Parts mounting device

Abstract

To suppress a component from clogging a mounting device.SOLUTION: A mounting device for mounting a component on an opening part of a mounted body includes: a holding part which has a plurality of hole parts arranged side by side along a circumferential direction around an axis and holds a plurality of components one by one in the plurality of hole parts; and a protrusion part which fits a mounted component in the opening part of the mounted body by protruding the mounted component as a component mounted on the opening part of the mounted body out of the plurality of components held in the plurality of hole parts from the hole part along the axis; and a rotation drive part which relatively rotates the holding part with respect to the protrusion part around the axis.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a component mounting device. Regarding. [Background technology]

[0002] Patent Document 1 discloses an assembly device that assembles a part having rubber elasticity called a plug into an opening provided in the body of an automobile. In this assembly device, among a plurality of parts stored in a vertical line in a cylindrical cartridge, the last part is pressed by a rod member, thereby pushing the front part onto a table, and the part pushed out onto the table is assembled into the opening. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-032516 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned device, when the last part among the multiple parts lined up in a cartridge is pushed, the first part is sent out of the cartridge, so the parts tend to push against each other and become out of alignment. As a result, the misaligned parts may get stuck in the cartridge, preventing the parts from being sent out normally. [Means for solving the problem]

[0005] The present disclosure can be realized in the following forms. According to one embodiment of the present disclosure, there is provided an attachment device for attaching a part to an opening of a substrate, the attachment device including: a holding part having a plurality of holes arranged in a circumferential direction around an axis and holding a plurality of parts in the plurality of holes one by one; a protruding part for fitting an attachment part, which is a part to be attached to the opening of the substrate among the plurality of parts held in the plurality of holes, into the opening of the substrate by protruding the attachment part from the hole along the axis; a rotation drive part for rotating the holding part relative to the protruding part around the axis; a force measuring part for measuring a force along the axis when the attachment part is fitted into the opening of the substrate; and a control part for determining whether or not an attachment failure of the attachment part to the opening of the substrate has occurred using a waveform of the force measured by the force measuring part. The mounting part has an engagement portion that engages with an opening of the mounting target body, and after the engagement portion comes into contact with an edge of the opening of the mounting target body, the engagement portion elastically deforms and passes through the opening of the mounting target body, thereby being mounted on the mounting target body. The control unit determines that the mounting defect has not occurred if the waveform has peaks and valleys, and determines that the mounting defect has occurred if the waveform does not have peaks and valleys. The present disclosure can also be realized in the following forms.

[0006] (1) According to one embodiment of the present disclosure, there is provided an attachment device for attaching a component to an opening of an attachment target body, the attachment device including: a holding section having a plurality of holes arranged in a line in a circumferential direction centered on an axis and holding a plurality of components in the plurality of holes one by one; a protruding section for protruding an attachment component, which is a component to be attached to the opening of the attachment target body among the plurality of components held in the plurality of holes, from the hole along the axis to fit the attachment component into the opening of the attachment target body; and a rotation drive section for rotating the holding section relatively to the protruding section about the axis. According to the mounting device of this embodiment, since the multiple components are held one by one in the multiple holes provided in the holding part, it is possible to eliminate the components from pushing against each other in the holding part, and therefore it is possible to prevent the holding part from becoming clogged with components, preventing the components from being able to protrude normally from the holding part. (2) In the mounting device of the above aspect, a protrusion for restricting movement of the component along the axis may be provided on an inner wall of the hole toward a center of the hole. According to the mounting device of this form, the movement of the component along the axis is restricted by the convex portion, so that the component can be prevented from falling out of the hole. (3) In the mounting device of the above aspect, an odd number of the protrusions may be provided on an inner wall of the hole at equal intervals along a circumferential direction centered on a center of the hole. According to the mounting device of this form, since the protrusions are not arranged facing each other across the center of the hole, the width of the passage for protruding the component can be prevented from becoming too narrow. Therefore, it is possible to prevent the component from falling out of the hole while ensuring the ease of protruding the component from the hole. (4) The mounting device of the above aspect may further include a force measuring unit that measures a force along the axis when the mounting part is fitted into the opening of the mounting target body. According to the mounting device of this aspect, improper mounting of the mounting part can be detected using the force measured by the force measuring section. (5) The mounting device of the above aspect may further include a height measuring unit that measures a height of the mounting part fitted into an opening of the mounting target body from the mounting target body. According to the mounting device of this aspect, improper mounting of the mounting part can be detected using the height measured by the height measuring unit. (6) In the mounting device of the above aspect, the protruding portion may be provided with a suction hole for sucking and holding the mounting part while being protruded along the axis. According to the mounting device of this embodiment, the mounting part can be attached to the protruding part by suction through the suction hole, so that the mounting part can be prevented from shifting in position relative to the protruding part during protrusion, and therefore the mounting part can be attached to the opening of the mounting target with high accuracy. The present disclosure may be realized in various forms other than the mounting device, for example, in the form of a mounting robot or the like. [Brief description of the drawings]

[0007] [Figure 1] FIG. 2 is a front view showing a schematic configuration of an installation robot equipped with the installation device of the first embodiment. [Diagram 2]FIG. 1 is a first perspective view showing a schematic configuration of an attachment device according to a first embodiment. [Diagram 3] FIG. 2 is a second perspective view showing a schematic configuration of the mounting device according to the first embodiment. [Figure 4] FIG. [Diagram 5] Cross-sectional view of line VV in Figure 4. [Figure 6] 10 is a flowchart showing the contents of an attachment process. [Figure 7] FIG. 1 is a first explanatory diagram showing a state in which the hole plug is attached to an opening in a vehicle body. [Figure 8] FIG. 2 is a second explanatory diagram showing how the hole plug is attached to the opening in the vehicle body. [Figure 9] FIG. 4 is a third explanatory diagram showing how the hole plug is attached to the opening in the vehicle body. [Figure 10] FIG. 4 is a first explanatory diagram showing a force measured by a force measuring unit. [Figure 11] FIG. 2 is a second explanatory diagram showing the force measured by the force measuring unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A. First embodiment: Fig. 1 is a front view showing a schematic configuration of a mounting robot 10 including a mounting device 11 in the first embodiment. Fig. 1 shows a vehicle body 200 of an automobile being assembled and hung from a hanger 300 together with the mounting robot 10. The mounting robot 10 includes the mounting device 11 described above, a robot arm 12, and a general control device 13. In this embodiment, the mounting device 11 is configured as an end effector attached to the tip of the robot arm 12. The specific configuration of the mounting device 11 will be described later.

[0009] The robot arm 12 changes the position and orientation of the mounting device 11. In this embodiment, the robot arm 12 is configured as a vertical multi-joint robot having six rotation axes J1 to J6. Note that the robot arm 12 is not limited to a vertical multi-joint robot, and may be configured as, for example, a horizontal multi-joint robot.

[0010] The overall control device 13 controls the attachment device 11 and the robot arm 12 so that the attachment device 11 and the robot arm 12 cooperate with each other. In this embodiment, the overall control device 13 is configured by a programmable logic controller (PLC).

[0011] In this embodiment, the mounting device 11 mounts the hole plug 100 to the opening of the vehicle body 200 by fitting the hole plug 100 into the opening provided in the vehicle body 200 under the control of the overall control device 13. The hole plug 100 is a component for blocking the opening. The hole plug 100 is formed of, for example, a rubber material such as ethylene propylene rubber or silicone rubber, or a resin material such as polyethylene or nylon. In this embodiment, the hole plug 100 is formed of a rubber material. The hole plug 100 may be simply called a plug. Note that the mounting device 11 may mount, for example, a grommet formed of a rubber material or a resin material to the opening of the vehicle body 200 instead of the hole plug 100. The grommet is a component for protecting the wire harness inserted into the opening of the vehicle body 200. An object to which a component such as the hole plug 100 or a grommet is mounted by the mounting device 11, such as the vehicle body 200 described above, may be called a mounting target.

[0012] FIG. 2 is a first perspective view showing a schematic configuration of the mounting device 11. FIG. 3 is a second perspective view showing a schematic configuration of the mounting device 11. FIG. 2 and FIG. 3 show the mounting device 11 viewed from different directions. FIG. 2 and FIG. 3 show arrows representing three mutually orthogonal coordinate axes, X, Y, and Z axes. The Z axis is a coordinate axis perpendicular to the mounting surface PL of the tip of the robot arm 12. In the following description, when specifying a direction, positive and negative signs are used in combination to indicate directions, with the positive direction indicated by the arrow being "+" and the negative direction opposite to the direction indicated by the arrow being "-". The arrows representing the X, Y, and Z axes are also appropriately illustrated in FIG. 4 and subsequent figures so that the directions indicated by the arrows correspond to those in FIG. 2 and FIG. 3.

[0013] As shown in FIG. 2, in this embodiment, the mounting device 11 includes a base 20, a rotation drive unit 30, a holding unit 40, a protruding unit 50, a force measuring unit 60, a height measuring unit 70, a camera 80, and a control unit 90.

[0014] In this embodiment, the base 20 is configured by combining an upper plate 21, a bottom plate 22, and a side plate 23. The upper plate 21, the bottom plate 22, and the side plate 23 are flat plates and have a relatively large plate thickness to ensure rigidity. The bottom plate 22 is arranged parallel to the mounting surface PL of the tip of the robot arm 12, and is fixed to the tip of the robot arm 12 via a force measuring unit 60. The upper plate 21 is arranged on the +Z direction side with respect to the bottom plate 22. The upper plate 21 is arranged parallel to the bottom plate 22. The side plate 23 connects the end of the upper plate 21 on the -X direction side and the end of the bottom plate 22 on the -X direction side. The upper plate 21 and the side plate 23 are fixed to each other by welding, screws, etc. The bottom plate 22 and the side plate 23 are fixed to each other by welding, screws, etc.

[0015] The rotation drive unit 30 is fixed to the surface on the +Z direction side of the upper plate 21. The rotation drive unit 30 rotates the holding unit 40. In this embodiment, the rotation drive unit 30 is configured by, for example, a motor such as a servo motor or a stepping motor, and an orthogonal-axis type reducer having an output shaft perpendicular to the output shaft of the motor, and the holding unit 40 is detachably fixed to the output shaft of the reducer. Note that the rotation drive unit 30 does not necessarily have to include a reducer.

[0016] The holding portion 40 is disposed on the +Z direction side of the rotation drive unit 30 and is supported by the rotation drive unit 30. The holding portion 40 is configured in a disk shape centered on a central axis CL1 parallel to the Z axis. The holding portion 40 rotates around the central axis CL1 by the rotation drive unit 30. The holding portion 40 is provided with 15 holes 42 at equal intervals along the circumferential direction centered on the central axis CL1. The holding portion 40 holds one hole plug 100 in each hole 42. The holding portion 40 may be formed of a metal material, a resin material, or a ceramic material. The number of holes 42 provided in the holding portion 40 is not limited to 15, and may be, for example, 2 to 14, or 16 or more. The holding portion 40 may be configured in a polygonal plate shape such as an octagon instead of a disk shape. The holding portion 40 may be block-shaped instead of a plate shape. The central axis CL1 may be simply called an axis.

[0017] The protruding portion 50 includes a shaft 51, a bearing 52, a connecting member 53, a shaft driving unit 55, and a vacuum generator 59. The shaft 51 is an axial member for protruding the hole plug 100 from the hole portion 42. In this embodiment, the shaft 51 has a hollow cross section. The shaft 51 is disposed along the Z axis on the -Z direction side of the holding portion 40 and on the -X direction side of the side plate 23. The shaft 51 is supported by a bearing 52 fixed to the upper plate 21, and can move along the Z axis. The tip portion of the shaft 51 is directed toward the holding portion 40. The rear end portion of the shaft 51 is connected to the shaft driving unit 55 by the connecting member 53.

[0018] The shaft driving unit 55 is disposed adjacent to the shaft 51. The shaft driving unit 55 is fixed to the upper plate 21. The shaft driving unit 55 moves the shaft 51 along the Z-axis. In this embodiment, the shaft driving unit 55 is configured by an air cylinder, and moves the shaft 51 connected by the connecting member 53 by expanding and contracting with compressed air supplied from a compressor (not shown). Note that the shaft driving unit 55 is not limited to an air cylinder, and may be configured by, for example, an electric linear actuator.

[0019] The vacuum generator 59 is disposed between the top plate 21 and the bottom plate 22, and is fixed to the surface of the side plate 23 on the +X direction side. The vacuum generator 59 is connected to the rear end of the shaft 51 via a flexible tube or the like (not shown), and communicates with the hollow part of the shaft 51. In this embodiment, the vacuum generator 59 is configured by an ejector, and receives compressed air from a compressor (not shown), and generates a vacuum by the Venturi effect. In this embodiment, the compressor that supplies compressed air to the ejector as the vacuum generator 59 is the same as the compressor that supplies compressed air to the air cylinder as the shaft drive unit 55. Therefore, the area occupied by the compressor at the installation site of the compressor can be reduced.

[0020] The force measuring unit 60 is disposed between the bottom plate 22 and the tip of the robot arm 12, and is fixed to the bottom plate 22 and the robot arm 12. The force measuring unit 60 measures the force acting on the mounting device 11. The force measuring unit 60 is configured with a force sensor capable of measuring a force in a direction along the central axis CL1 of the holding unit 40. That is, in this embodiment, the force measuring unit 60 is configured with a force sensor capable of measuring a force in the Z direction. Information regarding the force measured by the force measuring unit 60 is transmitted to the control unit 90.

[0021] As shown in FIG. 3, the height measuring unit 70 is disposed between the top plate 21 and the bottom plate 22 so as to protrude outward from the outer peripheral side surface of the holder 40, and is fixed to the surface of the bottom plate 22 on the +Z direction side. After the hole plug 100 is attached to the opening of the car body 200, the height measuring unit 70 measures the height of the surface of the hole plug 100 relative to the surface of the car body 200. In this embodiment, the height measuring unit 70 is configured by a laser displacement meter. Information regarding the height measured by the height measuring unit 70 is transmitted to the control unit 90. Note that in other embodiments, the height measuring unit 70 may be a contact type that measures the height by tracing the surface of the car body 200 or the surface of the hole plug 100 with a probe, rather than a non-contact type like the above-mentioned laser displacement meter.

[0022] Camera 80 is disposed between top plate 21 and bottom plate 22 so as to protrude outward from the outer peripheral side surface of holding portion 40, and is fixed to the surface of bottom plate 22 on the +Z direction side. Camera 80 is used to detect misalignment between an opening in vehicle body 200 and hole portion 42 that holds hole plug 100 to be attached to the opening. An image captured by camera 80 is transmitted to control unit 90.

[0023] 2, the control unit 90 is held in a control box 95 fixed to the base 20. The control unit 90 is configured as a computer including a CPU, a memory, and an input / output interface. In this embodiment, the control unit 90 controls the rotation drive unit 30, the shaft drive unit 55, the force measurement unit 60, the height measurement unit 70, and the camera 80. Note that the control unit 90 may be configured by a combination of multiple circuits instead of a computer.

[0024] Fig. 4 is a top view showing the configuration of hole portion 42. Fig. 5 is a cross-sectional view taken along line VV in Fig. 4. Figs. 4 and 5 show one of the 15 holes 42 provided in retaining portion 40. Fig. 5 shows hole portion 42, hole plug 100 held in hole portion 42, and tip portion 56 of shaft 51.

[0025] As shown in Fig. 4, the opening shape of hole 42 is substantially circular. Hole 42 has a large diameter portion 45 and a small diameter portion 46. As shown in Fig. 5, diameter D1 of large diameter portion 45 is larger than diameter D2 of small diameter portion 46. A portion of hole 42 on the +Z direction side is constituted by large diameter portion 45, and a portion of hole 42 on the -Z direction side is constituted by small diameter portion 46. An inner wall surface of large diameter portion 45 is connected to an inner wall surface of small diameter portion 46 by a step surface 47. Hole plug 100 is held in large diameter portion 45.

[0026] As shown in FIG. 4, five protrusions 49 are provided on the large diameter portion 45. Each protrusion 49 is provided so as to protrude from the inner wall surface of the large diameter portion 45 toward the central axis CL2 of the hole portion 42. The five protrusions 49 are provided at equal intervals along the circumferential direction centered on the central axis CL2 of the hole portion 42. As shown in FIG. 5, each protrusion 49 is provided at the end of the hole portion 42 on the +Z direction side. In this embodiment, the hole plug 100 is formed of a rubber material, and the protrusions 49 are formed of a metal material, a resin material, or a ceramic material. When the hole plug 100 is formed of a resin material, the protrusions 49 may be formed of a rubber material. The number of protrusions 49 provided on the large diameter portion 45 is not limited to five, and may be one to four, or may be six or more. The protrusions 49 may be provided so as to go around the large diameter portion 45 without any gaps between them. The central axis CL2 of the hole 42 may be referred to as the hole center of the hole 42.

[0027] In this embodiment, the hole plug 100 has a columnar portion 101, a connecting portion 102, and an annular portion 103. The columnar portion 101 is configured in a cylindrical shape. The annular portion 103 is configured in a substantially annular shape so as to surround the lower end of the columnar portion 101. The annular portion 103 is curved so as to rise upward toward the outside. The connecting portion 102 connects the upper end of the columnar portion 101 and the inner peripheral end of the annular portion 103. A gap is provided between the lower end of the columnar portion 101 and the lower end of the connecting portion 102. The connecting portion 102 is provided with a locking portion 104 that protrudes toward the outside in the radial direction of the hole plug 100. The diameter Df of the annular portion 103 is smaller than the diameter D1 of the large diameter portion 45 and larger than the diameter D2 of the small diameter portion 46. When hole plug 100 is held by large diameter portion 45, with stepped surface 47 facing upward in the direction of gravity, annular portion 103 is supported by stepped surface 47. When stepped surface 47 is facing downward in the direction of gravity, annular portion 103 is supported by protruding portion 49.

[0028] As described above, the shaft 51 has a hollow cross section. The inner diameter of the shaft 51 is expanded at the tip portion 56. The hollow portion of the shaft 51 is called the suction hole 58. The suction hole 58 is connected to a vacuum generator 59 via a flexible cable connected to the rear end portion of the shaft 51.

[0029] 6 is a flow chart showing the contents of an installation process for installing the hole plug 100 in the opening of the vehicle body 200 by the installation robot 10. This process is started by the overall control device 13, for example, when a start button provided on the overall control device 13 is pressed. Prior to the start of this process, the hole plug 100 is loaded into the holder 40. Also, prior to the start of this process, the vehicle body 200 suspended from the hanger 300 is transported to the location where the installation robot 10 is installed. The installation device 11 is placed at a predetermined standby position so as not to interfere with the transportation of the vehicle body 200.

[0030] First, in step S110, the overall control device 13 controls the robot arm 12 to move the mounting device 11 to a mounting position for mounting the hole plug 100 in the opening of the vehicle body 200. As the mounting device 11 moves to the mounting position, the tip of the shaft 51 is directed toward the opening of the vehicle body 200 to which the hole plug 100 is to be mounted. Furthermore, the overall control device 13 controls the camera 80 via the control unit 90 to inspect the misalignment between the tip of the shaft 51 and the opening of the vehicle body 200. If the camera 80 detects a misalignment, the overall control device 13 corrects the position of the mounting device 11 by controlling the robot arm 12. This makes it possible to prevent the hole plug 100 from being improperly mounted due to a misalignment between the shaft 51 and the opening of the vehicle body 200.

[0031] Next, in step S120, the overall control device 13 causes the mounting device 11 to execute a mounting preparation operation. In the mounting preparation operation, the control unit 90 controls the rotation drive unit 30 to rotate the holding unit 40, thereby moving the hole plug 100 to be mounted to the opening between the opening of the vehicle body 200 and the shaft 51. Furthermore, the control unit 90 controls the vacuum generator 59 to start suction through the suction hole 58 of the shaft 51. Furthermore, the control unit 90 starts force measurement by the force measuring unit 60.

[0032] In step S130, the overall control device 13 causes the mounting device 11 to perform an mounting operation. In the mounting operation, the control unit 90 controls the shaft drive unit 55 to move the shaft 51 in the +Z direction, thereby protruding the hole plug 100 from the hole portion 42 and fitting the hole plug 100 into the opening of the vehicle body 200. Note that in other embodiments, with the hole plug 100 protruding from the hole portion 42 by the shaft 51, the overall control device 13 may move the robot arm 12 toward the opening of the vehicle body 200, thereby fitting the hole plug 100 into the opening of the vehicle body 200.

[0033] In this embodiment, the hole plug 100 is attached to the tip of the shaft 51 by suction, protrudes from the hole 42, and is fitted into the opening of the vehicle body 200. After the hole plug 100 is fitted into the opening of the vehicle body 200, suction from the suction hole 58 is stopped. Thereafter, the control unit 90 controls the shaft drive unit 55 to move the shaft 51 in the -Z direction, thereby removing the shaft 51 from the opening of the vehicle body 200 and the hole 42. After removing the shaft 51 from the opening of the vehicle body 200, the control unit 90 ends the force measurement by the force measurement unit 60. Note that in other embodiments, the overall control device 13 may move the robot arm 12 while the shaft 51 is still protruding from the hole 42, thereby removing the shaft 51 from the opening of the vehicle body 200, and then the control unit 90 may remove the shaft 51 from the hole 42.

[0034] In step S140, the overall control device 13 causes the installation device 11 to determine whether or not a defective installation of the hole plug 100 has occurred. In this embodiment, the control unit 90 determines whether or not a defective installation of the hole plug 100 has occurred using the force waveform measured by the force measuring unit 60. The control unit 90 determines that a defective installation of the hole plug 100 has occurred when a predetermined waveform does not appear in the force measured by the force measuring unit 60. A method in which the control unit 90 determines whether or not a defective installation has occurred using the force waveform will be described later.

[0035] Furthermore, in this embodiment, the control unit 90 uses the height measurement unit 70 to measure the height of the surface of the hole plug 100 relative to the surface of the vehicle body 200, thereby determining whether or not a defective installation of the hole plug 100 has occurred. In this embodiment, the height measurement unit 70, which is constituted by a laser displacement meter, measures the height of the surface of the hole plug 100 relative to the surface of the vehicle body 200 by scanning with a laser light the surface of the hole plug 100 and the surface of the vehicle body 200 around the opening to which the hole plug 100 is attached. The control unit 90 determines that a defective installation of the hole plug 100 has occurred when the height measured by the height measurement unit 70 exceeds a predetermined range.

[0036] The result of the determination in step S140 is transmitted from the control unit 90 to the overall control device 13. If it is determined in step S140 that improper installation of the hole plug 100 has occurred, then in step S145 the overall control device 13 notifies an operator or the like that improper installation of the hole plug 100 has occurred, for example, by activating a lamp or buzzer provided at the installation location. On the other hand, if it is not determined in step S140 that improper installation of the hole plug 100 has occurred, the overall control device 13 skips the process of step S145.

[0037] In step S150 after step S140 or step S145, the control unit 90 moves the installation device 11 to a standby position. The control unit 90 then ends this process. Since the holding unit 40 can hold 15 hole plugs 100, the installation robot 10 can install the hole plugs 100 a maximum of 15 times in succession by the overall control device 13 repeating this process.

[0038] Fig. 7 is a first explanatory diagram showing how the hole plug 100 is attached to the opening 205 of the vehicle body 200 by executing step S130 of the attachment process described above. Fig. 8 is a second explanatory diagram showing how the hole plug 100 is attached to the opening 205 of the vehicle body 200. Fig. 9 is a third explanatory diagram showing how the hole plug 100 is attached to the opening 205 of the vehicle body 200.

[0039] As shown in FIG. 7, as the shaft 51 moves in the +Z direction from the position shown in FIG. 5, the tip 56 of the shaft 51 is inserted into a gap between the lower end of the columnar portion 101 and the lower end of the connecting portion 102 of the hole plug 100 and comes into contact with the hole plug 100. The hole plug 100 is vacuum-attached to the tip 56 by the suction force from the suction hole 58. In this embodiment, when the hole plug 100 is vacuum-attached to the tip 56, the shaft 51 is in contact with a side portion of the columnar portion 101 of the hole plug 100. Gaps are provided between the outer peripheral side surface of the shaft 51 and the lower end of the connecting portion 102 of the hole plug 100, and between a surface of the shaft 51 where the opening of the suction hole 58 is provided and the bottom surface of the columnar portion 101 of the hole plug 100. In other embodiments, when hole plug 100 is vacuum-adsorbed to tip portion 56, shaft 51 may be in contact with connecting portion 102 without contacting the side portion of columnar portion 101 of hole plug 100, or may be in contact with the bottom surface of columnar portion 101 without contacting the side portion of columnar portion 101 or connecting portion 102.

[0040] As a result of shaft 51 moving in the +Z direction together with hole plug 100, annular portion 103 is pressed against protruding portion 49. As a result of annular portion 103 and connecting portion 102 elastically deforming, annular portion 103 climbs over protruding portion 49. In this manner, hole plug 100 is protruded from large diameter portion 45, as shown in FIG.

[0041] As shaft 51 moves further in the +Z direction together with hole plug 100, the upper end of hole plug 100 enters opening 205 of vehicle body 200 and locking portion 104 is pressed against the edge of opening 205. Locking portion 104 and connecting portion 102 elastically deform, causing locking portion 104 to climb over the edge of opening 205. In this manner, hole plug 100 is fitted into opening 205, as shown in Fig. 9. After the vacuum suction to hole plug 100 is released, shaft 51 moves in the -Z direction back to its original position.

[0042] Fig. 10 is a first explanatory diagram showing the force measured by the force measuring unit 60. Fig. 11 is a second explanatory diagram showing the force measured by the force measuring unit 60. In Figs. 10 and 11, the horizontal axis represents time, and the vertical axis represents force. Fig. 10 shows an example of a waveform of the force in the Z direction measured by the force measuring unit 60 when there is no installation defect in the hole plug 100, and Fig. 11 shows an example of a waveform of the force in the Z direction measured by the force measuring unit 60 when there is an installation defect in the hole plug 100.

[0043] As shown in FIG. 10, if no installation failure of the hole plug 100 occurs, a peak PK1 and a valley PK2 appear in the force waveform CV1. From the time when the engaging portion 104 of the hole plug 100 contacts the edge of the opening 205 of the vehicle body 200 until it passes over the edge of the opening 205, a reaction force from the vehicle body 200 is measured, so the force measured by the force measuring unit 60 increases with time. When the engaging portion 104 passes over the edge of the opening 205, the force measured by the force measuring unit 60 suddenly decreases. Therefore, the force waveform CV1 measured by the force measuring unit 60 first appears with a peak PK1. Until the pressure of the hole plug 100 by the shaft 51 is released, the annular portion 103 is pressed against the surface of the vehicle body 200, so the force measured by the force measuring unit 60 increases again. Therefore, a valley PK2 appears in the force waveform CV1 measured by the force measuring unit 60. Thereafter, as the shaft 51 moves away from the hole plug 100, the force measured by the force measuring unit 60 decreases.

[0044] 11, when valley PK2 does not appear in the force waveform, there is a possibility that there has been a defective installation of hole plug 100. For example, when the pressure applied by shaft 51 to hole plug 100 is released without locking portion 104 getting over the edge of opening 205 in vehicle body 200, there is no sudden decrease that occurs when locking portion 104 gets over the edge of opening 205, and therefore valley PK2 does not appear in force waveform CV2.

[0045] In this embodiment, the force measured by the force measuring unit 60 in step S140 of the above-mentioned attachment process is Second threshold F2 After exceeding First threshold F1 When the force waveform falls below PK2 appears, the control unit 90 determines that no installation failure of the hole plug 100 has occurred. After the force measured by the force measuring unit 60 exceeds the first threshold value F1, Second threshold F2 If it does not exceed Second threshold F2 After exceeding First threshold F1If the force waveform is not less than 0.05, the control unit 90 determines that a defective installation of the hole plug 100 has occurred. In another embodiment, the control unit 90 may determine whether or not a defective installation of the hole plug 100 has occurred by using a learning model generated by machine learning. For example, the control unit 90 may perform supervised learning using data representing a force waveform to which a label indicating the occurrence or absence of a defective installation has been added to generate a learning model, and may determine whether or not a defective installation of the hole plug 100 has occurred by using the learning model.

[0046] According to the attachment device 11 of the present embodiment described above, the 15 hole plugs 100 are held one by one in the 15 holes 42 provided in the holding portion 40, so that when the hole plugs 100 are fed onto the shaft 51 of the pushing portion 50 by the rotation drive portion 30, and when the hole plugs 100 are pushed out of the holes 42 by the shaft 51, it is possible to prevent the hole plugs 100 from pushing against each other inside the holding portion 40 and causing the alignment of the hole plugs 100 to become distorted. This makes it possible to prevent the hole plugs 100 from becoming clogged inside the holding portion 40, preventing the hole plugs 100 from being able to be pushed out normally from the holding portion 40.

[0047] In addition, in this embodiment, the hole 42 that holds the hole plug 100 is provided with a protrusion 49 that restricts movement of the hole plug 100 in a direction along the central axis CL1 of the holder 40, so that even if the holder 40 is tilted or turned upside down, the hole plug 100 can be prevented from falling out of the hole 42. In particular, in this embodiment, an odd number of protrusions 49 are arranged in one hole 42 at equal intervals in the circumferential direction centered on the central axis CL2 of the hole 42, and the protrusions 49 are not arranged facing each other across the central axis CL2 of the hole 42, so that the width of the passage for protruding the hole plug 100 can be prevented from becoming too narrow. Therefore, the hole plug 100 can be prevented from falling out of the hole 42 while ensuring the ease of protruding the hole plug 100 from the hole 42.

[0048] Furthermore, in this embodiment, the control unit 90 uses the force measured by the force measuring unit 60 to determine whether or not a defective installation of the hole plug 100 has occurred, and if it determines that a defective installation of the hole plug 100 has occurred, notifies the occurrence of the defective installation. Therefore, it is possible to know that a defective installation of the hole plug 100 has occurred without having to visually inspect the installation state of the hole plug 100 or the like.

[0049] Furthermore, in this embodiment, the control unit 90 determines whether or not a defective installation of the hole plug 100 has occurred using the height of the surface of the hole plug 100 relative to the surface of the vehicle body 200 measured by the height measurement unit 70, and if it determines that a defective installation of the hole plug 100 has occurred, notifies the occurrence of the defective installation. Therefore, it is possible to know that a defective installation of the hole plug 100 has occurred without inspecting the installation state of the hole plug 100 by visual inspection or the like. In particular, in this embodiment, the installation state of the hole plug 100 can be inspected doubly using the force measured by the force measurement unit 60 and the height of the surface of the hole plug 100 relative to the surface of the vehicle body 200 measured by the height measurement unit 70, so that a defective installation of the hole plug 100 can be detected with high accuracy.

[0050] Furthermore, in this embodiment, hole plug 100 can be vacuum-attached to the tip of shaft 51 by suction through suction hole 58 provided in shaft 51. Therefore, it is possible to prevent hole plug 100 from shifting out of position when hole plug 100 is fitted into opening 205 of vehicle body 200.

[0051] B. Other embodiments: (B1) In the attachment device 11 of the first embodiment described above, a protrusion 49 is provided in the hole 42 of the retaining portion 40. In contrast, the hole 42 does not necessarily have to be provided with a protrusion 49. Even in this case, by controlling the retaining portion 40 so as not to tilt, it is possible to prevent the hole plug 100 from falling out of the hole 42.

[0052] (B2) The attachment device 11 of the first embodiment described above is provided with a force measuring unit 60. However, the attachment device 11 does not necessarily have to be provided with the force measuring unit 60.

[0053] (B3) The attachment device 11 of the first embodiment described above is provided with the height measuring unit 70. However, the attachment device 11 does not necessarily have to be provided with the height measuring unit 70.

[0054] (B4) The mounting device 11 of the first embodiment described above is provided with a camera 80. However, the mounting device 11 does not necessarily have to be provided with the camera 80.

[0055] (B5) In the mounting device 11 of the first embodiment described above, the shaft 51 is provided with a suction hole 58 that communicates with the vacuum generator 59, and the hole plug 100 is vacuum-adsorbed to the tip 56 of the shaft 51. However, the suction hole 58 and the vacuum generator 59 do not necessarily have to be provided. Even in this case, the hole plug 100 can be pushed out by the tip 56 of the shaft 51 and fitted into the opening 205 of the vehicle body 200.

[0056] (B6) The mounting device 11 of the first embodiment described above is fixed to the tip of the robot arm 12, and is moved by the robot arm 12 to change the relative position of the mounting device 11 with respect to the opening of the vehicle body 200. In contrast, the mounting device 11 may be moved by, for example, an electric linear actuator or the like instead of the robot arm 12 to change the relative position of the mounting device 11 with respect to the opening of the vehicle body 200. Also, the mounting device 11 may not move, but the vehicle body 200 moves to change the relative position of the mounting device 11 with respect to the opening of the vehicle body 200.

[0057] (B7) In the attachment device 11 of the first embodiment described above, the rotation drive unit 30 positions the hole plug 100 on the shaft 51 of the protruding portion 50 by rotating the holding portion 40 with respect to the protruding portion 50. In contrast, the holding portion 40 may be fixed to the base 20, and the rotation drive unit 30 may position the hole plug 100 on the shaft 51 by rotating the protruding portion 50 instead of the holding portion 40. Alternatively, the rotation drive unit 30 may position the hole plug 100 on the shaft 51 by rotating the protruding portion 50 and the holding portion 40 so that the holding portion 40 rotates relative to the protruding portion 50.

[0058] (B8) In the attachment device 11 of the first embodiment described above, in the attachment process shown in Fig. 6, the control unit 90 determines whether or not an attachment defect of the hole plug 100 has occurred using the force waveform measured by the force measuring unit 60 after the attachment operation of step S130. Alternatively, the control unit 90 may determine whether or not an attachment defect of the hole plug 100 has occurred using the force waveform measured by the force measuring unit 60 during the execution of the attachment operation. For example, if the force measured by the force measuring unit 60 does not exceed the first threshold value or the second threshold value even after the shaft 51 is moved a predetermined amount, the control unit 90 may determine that an attachment defect of the hole plug 100 has occurred and may stop the attachment operation.

[0059] (B9) In the mounting device 11 of the first embodiment described above, the protruding portion 50 includes a single shaft 51, and one hole plug 100 is protruded from the hole portion 42 by the single shaft 51. In contrast, the protruding portion 50 may include multiple shafts 51, and multiple hole plugs 100 may be protruded simultaneously by the multiple shafts 51.

[0060] The present disclosure is not limited to the above-mentioned embodiment, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention column can be appropriately replaced or combined to solve some or all of the above-mentioned problems or to achieve some or all of the above-mentioned effects. Furthermore, if the technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0061] 10...Mounting robot, 11...Mounting device, 12...Robot arm, 13...Overall control device, 20...Base, 21...Top plate, 22...Bottom plate, 23...Side plate, 30...Rotation drive unit, 40...Retaining unit, 42...Hole, 45...Large diameter portion, 46...Small diameter portion, 47...Step surface, 49...Convex portion, 50...Protruding portion, 51...Shaft, 52...Bearing, 53...Connecting member, 55...Shaft drive unit, 56...Tip, 58...Suction hole, 59...Vacuum generator, 60...Force measuring unit, 70...Height measuring unit, 80...Camera, 90...Control unit, 95...Control box, 100...Hole plug, 101...Columnar portion, 102...Connection portion, 103...Annular portion, 104...Latching portion, 200...Vehicle body, 205...Opening, 300...Hanger

Claims

1. An attachment device for attaching a component to an opening of an attachment target, comprising: a holding portion having a plurality of holes arranged in a circumferential direction around the axis, the holding portion holding a plurality of components in the plurality of holes one by one; a protruding portion for protruding an attachment part, which is a part to be attached to an opening of the attachment target body among the plurality of parts held in the plurality of hole parts, from the hole part along the axis, so that the attachment part is fitted into the opening of the attachment target body; a rotation drive unit that rotates the holding portion relative to the protruding portion about the axis; a force measuring unit that measures a force along the axis when the attachment part is fitted into the opening of the attachment target; A control unit that uses the force waveform measured by the force measuring unit to determine whether or not a mounting defect has occurred in the mounting part to the opening of the mounting target body; Equipped with The mounting part is An engagement portion that engages with an opening of the attachment body, After the engaging portion comes into contact with the edge of the opening of the object to be attached, the engaging portion elastically deforms and passes through the opening of the object to be attached, thereby being attached to the object to be attached, The control unit is If the waveform has peaks and valleys, it is determined that no installation defects have occurred. The mounting device determines that an installation defect has occurred if the peaks and valleys do not appear in the waveform.

2. 2. The mounting device of claim 1, An attachment device, wherein a protrusion that restricts movement of the component along the axis is provided on an inner wall of the hole portion toward a center of the hole portion.

3. 3. The mounting device of claim 2, An odd number of the protrusions are provided on the inner wall of the hole at equal intervals in a circumferential direction around the center of the hole.

4. A mounting device according to any one of claims 1 to 3, An attachment device comprising a height measuring section that measures a height of the attachment part fitted into an opening of the attachment target from the attachment target.

5. A mounting device according to any one of claims 1 to 4, The mounting device, wherein the protruding portion is provided with a suction hole for sucking and holding the mounting part during protruding along the axis.

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