Assembling auxiliary device and assembling method

Abstract

The present invention provides an assembly assistance device capable of improving work efficiency. An assembly assistance device (100) is provided with a positioning jig (101), a positioning adjustment unit (102), a support unit (103), and a reference core sensor (106). A reference core sensor (106) is provided to the positioning adjustment unit (102) and detects a reference core (13) provided to the work object (4). The reference core sensor (106) has a first reference core detection unit (106a) and a second reference core detection unit (106b), which are disposed at an interval in the longitudinal direction (Y) of the work object (4). Furthermore, the reference core sensor (106) detects the torsion angle of the positioning jig (10) with respect to the reference core (13) on the basis of the measurement value of the first reference core detection unit (106a) and the measurement value of the second reference core detection unit (106b).

Description

Technical Field

[0001] This invention relates to an assembly aid and an assembly method. Background Technology

[0002] In the assembly of vehicles, passenger conveyors, and the like, the installation of components involves measuring the distance from a reference core (centerline, etc.) to the component, positioning it, and securing it. In particular, during the manufacturing of passenger conveyors, after separately fabricating the upper, middle, and lower frames, these frames are connected to form a single frame. Next, all components within the frame, including the steps, are installed, and interference between the cyclically moving steps and other built-in components is checked. The components are then disassembled again before shipment from the factory.

[0003] Furthermore, in order to achieve safety and a comfortable ride on the passenger conveyor (minimizing noise and vibration during operation), high assembly precision is required. In this regard, the technology described in Patent Document 1 is disclosed as prior art for improving assembly precision.

[0004] Here, refer to Figure 14 and Figure 15 The assembly method of existing passenger conveyors is explained.

[0005] Figure 14 This is a diagram showing the existing assembly process. Figure 15 yes Figure 14 A sectional view along line AA.

[0006] like Figure 14 As shown, the pre-assembled frame 4 is laid flat via an assembly trolley 11 mounted on the work platform 10. Reference cores 12, 12 are installed at one end (upper part) and the other end (lower part) along the length of the frame 4. The two reference cores 12, 12 are positioned at the center of the frame 4 along the X-axis, which is the width direction. Furthermore, a reference core 13 is mounted on the upper end of the reference cores 12, 12. This reference core 13 serves as a reference in the width direction of the frame 4.

[0007] And, as Figure 14 and Figure 15 As shown, a plumb bob 14 hangs vertically from the reference core 13. And, as... Figure 15 As shown, the operator 15 uses a plumb bob 14 as a reference and a measuring instrument 16 such as a ruler and a convex part to measure the position of the component 17 within the frame 4. Furthermore, after adjusting the position of the component 17 to make the dimensions a reference value, it is then fixed.

[0008] Existing technical documents

[0009] Patent documents

[0010] Patent Document 1: Japanese Patent Application Publication No. 55-123874 Summary of the Invention

[0011] The problem that the invention aims to solve

[0012] However, in existing assembly methods, operators need to use measuring instruments such as convex parts to determine the position of components, raising concerns about deviations in the measured values ​​due to operator error. Therefore, there are situations where the installation accuracy of components falls outside the acceptable range, or where accuracy deviations occur.

[0013] Furthermore, since there are multiple components installed on the frame along its length, the plumb bob needs to be moved each time a component is installed. This requires measuring, adjusting, and fixing the component's position, which takes time for the assembly process. Additionally, because the plumb bob is an unstable measuring reference that is easily swayed by even slight wind or vibration, after moving it, it is necessary to wait until the swaying subsides, thus reducing work efficiency.

[0014] In view of the above-mentioned problems, the purpose of this invention is to provide an assembly aid and assembly method that can install components with high precision and stable accuracy, and can improve work efficiency.

[0015] Solution for solving the problem

[0016] To address the aforementioned issues and achieve the objectives, an assembly aid is provided for use during component assembly of a workpiece. The assembly aid includes a positioning fixture, a positioning adjustment unit, a support unit, and a reference core sensor. A component is temporarily fixed in the positioning fixture. The positioning adjustment unit supports the positioning fixture. The support unit supports the positioning adjustment unit. The reference core sensor, located in the positioning adjustment unit, detects a reference core positioned on the workpiece. Furthermore, the reference core sensor has a first reference core detection section and a second reference core detection section arranged at an interval along the length of the workpiece. Based on the measurements from the first and second reference core detection sections, the reference core sensor detects the torsional angle of the positioning fixture relative to the reference core.

[0017] Furthermore, the assembly method is performed using an assembly aid device with a positioning fixture that temporarily fixes the parts mounted on the work object. Moreover, it includes the steps shown in (1) to (5) below.

[0018] (1) The process of setting up the work object.

[0019] (2) The process of setting a reference core on the work object.

[0020] (3) The process of configuring and assembling auxiliary devices on the work object.

[0021] (4) The process of detecting the reference core using the reference core sensor installed in the assembly auxiliary device.

[0022] (5) A process of detecting the torsion angle of the positioning fixture relative to the reference core based on the measured values ​​of the first reference core detection unit and the second reference core detection unit of the reference core sensor.

[0023] Furthermore, the first reference core detection unit and the second reference core detection unit are arranged at a distance from each other along the length of the work object.

[0024] The effects of the invention are as follows.

[0025] The assembly aid and assembly method based on the above structure enable the high-precision and stable installation of components, thereby improving work efficiency. Attached Figure Description

[0026] Figure 1 This is a simplified structural diagram of a passenger conveyor, shown as an object to be assembled using the assembly aid device described in the embodiment.

[0027] Figure 2 This is a front view showing an assembly aid device according to an embodiment example.

[0028] Figure 3 This is a side view showing an assembly aid device according to an embodiment example.

[0029] Figure 4 This is a side view showing the positioning adjustment section of the assembly aid device in the embodiment of the tilted state.

[0030] Figure 5 This is a side view showing the state in which the height of the positioning fixture is changed by the vertical position adjustment part of the assembly auxiliary device used in the embodiment example.

[0031] Figure 6 This is a side view of the assembly aid device of the embodiment being used in the frame assembly operation.

[0032] Figure 7 This is a top view showing the assembly aid device of the embodiment example set in the frame, as observed from above.

[0033] Figure 8 This is a side view showing a case where the tilt angle of the upper chord member of the frame is measured using a frame tilt detection unit.

[0034] Figure 9 It shows from Figure 8 The side view shows the state in which the positioning adjustment part is parallel to the upper chord member of the frame.

[0035] Figure 10 This is a system structure diagram of the assembly auxiliary device of the embodiment example.

[0036] Figure 11 This is a flowchart illustrating an assembly method using the assembly aid device described in the embodiment example.

[0037] Figure 12 This is a diagram showing a modified example of the system structure of the assembly aid device according to the embodiment example.

[0038] Figure 13 This is a system structure diagram showing the state of connecting the assembly assistance device of the embodiment example to the factory IoT platform.

[0039] Figure 14 This is a diagram showing the existing assembly process.

[0040] Figure 15 yes Figure 14 A sectional view along line AA.

[0041] Symbol Explanation

[0042] 1—Passenger conveyor; 4—Frame (object of operation); 4a—Upper chord component; 10—Working platform; 11—Assembly trolley; 12—Reference core column; 13—Reference core; 17—Component; 100, 100B—Assembly auxiliary device; 101—Positioning fixture; 102—Positioning adjustment part; 103—Support unit; 104—Moving part; 105—Guide roller; 106—Reference core sensor; 106a—First reference core detection part; 106b—Second reference core detection part; 107—Display part; 108—Support column; 109—Crossbeam; 110—Left and right position adjustment part; 111—Up and down position adjustment part. 112—Front-back tilt adjustment unit, 113—Left-right tilt adjustment unit, 114—Torsion adjustment unit, 115—Adjustment unit clamping part, 116—Frame tilt detection unit, 117—Control unit, 118—Operation unit, 119—Power supply, 120—Rotation shaft, 121—Base plate, 122—Left-right tilt detection unit, 123—Detection range, 124—Sensor support arm, 125a—First sensor, 125b—Second sensor, 127—Connecting plate, 130—Main PC, 131—Factory IoT platform, 132—Production management data, 133—Quality management data, 151—Wireless communication unit. Detailed Implementation

[0043] The following is for reference Figures 1 to 13 Examples of embodiments for the assembly auxiliary device and assembly method will be described. Furthermore, common components in all figures will be labeled with the same symbols.

[0044] 1. Implementation Examples

[0045] 1-1. Example of passenger conveyor structure

[0046] First, as an example of an assembly apparatus using the assembly aid device in the implementation example (hereinafter referred to as "this example"), refer to... Figure 1 The structure of the passenger conveyor is described.

[0047] Figure 1 This is a simplified structural diagram showing the passenger conveyor.

[0048] Figure 1 The passenger conveyor 1 shown is an inclined passenger conveyor, also known as an escalator, installed on the lower floor 8 and upper floor 9 of a building structure. Figure 1 As shown, the passenger conveyor 1 includes a frame 4 installed in the building structure, a lower landing floor 2, an upper landing floor 3, multiple steps 5, and railings 6. The lower landing floor 2 is installed on the lower floor 8, and the upper landing floor 3 is installed on the upper floor 9.

[0049] Frame 4 is installed spanning the upper floor 9 and the lower floor 8. Furthermore, frame 4 is constructed of a truss structure with an opening at the top in the vertical direction. Guide rails (not shown) are provided on frame 4. Moreover, multiple steps 5, connected in a ring, are provided on the guide rails of frame 4 and are supported in a movable manner. Furthermore, the multiple steps 5 move cyclically along the length of frame 4.

[0050] Railings 6 are provided at both ends of the multiple steps 5 in the width direction. Handrails 7 are provided around the perimeter of the railings 6. Moreover, the handrails 7 move in a circular motion in sync with the circular movement of the multiple steps 5.

[0051] 1-2. Structural Examples of Assembly Auxiliary Devices

[0052] Next, refer to Figures 2 to 4 Hereinafter, we will describe the structure of the assembly aid 100 used when installing various components on the frame 4 of the passenger conveyor 1 described above.

[0053] Figure 2 This is a front view showing the assembly aid in this example, and, Figure 3 This is a side view showing the assembly aid in this example. Figure 4 This is a side view showing the tilted position of the positioning adjustment part of the assembly aid device in this example. Figure 5 It shows from Figure 4 The side view shows the state in which the height of the positioning fixture is further changed using the up-down position adjustment part.

[0054] Figure 2The assembly aid 100 shown is used when measuring the distance from the reference core to the component during the assembly operation of the frame 4 of a passenger conveyor, which is an example of the work object shown, or when installing positioning fixtures or fixing fixtures.

[0055] Here, the vertical direction is set as the Z-axis, the width direction of frame 4, which is orthogonal to the vertical direction, is set as the X-axis, and the direction orthogonal to both the Z-axis and X-axis is set as the Y-axis. Furthermore, rotations around the X-axis, Y-axis, and Z-axis are set as pitch, roll, and yaw, respectively. Additionally, as... Figure 2 As shown, frame 4 is formed in a "コ" shape with an opening in the Z-axis direction in the vertical direction. Furthermore, the length direction of frame 4 extends along the Y-axis direction.

[0056] Assembly aids 100 are positioned on both sides of the frame 4 along the X-axis and above the frame 4 along the Z-axis. Furthermore, when an operator enters the frame 4, they perform assembly work (measurement, positioning, fixing, etc.) by moving the assembly aids 100 along the Y-axis, which is the length direction of the frame 4.

[0057] like Figure 2 As shown, the assembly auxiliary device 100 includes a positioning clamp 101, a positioning adjustment part 102, and a support unit 103 supporting the positioning adjustment part 102. The positioning clamp 101 has pins, abutments, etc. Furthermore, the positioning clamp 101 temporarily fixes the component 17 to the positioning clamp 101 by engaging the pin with a hole provided in the component 17, or by pressing the corner of the component 17 against the abutment. The positioning clamp 101 can be easily mounted and detached relative to the positioning adjustment part 102 using magnets, locking pins, etc. Multiple positioning clamps 101 are prepared depending on the type of component 17. Moreover, appropriate positioning clamps 101 are mounted on the positioning adjustment part 102 according to the component 17 to be installed.

[0058] 1-3. Structure of the Support Unit

[0059] Next, the structure of the support unit 103 will be described.

[0060] The support unit 103 includes two support columns 108, a crossbeam 109, a movable part 104, and multiple guide rollers 105. The two support columns 108 are arranged on the outer side in the X-axis direction, which is the width direction of the frame 4. Moreover, the support columns 108 are erected vertically in the Z-axis direction. The movable part 104 is provided at the lower end of the support column 108 in the Z-axis direction.

[0061] As the moving part 104, for example, an omnidirectional wheel or ball wheel that can move forward, backward, left, and right is used. Furthermore, as the moving part 104, casters or sliders that move along the track 19 provided on the work platform 10 are also used. Therefore, the support column 108 is supported by the moving part 104 in a manner that allows it to move along the Y-axis.

[0062] A crossbeam 109 is installed at the upper end of the support column 108 in the Z-axis direction. The crossbeam 109 extends along the X-axis direction and is arranged above the frame 4 in the Z-axis direction, covering the entire frame 4 in the X-axis direction. Furthermore, the crossbeam 109 is located at the upper ends of both support columns 108. That is, as... Figure 2 As shown, the support unit 103 is configured as a portal frame 4. Furthermore, a positioning adjustment part 102 is provided on the crossbeam 109 of the support unit 103.

[0063] Furthermore, the guide roller 105 is rotatably disposed on the support column 108. One guide roller 105 is disposed at one end of the support unit 103 in the X-axis direction, and two guide rollers 105 are disposed at the other end of the support unit 103 in the X-axis direction. Additionally, the two guide rollers 105 disposed at the other end of the support unit 103 in the X-axis direction are spaced apart in the Y-axis direction.

[0064] After the support unit 103 is placed on the frame 4, the plurality of guide rollers 105 contact the outer surface of the frame 4 in the X-axis direction. Therefore, the frame 4 is clamped by the plurality of guide rollers 105 of the support unit 103. Thus, since the guide rollers 105 are always in contact with the frame 4, the support unit 103 can move smoothly. Furthermore, the direction in which the crossbeam 109 of the support unit 103 extends can be configured to be parallel to the width direction of the frame 4. As a result, the offset of the assembly aid 100 relative to the frame 4 in the width direction (X-axis direction) and the torsion in the deflection axial direction can be suppressed.

[0065] Furthermore, the number of guide rollers 105 is not limited to the example described above. For example, two guide rollers 105 may be arranged at each end of the support unit 103 in the X-axis direction.

[0066] Furthermore, a positioning adjustment section 102 is provided on the crossbeam 109 of the support unit 103. Moreover, the support column 108 is configured to extend and retract in the Z-axis direction. Therefore, by extending and retracting the support column 108, the approximate height of the positioning adjustment section 102 can be adjusted.

[0067] Furthermore, the support unit 103 is not limited to a portal structure spanning the frame 4, but can also be a cantilever support structure in which a support column 108 supports a crossbeam 109, and various other structures can be applied.

[0068] 1-4. Structure of the Positioning and Adjustment Unit

[0069] Next, the structure of the positioning adjustment unit 102 will be explained.

[0070] like Figure 2 and Figure 3 As shown, the positioning adjustment unit 102 includes a left-right position adjustment unit (X-axis) 110, a right-right position adjustment unit (Z-axis) 111, a front-back tilt adjustment unit (pitch) 112, a left-right tilt adjustment unit (roll) 113, and a torsion adjustment unit (yaw) 114. Furthermore, the positioning clamp 101 is detachably mounted on the left-right position adjustment unit 110 via the connecting plate 127 described above. The positioning adjustment unit 102 also includes a reference core sensor 106, a frame tilt detection unit 116, an adjustment unit clamping member 115, and a display unit 107. In the assembly auxiliary device 100, a control unit 117, an operation unit 118, and a power supply 119 are arranged in the positioning adjustment unit 102 (see reference). Figure 10 ).

[0071] Furthermore, the positioning adjustment unit 102 includes a base plate 121, a sensor support arm 124, and a connecting plate 127. For example... Figure 3 As shown, the base plate 121 is supported by a rotation shaft 120 provided on the crossbeam 109 in a manner that allows it to rotate about pitch. Furthermore, as... Figure 4 As shown, the base plate 121 rotates about the rotation axis 120 using the front and rear tilt adjustment part 112. Various other moving mechanisms, such as electric sliders or ball screw mechanisms, can be used as the front and rear tilt adjustment part 112.

[0072] A torsion adjustment section 114 is provided on the base plate 121. Furthermore, a vertical position adjustment section 111 is connected to the torsion adjustment section 114. Moreover, the torsion adjustment section 114 supports the vertical position adjustment section 111 so that it can rotate about the deflection.

[0073] A left-right tilt adjustment part 113 is connected to the vertical position adjustment part 111. Furthermore, as... Figure 5 As shown, the vertical position adjustment unit 111 supports the horizontal position adjustment unit 110 via the horizontal tilt adjustment unit 113, enabling it to move along the vertical direction (Z-axis). Furthermore, a sensor support arm 124 is connected to the vertical position adjustment unit 111. The sensor support arm 124 protrudes from the vertical position adjustment unit 111 in the X-axis direction. A frame tilt detection unit 116 for detecting tilt relative to the frame 4 is disposed at the front end of the sensor support arm 124. The detailed structure of the frame tilt detection unit 116 will be described later.

[0074] Furthermore, a reference core sensor 106 is provided at the upper end of the vertical position adjustment section 111. The detailed structure of the reference core sensor 106 will be described later.

[0075] Furthermore, a left-right position adjustment part 110 is connected to the left-right tilt adjustment part 113. The left-right tilt adjustment part 113 supports the left-right position adjustment part 110 so that it can rotate around a roll. A connecting plate 127 is connected to the left-right position adjustment part 110. The left-right position adjustment part 110 supports the connecting plate 127 so that it can move along the X-axis. A positioning clamp 101 is detachably connected to the connecting plate 127.

[0076] Furthermore, the connecting plate 127 is provided with a display unit 107, an adjustment clamping member 115, and a left and right tilt detection unit 122. Additionally, the connecting plate 127 is provided with a control unit 117, an operation unit 118, and a power supply 119 (see reference). Figure 10 The measurement results and current status are displayed on the display unit 107.

[0077] The adjusting clamping member 115 is provided at both ends of the connecting plate 127 in the X-axis direction. After the connecting plate 127 is positioned, the adjusting clamping member 115 temporarily fixes the connecting plate 127 to the upper chord member 4a of the frame 4. As a result, the positional deviation of the connecting plate 127, i.e., the positional deviation of the positioning fixture 101, can be suppressed.

[0078] The left and right tilt detection unit 122 is disposed at one end or the other end of the connecting plate 127 in the X-axis direction. Moreover, the left and right tilt detection unit 122 detects the left and right tilt (X-axis direction) of the connecting plate 127, that is, the rotation angle around the roll.

[0079] The left-right position adjustment unit 110, the up-down position adjustment unit 111, the front-back tilt adjustment unit 112, the left-right tilt adjustment unit 113, and the torsion adjustment unit 114 may employ various other moving mechanisms, such as electric sliders and ball screw mechanisms. Furthermore, at least one of the adjustment units 110, 111, 112, 113, and 114 is equipped with an actuator capable of automatically adjusting position and / or posture.

[0080] Here, refer to Figure 6 The method for setting up the reference core 13 is explained.

[0081] Figure 6 This is a side view of the assembly aid 100 used in the assembly operation of the frame 4.

[0082] like Figure 6As shown, the frame 4 is laid flat via an assembly trolley 11 mounted on the work platform 10. Reference core posts 12 are mounted at one end (upper part) and the other end (lower part) along the length of the frame 4. The reference core post 12 is located at the center of the frame 4 along the X-axis, which is the width direction. Furthermore, a reference core 13 is mounted on the upper end of the reference core post 12. This reference core 13 is detected by a reference core sensor 106 mounted on the assembly aid device 100.

[0083] Furthermore, by using the moving part 104 to move the assembly aid 100 as a whole along the Y-axis direction, the position of the assembly aid 100 relative to the frame 4 in the Y-axis direction can be adjusted.

[0084] Next, the reference core sensor 106 will be described.

[0085] like Figure 2 As shown, the reference core sensor 106 measures the position of the reference core 13 within the detection range 123 in the X-axis direction (width direction). Furthermore, as... Figure 3 and Figure 4 As shown, the reference core sensor 106 has a first reference core detection section 106a and a second reference core detection section 106b. For example, a transmissive laser sensor with a light-emitting section and a light-receiving section can be used as the first reference core detection section 106a and the second reference core detection section 106b. Furthermore, if the reference core 13 enters the detection range 123 of the reference core sensor 106, the reference core sensor 106 can measure the position of the edge of the reference core 13. Moreover, by measuring the reference core 13 by the reference core sensor 106, the positions of the bonding plate 127 and the positioning clamp 101 relative to the reference core 13 in the X-axis direction can be measured.

[0086] The first reference core detection unit 106a and the second reference core detection unit 106b are arranged at a distance from each other in the Y-axis direction. The first reference core detection unit 106a is located at one end side in the Y-axis direction that is closer to the second reference core detection unit 106b.

[0087] Here, with only one detection unit constituting the reference core sensor 106, it can only detect the offset relative to the reference core 13 in the X-axis direction. Therefore, in order to perform parallel adjustment of the assembly auxiliary device 100 relative to the frame 4, two assembly auxiliary devices 100 need to be set up at a distance in the Y-axis direction to move the frame 4 and thus perform parallel adjustment, making the operation very complicated.

[0088] In contrast, according to the assembly aid 100 of this example, the reference core sensor 106 has a first reference core detection section 106a and a second reference core detection section 106b spaced apart in the Y-axis direction. Thus, the reference core sensor 106 can detect the angle of deflection relative to the reference core 13 as a torsion.

[0089] Figure 7 This is a top view of the assembly aid 100 mounted on frame 4, as observed from above. Figure 7 The left side shows the state before the torsion around the deflection was changed, and the right side shows the state after the torsion around the deflection was corrected using the torsion adjustment unit 114.

[0090] In the assembly operation of the passenger conveyor using the assembly aid 100, the assembly aid 100 clamps the side of the frame 4 using guide rollers 105 and moves along the side of the frame 4. However, due to factors such as the assembly accuracy of the side of the frame 4 and the difference in pressing pressure of the guide rollers 105, etc., Figure 7 As shown in the left figure, it is also assumed that the assembly aid 100 is not parallel to the reference core 13. In this state, since the positioning jig 101 is in a state of twisting about the deflection, correction is required.

[0091] Therefore, as Figure 7 As shown, the position of the reference core 13 is determined using the first reference core detection unit 106a and the second reference core detection unit 106b, respectively. Figure 7 As shown in the left figure, when the device is twisted around the deflection point, the measured values ​​of the first reference core detection unit 106a and the second reference core detection unit 106b show different values. Then, as... Figure 7 As shown in the right figure, the torsion is adjusted using the torsion adjustment unit 114 until the measured value of the first reference core detection unit 106a and the measured value of the second reference core detection unit 106b show the same value. This corrects the torsion of the assembly aid 100 around the deflection. As a result, the parallel adjustment operation of the assembly aid 100 relative to the frame 4 can be easily performed.

[0092] Thus, according to the assembly aid 100 of this example, the position of the bonding plate 127 and the positioning fixture 101 relative to the reference core 13 in the X-axis direction and the angle of deflection relative to the reference core 13 can be detected by the reference core sensor 106. As a result, it is possible to prevent an increase in the number of sensors and also to reduce the number of parts.

[0093] Furthermore, the measurement results of the reference core sensor 106 are displayed on the display unit 107. This allows the operator to be informed of the current position of the positioning adjustment unit 102. Additionally, the position information of the reference core 13 obtained by the reference core sensor 106 can be used to control the torsion adjustment unit 114 of the positioning adjustment unit 102, automatically adjusting the position of the positioning adjustment unit 102, i.e., the positioning fixture 101.

[0094] Next, refer to Figure 8 and Figure 9 The structure of the frame tilt detection unit 116 will be described.

[0095] Figure 8 This is a side view showing the case where the tilt angle of the upper chord member 4a of the frame 4 is measured using the frame tilt detection unit 116. Figure 9 It shows from Figure 8 The side view shows the positioning adjustment part 102 in a state parallel to the upper chord member 4a of the frame 4.

[0096] like Figure 8 As shown, the frame tilt detection unit 116 has a first sensor 125a and a second sensor 125b. The first sensor 125a and the second sensor 125b may be non-contact distance sensors such as laser distance sensors or ultrasonic sensors. Figure 8 As shown, the first sensor 125a and the second sensor 125b measure the distance up to the upper chord member 4a. Furthermore, when the upper chord member 4a is not parallel to the positioning adjustment part 102, such as... Figure 8 As shown, the measured value of the first sensor 125a (e.g., 105 mm) and the measured value of the second sensor 125b (e.g., 96 mm) are different values.

[0097] Therefore, the control unit 117 controls the forward and backward tilt adjustment unit 112 until the measured values ​​of the first sensor 125a and the second sensor 125b are equal. Thus, as... Figure 9 As shown, the positioning adjustment unit 102 can automatically align with the upper chord member 4a. Furthermore, the measurement results of the first sensor 125a and the second sensor 125b are displayed on the display unit 107. This allows the operator to be informed of the current position of the positioning adjustment unit 102. The operation of the forward and backward tilt adjustment unit 112 can also be performed manually by the operator.

[0098] Furthermore, in this example, the assembly assistance device 100 sets the height of the upper surface of the upper chord member 4a of the frame 4 as the reference height. That is, the distance relative to the upper chord member 4a is measured by the frame tilt detection unit 116 and by the first sensor 125a and the second sensor 125b. Moreover, the control unit 117 controls the vertical position adjustment unit 111 to adjust the height of the positioning fixture 101 relative to the frame 4. Thus, without setting a reference core that shows a reference height different from the reference core 13, the height of the positioning fixture 101 relative to the frame 4 can be adjusted, thereby improving workability. In addition, the operation of the vertical position adjustment unit 111 can also be performed manually by the operator.

[0099] Furthermore, the structure of the positioning adjustment unit 102 described above is merely an example, and the order in which the left-right position adjustment unit 110, the up-down position adjustment unit 111, the front-back tilt adjustment unit 112, the left-right tilt adjustment unit 113, and the torsion adjustment unit 114 are provided can be appropriately changed. Also, for example, if the levelness of the work platform 10 and the frame 4 is ensured, the left-right tilt detection unit 122 and the left-right tilt adjustment unit 113 can be omitted.

[0100] 1-5. System structure of assembly auxiliary device

[0101] Next, refer to Figure 10 The system structure of the assembly auxiliary device 100 is described.

[0102] Figure 10 This is a system structure diagram of the assembly auxiliary device 100 in this example.

[0103] like Figure 10 As shown, the assembly auxiliary device 100 includes a control unit 117, a reference core sensor 106, an operation unit 118, a positioning adjustment unit 102, a display unit 107, a power supply 119, and a frame tilt detection unit 116.

[0104] The control unit 117 includes, for example, a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and non-volatile memory, all connected to the bus.

[0105] The CPU reads the program code of the software that implements the functions of this embodiment from the ROM, expands it in RAM, and executes it. Alternatively, the control processing unit may be equipped with a processing device such as an MPU (Micro-Processing Unit) to replace the CPU. Variables, parameters, etc., generated during the computation process are temporarily written to RAM.

[0106] As a non-volatile memory, it can be equipped with, for example, HDD (Hard Disk Drive), SSD (Solid State Drive), floppy disk, optical disk, optical disc, CD-ROM, CD-R, magnetic tape, non-volatile memory card, etc. In addition to the OS (Operating System) and various parameters, this non-volatile memory also stores programs used to enable the control processing unit to function. Furthermore, programs can also be stored in ROM.

[0107] The program is stored in the form of program code that the computer can read, and the CPU executes the actions according to that program code in sequence. That is to say, as an example of a non-temporary recording medium that the computer can read and stores a program that the computer can execute, ROM or non-volatile memory is used.

[0108] The control unit 117 performs signal processing and calculations. A power supply 119 for driving is connected to the control unit 117. Furthermore, operation information and detection results from the reference core sensor 106, the operation unit 118, and the frame tilt detection unit 116 are input to the control unit 117.

[0109] Furthermore, the control unit 117 calculates the control signals of the left-right position adjustment unit 110, the up-down position adjustment unit 111, the front-back tilt adjustment unit 112, the left-right tilt adjustment unit 113, and the torsion adjustment unit 114 constituting the positioning adjustment unit 102. The control unit 117 outputs the calculated control signals to the positioning adjustment unit 102. The left-right position adjustment unit 110, the up-down position adjustment unit 111, the front-back tilt adjustment unit 112, the left-right tilt adjustment unit 113, and the torsion adjustment unit 114 constituting the positioning adjustment unit 102 are movable based on the control signals from the control unit 117. Additionally, the control unit 117 displays the measurement results and the current state of the positioning adjustment unit 102 on the display unit 107.

[0110] 2. Assembly method

[0111] Next, refer to Figure 11 A first assembly method for assembling an assembly operation using the assembly aid device 100 having the above-described structure will be described.

[0112] Figure 11 This is a flowchart illustrating the assembly method.

[0113] like Figure 11 and Figure 6 As shown, the operator places frame 4 on assembly trolley 11 (step S1). Then, as... Figure 6 As shown, reference core posts 12 are provided at both ends of the frame 4 in the length direction, and reference cores 13 are provided as references in the width direction (step S2). In addition, at this time, the parallelism between the reference cores 13, i.e., the frame 4 and the assembly auxiliary device 100 has not yet been formed.

[0114] Next, the assembly aid 100 is positioned at the upper or lower part of the frame 4 along its length (step S3). Then, the frame 4 is clamped in place by guide rollers 105 located on both sides of the support unit 103 in the width direction (X-axis direction) (step S4). This allows the assembly aid 100 to move along the side of the frame 4. Furthermore, by clamping the frame 4 with multiple guide rollers 105, simple parallel adjustments between the assembly aid 100 and the frame 4 can be made.

[0115] Next, based on the detection result from the reference core sensor 106, it is confirmed whether the reference core sensor 106 is in a position that can detect the reference core 13 (step S5). That is, in the process of step S5, it is confirmed whether the reference core 13 is within the detection range 123 of the reference core sensor 106, i.e., whether the reference core 13 is present.

[0116] The confirmation operation in step S5 is completed, thus the preparation for use of the assembly auxiliary device 100 is completed. Next, the positioning and fixing operations of the components will be carried out.

[0117] Next, the assembly aid 100 is moved to the mounting position of component 17 (step S6). Next, the tilt of the upper chord member 4a of the frame 4 is measured by the frame tilt detection unit 116 (step S7). Next, based on the obtained tilt value, the control unit 117 or the operator moves the front and rear tilt adjustment unit 112 to adjust the pitch of the positioning adjustment unit 102 until the positioning adjustment unit 102 is in a position parallel to the upper chord member 4a (step S8).

[0118] Next, the position of the reference core 13 is determined by the reference core sensor 106 (step S9). In the process of step S9, the torsion (deflection) of the positioning adjustment unit 102 and the positioning clamp 101 relative to the reference core 13, i.e., the frame 4, is determined based on the measured values ​​of the first reference core detection unit 106a and the second reference core detection unit 106b constituting the reference core sensor 106. Then, based on the obtained measured values, the control unit 117 or the operator makes the torsion adjustment unit 114 movable, and adjusts the deflection of the positioning adjustment unit 102 and the positioning clamp 101 (step S10). Thus, the parallel adjustment operation of the assembly auxiliary device 100 relative to the reference core 13 and the frame 4 is completed.

[0119] Next, the height up to the upper surface of the upper chord member 4a of the frame 4 is measured by the first sensor 125a or the second sensor 125b of the frame tilt detection unit 116 (step S11). Then, based on the measured value, the control unit 117 or the operator makes the vertical position adjustment unit 111 of the positioning adjustment unit 102 movable, and adjusts the height (Z-axis direction) of the positioning adjustment unit 102 and the positioning fixture 101 (step S12).

[0120] Next, the left and right tilt detection unit 122 measures the left and right (X-axis direction) tilt of the connecting plate 127 and the positioning fixture 101 (step S13). Then, based on the measured value, the control unit 117 or the operator makes the left and right tilt adjustment unit 113 of the positioning adjustment unit 102 movable to adjust the roll of the connecting plate 127 and the positioning fixture 101 (step S12).

[0121] Next, the reference core sensor 106 measures the edge of the reference core 13, and measures the left and right offset relative to the reference core 13, that is, the position of the connecting plate 127 and the positioning fixture 101 in the X-axis direction (step S15). Then, based on the obtained measurement value, the control unit 117 or the operator moves the left and right position adjustment unit 110 of the positioning adjustment unit 102 to adjust the position of the connecting plate 127 and the positioning fixture 101 in the X-axis direction (step S16). Thus, the positioning operation of the connecting plate 127 and the positioning fixture 101 is completed (step S17).

[0122] Next, the connecting plate 127 is temporarily fixed to the upper chord member 4a of the frame 4 by the adjusting clamping member 115 in a manner that prevents the positioning fixture 101 from shifting (step S18). Then, the component 17 is installed on the positioning fixture 101 (step S19). Next, the operator formally fixes the component 17 to the frame 4 (step S20). When the fixing of the component 17 is completed, the temporary fixing of the adjusting clamping member 115 is released (step S21). Then, the assembly auxiliary device 100 is moved slightly to separate the component 17 from the positioning fixture 101.

[0123] Then, the assembly aid 100 is moved to the installation position of the next component 17 (step S22). Then, the process of steps S6 to S22 is repeated until all components 17 are installed in the frame 4 (step S23). Then, when the installation of all components 17 is completed, the assembly aid 100 is moved out of the frame 4 (step S24).

[0124] Thus, the assembly operation of component 17 relative to frame 4 is completed using the assembly aid 100 of this example. In this way, according to the assembly method using the assembly aid 100 of this example, manual measurement using a plumb bob and adjustment of the position of component 17 are unnecessary. As a result, the installation and workability of component 17 are improved, and lead time is reduced.

[0125] Furthermore, the adjustment of each movable part (adjustment part) of the positioning adjustment unit 102 can be performed automatically, semi-automatically, or manually by the operator using the values ​​displayed on the display unit 107, under the control of the control unit 117. Figure 11 The described sequence of operations is merely an example. If the position and orientation of the positioning fixture 101 ultimately meet the target, adjustments can be made from any axis. That is, the order of adjustment operations using the left-right position adjustment unit 110, the up-down position adjustment unit 111, the front-back tilt adjustment unit 112, the left-right tilt adjustment unit 113, and the torsion adjustment unit 114 constituting the positioning adjustment unit 102 is not limited to... Figure 11 The sequence of processes shown can be changed appropriately.

[0126] 3. Variations

[0127] Next, refer to Figure 12 and Figure 13 A variation of the assembly auxiliary device will be described.

[0128] Figure 13 This is a system structure diagram showing a modified example of the assembly auxiliary device. Figure 14 A system architecture diagram of an assembly assistance device connected to a factory IoT platform is shown.

[0129] Figure 12 The assembly aid 100B shown also includes a wireless communication unit 151. The wireless communication unit 151 is connected to the control unit 117. Then, as... Figure 14 As shown, the assembly assistance device 100B is connected to the host PC 130 via the wireless communication unit 151 in a manner capable of transmitting and receiving information. The host PC 130 is also connected to the factory IoT platform 131. The assembly assistance device 100B then outputs data such as work status, positioning, and the position of fixed components to the factory IoT platform 131 via the host PC 130. Furthermore, the host PC 130 outputs information related to components and their installation positions from the factory IoT platform 131 to the assembly assistance device 100B.

[0130] Furthermore, the factory IoT platform 131 is connected to production management data 132 and quality management data 133. Production management data 132 stores information such as assembly operation cycle time management and progress management. Quality management data 133 stores information such as preventing forgotten installation of parts and bolts during assembly operations, and managing assembly accuracy. Thus, various information related to assembly operations using the assembly assistance device 100B can be stored. As a result, pre-stored operation information can be fed back during subsequent operations.

[0131] Furthermore, multiple assembly auxiliary devices 100B are connected to the factory IoT platform 131 via the host PC 130. Thus, when multiple assembly auxiliary devices 100B are used in parallel, the factory IoT platform 131 can be effectively utilized to flexibly respond to the production of multiple varieties in small quantities, such as the updating of different parts and the installation methods of parts according to product specifications.

[0132] exist Figure 13 The example shown illustrates an example of connecting the assembly auxiliary device 100B to the factory IoT platform 131 via the host PC 130, but it is not limited to this example; the assembly auxiliary device 100B may also be connected directly to the factory IoT platform 131.

[0133] Furthermore, the embodiments shown in the accompanying drawings are not limited to those described above; various modifications can be made without departing from the spirit of the invention as described in the claims.

[0134] In the above-described embodiments, a passenger conveyor frame was used as an example of the work object used in the assembly assistance device, but it is not limited to this. As the work object, any object extending along the Y-axis in its length direction, such as a train vehicle, can be used; various other objects can also be applied.

[0135] Furthermore, the terms "parallel" and "orthogonal" are used in this specification, but this does not only refer to strict "parallel" and "orthogonal", but can also refer to a state of "approximately parallel" or "approximately orthogonal" that includes "parallel" and "orthogonal" and is within the range that can further exert its function.

Claims

1. An assembly auxiliary device used for assembling components of a work object, characterized in that, Possessing: a positioning jig that temporarily fixes the above-mentioned component; a positioning adjustment section that supports the above-mentioned positioning jig; a support unit that supports the above-mentioned positioning adjustment section; and a reference core sensor that is provided to the above-mentioned positioning adjustment section and detects a reference core provided to the above-mentioned work object, the above-mentioned reference core sensor has a first reference core detection section and a second reference core detection section that are arranged at an interval in a length direction of the above-mentioned work object, the above-mentioned reference core sensor detects a twist angle of the above-mentioned positioning jig with respect to the above-mentioned reference core based on a measurement value of the above-mentioned first reference core detection section and a measurement value of the above-mentioned second reference core detection section.

2. The assembly assisting device according to claim 1, wherein the above-mentioned reference core sensor detects a position in a width direction of the above-mentioned work object that is orthogonal to the above-mentioned length direction with respect to the above-mentioned reference core.

3. The assembly assisting device according to claim 1, wherein the above-mentioned support unit has: a crossbeam that supports the above-mentioned positioning adjustment section; a support column that supports the above-mentioned crossbeam; and a plurality of guide rollers that are arranged on the above-mentioned support column and contact the above-mentioned work object.

4. The assembly assisting device according to claim 1, wherein the above-mentioned positioning adjustment section supports the above-mentioned positioning jig in a manner that enables adjustment of a position and an attitude of the above-mentioned positioning jig.

5. The assembly assisting device according to claim 4, wherein the above-mentioned positioning adjustment section has a plurality of adjustment sections that enable adjustment of the above-mentioned positioning jig in a plurality of axial directions and around an axial direction, at least one of the plurality of above-mentioned adjustment sections is provided with an actuator that enables automatic adjustment of the position and / or the attitude of the above-mentioned positioning jig.

6. The assembly assisting device according to claim 4, wherein a frame inclination detection section that detects inclination of the above-mentioned positioning adjustment section with respect to the above-mentioned work object is provided.

7. The assembly assisting device according to claim 6, wherein the above-mentioned frame inclination detection section detects a height of the above-mentioned positioning adjustment section with respect to the above-mentioned work object.

8. The assembly assisting device according to claim 1, wherein the above-mentioned work object is a frame of a passenger conveyor.

9. An assembling method using an assembling aid device having a positioning jig that temporarily fixes a component mounted to a work object, characterized by, including: a step of providing the above-mentioned work object; a step of providing a reference core to the above-mentioned work object; a step of arranging the above-mentioned assembly assisting device to the above-mentioned work object; a step of detecting the above-mentioned reference core using a reference core sensor provided to the above-mentioned assembly assisting device; and detecting a twist angle of the above-mentioned positioning jig with respect to the above-mentioned reference core based on a measurement value of a first reference core detection section and a measurement value of a second reference core detection section of the above-mentioned reference core sensor, the above-mentioned first reference core detection section and the above-mentioned second reference core detection section are arranged at an interval in a length direction of the above-mentioned work object.

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