Assembly support device and assembly method

Abstract

To provide an assembly support device capable of improving work efficiency.SOLUTION: An assembly support device 100 comprises a positioning jig 101, a positioning adjustment part 102, a support unit 103, and a reference core sensor 106. The reference core sensor 106 is provided in the positioning adjustment part 102 and detects the reference core 13 provided in a work target object 4. The reference core sensor 106 has a first reference core detection part 106a and a second reference core detection part 106b spaced apart in a longitudinal direction Y of the work target object 4. The reference core sensor 106 detects the torsion angle of the positioning jig 10 for a reference core 13 based on the measured value of the first reference core detection part 106a and on the measured value of the second reference core detection part 106b.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an assembly assistance device and an assembly method. [Background technology]

[0002] Traditionally, assembly work for vehicles and passenger conveyors involves measuring the distance from a reference center (such as the center line) to the part when installing the part, and then positioning and fixing it in place. When manufacturing passenger conveyors, the upper, middle, and lower frames are manufactured separately, and then these frames are connected to form a single frame. Next, all of the parts inside the frame, including the steps, are installed, and interference between the circulating steps and other built-in parts is checked, and the product is disassembled again before being shipped from the factory.

[0003] Furthermore, to ensure safety and a comfortable ride (minimizing noise and vibration during operation) of passenger conveyors, high assembly precision is required. Therefore, a technology such as that described in Patent Document 1 has been disclosed as a conventional technology for improving assembly precision.

[0004] Here, a method for assembling a conventional passenger conveyor will be described with reference to FIGS. FIG. 14 is a diagram showing a conventional assembly operation, and FIG. 15 is a cross-sectional view taken along line AA in FIG. As shown in Figure 14, the pre-assembled frame 4 is placed flat on an assembly cart 11 provided on a work floor 10. Reference core pillars 12, 12 are attached to one end (upper part) and the other end (lower part) of the frame 4 in the longitudinal direction. The two reference core pillars 12, 12 are installed in the center of the X-axis direction, which is the width direction of the frame 4. A reference core 13 is stretched across the upper ends of the reference core pillars 12, 12. This reference core 13 serves as a reference for the frame 4 in the width direction.

[0005] 14 and 15, a plumb bob 14 that hangs down vertically is hung from the reference core 13. As shown in Fig. 15, a worker 15 uses a measuring instrument 16 such as a ruler or convex to measure the position of a component 17 within the frame 4, using the plumb bob 14 as a reference. Then, the position of the component 17 is adjusted so that the dimensions are the reference values, and then the component is fixed in place. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 55-123874 Summary of the Invention [Problem to be solved by the invention]

[0007] However, in conventional assembly methods, workers must measure the position of parts using measuring instruments such as convex lenses, which can lead to variations in measurement values ​​depending on the worker, resulting in cases where the part installation accuracy is not within a satisfactory range or where the accuracy varies.

[0008] Furthermore, because there are multiple parts to be attached to the frame along the length of the frame, the plumb bob must be moved each time a part is attached, and the part's position must be measured, adjusted, and fixed, which takes time for assembly work.Furthermore, because the plumb bob is an unstable measurement standard that is easily shaken by even the slightest wind or vibration, after moving the plumb bob it is necessary to wait until the plumb bob stops shaking, which reduces work efficiency.

[0009] In consideration of the above problems, an object of the present invention is to provide an assembly support device and an assembly method that can attach parts with high accuracy and stable precision, and can improve work efficiency. [Means for solving the problem]

[0010] In order to solve the above problems and achieve the object, an assembly support device is an assembly support device used when performing a component installation operation on a workpiece. The assembly support device includes a positioning jig, a positioning adjustment unit, a support unit, and a reference center sensor. A component is temporarily fixed to the positioning jig. The positioning adjustment unit supports the positioning jig. The support unit supports the positioning adjustment unit. The reference center sensor is provided in the positioning adjustment unit and detects a reference center provided on the workpiece. The reference center sensor also has a first reference center detection unit and a second reference center detection unit arranged at an interval in the longitudinal direction of the workpiece. The reference center sensor then detects the torsion angle of the positioning jig relative to the reference center based on the measurement values ​​of the first reference center detection unit and the second reference center detection unit.

[0011] The assembly method is carried out using an assembly support device having a positioning jig to temporarily fix a part to be attached to a workpiece, and includes the following steps (1) to (5). (1) The process of installing the work object. (2) A process of setting a reference center on the workpiece. (3) A process of placing an assembly support device on the workpiece. (4) A step of detecting the reference center by a reference center sensor provided in the assembly support device. (5) A step of detecting the torsion angle of the positioning jig relative to the reference center based on the measurement value of the first reference center detection unit and the measurement value of the second reference center detection unit of the reference center sensor. Furthermore, the first reference center detecting section and the second reference center detecting section are arranged at an interval in the longitudinal direction of the workpiece. [Effects of the Invention]

[0012] According to the assembly support device and assembly method configured as described above, parts can be attached with high precision and stable accuracy, and work efficiency can be improved. [Brief explanation of the drawings]

[0013] [Figure 1]1 is a schematic configuration diagram showing a passenger conveyor as a work object to be assembled using an assembly support device according to an embodiment; [Figure 2] 1 is a front view showing an assembly support device according to an embodiment; [Figure 3] 1 is a side view showing an assembly support device according to an embodiment; [Figure 4] 1 is a side view showing a state in which a positioning adjustment unit of an assembly assisting device according to an embodiment is tilted; [Figure 5] 10 is a side view showing a state in which the height of the positioning jig is changed using a vertical position adjustment unit of the assembly support device according to the embodiment. FIG. [Figure 6] 1 is a side view of an assembly support device according to an embodiment when used in a frame assembly operation. FIG. [Figure 7] 1 is a top view of an assembly assisting device according to an embodiment installed on a frame; [Figure 8] 10 is a side view showing a state in which the inclination angle of the upper limit member of the frame is measured using a frame inclination detection unit. FIG. [Figure 9] 9 is a side view showing a state in which the positioning adjustment part has become parallel to the upper limit member of the frame from the state in FIG. 8. FIG. [Figure 10] 1 is a system configuration diagram of an assembly support device according to an embodiment; [Figure 11] 1 is a flowchart showing an assembly method using an assembly support device according to an embodiment. [Figure 12] FIG. 10 is a diagram showing a modified example of the system configuration of the assembly assisting device according to the embodiment. [Figure 13] 1 is a system configuration diagram showing a state in which an assembly support device according to an embodiment is connected to a factory IOT platform. [Figure 14] FIG. 1 is a diagram showing a conventional assembly operation. [Figure 15] FIG. 15 is a cross-sectional view taken along line AA in FIG. 14. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, an embodiment of an assembly assisting device and an assembly method will be described with reference to Figures 1 to 13. Note that common members in each figure are given the same reference numerals.

[0015] 1. Example of implementation 1-1. Example of passenger conveyor configuration First, the configuration of a passenger conveyor will be described with reference to FIG. 1 as an example of a device that can be assembled using an assembly support device according to an embodiment (hereinafter referred to as "this example"). FIG. 1 is a schematic diagram showing the configuration of a passenger conveyor.

[0016] The passenger conveyor 1 shown in Fig. 1 is an inclined passenger conveyor, a so-called escalator, installed on a lower floor 8 and an upper floor 9 of a building structure. As shown in Fig. 1, the passenger conveyor 1 comprises a frame 4 installed on the building structure, a lower boarding / alighting floor 2, an upper boarding / alighting floor 3, a plurality of steps 5, and a balustrade 6. The lower boarding / alighting floor 2 is installed on the lower floor 8, and the upper boarding / alighting floor 3 is installed on the upper floor 9.

[0017] The frame 4 is installed across the upper floor 9 and the lower floor 8. The frame 4 is configured as a truss structure with an open top in the vertical direction. A guide rail (not shown) is provided on the frame 4. A plurality of steps 5, which are connected endlessly, are movably supported on the guide rail provided on the frame 4. The plurality of steps 5 move in a circular motion along the longitudinal direction of the frame 4.

[0018] A balustrade 6 is installed at both ends in the width direction of the plurality of steps 5. A handrail 7 is provided on the periphery of the balustrade 6. The handrail 7 moves in a circular motion in synchronization with the circular movement of the plurality of steps 5.

[0019] 1-2. Example of assembly support device configuration Next, a configuration example of the assembly assisting device 100 of this embodiment used when attaching various parts to the frame 4 of the passenger conveyor 1 described above will be described with reference to FIGS. Fig. 2 is a front view of the assembly support device of this example, Fig. 3 is a side view of the assembly support device of this example, Fig. 4 is a side view of the assembly support device of this example with the positioning adjustment unit tilted, and Fig. 5 is a side view of the assembly support device of this example with the height of the positioning jig further changed using the vertical position adjustment unit from the state of Fig. 4.

[0020] The assembly support device 100 shown in Figure 2 is used to measure the distance from a reference center to a part and to attach a positioning jig or a fixing jig during assembly work on a passenger conveyor frame 4, which is an example of a work object.

[0021] Here, the vertical direction is defined as the Z-axis direction, the width direction of the frame 4 perpendicular to the vertical direction is defined as the X-axis direction, and the direction perpendicular to the Z-axis direction and the X-axis direction is defined as the Y-axis direction. Furthermore, rotations around the X-axis, Y-axis, and Z-axis are defined as Pitch, Roll, and Yaw, respectively. As shown in FIG. 2, the frame 4 is formed in a U-shape with an opening in the Z-axis direction, which indicates the vertical direction. Furthermore, the longitudinal direction of the frame 4 extends in the Y-axis direction.

[0022] The assembly support device 100 is disposed on both sides of the frame 4 in the X-axis direction, and is located above the frame 4 in the Z-axis direction. An operator enters the frame 4 and performs assembly work (measurement, positioning, fixing work, etc.) while moving the assembly support device 100 along the Y-axis direction, which is the longitudinal direction of the frame 4.

[0023] As shown in FIG. 2, the assembly support device 100 includes a positioning jig 101, a positioning adjustment unit 102, and a support unit 103 that supports the positioning adjustment unit 102. The positioning jig 101 has pins, a backing plate, and the like thereon. The positioning jig 101 temporarily fixes the component 17 to the positioning jig 101 by engaging the pins with holes in the component 17 or by pressing the corners of the component 17 against the backing plate. The positioning jig 101 is easily detachably attached to the positioning adjustment unit 102 using a magnet, a lock pin, or the like. A plurality of positioning jigs 101 are prepared according to the type of component 17. An appropriate positioning jig 101 is attached to the positioning adjustment unit 102 according to the component 17 to be attached.

[0024] 1-3. Support unit configuration Next, the configuration of the support unit 103 will be described. The support unit 103 has two support pillars 108, a cross beam 109, a moving part 104, and a plurality of guide rollers 105. The two support pillars 108 are arranged on the outside in the X-axis direction, which is the width direction of the frame 4. The support pillars 108 stand upright along the Z-axis direction. The moving part 104 is provided at the lower end of the support pillars 108 in the Z-axis direction.

[0025] As the moving unit 104, for example, an omni-directional wheel that can move forward, backward, left and right, a ball caster, or the like is applied. Also, as the moving unit 104, a caster, a slider, or the like that moves on a rail 19 provided on the work floor 10 is applied. Therefore, the support column 108 is supported by the moving unit 104 so as to be movable along the Y-axis direction.

[0026] A cross beam 109 is attached to the upper end of the support column 108 in the Z-axis direction. The cross beam 109 extends along the X-axis direction and is disposed above the frame 4 in the Z-axis direction, spanning the frame 4 in the X-axis direction. The cross beam 109 is disposed at the upper ends of the two support columns 108. That is, as shown in FIG. 2, the support unit 103 is configured in a gate-like structure that straddles the frame 4. In addition, a positioning adjustment unit 102 is installed on the cross beam 109 of the support unit 103.

[0027] Furthermore, guide rollers 105 are rotatably arranged on support column 108. Furthermore, one guide roller 105 is arranged on one end side of support unit 103 in the X-axis direction, and two guide rollers 105 are arranged on the other end side of support unit 103 in the X-axis direction. The two guide rollers 105 arranged on the other end side of support unit 103 in the X-axis direction are spaced apart in the Y-axis direction.

[0028] When the support unit 103 is installed on the frame 4, the multiple guide rollers 105 come into contact with the outer surface of the frame 4 in the X-axis direction. Therefore, the frame 4 is sandwiched between the multiple guide rollers 105 of the support unit 103. This allows the guide rollers 105 to always be in contact with the frame 4, allowing the support unit 103 to move smoothly. Furthermore, the direction in which the cross beams 109 of the support unit 103 extend can be arranged parallel to the width direction of the frame 4. As a result, it is possible to suppress misalignment in the width direction (X-axis direction) and twisting in the Yaw axis direction of the assembly support device 100 relative to the frame 4.

[0029] The number of guide rollers 105 is not limited to the above example. For example, two guide rollers 105 may be arranged at each end of the support unit 103 in the X-axis direction.

[0030] Furthermore, a positioning adjustment unit 102 is installed on a cross beam 109 of the support unit 103. The support column 108 is configured to be extendable and contractible in the Z-axis direction. This allows the positioning adjustment unit 102 to roughly adjust its height by extending and contracting the support column 108.

[0031] The support unit 103 is not limited to a gate-type structure spanning the frame 4, but may be a cantilever support structure in which a single support pillar 108 supports a cross beam 109, and various other structures can be applied.

[0032] 1-4.Configuration of positioning adjustment unit Next, the configuration of the positioning adjustment unit 102 will be described.

[0033] 2 and 3, the positioning adjustment unit 102 includes a left-right position adjustment unit (X-axis) 110, a up-down 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. The positioning jig 101 is detachably installed on the left-right position adjustment unit 110 via an adapter plate 127 (described later). The positioning adjustment unit 102 also includes a reference center sensor 106, a frame tilt detection unit 116, an adjustment unit clamp 115, and a display unit 107. In the assembly support device 100, a control unit 117, an operation unit 118, and a power supply 119 (see FIG. 10) are arranged in the positioning adjustment unit 102.

[0034] Furthermore, the positioning adjustment unit 102 has a base plate 121, a sensor support arm 124, and an adapter plate 127. As shown in Fig. 3, the base plate 121 is supported by a rotation shaft 120 provided on the cross beam 109 so as to be rotatable around pitch. Then, as shown in Fig. 4, the base plate 121 is rotated around the rotation shaft 120 by a front-rear tilt adjustment unit 112. As the front-rear tilt adjustment unit 112, for example, an electric slider, a ball screw mechanism, or any other type of movement mechanism is applied.

[0035] The base plate 121 is provided with a torsion adjustment unit 114. The vertical position adjustment unit 111 is connected to the torsion adjustment unit 114. The torsion adjustment unit 114 supports the vertical position adjustment unit 111 so that the vertical position adjustment unit 111 is rotatable around Yaw.

[0036] A left / right tilt adjustment unit 113 is connected to the vertical position adjustment unit 111. As shown in FIG. 5, the vertical position adjustment unit 111 supports the left / right position adjustment unit 110 via the left / right tilt adjustment unit 113 so that the left / right position adjustment unit 110 is movable in the vertical direction (Z axis). 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 that detects tilt with respect to the frame 4 is disposed at the tip of the sensor support arm 124. The detailed configuration of the frame tilt detection unit 116 will be described later.

[0037] Furthermore, a reference center sensor 106 is provided at the top end in the vertical direction of the vertical position adjustment unit 111. The detailed configuration of the reference center sensor 106 will be described later.

[0038] Furthermore, the left-right position adjustment unit 110 is connected to the left-right inclination adjustment unit 113. The left-right inclination adjustment unit 113 supports the left-right position adjustment unit 110 so that it can rotate around a roll. Furthermore, an adapter plate 127 is connected to the left-right position adjustment unit 110. The left-right position adjustment unit 110 supports the adapter plate 127 so that it can move in the X-axis direction. A positioning jig 101 is detachably connected to the adapter plate 127.

[0039] The adapter plate 127 is also provided with a display unit 107, an adjustment unit clamp 115, and a left-right tilt detection unit 122. The adapter plate 127 is also provided with a control unit 117, an operation unit 118, and a power supply 119 (see FIG. 10). The display unit 107 displays the measurement results and the current status.

[0040] The adjustment clamps 115 are provided on both ends of the adapter plate 127 in the X-axis direction. After the positioning of the adapter plate 127 is complete, the adjustment clamps 115 temporarily fix the adapter plate 127 to the upper chord member 4a of the frame 4. This makes it possible to prevent the position of the adapter plate 127, i.e., the position of the positioning jig 101, from shifting.

[0041] The left-right tilt detector 122 is disposed at one end or the other end in the X-axis direction of the adapter plate 127. The left-right tilt detector 122 detects the left-right (X-axis) tilt of the adapter plate 127, i.e., the rotation angle around the Roll.

[0042] Various types of movement mechanisms, such as an electric slider or a ball screw mechanism, are used as 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. At least one 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 is provided with an actuator that can automatically adjust the position and / or attitude.

[0043] Here, a method for setting the reference core 13 will be described with reference to FIG. FIG. 6 is a side view of the assembly support device 100 when used in assembling the frame 4. As shown in FIG. As shown in FIG. 6, the frame 4 is placed flat on an assembly cart 11 provided on a work floor 10. Furthermore, a reference core pillar 12 is attached to one end (upper part) and the other end (lower part) of the frame 4 in the longitudinal direction. The reference core pillar 12 is installed in the center of the X-axis direction, which is the width direction of the frame 4. Furthermore, a reference center 13 is stretched across the upper end of the reference core pillar 12. This reference center 13 is detected by a reference center sensor 106 provided in the assembly support device 100.

[0044] Furthermore, by moving the entire assembly assisting device 100 along the Y-axis direction using the moving unit 104, the position of the assembly assisting device 100 relative to the frame 4 in the Y-axis direction can be adjusted.

[0045] Next, the reference center sensor 106 will be described. As shown in FIG. 2, the reference center sensor 106 measures the position of the reference center 13 in the X-axis direction (width direction) within the detection range 123. Also, as shown in FIGS. 3 and 4, the reference center sensor 106 has a first reference center detection unit 106a and a second reference center detection unit 106b. As the first reference center detection unit 106a and the second reference center detection unit 106b, for example, a transmissive laser sensor having a light-emitting unit and a light-receiving unit is applied. Then, if the reference center 13 is within the detection range 123 of the reference center sensor 106, the reference center sensor 106 can measure the position of the edge of the reference center 13. Then, by measuring the reference center 13 with the reference center sensor 106, the positions of the adapter plate 127 and the positioning jig 101 in the X-axis direction relative to the reference center 13 can be measured.

[0046] The first reference center detecting unit 106a and the second reference center detecting unit 106b are arranged at an interval in the Y-axis direction. The first reference center detecting unit 106a is arranged closer to one end in the Y-axis direction than the second reference center detecting unit 106b.

[0047] Here, if the reference center sensor 106 has only one detection unit, it can only detect deviation in the X-axis direction from the reference center 13. Therefore, in order to align the assembly support device 100 with the frame 4, it is necessary to install two assembly support devices 100 spaced apart in the Y-axis direction and move the frame 4 to align them, which makes the work very complicated.

[0048] In contrast to this, according to the assembly support device 100 of this example, the reference center sensor 106 has a first reference center detection unit 106a and a second reference center detection unit 106b spaced apart in the Y-axis direction. This allows the reference center sensor 106 to detect the angle around Yaw, which is the twist with respect to the reference center 13.

[0049] Fig. 7 is a top view of the assembly assisting device 100 installed on the frame 4. The left side of Fig. 7 shows the state before the torsion around the Yaw is changed, and the right side shows the state after the torsion around the Yaw has been corrected using the torsion adjusting unit 114.

[0050] During assembly of the passenger conveyor using the assembly support device 100, the assembly support device 100 clamps the side of the frame 4 with the guide rollers 105 and moves along the side of the frame 4. However, due to the assembly accuracy of the side of the frame 4 and differences in the pressing pressure of the guide rollers 105, it is possible that the assembly support device 100 may not be parallel to the reference center 13, as shown in the left diagram of FIG. 7. In this state, the positioning jig 101 becomes twisted around the Yaw, and therefore needs to be corrected.

[0051] Therefore, as shown in FIG. 7, the first reference center detection unit 106a and the second reference center detection unit 106b are used to measure the positions of the reference centers 13. As shown in the left diagram of FIG. 7, if there is twisting around Yaw, the measurement value of the first reference center detection unit 106a and the measurement value of the second reference center detection unit 106b will be different. Then, as shown in the right diagram of FIG. 7, the twist adjustment unit 114 is used to adjust the twist until the measurement value of the first reference center detection unit 106a and the measurement value of the second reference center detection unit 106b are the same. This makes it possible to correct the twist around Yaw in the assembly support device 100. As a result, the parallel alignment work of the assembly support device 100 with respect to the frame 4 can be easily performed.

[0052] In this way, according to the assembly assisting device 100 of this example, the reference center sensor 106 can detect the positions of the adapter plate 127 and the positioning jig 101 in the X-axis direction relative to the reference center 13, and the angle around Yaw, which is the twist relative to the reference center 13. This makes it possible to prevent the number of sensors from increasing and also to reduce the number of parts.

[0053] The measurement results of the reference center sensor 106 are displayed on the display unit 107. This makes it possible to notify the operator of the current position of the positioning adjustment unit 102. Furthermore, the position information of the reference center 13 acquired by the reference center sensor 106 may be used to control the twist adjustment unit 114 of the positioning adjustment unit 102, thereby automatically adjusting the position of the positioning adjustment unit 102, i.e., the positioning jig 101.

[0054] Next, the configuration of the frame tilt detection unit 116 will be described with reference to FIGS.

[0055] Fig. 8 is a side view showing how the inclination angle of the upper chord 4a of the frame 4 is measured using the frame inclination detection unit 116. Fig. 9 is a side view showing a state in which the positioning adjustment unit 102 has become parallel to the upper chord 4a of the frame 4 from the state shown in Fig. 8.

[0056] As shown in Fig. 8, the frame tilt detection unit 116 has a first sensor 125a and a second sensor 125b. For example, non-contact distance sensors such as laser distance sensors or ultrasonic sensors are used as the first sensor 125a and the second sensor 125b. As shown in Fig. 8, the first sensor 125a and the second sensor 125b measure the distance to the upper chord member 4a. If the upper chord member 4a and the positioning adjustment unit 102 are not parallel, the measurement value of the first sensor 125a (e.g., 105 mm) and the measurement value of the second sensor 125b (e.g., 96 mm) will be different, as shown in Fig. 7.

[0057] Therefore, the control unit 117 controls the front-rear inclination adjustment unit 112 until the measurement values ​​of the first sensor 125a and the second sensor 125b become equal. This makes it possible to automatically make the positioning adjustment unit 102 parallel to the upper chord member 4a, as shown in FIG. 9. The measurement results of the first sensor 125a and the second sensor 125b are displayed on the display unit 107. This makes it possible to notify the worker of the current position of the positioning adjustment unit 102. The front-rear inclination adjustment unit 112 may also be operated manually by the worker.

[0058] Furthermore, the assembly support device 100 of this example sets the height of the upper surface of the upper chord member 4a of the frame 4 as the reference height. That is, the frame tilt detection unit 116 measures the distance to the upper chord member 4a using the first sensor 125a and the second sensor 125b. The control unit 117 then controls the vertical position adjustment unit 111 to adjust the height of the positioning jig 101 relative to the frame 4. This makes it possible to adjust the height of the positioning jig 101 relative to the frame 4 without installing a reference center that indicates the reference height separately from the reference center 13, thereby improving workability. The vertical position adjustment unit 111 may also be operated manually by an operator.

[0059] The above-described configuration of the positioning adjustment unit 102 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-rear tilt adjustment unit 112, the left-right tilt adjustment unit 113, and the torsion adjustment unit 114 are installed may be changed as appropriate. Also, for example, if the levelness of the work platform 10 and the frame 4 is guaranteed, the left-right tilt detection unit 122 and the left-right tilt adjustment unit 113 may be omitted.

[0060] 1-5. System configuration of assembly support device Next, the system configuration of the assembly assisting device 100 will be described with reference to FIG. FIG. 10 is a system configuration diagram of the assembly support device 100 of this example.

[0061] As shown in FIG. 10, the assembly assisting device 100 includes a control unit 117, a reference center 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.

[0062] The control unit 117 includes, for example, a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and a nonvolatile storage, which are all connected to a bus.

[0063] The CPU reads out the program code of the software that realizes each function according to this embodiment from the ROM, expands it into the RAM, and executes it. Note that the control processing unit may include a processing device such as an MPU (Micro-Processing Unit) instead of the CPU. Variables, parameters, etc. that arise during the calculation process are temporarily written to the RAM.

[0064] Examples of nonvolatile storage that can be used include a hard disk drive (HDD), a solid state drive (SSD), a flexible disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a magnetic tape, and a nonvolatile memory card. In addition to an operating system (OS) and various parameters, programs for operating the control processing unit are also recorded in this nonvolatile storage. The programs may be stored in a read-only memory (ROM).

[0065] The program is stored in the form of a computer-readable program code, and the CPU sequentially executes operations in accordance with the program code. In other words, a ROM or non-volatile storage is used as an example of a computer-readable non-transitory recording medium that stores a program to be executed by a computer.

[0066] The control unit 117 performs signal processing and calculations. A driving power supply 119 is connected to the control unit 117. Operation information and detection results from the reference center sensor 106, the operation unit 118, and the frame tilt detection unit 116 are also input to the control unit 117.

[0067] The control unit 117 then calculates control signals for 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 that constitute 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 that constitute the positioning adjustment unit 102 are movable based on the control signals from the control unit 117. The control unit 117 also causes the display unit 107 to display the measurement results and the current state of the positioning adjustment unit 102.

[0068] 2. Assembly method Next, a first assembly method for an assembly operation using the assembly assisting device 100 having the above-described configuration will be described with reference to FIG. FIG. 11 is a flowchart showing the assembly method.

[0069] As shown in Figures 11 and 6, an operator places the frame 4 on an assembly cart 11 (step S1). Next, as shown in Figure 6, reference center columns 12 are installed at both longitudinal ends of the frame 4, and a reference center 13 that serves as a reference for the width direction is installed (step S2). At this point, the reference center 13, i.e., the parallelism between the frame 4 and the assembly support device 100, has not yet been determined.

[0070] Next, the assembly support device 100 is placed at the upper or lower part of the frame 4 in the longitudinal direction (step S3). Next, the frame 4 is sandwiched between guide rollers 105 provided on both sides of the support unit 103 in the width direction (X-axis direction) (step S4). This allows the assembly support device 100 to move along the side of the frame 4. Furthermore, by sandwiching the frame 4 between multiple guide rollers 105, it is possible to easily align the assembly support device 100 and the frame 4 parallel to each other.

[0071] 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 where it can detect the reference core 13 (step S5). That is, in the processing of step S5, it is confirmed whether the reference core 13 is in the detection range 123 of the reference core sensor 106 or whether the reference core 13 is present.

[0072] Completion of the checking operation in step S5 completes the preparation before use of the assembly assisting device 100. The process then moves to the positioning and fixing operations of the components.

[0073] Next, the assembly support device 100 is moved to the attachment position of the part 17 (step S6). Next, the frame inclination detection unit 116 measures the inclination of the upper chord 4a of the frame 4 (step S7). Next, based on the obtained inclination value, the control unit 117 or the worker moves the front-to-rear inclination adjustment unit 112 and adjusts the pitch of the positioning adjustment unit 102 until the positioning adjustment unit 102 is in a position parallel to the upper chord 4a (step S8).

[0074] Next, the position of the reference center 13 is measured by the reference center sensor 106 (step S9). In the processing of step S9, the reference center 13, i.e., the torsion (Yaw) of the positioning adjustment unit 102 and the positioning jig 101 relative to the frame 4, is measured from the measurement values ​​of the first reference center detection unit 106a and the second reference center detection unit 106b that constitute the reference center sensor 106. Next, based on the obtained measurement values, the control unit 117 or the operator moves the torsion adjustment unit 114 to adjust the Yaw of the positioning adjustment unit 102 and the positioning jig 101 (step S10). This completes the parallelization work of the assembly support device 100 relative to the reference center 13 and the frame 4.

[0075] Next, the first sensor 125a or the second sensor 125b of the frame tilt detection unit 116 measures the height to the top surface of the upper chord 4a of the frame 4 (step S11). Then, based on the obtained measurement value, the control unit 117 or an operator moves the up / down position adjustment unit 111 of the positioning adjustment unit 102 to adjust the height (Z-axis direction) of the positioning adjustment unit 102 and the positioning jig 101 (step S12).

[0076] Next, the left-right tilt detector 122 measures the left-right (X-axis direction) tilt of the adapter plate 127 and the positioning jig 101 (step S13). Then, based on the obtained measurement value, the control unit 117 or the operator moves the left-right tilt adjuster 113 of the positioning adjuster 102 to adjust the roll of the adapter plate 127 and the positioning jig 101 (step S12).

[0077] Next, the reference center sensor 106 measures the edge of the reference center 13 to measure the left-right deviation from the reference center 13, i.e., the positions of the adapter plate 127 and the positioning jig 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-right position adjustment unit 110 of the positioning adjustment unit 102 to adjust the positions of the adapter plate 127 and the positioning jig 101 in the X-axis direction (step S16). This completes the positioning work of the adapter plate 127 and the positioning jig 101 (step S17).

[0078] Next, the adaptor plate 127 is temporarily fixed to the upper chord member 4a of the frame 4 by the adjustment clamp 115 to prevent the position of the positioning jig 101 from shifting (step S18). Then, the part 17 is attached to the positioning jig 101 (step S19). Next, the worker permanently fixes the part 17 to the frame 4 (step S20). Once the fixing work of the part 17 is complete, the temporary fixation of the adjustment clamp 115 is released (step S21). Then, the assembly support device 100 is moved slightly to separate the part 17 from the positioning jig 101.

[0079] Then, the assembly support device 100 is moved to the mounting position for the next component 17 (step S22). Then, the processes from step S6 to step S22 are repeated until all components 17 are mounted on the frame 4 (step S23). Then, when the mounting work for all components 17 is completed, the assembly support device 100 is moved out of the frame 4 (step S24).

[0080] This completes the assembly work of the component 17 onto the frame 4 using the assembly support device 100 of this example. In this way, the assembly method using the assembly support device 100 of this example eliminates the need for manual measurement using a plumb bob and position adjustment of the component 17. As a result, the mounting accuracy and workability of the component 17 are improved, and the lead time can be shortened.

[0081] The adjustment of each movable part (adjustment part) of the positioning adjustment unit 102 may be performed automatically or semi-automatically under the control of the control unit 117, or may be performed manually by an operator using values ​​displayed on the display unit 107. The process procedure shown in Fig. 11 is merely an example, and adjustment may be performed from any axis as long as the final position and posture of the positioning jig 101 are as desired. In other words, the order of adjustment work using the left-right position adjustment unit 110, up-down position adjustment unit 111, front-back inclination adjustment unit 112, left-right inclination adjustment unit 113, and torsion adjustment unit 114 that constitute the positioning adjustment unit 102 is not limited to the process procedure shown in Fig. 11 and can be changed as appropriate.

[0082] 3. Variations Next, a modified example of the assembly assisting device will be described with reference to FIGS. Fig. 13 is a system configuration diagram showing a modified example of an assembly support device. Fig. 14 is a system configuration diagram showing an assembly support device connected to a factory IoT platform.

[0083] The assembly support device 100B shown in FIG. 13 further includes a wireless communication unit 151. The wireless communication unit 151 is connected to the control unit 117. As shown in FIG. 14, the assembly support device 100B is connected to a host PC 130 via the wireless communication unit 151 so as to be able to send and receive information. The host PC 130 is connected to a factory IoT platform 131. The assembly support device 100B outputs information such as the work status, positioning, and part position data after fixation to the factory IoT platform 131 via the host PC 130. Information such as information related to parts and part installation positions is also output from the factory IoT platform 131 to the assembly support device 100B via the host PC 130.

[0084] The factory IoT platform 131 is also connected to production management data 132 and quality control data 133. The production management data 132 stores information such as takt time management and progress management for assembly work. The quality control data 133 stores information such as prevention of forgetting to attach parts and bolts during assembly work, and assembly accuracy management. This makes it possible to store various information related to assembly work using the assembly assist device 100B. As a result, work information stored in advance can be fed back to work to be performed later.

[0085] The factory IoT platform 131 is connected to multiple assembly support devices 100B via the host PC 130. This makes it possible to flexibly handle high-mix, low-volume production by utilizing the above-mentioned factory IoT platform 131 when operating multiple assembly support devices 100B in parallel or when updating parts and part installation methods that differ depending on product specifications.

[0086] In the example shown in FIG. 14, an example has been described in which the assembly support device 100B is connected to the factory IoT platform 131 via the host PC 130, but this is not limited to this, and the assembly support device 100B may also be connected directly to the factory IoT platform 131.

[0087] The present invention is not limited to the embodiments described above and shown in the drawings, and various modifications can be made without departing from the spirit of the invention as defined in the claims.

[0088] In the above-described embodiment, the workpiece on which the assembly support device is used is a passenger conveyor frame, but the present invention is not limited to this. The workpiece may be any other object, such as a train car, whose longitudinal direction extends along the Y-axis.

[0089] In this specification, the words "parallel" and "orthogonal" are used, but these do not mean only "parallel" and "orthogonal" in the strict sense, but also include "parallel" and "orthogonal" and may also mean a "substantially parallel" or "substantially orthogonal" state within a range in which the functions can be exerted. [Explanation of symbols]

[0090] 1...passenger conveyor, 4...frame (work object), 4a...upper chord, 10...work floor, 11...assembly cart, 12...reference center column, 13...reference center, 17...part, 100, 100B...assembly support device, 101...positioning jig, 102...positioning adjustment unit, 103...support unit, 104...moving unit, 105...guide roller, 106...reference center sensor, 106a...first reference center detection unit, 106b...second reference center detection unit, 107...display unit, 108...support column, 109...cross beam, 110...left-right position adjustment unit, 111...up-down position adjustment unit, 112...front-back tilt adjustment unit, 113...left-right tilt adjustment unit, 114...torsion adjustment unit, 115...adjustment unit clamp, 116...frame tilt detection unit, 117...Control unit, 118...Operation unit, 119...Power supply, 120...Rotation axis, 121...Base plate, 122...Left-right tilt detection unit, 123...Detection range, 124...Sensor support arm, 125a...First sensor, 125b...Second sensor, 127...Adapter plate, 130...Host PC, 131...Factory IoT platform, 132...Production management data, 133...Quality control data, 151...Wireless communication unit

Claims

1. An assembly support device used when performing a part installation operation on a work object, a positioning jig to which the component is temporarily fixed; a positioning adjustment unit that supports the positioning jig; a support unit that supports the positioning adjustment unit; a reference center sensor provided in the positioning adjustment unit to detect a reference center provided in the work object, the reference center sensor has a first reference center detection unit and a second reference center detection unit that are arranged at an interval in the longitudinal direction of the work object, The reference center sensor detects a twist angle of the positioning jig relative to the reference center based on a measurement value of the first reference center detection unit and a measurement value of the second reference center detection unit. Assembly support equipment.

2. The reference center sensor detects the position of the workpiece in a width direction perpendicular to the longitudinal direction relative to the reference center. The assembly support device according to claim 1 .

3. The support unit includes: a cross beam supporting the positioning adjustment unit; a support column supporting the cross beam; A plurality of guide rollers are disposed on the support columns and contact the workpiece; 2. The assembly assist device according to claim 1, further comprising:

4. The positioning adjustment unit supports the positioning jig so as to adjust the position and attitude of the positioning jig. The assembly support device according to claim 1 .

5. the positioning adjustment unit has a plurality of adjustment units that can adjust the positioning jig in a plurality of axial directions and around the axial directions, At least one of the plurality of adjustment units is provided with an actuator capable of automatically adjusting the position and / or the attitude of the positioning jig.

5. The assembly support device according to claim 4.

6. a frame tilt detection unit that detects the tilt of the positioning adjustment unit with respect to the work object; 5. The assembly support device according to claim 4.

7. The frame tilt detection unit detects the height of the positioning adjustment unit relative to the work object.

7. The assembly support device according to claim 6.

8. The work object is a frame of a passenger conveyor The assembly support device according to claim 1 .

9. An assembly method using an assembly support device having a positioning jig to temporarily fix a part to be attached to a work object, a step of placing the work object; A step of setting a reference center on the workpiece; placing the assembly support device on the work object; detecting the reference center by a reference center sensor provided in the assembly support device; detecting a torsion angle of the positioning jig relative to the reference center based on a measurement value of a first reference center detection unit and a measurement value of a second reference center detection unit of the reference center sensor; Including, The first reference center detection unit and the second reference center detection unit are arranged at an interval in the longitudinal direction of the workpiece. Assembly method.

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