 and the BJ boots 1 are supplied from the supply device with a handling tool. Take out that BJ
Put the boots 1 on the station S1 in a predetermined posture,
It is fixedly arranged with the shaft side end, which is the small diameter end, facing upward.

Similarly, after the supply device (hopper) in the supply section 24 of the TJ boot 4 is rotated, the presence / absence and posture of the TJ boot 4 in the supply device are determined by the TJ boot supply camera 51 of the image processing device 43. The data is detected without contact and stored. Based on this data, the articulated robot R <b> 1 performs the work of taking out the TJ boot 4 from the supply unit 24. TJ boots 4 can be taken out,
After confirming that the TJ boots 4 can be fixedly arranged on the station S1, the arm tip 21 is moved to the supply unit 24 of the TJ boots 4, and the TJ boots 4 are supplied from the supply device with a handling tool. Take out that TJ
Put the boots 4 on the station S1 in a predetermined posture, that is,
It is fixedly arranged with the shaft side end, which is the small diameter end, facing upward.

Here, in the TJ boot 4, the TJ outer ring 10 to which the large-diameter end is mounted has a tripod-shaped cross-sectional flower shape, so it is necessary to detect the phase in accordance with the cross-sectional shape. Accordingly, the TJ boot 4 is transferred to the boot phase detection position by the articulated robot R 1, and the TJ boot phase detection camera 49 of the image processing device 42 transfers the TJ boot 4 to the TJ boot phase detection camera 49.
The phase of the J boots 4 is detected in a non-contact manner and the phase data is stored. Based on this phase data, the TJ boot 4 T
Assembling to the J outer ring 10 is executed. Note that if the cross-sectional shape of the TJ outer ring 10 is a perfect circle, it is not necessary to execute the above-described phase detection.

When the preparation for the work on the BJ small band 2 is completed, the articulated robot R1 moves to the shaft 3 by the next articulated robot R2 in the work at the station S1.
Waiting for insertion. At this time, the articulated robot R1
Stands by at a position where the work operation of the articulated robot R2 is not hindered.

While the articulated robot R1 is on standby, the articulated robot R2 has its arm end 21 mounted on the articulated robot R2 in order to mount a handling tool for gripping the shaft as shown in FIGS. Move to the handling tool arranged within the range of movement of the user and mount the handling tool. Further, the supply state of the shaft 3 in the supply section 27 of the shaft 3 is detected, and after confirming that the shaft 3 can be taken out, the arm tip 21 is moved to the supply section 27 of the shaft 3 and the handling tool is used. Then, the shaft 3 is removed from the supply device. If the operation of the articulated robot R2 has been completed, the articulated robot R1 will continue the next operation described later without waiting.

The articulated robot R2 transfers the shaft 3 taken out of the supply device to a shaft inspection device (sensor) arranged in the station S1, and the inspection device uses the shaft 3 to determine the length and the holding direction of the shaft 3, the TJ side. The serration phase is detected in a non-contact manner and the data is stored.
The work of assembling other parts to the shaft 3 is executed based on this data.

After this inspection, it is determined whether or not the shaft is ready for insertion, that is, whether or not the BJ small band 2 is assembled to the BJ boot 1 fixedly arranged on the station S1. Since the BJ small band 2 is assembled by the articulated robot R3, if the BJ small band 2 is not assembled to the BJ boot 1, the articulated robot R2 will be the next articulated robot in the work at the station S1. It is in a state of waiting for assembly of the BJ small band 2 by R3. At this time, the articulated robot R2 stands by at a position that does not hinder the work operation of the articulated robot R3.

While the articulated robot R2 is on standby, the articulated robot R3 mounts a handling tool for grasping a BJ small band as shown in FIGS. 7 and 11.
The arm tip 21 moves to the handling tool arranged within the movement range of the articulated robot R3, and attaches the handling tool. Further, after rotating the supply device in the supply portion 25 of the caulking type BJ small band 2, the presence and the posture of the BJ small band 2 in the supply device are determined by the BJ small band supply camera 47 of the image processing device 42. The data is detected without contact and stored. Based on this data, the articulated robot R <b> 3 performs the work of taking out the small BJ band 2 from the supply unit 25.

The BJ small band 2 can be taken out,
After confirming that the fixed distribution of the BJ small band 2 is possible, the arm tip 21 is connected to the supply unit 25 of the BJ small band 2.
And remove the BJ small band 2 from the supply device with the handling tool. At this time, the handling tool grips the BJ small band 2 while chucking the inner diameter side thereof. Here, after the BJ small band 2 is taken out, it is necessary to detect the phase by the caulked portion or the front and back sides, so the articulated robot R3 transfers the BJ small band 2 to the phase / front and back inspection position. , Image processing device 4
2 detects the phase and front and back of the BJ small band 2 in a non-contact manner and stores the data. Based on this data, the BJ small band 2 is assembled to the BJ boot 1.

In the articulated robot R3, the supply device in the supply section 26 of the one-touch type TJ small band 5 is rotated, and then the TJ small band supply camera 46 of the image processing device 42 is used. The presence / absence and attitude of the TJ small band 5 are detected and the data is stored. Based on this data, the articulated robot R <b> 3 performs the work of taking out the small TJ band 5 from the supply unit 26.

The TJ small band 5 can be taken out,
After confirming that the fixed distribution of the TJ small band 5 is possible, the arm tip 21 is connected to the supply section 26 of the TJ small band 5.
To remove the TJ small band 5 from the supply device with the handling tool. At this time, the handling tool grips the TJ small band 5 while chucking the inner diameter side thereof. Here, similarly to the case of the BJ small band 2 described above, after the TJ small band 5 is taken out, the phase by the temporary caulking portion (lever portion) and the final caulking portion (claw portion) and the state of front and back are determined. Since the TJ small band 5 needs to be detected, the TJ small band 5 is moved to the phase / front / back detection position while being expanded in diameter by the articulated robot R3.
The phase and front and back of the J small band 5 are detected in a non-contact manner and the data is stored. Based on this data, the TJ small band 5 is assembled to the TJ boot 4.

Thereafter, the articulated robot R3 determines whether or not the BJ small band 2 can be taken out.
If J small band 2 cannot be removed, BJ small band 2
Image processing in the phase / front and back inspection. This B
If the J small band 2 can be taken out, it is confirmed that the fixed arrangement of the BJ small band 2 is possible, and then the BJ small band 2 is transferred by the articulated robot R3 while being held by the inner diameter chuck. Is fixedly arranged on the temporary placing table arranged within the moving range of the articulated robot R3.

At this point, the articulated robot R3 changes the handling tool. In other words, the handling tool for gripping the inner diameter chuck of the BJ small band 2 is replaced with the handling tool for gripping the outer diameter chuck of the BJ small band 2 so that the BJ boot 1 can be mounted. This tool exchange is realized by returning the handling tool for the inner diameter chuck to the original position, and then receiving the handling tool for the outer diameter chuck placed within the moving range of the articulated robot R3 by the arm tip 21. Is done.
When replacing other types of handling tools, return the unnecessary handling tools to their original locations and replace them with the necessary handling tools placed within the range of movement of the articulated robot. The tool will be picked up by the arm tip 21.

When the preparation for assembling the BJ small band 2 by the articulated robot R3 is completed, the articulated robot R
The BJ small band 2 is transferred to the station S1 while being held by the outer diameter chuck by 3 and the BJ small band 2 is fixedly arranged at the small diameter end of the BJ boot 1 fixed on the station S1. The fixed arrangement of the BJ small band 2 is performed while the BJ small band 2 is held by an external actuator. If the preparation for assembling the BJ small band 2 is not completed, the BJ boots 1 are awaited by the articulated robot R2. At this time, the articulated robot R3 stands by at a position where the work operation of the articulated robot R2 is not hindered. At this point, the articulated robot R3 changes the handling tool. That is, the handling tool for gripping the outer diameter chuck of the BJ small band 2 is
Replace with a handling tool for gripping the outer diameter chuck of the small band 5.

Thereafter, the articulated robot R3 determines whether or not the TJ small band 5 can be taken out, and
If J small band 5 cannot be taken out, TJ small band 5
Image processing in the phase / front and back inspection. This T
If the small J band 5 can be taken out, the station S1 is held in a state where the small articulated robot R3 holds the small TJ band 5 with the outer diameter chuck when the small articulated robot R3 is ready to assemble the small TJ band 5. Transfer to
The TJ small band 5 is fixedly arranged at the small diameter end of the TJ boot 4 fixedly arranged on the station S1 and temporarily crimped.
The temporary caulking of the small TJ band 5 is performed by bending the lever portion of the small TJ band 5 by a caulking jig installed at the station S1 and by using an external actuator.
This is performed with the small band 5 assisted. If the preparation for assembling the TJ small band 5 is not completed, the TJ boots 4 by the articulated robot R2 wait for regular distribution. At this time, the articulated robot R3 stands by at a position where the work operation of the articulated robot R2 is not hindered.

After assembling the TJ small band 5, the articulated robot R3 returns to the initial state and waits in order to replace the BJ small band 2 with the internal diameter chuck handling tool. In this situation, the BJ boot 1 and the TJ boot 4 are regularly arranged on the station S1, and the BJ small band 2 and the TJ small band 5 are regularly arranged at their small diameter ends (shaft side ends).

On the other hand, as described above, the articulated robot R2 ready to insert the shaft 3 is shown in FIGS. 7 and 10 when the assembly of the BJ small band 2 by the articulated robot R3 is completed. Station S
The shaft 3 is inserted into the BJ boot 1 arranged on the top 1. As described above, the articulated robot R1 in a state in which the BJ small band 2 is ready to be crimped, as shown in FIGS. 7 and 9, when the insertion of the shaft 3 by the articulated robot R2 is completed. The BJ small band 2 is crimped.

The articulated robot R2 is turned upside down while holding the shaft 3 on which the BJ boots 1 are mounted with a handling tool, and when the shaft 3 is ready for insertion,
The shaft 3 is inserted into the TJ boot 4 arranged on the station S1. At this time, if the shaft 3 is not ready for insertion, the articulated robot R3 waits for the assembly of the TJ small band 5 at the station S1. At this time, the articulated robot R2 stands by at a position where the work operation of the articulated robot R3 is not hindered.

After that, the articulated robot R1 switches from the caulking handling tool for the BJ small band 2 to the caulking handling tool for the TJ small band 5, and is ready for the final caulking of the TJ small band 5. Judge. If this TJ small band 5 is not ready for final tightening,
The station T1 enters the waiting state for the final caulking assist of the small TJ band 5 at the station S1. When the TJ small band 5 is ready for final tightening, the TJ small band 5 is fully tightened. The final caulking of the small TJ band 5 is performed by caulking the claws with the caulking handling tool. Note that T
Articulated robot R1 that has completed the final tightening of J small band 5
Returns to the initial state and waits for replacement with a handling tool for gripping boots.

On the other hand, the articulated robot R2 determines whether or not the work is ready at the station S2, and if not, the assembly (from the station S2 to the station S3 by the articulated robot R5 described later) is performed. Work) Waits for transfer. That is, the station S2
The operation of attaching the tripod 6 and the small round clip 7 to the shaft 3 by the articulated robot R5 is completed, and after the completed assembly is transported to the station S3, there is no situation where the assembly does not exist in the station S2. Ready to work. When the work preparation at the station S2 is completed, the articulated robot R2 transfers the shaft 3 (assembly) on which the BJ boots 1 and the TJ boots 4 are mounted to the station S2 and arranges them. afterwards,
The articulated robot R2 returns to the initial state and waits.

Next, as shown in FIGS. 7 and 12, the articulated robot R4 has its arm tip 21 disposed within the movement range of the articulated robot R4 in order to mount a handling tool for holding the shaft. Move to the handled handling tool and attach the handling tool. After confirming that the assembly can be taken out of the station S2, the arm tip 21 is moved to the station S2, and the assembly is taken out of the station S2 with the handling tool. If the assembly cannot be taken out from the station S2, the multi-joint robot R2 waits for the fixed delivery of the assembly. At this time, the articulated robot R4 stands by at a position where the work operation of the articulated robot R2 is not hindered.

Again, after confirming that the fixed delivery of the assembly to the station S2 is possible, the articulated robot R4
Transports the assembly to a phase inspection device (sensor) for shaft serration arranged in the station S2, and detects the phase of the serration formed on the outer peripheral surface of the TJ side end of the shaft 3 by the phase inspection device. Non-contact detection and storage of the phase data. Based on this phase data, the tripod 6 is attached to the TJ side end of the shaft 3. After this inspection, the articulated robot R4 transfers the assembled product to the station S2 while turning it upside down, and fixes it vertically on the station S2 by a fixing jig.

Thereafter, the supply unit 30 of the BJ assembly 8
After the supply device is rotated, the presence / absence and posture of the BJ assembly 8 in the supply device are detected by the BJ assembly supply camera 48 of the image processing device 42 in a non-contact manner, and the data is stored. Based on the data, the articulated robot R4 sends the BJ assembly 8
Perform the extraction work. After confirming that the BJ assembly 8 can be taken out, the arm tip 21 is moved to the supply section 30 of the BJ assembly 8, and the BJ assembly 8 is taken out of the supply device with a handling tool.

After the BJ assembly 8 is taken out, the BJ assembly 8 is transferred to a posture correcting device installed in the station S2,
The posture correcting device corrects the posture of the inner ring of the BJ assembly 8. Further, the ball is transferred to a ball inspection device installed in the station S2, and the ball of the BJ assembly 8 is inspected by the ball inspection device. In this ball inspection, the presence or absence of a ball in a ball pocket of a cage is inspected in a non-contact manner by a transmission type or reflection type photoelectric sensor. If the ball is not normal according to this inspection, the BJ assembly 8 is discharged as a defective product.

If the ball is normal according to the above inspection, the ball is transferred to a serration phase inspection device (sensor) arranged at the station S2, and the phase inspection device detects the serration phase formed on the inner diameter of the inner ring of the BJ assembly 8. Non-contact detection and storage of the phase data. Based on this phase data, the BJ assembly 8
Will be assembled to the BJ side end portion of the. After this phase detection, the BJ assembly 8 is transferred to a grease supply device installed in the station S2, and grease is sealed by the grease supply device.

Then, after confirming that the BJ assembly 8 can be fixedly arranged at the station S2, the articulated robot R4 arranges the BJ assembly 8 at the station S2, and furthermore, the state of gripping the BJ assembly 8 is changed. Hold so that it is upside down. The changed B
The J assembly 8 is transferred and fixedly arranged at the station S3. The station S3 is provided with a shaft press-fitting machine for press working. At this point, the articulated robot R4 exchanges the handling tool for gripping the BJ assembly with the handling tool for gripping the snap ring by the same operation as the articulated robot R3 described above.

The articulated robot R4 has a snap ring 9
The arm tip 21 is moved to the supply part 31 of the snap ring 9 after confirming that the
The BJ assembly 8 is taken out of the supply device with the handling tool. If the snap ring 9 cannot be taken out, the supply of the snap ring 9 is waited. The articulated robot R4 takes out the snap ring 9 from the supply device of the snap ring 9, and
Then, it is determined whether or not the snap ring 9 can be assembled.

If the snap ring 9 cannot be assembled, the multi-joint robot R5 waits for the completion of pressing the shaft 3 at the station S3. At this time, the articulated robot R4 stands by at a position where the work operation of the articulated robot R5 is not hindered. If the operation of the articulated robot R5 has been completed, the articulated robot R4 will continue the next operation described later without waiting.

On the other hand, as shown in FIGS. 7 and 13, the arm tip 21 of the articulated robot R5 is arranged within the movement range of the articulated robot R5 to mount a handling tool for tripod gripping. Then, the user moves to the handling tool and attaches the handling tool. Further, after the supply device in the supply unit 29 of the tripod 6 is rotated, the presence / absence and posture of the tripod 6 in the supply device are detected by the tripod supply camera 52 of the image processing device 43 in a non-contact manner, and the data is stored. I do. Based on the data, the articulated robot R <b> 5 performs the operation of taking out the tripod 6 from the supply unit 29. After confirming that the tripod 6 can be taken out and that the tripod 6 can be fixedly distributed, the arm tip 21 is moved to the tripod 6 supply section 29, and the tripod 6 is supplied by the handling tool. Remove from At this time, the handling tool grips the tripod 6 while chucking the inner diameter side thereof.

Here, after taking out from the supply device,
The tripod 6 is fixed on the table placed in the station S2, the leg axis position of the tripod member is determined, and the tripod 6 is gripped again by the handling tool to be taken out. And stores the data. Based on this data, the tripod 6 is assembled to the end of the shaft 3 on the TJ side.

That is, the articulated robot R5 transfers the tripod 6 to a serration phase inspection device (sensor) arranged in the station S2, and the serration phase formed on the inner diameter of the tripod 6 by the phase inspection device is changed. Detect by contact. After the serration is detected, the front and back of the tripod 6 are detected by a sensor, and the tripod 6 is detected.
Is not turned upside down, the tripod 6 is turned upside down, and the serration phase is detected again. After that, when the shaft 3 is ready, the tripod 6 is fitted to the shaft 3 arranged on the station S2. If the shaft 3 is not ready, the shaft waits at the station S2 by the articulated robot R2.

After the tripod 6 is fitted to the shaft 3 by the articulated robot R5,
For, the handling tool for gripping the tripod 6 with the inner diameter chuck is replaced with a handling tool for gripping the shaft. Then, the shaft 3 fitted with the tripod 6 is transferred to a shaft serration phase detecting device (sensor) arranged at the station S2, and the outer peripheral surface of the shaft 3 on the BJ side end is transferred by the phase inspecting device. The non-contact detection of the phase of the serration formed in step (1) is performed and the phase data is stored. The BJ assembly 8 is assembled to the BJ side end of the shaft 3 based on the phase data.

After this phase detection, it is confirmed that the small round clip 7 is ready and that the small round clip 7 is not mounted on the shaft 3 before the multi-joint robot R
The small round clip 7 is transferred to the supply section 28 of the small round clip 7, and the small round clip 7 is inserted into the BJ side end of the shaft 3 by the small round clip 7 supply device and assembled. If the small round clip 7 has not been prepared in the supply section 28 of the small round clip 7, the supply device waits for one small round clip 7 to be delivered.

After assembling the small round clip 7, the shaft 3 is transferred to the station S2 by the articulated robot R5, and the inspection device (sensor) for the small round clip 7 arranged in the station S2 installs the small round clip 7 on the shaft 3. The presence or absence of the clip 7 is detected and the data is stored. Based on this data, it is confirmed whether or not the small round clip 7 is attached. If the assembly of the small round clip 7 is completed, the shaft 3 is transferred to the station S3 by the articulated robot R5 and fixedly arranged, and serrated and fitted to the BJ assembly 8 fixed in advance at the station S3. That is, the BJ-side end of the shaft 3 gripped by the articulated robot R5 is fitted to the inner ring of the BJ assembly 8 with the serration in phase.

Then, the tripod 6 is pressed by a shaft press-fitting machine installed in the station S3.
And press the shaft 3 into the BJ assembly 8. After this pressing, the BJ boots 1 are mounted on the BJ assembly 8 by the handling tool for gripping the shaft by the articulated robot R5. That is, the large diameter end of the BJ boot 1 is put on the outer ring of the BJ assembly 8. After mounting the BJ boot 1, the articulated robot R5 exchanges the handling tool for gripping the shaft with the handling tool for tripod gripping, returns to the initial state, and waits.

When the press of the shaft 3 to the tripod 6 and the BJ assembly 8 is completed at the station S3 by the articulated robot R5, the articulated robot R4
As shown in FIGS. 7 and 12, a snap ring 9 taken out of the supply device is attached to the end on the TJ side of the shaft 3 to which the tripod 6 is attached. After the snap ring 9 is assembled, the articulated robot R4 changes the handling tool for gripping the snap ring to the handling tool for gripping the BJ assembly.

Then, after the press is completed, the snap ring 9 is formed.
Is mounted on the shaft 3 with the articulated robot R4 holding the BJ assembly 8 in the station S4.
Transfer to and discharge. At this station S4, the snap ring 9 mounted on the TJ side end of the shaft 3 is press-fitted and inspected by a snap ring press-fitting device and an inspection device installed at the station S4. The pre-assembly completed product is transported to the post-assembly line.

[Post-Assembly Line] In the post-assembly line of the embodiment shown in FIG. 2, the sequencer 37 shown in FIG. 6 includes a fixed display 39 and a handy display 41, supply parts 33 to 35 for various parts, an image processing apparatus. The following information is transmitted and received between each of the articulated robots 44 and 45, the articulated robots R6 to R10, and the stations S5 to S8.

Fixed display 39 and handy display 41
As for, transmission / reception of a display command of operation status / abnormality information, line operation instruction / manual operation information, presence / absence of work / error information based on the display instruction is executed. Regarding the supply unit 33 of the TJ outer ring 10, the supply units 34 and 35 of the large BJ band 11, and the supply units 34 and 35 of the large TJ band 12, transmission / reception of the work instruction and work presence / absence information based on the operation instruction is executed. An image processing apparatus 44 having cameras 53 and 54 for TJ large band supply (for taking one piece and for detecting phase);
For the image processing device 45 having the J large band supply cameras 55 and 56 (for taking one piece and detecting the phase) and the TJ outer ring supply camera 57, transmission / reception of the work command and the presence / absence of work / error information based on the work command is performed. Is executed. 5
As for the multiple articulated robots R6 to R10, transmission / reception of operation command / data / setup information and operation completion / data / error information based on the information are executed. Pull-out inspection station S5, BJ-side assembly station S6,
In the TJ-side assembly station S7 and the ejection station S8, an operation command and transmission / reception of work presence / absence / error information based on the operation command are executed.

In the post-assembly line of the embodiment shown in FIG. 2, the assembly flow of the parts shown in FIG. 8 and FIGS.
The operation of the articulated robots R6 to R10 shown in FIG.

First, as shown in FIGS. 8 and 14, the arm tip 21 of the articulated robot R6 is arranged within the movement range of the articulated robot R6 in order to mount a handling tool for holding the shaft. Then, the user moves to the handling tool and attaches the handling tool. Also, the shaft 3 can be taken out, and
After confirming that the fixed arrangement of the shaft 3 on the station S5 is possible, the arm tip 21 is moved to the discharge end of the transfer device 20 from the pre-assembly line, and the pre-assembled product (shaft) is handled by the handling tool. 3) is taken out from the discharge end of the transfer device 20, and the shaft 3 is fixedly arranged on the station S5 in a predetermined posture. A work supporting jig for supporting the shaft 3 in a horizontal state is installed in the station S5. If the shaft 3 cannot be taken out, the transfer of the assembly from the previous assembly line is awaited.

Here, the articulated robot R6 replaces the handling tool for holding the shaft with the handling tool for holding the boot. In the station S5, the TJ boot 4 and the BJ boot 1 are brought to the center by the handling tool for gripping the boot, and in that state, the pull-out inspection is executed by the inspection device attached to the station S5. Further, the BJ boot 1 is tilted and held by the handling tool, and grease is sealed in the BJ boot 1 by a grease supply device attached to the station S5. After the grease is filled, the BJ boot 1 is mounted on the BJ assembly 8. That is, the large diameter end of the BJ boot 1 is put on the BJ outer ring of the BJ assembly 8. After mounting the BJ boot 1, the articulated robot R6 replaces the handling tool for gripping the boot with the handling tool for gripping the shaft, returns to the initial state, and waits.

The articulated robot R7 is shown in FIGS.
In order to mount a handling tool for gripping a BJ large band, the arm tip 21 moves to the handling tool arranged within the movement range of the articulated robot R7 to mount the handling tool as shown in FIG. .
At this time, the handling tool grips the BJ large band 11 while chucking the inner diameter side thereof.

Further, after the supply device in the supply section 34 of the large BJ band 11 is rotated, the BJ of the image processing device 45 is rotated.
The presence / absence and attitude of the BJ large band 11 in the supply device are detected by the large band supply cameras 55 and 56, and the data is stored. Based on this data, the articulated robot R
7 carries out the work of taking out the large BJ band 11 from the supply unit 34. After confirming that the BJ large band 11 can be taken out and that the BJ large band 11 can be fixedly distributed, the arm tip 21 is moved to the supply unit 34 of the BJ large band 11 and is handled with a handling tool. BJ
The large band 11 is taken out of the supply device.

After the removal of the large BJ band 11, it is necessary to detect the phase by the crimped portion or the front and back sides. BJ large band 1 by 45
The phase and the front and back of 1 are inspected in a non-contact manner and the data is stored. The large BJ band 11 is assembled to the BJ boot 1 based on this data. This BJ large band 1
After inspection of phase 1 and front and back, B by articulated robot R7
The J large band 11 is arranged at the transfer position of the station S6.

Here, as shown in FIG. 8 and FIG. 16, the arm tip 21 of the articulated robot R8 is located within the movement range of the articulated robot R8 in order to mount a handling tool for gripping the shaft. Move to the handled handling tool and attach the handling tool. After confirming that the shaft 3 can be taken out, the shaft 3 is transferred from the station S5 to the station S6. A work supporting jig for supporting the shaft 3 in a horizontal state is installed in the station S6.

After this transfer, the articulated robot R8 exchanges the handling tool for gripping the shaft with a handling tool for gripping a BJ large band. This handling tool grips the outer diameter side of the large BJ band 11 in a state of chucking. Then, after confirming that the large BJ band 11 can be taken out, the BJ large band 11 arranged at the transfer position of the station S6 is placed on the support jig of the station S6 by the articulated robot R8. Attach it to the BJ boot 1 of the horizontally held assembly.

On the other hand, the articulated robot R7 replaces the handling tool for the large BJ band with the handling tool for caulking the large BJ band as shown in FIGS. Station S with this handling tool
6, the large-diameter end of the BJ boot 1 is fastened to the BJ outer ring of the BJ assembly 8 by caulking the large BJ band 11 arranged at 6. The articulated robot R7
After the mounting of the large BJ band 11, the handling tool is changed from the one for caulking the large BJ band to the one for gripping the large BJ band, and then returns to the initial state and waits.

On the other hand, as shown in FIG. 8 and FIG.
After the assembling operation, the handling tool for gripping the BJ large band is replaced with a handling tool for gripping the shaft. In addition, after the supply device in the supply unit 33 of the TJ outer ring 10 is rotated, the presence / absence and attitude of the TJ outer ring 10 in the supply device are detected by the TJ outer ring supply camera 57 of the image processing device 45 in a non-contact manner. Store the data. Based on this data, the articulated robot R <b> 8 performs the work of taking out the TJ outer ring 10 from the supply unit 33. TJ outer ring 1
0 and the fixed arrangement of the TJ outer ring 10 is possible.
The TJ outer ring 10 is moved to the supply unit 33 of the J outer ring 10, and the TJ outer ring 10 is taken out of the supply device with a handling tool.

Here, since the TJ outer ring 10 has a flower shape in cross section due to the tripod shape, it is necessary to detect the phase in accordance with the cross section shape. Articulated robot R8
Transfers the TJ outer ring 10 taken out of the supply device to the phase detection position, detects the phase of the TJ outer ring 10 in a non-contact manner, and stores the phase data. Based on this phase data, T
The outer ring 10 is set in phase with the tripod 6 to form the shaft 3
Will be assembled. After this phase detection, TJ outer ring 1
After the grease is sealed inside the outer ring 10, the TJ outer ring 10 is fixedly placed on the temporary placing table. Thereafter, the articulated robot R8 returns to the initial state and waits.

The articulated robot R9 is shown in FIGS.
In order to mount the handling tool for gripping the shaft as shown in (1), the arm tip 21 moves to the handling tool arranged within the movement range of the articulated robot R9, and mounts the handling tool. After confirming that the shaft 3 can be taken out and that the shaft 3 can be fixedly arranged on the station S7, the shaft 3 fixed in the station S6 is transferred to the station S7. And arrange. A work supporting jig for supporting the shaft 3 in a horizontal state is installed in the station S7. If it is impossible to take out the shaft 3, the articulated robot R2 in the previous assembly line waits for the fixed distribution of the shaft 3.

After confirming that the TJ outer ring 10 can be taken out, the articulated robot R9 removes the TJ outer ring 10 fixed on the temporary placing table from the station S.
The TJ outer ring 10 is assembled to the shaft 3 by a handling tool at the station S7. That is, the TJ outer ring 10 is mounted so as to cover the TJ outer ring 10 in phase with the tripod 6 mounted on the TJ side end of the shaft 3.

[0100] The articulated robot R9 replaces the handling tool for gripping the shaft with a handling tool for gripping a TJ large band. Then, after the supply device in the supply unit 35 of the large TJ band 12 is rotated, the presence or absence and posture of the large TJ band 12 in the supply device are determined by the TJ large band supply cameras 53 and 54 of the image processing device 44. The data is detected without contact and stored. Based on this data, the articulated robot R <b> 9 performs the work of taking out the large TJ band 12 from the supply unit 35. After confirming that the TJ large band 12 can be taken out and that the TJ large band 12 can be fixedly arranged, the arm tip 21 is moved to T
It is moved to the supply section 35 of the large J band 12, and the large TJ band 12 is taken out of the supply device with a handling tool. At this time, the handling tool uses TJ large band 1
2 is gripped in a state where the inner diameter side is chucked.

Here, after taking out the TJ large band 12,
Temporary caulking part (lever part) and final caulking part (claw part)
It is necessary to detect whether the phase is the front or back side, and the articulated robot R9 uses the TJ large band 1
2 is moved to the phase / front / back detection position while expanding the diameter, and the phase / front / back of the TJ large band 12 is inspected by the image processing device 44 in a non-contact manner, and the data is stored. The large TJ band 12 is assembled to the TJ boot 4 based on this data. After detecting the phase and the front and back of the large TJ band 12, the articulated robot R9 transfers the large TJ band 12 to the transfer table of the station S6 and arranges it.

On the other hand, as shown in FIGS. 8 and 18, the articulated robot R10 has its arm tip 21 disposed within the movement range of the articulated robot R10 in order to mount a handling tool for gripping a TJ boot. Move to the handled handling tool and attach the handling tool. Station S by the handling tool
The TJ boot 4 of the shaft 3 fixed to 7 is tilted to seal grease inside the TJ boot 4, and the TJ boot 4 is mounted on the TJ outer ring 10 in phase. That is, TJ
The large diameter end of the boot 4 is put on the TJ outer ring 10.

After that, the articulated robot R10 exchanges the handling tool for gripping the TJ boot with a handling tool for gripping the TJ large band, confirms that the large TJ band 12 can be taken out, and confirms that the TJ large band 12 can be taken out. The large TJ band 12 is taken out of the delivery table of the station S6 by the articulated robot R10. Then, when the preparation for assembling the large TJ band 12 is completed, the large TJ band 12 is transferred to the station S7 by the articulated robot R10, and the TJ boots 4 fixed to the station S7 are transferred.
Temporarily caulking after assembling to the large diameter end. The temporary caulking of the large TJ band 12 is performed by bending the lever portion of the large TJ band using a caulking jig installed at the station S7. Thereafter, the articulated robot R10 exchanges the handling tool for gripping the TJ large band with the handling tool for gripping the shaft.

On the other hand, as shown in FIGS. 8 and 17, the articulated robot R9 replaces the handling tool for grasping the large TJ band with the handling tool for fully tightening the large TJ band. Then, after confirming that the preparation for the final caulking of the large TJ band 12 is completed, the temporary caulking of the large TJ band 12 is finally caulked by the handling tool of the articulated robot R9. This full caulking is performed by caulking the claw portion with the handling tool of the articulated robot R9. After that, the articulated robot R9
Exchange the handling tool for the large band final tightening with the handling tool for gripping the shaft, return to the initial state, and wait.

The articulated robot R10, which has been replaced with the handling tool for gripping the shaft, confirms that the assembly is ready for discharging, and then transfers the drive shaft, which has been assembled at the station S7, to the station S8, where it is fixed. Distribute. The articulated robot R10 replaces the handling tool for gripping the shaft with the handling tool for gripping the TJ boot, returns to the initial state, and waits. The drive shaft fixedly arranged at the station S8 is discharged to a visual inspection step installed at a later stage of the post-assembly line.

In the above embodiment, a case has been described in which the plurality of articulated robots R1 to R5, R6 to R10 execute an operation for avoiding an abnormal situation, but other than these articulated robots R1 to R5, R6 to R10. Alternatively, at least one auxiliary robot for avoiding a line stop when an abnormal situation occurs may be provided.

[0107]

According to the present invention, a sliding type constant velocity universal joint,
In an assembly line of a drive shaft composed of components including a fixed type constant velocity universal joint and a shaft, when an abnormal situation including a failure of any of the articulated robots occurs when the work content of the assembling process is executed by the articulated robot. Another articulated robot that cooperates with the articulated robot performs an operation to avoid the abnormal situation, thereby easily improving the work efficiency and shortening the work time in an automated assembly line. Can be.

[Brief description of the drawings]

FIG. 1 is a plan view showing an arrangement layout of a front assembly line in an embodiment of a drive shaft assembly line according to the present invention.

FIG. 2 is a plan view showing an arrangement layout of a post-assembly line in the embodiment of the present invention.

FIG. 3 is a process diagram for explaining a drive shaft assembling procedure for a pre-assembly line in the embodiment of the present invention.

FIG. 4 is a process chart for explaining a drive shaft assembling procedure for a rear assembly line in the embodiment of the present invention.

FIG. 5 is a system diagram showing a relationship between information from a sequencer and peripheral devices and information to the peripheral devices for a pre-assembly line in the embodiment of the present invention.

FIG. 6 is a system diagram showing a relationship between information from a sequencer and peripheral devices and information to the peripheral devices for a post-assembly line according to an embodiment of the present invention.

FIG. 7 is a flowchart for explaining an assembling flow of components constituting a drive shaft with respect to a pre-assembly line in the embodiment of the present invention.

FIG. 8 is a flowchart for explaining a flow of assembling parts constituting a drive shaft with respect to a rear assembly line in the embodiment of the present invention.

FIG. 9 is a flowchart for explaining a work operation procedure of the articulated robot R1 on the pre-assembly line in the embodiment of the present invention.

FIG. 10 is a flowchart illustrating a work operation procedure of the articulated robot R2 on the pre-assembly line according to the embodiment of the present invention.

FIG. 11 is a flowchart for explaining a work operation procedure of the articulated robot R3 on the pre-assembly line in the embodiment of the present invention.

FIG. 12 is a flowchart for explaining a work operation procedure of the articulated robot R4 on the pre-assembly line in the embodiment of the present invention.

FIG. 13 is a flowchart for explaining a work operation procedure of the articulated robot R5 on the pre-assembly line in the embodiment of the present invention.

FIG. 14 is a flowchart for explaining a work operation procedure of the articulated robot R6 on the post-assembly line in the embodiment of the present invention.

FIG. 15 is a flowchart illustrating a work operation procedure of the articulated robot R7 on the post-assembly line according to the embodiment of the present invention.

FIG. 16 is a flowchart for explaining a work operation procedure of the articulated robot R8 on the post-assembly line in the embodiment of the present invention.

FIG. 17 is a flowchart for explaining a work operation procedure of the articulated robot R9 with respect to the post-assembly line in the embodiment of the present invention.

FIG. 18 is a flowchart for explaining a work operation procedure of the articulated robot R10 on the post-assembly line in the embodiment of the present invention.

[Explanation of symbols]

 R1 to R10 Articulated robot 1 Boot (BJ boot) 3 Shaft 4 Boot (TJ boot) 6 Inner joint member (tripod kit) 8 BJ assembly 10 Outer joint member (TJ outer ring) 20 Buffer (transfer device)

Continuation of the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (Reference) F16D 3/84 F16D 3/84 V (72) Inventor Motoharu Nakura 1578 Higashikaizuka, Iwata-shi, Shizuoka Pref. Inventor Toshihisa Sawatsubashi 1578 Higashikaizuka, Iwata-shi, Shizuoka F-term in NTN Corporation (reference) 3C030 AA19 AA21 BB03 BB11 CA11 CC07 DA01 DA02 DA03 DA05 DA06 DA09 DA10 DA13 DA23 DA24 DA27 DA35 DA37 3D114 AA16 HA03 JA12 JA13

Claims (5)

[Claims] 1. A fixed type constant velocity universal joint, a sliding type constant velocity universal joint, a shaft fitted to an inner joint member of these joints, a boot for sealing the inside of an outer joint member of the joint, and an end of the boot A drive shaft assembly line comprising components including a boot band for fixing the drive shaft to the shaft or the outer joint member. And fitting the inner joint members of the respective joints to both ends of the shaft, fitting the outer joint members of the respective joints to the inner joint members of both ends of the shaft, Enclosing grease in the boot and covering the outer joint member of each joint with the boot; The work of the assembly process comprising the step of fixing the coupling member,
The robot is distributed to the articulated robots arranged at a plurality of positions and executed.If an abnormal situation including a failure of one of the articulated robots occurs at the time of the execution, the other articulated robot operating in cooperation with the articulated robot is A method for coping with an abnormality in a drive shaft assembly line, wherein an operation for avoiding an abnormal situation is performed. 2. The multi-joint robot adjacent to the multi-joint robot has a function that overlaps with a part of the work performed by the multi-joint robot. 2. The method according to claim 1, wherein another articulated robot adjacent to the robot partially performs the work of the articulated robot. 3. 3. If the failure of the articulated robot in the previous process or the stoppage of the supply of parts or assemblies from the previous process occurs as an abnormal situation, the articulated robot in the next process preliminarily waits until the abnormal situation is recovered. 3. The method according to claim 1, wherein the method stops at a predetermined position and waits for a process. 4. A buffer for temporarily storing the part or assembly is provided on an assembly line, and the articulated robot pools the part or assembly in the buffer to wait for the part or assembly. 4. The method for coping with an abnormality in a drive shaft assembly line according to claim 1, wherein a line stop caused by the drive shaft is avoided. 5. The apparatus according to claim 1, further comprising: at least one auxiliary robot for avoiding a line stop when an abnormal situation occurs, in addition to the plurality of articulated robots.
The method for coping with an abnormality in the drive shaft assembly line according to any one of the above.