Differential gear assembly device

Abstract

To provide an assembling device of a differential gear which can smoothly move a pinion gear and a pinion washer from a hand device to a dummy shaft.SOLUTION: An assembling device 300 of a differential gear includes a first hand device 100, and a second hand device 200. The first hand device 100 includes a first holding part 10, and a second holding part 20. The first holding part 10 determines the phases of a first side gear W11, a first side washer W12, and a first conical spring, and holds them. The second holding part 20 determines the phases of a first pinion gear W14 and a first pinion washer W15, and holds them. The second hand device 200 includes a third holding part 30, a fourth holding part 40, and a dummy shaft 43. The third holding part 30 determines the phases of a second side gear W21, a second side washer W22 and a second conical spring, and holds them.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an assembly device for a differential gear, and more particularly to an assembly device for a differential gear that is equipped with a hand device. [Background technology]

[0002] The differential gear assembly device disclosed in Patent Document 1 first assembles the side gears as a set into the differential case through its opening. The assembly device also uses a dummy shaft to set the pinion washer and pinion gear at a position 90° out of phase with the final assembly position. The assembly device then contracts the dummy shaft and drives the side gear, thereby rotating the pinion washer and pinion gear to the final assembly position. Finally, the assembly device replaces the first and second dummy shafts with the product shafts to complete the assembly. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-212783 Summary of the Invention [Problem to be solved by the invention]

[0004] The inventors of the present application have discovered the following problems. In this type of differential gear assembly device, the pinion gear and pinion washer are placed in the differential case using a hand device during the assembly operation. Meanwhile, the present inventors have conceived and studied a new differential gear assembly device to further automate the assembly operation. This assembly device moves the pinion gear and pinion washer from the hand device to a dummy shaft and assembles them to side gears placed in the differential case. However, this assembly device sometimes fails to smoothly move the pinion gear and pinion washer from the hand device to the dummy shaft.

[0005] In view of the above-mentioned problems, an object of the present invention is to provide a differential gear assembly device that can smoothly move a pinion gear and a pinion washer from a hand device to a dummy shaft. [Means for solving the problem]

[0006] A differential gear assembling device according to one embodiment of the present invention comprises: A differential gear assembling device including a first hand device and a second hand device, the first hand device includes a first holding unit and a second holding unit, the first holding portion determines and holds the phases of the first side gear, the first side washer, and the first conical spring; the second holding portion determines and holds the phases of the first pinion gear and the first pinion washer, the second hand device includes a third holding unit, a fourth holding unit, and a dummy shaft; the third holding portion determines and holds the phases of the second side gear, the second side washer, and the second conical spring; the fourth holding portion determines and holds the phases of the second pinion gear and the second pinion washer, the dummy shaft includes a sliding portion that slides in the axial direction, The sliding portion approaches or abuts against the second holding portion, the second holding portion includes a claw portion, When the sliding portion approaches or abuts against the second holding portion, the claw portion protrudes toward the sliding portion and is separated from the sliding portion.

[0007] With this configuration, when the first pinion gear and the first pinion washer are transferred from the second holding portion of the first hand device to the sliding portion, the claw portion can smoothly guide the first pinion gear and the first pinion washer to the sliding portion of the dummy shaft. This prevents the first pinion gear and the first pinion washer from getting caught between the second holding portion and the dummy shaft. This allows the first pinion gear and the first pinion washer to be moved smoothly from the first hand device to the dummy shaft. [Effects of the Invention]

[0008] The present invention allows the pinion gear and pinion washer to be smoothly moved from the hand device to the dummy shaft. [Brief explanation of the drawings]

[0009] [Figure 1] 3 is a block diagram showing a control configuration of the differential gear assembly device according to the first embodiment. FIG. [Figure 2] 3 is a bottom view of a first hand device of the differential gear assembly device according to the first embodiment. FIG. [Figure 3] 2 is a top view of a first hand device of the differential gear assembly device according to the first embodiment. FIG. [Figure 4] 2 is an enlarged perspective view of a first hand device of the differential gear assembly device according to the first embodiment. FIG. [Figure 5] 4 is a top view of a second hand device of the differential gear assembly device according to the first embodiment. FIG. [Figure 6] 4 is a bottom view of a second hand device of the differential gear assembly device according to the first embodiment. FIG. [Figure 7] 4 is an enlarged perspective view of a second hand device of the differential gear assembly device according to the first embodiment. FIG. [Figure 8] 5A to 5C are diagrams illustrating a method for assembling a differential gear according to the first embodiment. [Figure 9] 5A to 5C are diagrams illustrating a method for assembling a differential gear according to the first embodiment. [Figure 10]5A to 5C are diagrams illustrating a method for assembling a differential gear according to the first embodiment. [Figure 11] 5A to 5C are diagrams illustrating a method for assembling a differential gear according to the first embodiment. [Figure 12] 5A to 5C are diagrams illustrating a method for assembling a differential gear according to the first embodiment. [Figure 13] 5A to 5C are diagrams illustrating a method for assembling a differential gear according to the first embodiment. [Figure 14] 5A to 5C are diagrams illustrating a method for assembling a differential gear according to the first embodiment. [Figure 15] 5A to 5C are diagrams illustrating a method for assembling a differential gear according to the first embodiment. [Figure 16] 5A to 5C are diagrams illustrating a method for assembling a differential gear according to the first embodiment. [Figure 17] 5A to 5C are diagrams illustrating a method for assembling a differential gear according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiments. In addition, the following description and drawings have been simplified as appropriate for clarity of explanation.

[0011] (Embodiment 1) The differential gear assembling device according to the first embodiment will be described with reference to Figs. 1 to 7. Fig. 1 is a block diagram showing a control configuration of the differential gear assembling device according to the first embodiment. Fig. 2 is a bottom view of a first hand device of the differential gear assembling device shown in Fig. 1. Fig. 3 is a top view of the first hand device shown in Fig. 2. Fig. 4 is an enlarged perspective view of the first hand device shown in Fig. 3. Fig. 5 is a top view of a second hand device of the differential gear assembling device shown in Fig. 1. Fig. 6 is a bottom view of the second hand device shown in Fig. 5. Fig. 7 is an enlarged perspective view of the second hand device shown in Fig. 5.

[0012] It should be noted that the right-handed xyz coordinate system shown in Fig. 2 and other drawings is a matter of convenience for explaining the positional relationship of the components. Normally, the positive direction of the z axis is vertically upward, and the xy plane is a horizontal plane, which is common among the drawings. However, it should be noted that the first hand device 100 shown in Figs. 14 to 17 is upside down compared to the first hand device 100 shown in the other drawings.

[0013] 1, a differential gear assembly device 300 includes a control device 1, a first hand device 100, and a second hand device 200. The first hand device 100 and the second hand device 200 are each attached to two robots (not shown). The first hand device 100 and the second hand device 200 can be translated or rotated within a predetermined space by the two robots, and can maintain or change their posture.

[0014] The control device 1 includes a processor (not shown) and a memory (not shown) as well as an interface (not shown). The processor of the control device 1 reads and executes a program stored in the memory, thereby sending control signals to the first hand device 100 and the second hand device 200 and controlling the operations of the first hand device 100 and the second hand device 200. This realizes the operation of the differential gear assembly device 300. In other words, this program causes the processor to function as the differential gear assembly device 300 or as a part thereof.

[0015] As shown in FIGS. 2 and 3, the first hand device 100 includes a first holding unit 10, a second holding unit 20, and a robot mounting unit 51.

[0016] The first holding part 10 includes a main body 11 and a phase positioning pin 12. The main body 11 is, for example, a plate-like member extending in a predetermined direction (here, the negative y-axis direction). The phase positioning pin 12 is provided on the main body 11 and stands upright from the main body 11.

[0017] An example of the phasing pin 12 shown in FIG. 4 extends in the positive direction of the z-axis. The phasing pin 12 engages with a first side gear W11 (see FIG. 8), a first side washer W12 (see FIG. 12), and a first conical spring (not shown) to hold them in place. The first conical spring is sandwiched between the first side gear W11 and the first side washer W12. The first conical spring applies a repulsive force to the first side gear W11 and the first side washer W12 as necessary. The phases of the first side gear W11, the first side washer W12, and the first conical spring are determined by the phasing pin 12. In other words, the first holding unit 10 can determine and hold the phases of the first side gear W11, the first side washer W12, and the first conical spring.

[0018] As shown in FIGS. 2 and 3, the second holding portion 20 includes a pinion gear chuck 21, a pinion gear phasing member 22, a pinion washer width across flats holding portion 23, and a claw portion 24.

[0019] The pinion gear chuck 21 includes a fixed portion 21a and a movable portion 21b. The fixed portion 21a is fixed to a predetermined position of the second holding portion 20. The fixed portion 21a may have a shape that follows a portion of the surface of the first pinion gear W14 and the first pinion washer W15 shown in FIG. 8 so as to be able to hold the first pinion gear W14 and the first pinion washer W15. The movable portion 21b extends in a substantially L-shape on the xy plane. The movable portion 21b is provided in a reciprocating direction (here, the x-axis direction) so as to be able to approach or move away from the fixed portion 21a by a power source such as a motor. The movable portion 21b may, for example, rotate around the fixed portion 21a to release the chucking by the pinion gear chuck 21. The pinion gear chuck 21 chucks the first pinion gear W14 and the first pinion washer W15 by sandwiching the first pinion gear W14 and the first pinion washer W15 between the movable portion 21b and the fixed portion 21a.

[0020] The pinion gear phasing member 22 is provided to rise from near the outer edge of the fixed portion 21a. The pinion gear phasing member 22 may be provided in a reciprocating direction (here, the x-axis direction) so that it can move toward or away from the fixed portion 21a by a power source such as a motor. The pinion gear phasing member 22 engages with the first pinion gear W14 and the first pinion washer W15 to prevent the first pinion gear W14 and the first pinion washer W15 from rotating around the pinion washer width-across-flat holding portion 23. In other words, the pinion gear phasing member 22 determines the phase of the first pinion gear W14 and the first pinion washer W15. The second holding portion 20 determines and holds the phases of the first pinion gear W14 and the first pinion washer W15.

[0021] The pinion washer two-flat width holding portion 23 is provided to rise from near the center of the fixed portion 21a. The pinion washer two-flat width holding portion 23 holds the two-flat width portion, and the first pinion washer W15 is inserted through this two-flat width portion.

[0022] The claw portion 24 protrudes from the pinion washer two-face width holding portion 23. When the sliding portion 45 approaches or abuts against the second holding portion 20, the claw portion 24 protrudes toward the sliding portion 45 and is separated from the sliding portion 45.

[0023] The robot mounting unit 51 can be attached to the arm tip side of a robot (not shown).

[0024] As shown in FIG. 5, the second hand device 200 includes a third holding unit 30, a fourth holding unit 40, and a robot mounting unit 52.

[0025] 5 to 7, the third holding part 30 includes a main body 31, a protrusion 32, and a phase determination pin 33. The main body 31 is, for example, a plate-like member extending in a predetermined direction (here, the negative y-axis direction). The protrusion 32 and the phase determination pin 33 are provided on the main body 31 and stand upright from the main body 31.

[0026] The protrusion 32 and the phase pin 33 shown in FIG. 7 extend in a predetermined direction (here, the negative direction of the z-axis). The phase pin 33 engages with the second side gear W21 (see FIG. 9), the second side washer W22 (see FIG. 10), and the second conical spring (not shown) to hold them in place. The second conical spring is sandwiched between the second side gear W21 and the second side washer W22. The second conical spring applies a repulsive force to the second side gear W21 and the second side washer W22 as necessary. The phases of the second side gear W21, the second side washer W22, and the second conical spring are determined by the phase pin 33. That is, the third holding portion 30 can determine and hold the phases of the second side gear W21, the second side washer W22, and the second conical spring.

[0027] The fourth holding portion 40 includes a pinion gear chuck 41, a pinion gear phase determining member 42, a dummy shaft 43, and a dummy shaft chuck 44.

[0028] The pinion gear chuck 41 includes a fixed portion 41a and a movable portion 41b. The fixed portion 41a is fixed to a predetermined position of the fourth holding portion 40. The fixed portion 41a may have a shape that follows a portion of the surface of the second pinion gear W24 and the second pinion washer W25 shown in FIG. 9 so as to be able to hold the second pinion gear W24 and the second pinion washer W25. The movable portion 41b extends in a substantially L-shape on the xy plane. The movable portion 41b is provided in a reciprocating direction (here, the x-axis direction) so as to be able to approach or move away from the fixed portion 41a by a power source such as a motor. The movable portion 41b may, for example, rotate around the fixed portion 41a to release the chucking by the pinion gear chuck 41. The pinion gear chuck 41 chucks the second pinion gear W24 and the second pinion washer W25 by sandwiching them between the movable portion 41b and the fixed portion 41a. The fourth holding portion 40 determines the phase of the second pinion gear W24 and the second pinion washer W25 and holds them.

[0029] The dummy shaft chuck 44 chucks the dummy shaft 43. The dummy shaft 43 extends upright from the fixed portion 41a. The dummy shaft 43 includes a sliding portion 45 that slides in the axial direction (here, the negative x-axis direction). The sliding portion 45 has a shape that separates from the claw portion 24 when it approaches or abuts against the second holding portion 20. Specifically, the sliding portion 45 includes a first extension portion 45a and a second extension portion 45b. The first extension portion 45a and the second extension portion 45b extend in the axial direction. A predetermined distance is provided between the first extension portion 45a and the second extension portion 45b. The first extension portion 45a and the second extension portion 45b may extend approximately parallel to each other. The axial length of the first extension portion 45a and the second extension portion 45b may be longer than the axial length of the claw portion 24. The distance between the first extension portion 45a and the second extension portion 45b may be longer than the length of the claw portion 24 in the width direction (here, the y-axis direction).

[0030] The robot mounting unit 52 can be mounted on the arm tip side of a robot (not shown).

[0031] (Differential gear assembly method) Next, a method for assembling a differential gear according to the first embodiment will be described with reference to Fig. 8 to Fig. 17. Fig. 8 to Fig. 17 are diagrams illustrating the method for assembling a differential gear according to the first embodiment. The method for assembling a differential gear according to the first embodiment can be carried out, for example, using a differential gear assembling device 300 shown in Fig. 1.

[0032] As shown in FIG. 8, the first side gear W11, the first side washer W12 (see FIG. 12), the first conical spring (not shown), the first pinion gear W14, and the first pinion washer W15 are chucked by the first hand device 100 (step ST1).

[0033] Specifically, the first side gear W11, the first side washer W12, and the first conical spring are held by the first holding portion 10 with their phases determined. Also, the first pinion gear W14 and the first pinion washer W15 are held by the second holding portion 20 with their phases determined.

[0034] More specifically, the first side washer W12, the first conical spring, and the first side gear W11 are stacked in this order. The stacked first side washer W12, the first conical spring, and the first side gear W11 are supported by the main body 11 and engaged with the phase determination pin 12. This allows the first holding part 10 to determine and hold the phases of the first side gear W11, the first side washer W12, and the first conical spring. Furthermore, the first pinion washer W15 and the first pinion gear W14 are stacked in this order. The stacked first pinion washer W15 and first pinion gear W14 are sandwiched between the fixed portion 21a and the movable portion 21b of the pinion gear chuck 21, and the pinion gear phase determining member 22 is engaged with the first pinion gear W14 and the first pinion washer W15. This allows the second holding portion 20 to determine and hold the phases of the first pinion gear W14 and the first pinion washer W15.

[0035] Next, as shown in FIG. 9, the second side gear W21, the second side washer W22 (see FIG. 10), the second conical spring (not shown), the second pinion gear W24, and the second pinion washer W25 are chucked by the second hand device 200 (step ST2).

[0036] Specifically, the second side gear W21, the second side washer W22, and the second conical spring are held by the third holding portion 30 with their phases determined. Also, the second pinion gear W24 and the second pinion washer W25 are held by the fourth holding portion 40 with their phases determined.

[0037] More specifically, the second side washer W22, the second conical spring, and the second side gear W21 are stacked in this order. The stacked second side washer W22, the second conical spring, and the second side gear W21 are supported by the main body 31 and engaged with the phase determination pin 33 shown in FIG. 7. This allows the third holding part 30 to determine and hold the phases of the second side gear W21, the second side washer W22, and the second conical spring. In addition, the second pinion washer W25 and the second pinion gear W24 are stacked in this order. The stacked second pinion washer W25 and second pinion gear W24 are sandwiched between the fixed portion 41a and the movable portion 41b of the pinion gear chuck 41, and the pinion gear phase determining member 42 is engaged with the second pinion gear W24 and the second pinion washer W25. This allows the fourth holding portion 40 to determine and hold the phases of the second pinion gear W24 and the second pinion washer W25.

[0038] Next, as shown in FIGS. 10 and 11, the stacked second side washer W22, the second conical spring, and the second side gear W21 are assembled to the bottom of the differential case W30 (step ST3). The differential case W30 has openings W30a and W30b that open in a predetermined direction. The opening W30a opens in the opposite direction (here, the positive direction of the x-axis) to the opening direction of the opening W30b. Specifically, a robot (not shown) attached to the robot attachment unit 52 brings the stacked second side washer W22, the second conical spring, and the second side gear W21 to the bottom of the differential case W30. Furthermore, the robot releases the chucking of the stacked second side washer W22, the second conical spring, and the second side gear W21 by the second hand device 200, and places the stacked second side washer W22, the second conical spring, and the second side gear W21 on the bottom of the differential case W30. The phases of the stacked second side washer W22, the second conical spring, and the second side gear W21 are maintained even at the bottom of the differential case W30.

[0039] 12 and 13, the stacked first side washer W12, the first conical spring, and the first side gear W11 are assembled to the ceiling portion of the differential case W30 (step ST4). Specifically, a robot (not shown) attached to the robot mounting unit 51 brings the stacked first side washer W12, the first conical spring, and the first side gear W11 to the ceiling portion of the differential case W30. Furthermore, the robot releases the chucks of the first side washer W12, the first conical spring, and the first side gear W11 by the first hand device 100, and places the stacked first side washer W12, the first conical spring, and the first side gear W11 on the ceiling portion of the differential case W30. Note that a jig may be used to hold the stacked first side washer W12, the first conical spring, and the first side gear W11 so that the stacked first side washer W12, the first conical spring, and the first side gear W11 can be placed on the ceiling portion of the differential case W30. The phases of the stacked first side washer W12, the first conical spring, and the first side gear W11 are determined at the ceiling portion of the differential case W30.

[0040] Next, as shown in FIGS. 14 to 17, the first pinion gear W14, the first pinion washer W15, the second pinion gear W24, and the second pinion washer W25 are assembled to the second side gear W21 and the first side gear W11 in the differential case W30 (step ST5).

[0041] Specifically, as shown in Fig. 14, the first pinion gear W14 and the first pinion washer W15 are moved to the opening W30b of the differential case W30 using the first hand device 100. The orientation of the first hand device 100 is changed using a robot or the like so that the first hand device 100 is turned upside down. In addition, the second pinion gear W24 and the second pinion washer W25 are moved to the opening W30b of the differential case W30 using the second hand device 200.

[0042] As shown in Fig. 15, the sliding portion 45 is brought close to or into contact with the second holding portion 20. Note that the differential case W30 is not shown in Figs.

[0043] As shown in FIG. 16, the first extension 45a and the second extension 45b of the sliding portion 45 approach or contact the pinion washer width across flats holding portion 23 of the second holding portion 20. The first extension 45a and the second extension 45b are spaced apart from the claw portion 24 and do not contact it. The example of the first extension 45a and the second extension 45b shown in FIG. 16 is spaced apart from the pinion washer width across flats holding portion 23. A space SP1 is provided between the example of the first extension 45a and the second extension 45b and the pinion washer width across flats holding portion 23. It is preferable that the claw portion 24 extend into the space SP1.

[0044] As shown in FIG. 17 , after the first pinion gear W14 is released from the fixed portion 21a and the movable portion 21b, the first pinion gear W14 is transferred from the second holding portion 20 to the dummy shaft 43. To release the first pinion gear W14, for example, the movable portion 21b may be rotated around the fixed portion 21a to move the first pinion gear W14 away from the dummy shaft 43. Furthermore, the first pinion washer W15 is transferred from the second holding portion 20 to the dummy shaft 43. Here, the claw portion 24 smoothly guides the first pinion gear W14 and the first pinion washer W15 to the sliding portion 45 of the dummy shaft 43. This prevents the first pinion gear W14 and the first pinion washer W15 from getting caught in the space SP1 between the second holding portion 20 and the dummy shaft 43. Therefore, the first pinion gear W14 and the first pinion washer W15 can be moved from the first hand device 100 to the dummy shaft 43 smoothly.

[0045] Furthermore, the first pinion gear W14 and the first pinion washer W15 move to the dummy shaft 43 and are assembled to the second side gear W21 and the first side gear W11 in the differential case W30. The second pinion gear W24 and the second pinion washer W25 are assembled to the second side gear W21 and the first side gear W11 in the differential case W30. The phases of the first side gear W11, the first side washer W12, and the first conical spring, and the phases of the second side gear W21, the second side washer W22, and the second conical spring are determined. The phases of the first pinion gear W14 and the first pinion washer W15 are determined by the second retainer 20. The phases of the second pinion gear W24 and the second pinion washer W25 are determined by the fourth holding portion 40. Therefore, the first pinion gear W14, the first pinion washer W15, the second pinion gear W24, and the second pinion washer W25 can be assembled to the second side gear W21 and the first side gear W11 while maintaining the phases required for a differential gear.

[0046] Finally, the first hand device 100 and the second hand device 200 are removed from the differential case W30 (step ST6).

[0047] This completes the assembly of the differential gear. If necessary, you may remove the dummy shaft and then insert the product shaft.

[0048] The above-mentioned program includes a set of instructions (or software code) that, when loaded into a computer, causes the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0049] The present invention is not limited to the above-described embodiment, and can be appropriately modified without departing from the spirit and scope of the present invention. Furthermore, the present invention may be implemented by appropriately combining the above-described embodiment and examples thereof. [Explanation of symbols]

[0050] 300 Differential gear assembly device 1. Control device 100 First hand device 10 First holding part 11 Main unit 12 pin 20 Second holding part 21 Pinion gear chuck 21a Fixed part 21b Movable part 22 Pinion gear phase determining member 23 Pinion washer width across flats retaining portion 24 Claw 200 Second hand device 30 Third holding part 31 Main body 32 Convex part 33 Phase determination pin 40 Fourth holding part 41 Pinion gear chuck 41a Fixed part 41b Movable part 42 Pinion gear phase determining member 43 Dummy shaft 44 Dummy shaft chuck 45 Sliding part 45a First extension portion 45b Second extension portion 51, 52 Robot mounting part SP1 Space W11 1st side gear W12 1st side washer W14 1st pinion gear W15 1st pinion washer W21 Second side gear W22 Second side washer W24 Second pinion gear W25 Second pinion washer W30 differential case W30a, W30b opening

Claims

[Claim 1] A differential gear assembling device including a first hand device and a second hand device, the first hand device includes a first holding unit and a second holding unit, the first holding portion determines and holds the phases of the first side gear, the first side washer, and the first conical spring; the second holding portion determines and holds the phases of the first pinion gear and the first pinion washer, the second hand device includes a third holding unit, a fourth holding unit, and a dummy shaft; the third holding portion determines and holds the phases of the second side gear, the second side washer, and the second conical spring; the fourth holding portion determines and holds the phases of the second pinion gear and the second pinion washer, the dummy shaft includes a sliding portion that slides in the axial direction, the sliding portion approaches or abuts against the second holding portion, the second holding portion includes a claw portion, When the sliding portion approaches or abuts against the second holding portion, the claw portion protrudes toward the sliding portion and is separated from the sliding portion. Differential gear assembly device.

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