BR102014007588A2 - mounting apparatus and control method - Google Patents

Abstract

mounting apparatus and control method. A mounting apparatus of this invention includes a main pallet and a detachable sub pallet of the main pallet, and may carry a cylinder head and parts thereof. the apparatus includes a mechanism detaching from the main pallet, the cylinder head positioned on the main pallet and raising / lowering the cylinder head, a mechanism detaching the sub pallet from the main pallet and raising / lowering the sub pallet, a mechanism keeping the cylinder head elevated for a working operating region, an operating unit extracting a valve retainer from the raised sub pallet to a portion preparation region and mounting thereof on a cylinder head, and a device disposed between the working operating region and part prep region and highlighting a pair of key pieces.

Description

ASSEMBLY AND CONTROL METHOD

BACKGROUND OF THE INVENTION

Field of the Invention The present invention relates to a mounting apparatus for mounting a valve retainer to the cylinder head of an engine.

Description of Related Art A cell production system is known as a form of system in production facilities. In the cell production system, a plurality of assembly operations are performed on a cell. Therefore, it is necessary to supply a job and parts to be assembled for the job to a cell simultaneously. Open Japanese Patent No. 2009-142975 discloses a system that simultaneously supplies a job and parts to a cell (station). Open Japanese Patent No. 2009-142975 also discloses a rotating mechanism that rolls a job into a cell.

When a work rotation mechanism is provided, the parts may be mounted on different surfaces of a work. For example, parts to be mounted on the cylinder head of an engine include parts to be affixed from the combustion chamber side and parts to be affixed from an opposite side. Hence, when the cylinder head can rotate, various types of parts can be assembled in the same cell. In the Open Japanese Patent No. 2009-142975 arrangement, however, a operated job must be returned to the same conveyor line as the conveyor line that conveyed the work to the cell. Work cannot be transported through the cell. That is, since the next job cannot be loaded into the cell without return from the job operated to the conveyor line, production efficiency may decrease. In addition, especially for a valve retainer outside the parts to be mounted on the cylinder head, a number of operations including detaching key pieces beforehand need to be efficiently done.

SUMMARY OF THE INVENTION

It is an object of the present invention to enable work transport through a cell while implementing a simultaneous supply function of a cylinder head and parts thereof, and a cylinder head bearing function and also increased efficiency. retainer assembly operating instructions.

According to one aspect of the present invention there is provided a mounting apparatus for mounting a valve retainer including a pair of key pieces for a cylinder head comprising: a main pallet on which the cylinder head of cylinder is put; a sub pallet which is detachably affixed to the main pallet and to which at least one valve retainer is attached; a transport mechanism configured to horizontally transport the main pallet; a lifting mechanism under a predetermined position of a main pallet transport rail by the transport mechanism and configured to disconnect from the main pallet the cylinder head placed on the main pallet and raise / lower the cylinder head; a movement mechanism provided on one side of the lift mechanism and configured to detach from the main pallet the sub pallet affixed to the main pallet and raise / lower the sub pallet; a rotating mechanism configured to hold the cylinder head raised to a working operating region by the cylinder head lifting and rolling mechanism about a horizontal geometry axis; an operation unit including a retainer maintenance tool configured to hold the valve retainer, and configured to extract, by said retainer maintenance tool, the raised sub-pallet valve retainer to a part preparation region by the movement mechanism. and mounting the valve retainer to a valve stem of a valve incorporated in the cylinder head; and a detachment device disposed between the working operating region and the part preparation region and configured to detach the pair of valve retainer key pieces in said retainer maintenance tool so that the valve stem can be inserted and cause said retainer maintenance tool to hold the pair of key pieces.

According to another aspect of the present invention, there is provided a method of controlling a mounting apparatus for mounting a valve retainer including a pair of key pieces to a cylinder head, the mounting apparatus comprising : a main pallet on which the cylinder head is placed; a sub pallet which is detachably affixed to the main pallet and to which at least the valve retainer is attached; a transport mechanism configured to horizontally transport the main pallet; a lifting mechanism under a predetermined position of a transport rail of said main pallet by said transport mechanism and configured to disconnect from said main pallet the cylinder head placed on said main pallet and raise / lower said head cylinder; a movement mechanism provided on one side of the lift mechanism and configured to detach from the main pallet the sub pallet affixed to the main pallet and raise / lower the sub pallet; a rotating mechanism configured to hold the cylinder head raised to a working operating region by the cylinder head lifting and rolling mechanism about a horizontal geometry axis; an operation unit including a retainer maintenance tool configured to hold the valve retainer, and configured to extract, by the retainer maintenance tool, the valve retainer from said raised sub pallet to a portion preparation region by the movement mechanism. and mounting the valve retainer to a valve stem of a valve incorporated in the cylinder head; and a detachment device disposed between the working operating region and the part preparation region and configured to detach the pair of valve retainer key pieces in the retainer maintenance tool so that the valve stem may be insert and cause the retainer maintenance tool to hold the pair of key pieces, the method comprising: a cylinder head movement preparation step for the work operating region and the sub pallet for the part preparation region ; a motion extraction step from the retainer maintenance tool to the valve retainer portion preparation and extraction region; a key piece detachment step, after the extraction step, moving the retainer maintenance tool to the detaching device and detaching the key piece pair in the retainer maintenance tool, so that the valve stem can be inserted, and causing the retainer maintenance tool to hold the pair of key pieces; and an assembly step, following the key piece detachment step, of moving the retainer maintenance tool to the working operating region and mounting the liner to the valve stem.

Other features of the present invention will become apparent from the following description of exemplary embodiments (with reference to the accompanying drawings).

BRIEF DESCRIPTION OF DRAWINGS

Figure 1 is a plan view of a mounting apparatus according to one embodiment of the present invention;

Figure 2 is a front view of the mounting apparatus shown in Figure 1;

Figure 3 is an explanatory view of a main pallet and a sub pallet;

Fig. 4 is an explanatory view of a rotation mechanism and a tilt mechanism;

Fig. 5 is an explanatory view of the rotation mechanism and the tilt mechanism;

Fig. 6 is a block diagram of a control device;

Fig. 7 is an explanatory view of an example of a work and parts;

Fig. 8 is an explanatory view of an example of a processing device;

Fig. 9 is an explanatory view of the operation of the mounting apparatus shown in Fig. 1;

Fig. 10 is an explanatory view of the operation of the mounting apparatus shown in Fig. 1;

Fig. 11 is an explanatory view of the operation of the mounting apparatus shown in Fig. 1;

Fig. 12 is an explanatory view of the operation of the mounting apparatus shown in Fig. 1;

Fig. 13 is an explanatory view of the operation of the mounting apparatus shown in Fig. 1;

Fig. 14 is an explanatory view of the operation of the mounting apparatus shown in Fig. 1;

Fig. 15 is an explanatory view of the operation of the mounting apparatus shown in Fig. 1;

Fig. 16 is an explanatory view showing an example of the application of the mounting apparatus shown in Fig. 1;

Fig. 17 is an explanatory view of an example of an operating tool;

Fig. 18 is an explanatory view of the operation of an operating tool shown in Fig. 14;

Fig. 19 is an explanatory view of the operations of the operating tool shown in Fig. 14 and a detachment device;

Fig. 20 is an explanatory view of the operation of an operating tool shown in Fig. 14;

Fig. 21 is an explanatory view of the operation of an operating tool shown in Fig. 14;

Fig. 22 is an explanatory view of the operation of an inspection device; and Fig. 23 is an explanatory view of the operation of the inspection device. MODE DESCRIPTION Apparatus Sketch A mounting apparatus A according to one embodiment of the present invention will be described with reference to Figures 1 to 6. Note that arrows X and Y indicate horizontal directions perpendicular to each other, and an arrow Z indicates a vertical direction across all drawings. Figure 1 is a plan view of the mounting apparatus A, and Figure 2 is a front view of the mounting apparatus A.

Mounting apparatus A includes a pallet 1, a transport mechanism 2, a lift mechanism 3, movement mechanisms 4, a rotation mechanism 5, a tilt mechanism 6, an operation unit 7, portions of tool positioning 8 and a processing device 9. Note that the X direction is the transport direction of pallet 1 by the transport mechanism 2, and the Y direction is a direction perpendicular to the transport direction.

Pallet The arrangement of pallet 1 will be described with reference to figures 1 and 3. Figure 3 is an explanatory view of pallet 1 which corresponds to a sectional view taken along line II in figure 1. Pallet 1 includes a main pallet 11 and a plurality of sub pallets 12. In this embodiment, two sub pallets 12 are used. However, one sub pallet or three or more sub pallets may be used.

A work is placed on the main pallet 11. The main pallet 11 is a plate-shaped member and has in its center an opening 11a extending through the main pallet 11. The opening 11a is of a size capable of passing a lifting portion 31 of the lifting mechanism 3 (to be described later).

The parts to be assembled in the work put on the main pallet 11 are placed on the sub pallets 12. The sub pallets 12 are members in plate format.

Sub-pallets 12 are detachably affixed to both Y-direction side portions of main pallet 11. A locking structure using a plurality of pins 13 is used as the detachment / attachment structure of sub-pallets 12 to main pallet 11. Note that the detachment / posting structure is not limited to this, and various structures may be employed. The plurality of pins 13 (a total of eight pins including two at each of the inlet and freckle ends on one side) is on the main pallet 11. Pin 13 has a small diameter portion at the distal end through a portion of step. The diameter of the distal end is smaller than that of the proximal end. Each sub pallet 12 has through holes 12a (a total of four through holes including two at each of the inlet and outlet ends on the side of the main pallet 11) which receive the distal ends of pins 13.

When pins 13 are inserted into through holes 12a, sub pallets 12 are affixed to main pallet 11, and they are positioned with respect to each other. The sub pallets 12 may be detached from the main pallet 11 by removing the pins 13 from the through holes 12a. Hence, when sub pallets 12 are moved in the Z direction they can be affixed / detached to / from main pallet 11. When sub pallets 12 are placed on the step portions of pins 13, the horizontal posture of sub pallets 12 at the time of affixing. sub pallets can be kept stably.

Note that each sub pallet 12 also has through holes 12b (a total of four through holes including two at each inlet and outlet end) that fit with the valve retainer (to be described later). <Transport Mechanism and Lifting Mechanism>

The arrangement of the transport mechanism 2 will be described with reference to figures 1 and 2. The conveyor mechanism 2 includes a pair of roll conveyors 21. The roll conveyors 21 extend in the X direction. The pair of roll conveyors 21 are arranged parallel while spaced in the Y direction, so that the main pallet 11 can be put through them. The main pallet 11 is horizontally transported by the transport mechanism 2. Note that when the main pallet 11 is transported by the transport mechanism 2, the sub pallets 12 are basically attached to the main pallet 11 and transported together with the main pallet 11.

Note that, like the conveyor mechanism 2, not only roller conveyors, but also various types of conveyor mechanisms including another conveyor, such as a belt conveyor, may be employed.

The transport mechanism 2 includes stops 22. The stops 22 include a mechanism capable of making them appear freely on the transport pallet of the main pallet 11. When the stops 22 appear, they abut against the entrance edge of the pallet. main pallet 11 in the transport direction and stop the main pallet 11 at a predetermined position (to be referred to as a stop position). In this mode, the stopping position is regulated under an RI working operating region. The working operating region R1 is an operating space in which parts are assembled.

Note that stopping position control of main pallet 11 can be done not only by mechanical stopping using stops 22, but also by controlling the drive of roller conveyors 21.

The lifting mechanism 3 will be described below with reference to figure 2. The lifting mechanism 3 is arranged between the pair of roller conveyors 21. The lifting mechanism 3 is provided under the stop position of the main pallet 11. by stops 22 (that is, under the working operating region RI in this mode). The lifting mechanism 3 includes the lifting portion 31 and a drive portion 32.

Δ lift portion 31 has a plate shape and is raised / lowered in the Z direction by drive portion 32. Δ lift portion 31 is so small that it passes through opening 11a of the main pallet 11. Drive portion 32 is formed from an electric cylinder. Any arrangement can be employed. For example, an air cylinder, a belt drive mechanism, a ball screw mechanism, a rack and pinion mechanism, or the like using a motor as a drive source may be used.

[0045] Δ lift portion 31 of the lift mechanism 3 is normally located in a downward position below the transport height of the transport mechanism 2. Figure 2 shows a state in which the lift portion 31 is located in the downward position. When the main pallet 11 stops in the stop position, the drive portion 32 is driven to raise the lift portion 31 and locate it in an upward position. In the lifting process, the lifting portion 31 passes through the opening 11a of the main pallet 11 and elevates a job placed on the main pallet 11. Such work is disconnected from the main pallet 11.

When the elevation portion 31 reaches the up position, the work is located in the work operation region RI. When the rotating mechanism 5 (to be described later) maintains the work, the work is transferred from the lifting mechanism 3 to the rotating mechanism 5. Thereafter, the lifting portion 31 lowers. When a work operation is completed, the lift portion 31 rises again, and the work is transferred from the rotation mechanism 5 to the lift mechanism 3. After that, the work is lowered by the lift portion 31 and placed in the Main pallet 11 again.

Movement Mechanism [0047] The valve retainer arrangement will be described below with reference to figures 1 and 2. The valve retainer moves the sub pallets 12. In this embodiment, two sub-pallets 12 are provided in correspondence with a pallet 1. Hence, two movement mechanisms 4 are provided. The two movement mechanisms 4 are arranged on either side of the lift mechanism 3 in the Y direction. When a sub pallet 12 is provided in correspondence with a pallet 1, a movement mechanism 4 is provided and arranged on one side of the lift mechanism. 3 (the side on which the sub pallet 12 is arranged).

Movement mechanisms 4 detach sub pallets 12 from main pallet 11 in a position (to be referred to also as a stop subheading), wherein sub pallets 12 are arranged on main pallet 11 in the stop position, and also move sub-pallets 12 for part R2 preparation regions. Part R2 preparation regions are spaces in which parts to be assembled at work are arranged. In this embodiment, the movement mechanisms 4 move the sub pallets 12 in the Z direction and the Y direction, thereby moving the sub pallets 12 between the stop subposition and the part preparation regions R2.

Each movement mechanism 4 includes a movement portion 41, a movement portion 42 and an assisting portion 43 in the Z direction. The assisting portion 43 is a plate-shaped member, and the sub-pallet 12 is placed on top of it. its upper surface. A plurality of pins 43a (a total of four pins) are on the upper surface of aid portion 43. When sub pallet 12 is placed on aid portion 43, in other words, when sub pallet 12 is captured by aid portion 43, pins 43a are inserted into through holes 12b of sub pallet 12. Sub pallet 12 and aid portion 43 thus engage with each other and are positioned with respect to each other. Note that the locking / positioning structure between the aid portion 43 and the sub pallet 12 may be any structure other than pins 43a and through holes 12b.

The movement portion 42 moves the movement portion 41 horizontally in the Y direction. The sub pallet 12 may be moved in the Z direction and the Y direction by the Z direction movement of the aid portion 43 by the movement portion 41 and the movement. Y direction of the motion portion 41 by the motion portion 42. As the drive mechanism of each of the motion portion 41 and the motion portion 42, for example, a belt drive mechanism, a screw mechanism with ball, a rack and pinion mechanism, or the like, using a motor as a drive source may be used.

Note that in this document, the aid portion 43 is moved in the Z direction. However, a Y-direction motion portion for movement of the Y-direction aid portion and a Z-direction movement portion configured to move the Y direction moving portion in the Z direction may be formed. That is, the combination of the motion portions 41 and 42 is reversed so that the Z-direction motion portion can raise / lower the auxiliary portion 43 and the Y-direction motion portion. Additionally, in this embodiment, the mechanism 4 moves the pallet 12 in both the Z direction and the Y direction. However, the sub pallet 12 can be moved only in the Z direction or only in the Y direction depending on the arrangement of the mounting apparatus A or the positions of the staging regions. of part R2.

Rotation Mechanism and Tilt Mechanism [0052] Rotation mechanism 5 and tilt mechanism 6 will be described below with reference to Figures 1, 2, 4 and 5. Figures 4 and 5 are explanatory views of the rotation mechanism 5 and the tilt mechanism 6, respectively. Figure 4 is a cross-sectional view taken along line II-II in Figure 1, and Figure 5 is a cross-sectional view taken along line III-III in Figure 2. Rotation mechanism 5 is a mechanism configured to maintain high work for the RI work operating region and to rotate it about a geometry axis L1. Tilt mechanism 6 is a mechanism configured to cause pivot mechanism 5 to pivot with respect to a horizontal geometry axis L2 in the Y direction as a pivot center. The tilt mechanism 6 can support the work maintained by the rotation mechanism 5 about the horizontal geometry axis L2. The geometry axis L1 is a horizontal geometry axis in a direction perpendicular to the horizontal geometry axis L2 or a horizontal geometry axis in the X direction when the rotation mechanism 5 is positioned horizontally. Details will be described below.

The rotation mechanism 5 includes a base portion 51, a rotation portion 52, a drive portion 53, and maintenance portions 54. The base portion 51 is a rectangular tube type member opening in the Z direction. and is supported by the tilt mechanism 6 in a swing state. The rotating portion 52 is disposed within the base portion 51 and rotatably supported by the X-direction side walls of the base portion 51 through an axial member 51a defining the geometric axis L1.

The rotating portion 52 includes a pair of wall portions 521 facing each other, and a connecting portion 522 configured for connecting the wall portions 521 to each other. Maintenance mechanisms 54 configured to maintain a work are provided in wall portions 521. The connecting portion 522 has an opening 52a capable of passing work.

Each maintenance mechanism 54 includes a locking portion 54a and an actuator 54b. The locking portion 54a fits the work. Actuator 54b moves locking portion 54a in the direction of the arrows in the upper illustration of figure 5 (the opposite direction of wall portions 521 or the left / right direction in figure 5). Actuator 54b, for example, is a ball screw mechanism, an electric cylinder or an air cylinder. Work is introduced into the rotating portion 52 through opening 52a and maintained while being interleaved by the locking portions 54a of the pair of holding mechanisms 54.

The drive portion 53 is, for example, a motor and is fixed to the base portion 51. The drive shaft of the drive portion 53 is connected to the axial member 51a. The rotating portion 52 can thus be rotated, and therefore the work maintained by the pair of maintenance mechanisms 54 can be rotated.

The tilt mechanism 6 includes a main body portion 61, an axial member 62, a drive portion 63 and leg portions 64. The main body portion 61 is supported by the pair of leg portions 64 on both sides. their ends, and the tilt mechanism 6 has a portal shape (inverted U shape) as a whole. The axial member 62 is supported in the center of the main body portion 61. The axial member 62 defines the horizontal geometrical axis L2, and is rotated by the drive portion 63 incorporated into the main body portion 61. The drive portion 63 is, for example. example an engine. The rotation mechanism 5 has the base portion 51 supported by the axial member 62 and is pivoted as a whole by the tilt mechanism 6. The work maintained by the rotation mechanism 5 can thus be heaped around the horizontal geometry axis L2.

Operation Unit, Tool Positioning Portion and Processing Device [0058] Δ operating unit 7, tool positioning portions 8 and the work are described below with reference to Figures 1 and 2.

Operation unit 7 includes a configured mechanism for extracting parts from raised sub-pallets 12 for the part preparation regions R2 and assembling the extracted parts for work located in the work operation region RI. In this embodiment, the operating unit 7 includes two sets of head portions 71 and movement devices 72. One of the tools TI through T4 (to be generally referred to as the tools T) is affixed interchangeably to each head portion 71. A plurality of T-tools (in this embodiment four different tools) are prepared according to the part types and placed in the tool positioning portions 8. In this embodiment, the tool T can simultaneously handle four identical parts and simultaneously assemble them. for a job.

[0060] Two sets of tool positioning portions 8 are prepared in correspondence with the number of head portions 71. Tools TI and T3 are placed in a tool positioning portion 8, and tools T2 and T4 are placed in the another tool positioning portion 8. The tool positioning portion 8 has a frame shape, and each tool T is placed in the corresponding tool positioning portion 8 with the affixing portion for the head portion 71 facing upwards. Head portion 71 may be moved near tool T from above and affix tool T. Head portion 71 need not always be moved closer to tool T from above. For example, a detachment / affixing portion may be provided on a side surface of the tool T, and the head portion 71 may be moved closer to the tool T from the side.

Motion device 72 is a gantry-type transfer mechanism and moves the head portions 71 in the X, Y, and Z directions. Motion device 72 includes movable rails 722 that move on a pair of rails 721. The pair of fixed rails 721 extends in the Y direction to be parallel to each other. The moving rails 722 move alternately in the Y direction as they are guided by the pair of fixed rails 721.

A slide 723 moves alternately on the movable rail 722 in the X direction. A lifting mechanism 724 is attached to the slide 723 and raises / lowers the head portion 71 in the Z direction. Like the drive mechanism of each of the rails. 722, the slides 723, and the lifting mechanisms 724, for example, a belt drive mechanism, a ball screw mechanism, a rack and pinion mechanism, or the like using a motor as a drive source. used.

The processing device 9 is disposed between the working operation region R1 and the part preparation region R2. Processing device 9 performs predetermined processes for parts extracted from sub-pallets 12 before being affixed to work. In this embodiment, processing device 9 is provided with three device types 91 to 93. Detailed examples will be described later.

In this embodiment, the part preparation region R2 is spaced from the working operation region R1 in the Y direction, and the processing device 9 is disposed therebetween. Hence, the parts extracted from the part preparation region R2 by the operation unit 7 can go through the process of the processing device 9 halfway through the movement to the working operation region R1. This shortens the movement distance of the head portion 71 and implements efficient operation.

In this embodiment, the working operating region R1, the processing device 9, the part preparation region R2 and the tool positioning portion 8 are arranged in this order along the Y direction. Dai, upon affixing. from tool T, extraction of a part, processing of the part by the processing device 9 and assembly of the part at work, the head portion 71 is moved in one direction, and efficient operation is implemented.

Note that in this embodiment, the processing device 9 is arranged on one side only in the Y direction when viewed from the working operating region R1. However, an arrangement including processing devices 9 arranged on both sides may also be employed.

Control Device [0067] The arrangement of a control device 100 of mounting apparatus A will be described below with reference to Figure 6. Figure 6 is a block diagram of control device 100. Control device 100 includes a processing unit 101, a storage unit 102, and an interface unit 103, which are connected to each other via a bus (not shown). Processing unit 101 executes a program stored in storage unit 102. Processing unit 101, for example, is a CPU. Storage unit 102, for example, is a RAM, a ROM, a hard disk or the like. Interface unit 103 is provided between processing unit 101 and external devices (a main computer B, a sensor 104 and an actuator 105), and is formed, for example, from a communication interface or an I / O interface. THE. Main computer B is a control device configured to control the general production facility including mounting apparatus A.

Sensor 104 and actuator 105 include sensors, drive sources, and the like required for operations of the transport mechanism 2, lift mechanism 3, motion mechanism 4, rotation mechanism 5, tilt mechanism 6, operation unit 7, and processing device 9. Control device 100 controls the mounting apparatus A based on an instruction from the main computer B. An example of controlling the mounting apparatus A will be described below.

Control Example [0069] A case in which the mounting apparatus A performs an assembly operation of an inlet valve and an exhaust valve on the cylinder head of an engine will be explained here. Figure 7 is an explanatory view of this. A job W is a cylinder head and will also be referred to as a cylinder head W from this point. Parts PI to P4 to be assembled are a valve seat, a valve, a valve spring and a valve retainer, respectively, and will also be referred to as the seat P1, the valve P2, a spring P3 and a retainer P4, from this point.

Retainer P4 includes a key p4, and is affixed to valve stem P2 via key p4. Retainer P4 has a cylindrical shape with a through hole for receiving key P4, and has at its upper portion a flange portion against which one end of spring P3 abuts.

The key p4 forms a through hole in which the valve stem P2 is inserted, and has, on its inner surface, a locking portion configured to engage with a locking groove formed in the valve stem P2. The key p4 has a tapered outer surface conforming to the shape of the inner wall of the through hole of retainer P4. For this reason, the key p4 may be removed to the upper side of retainer P4, but not to the lower side.

Key p4 is formed from a pair of key pieces C, each having a shape corresponding to half of the key. Retainer P4 is attached to valve stem P2 via key p4 as is generally known. More specifically, the key p4 is affixed to the stem, while the key pieces C interleave the slot engaging portion at one end of the valve stem P2. Then the key p4 is inserted into the through hole of retainer P4.

Figure 8 shows detailed examples of devices 91 through 93 of processing device 9. Processing device 9 includes peeling device 91, oil storage device 92 and inspection device 93. Peeling device 91 pushes key p4 upward and detaches key pieces C from retainer P4. In this embodiment, the detachment device 91 includes a push shaft 91a and an actuator 91b configured to raise / lower the push shaft 91a. Actuator 91b is, for example, an electric cylinder.

The oil storage device 92 contains lubricating oil 92a. Oil storage device 92 feeds lubricating oil 92a to the stem end when mounting valve P2 to cylinder head W. Inspection device 93 inspects for key pieces C remaining in tool T after operation retainer mounting bracket P4. In this embodiment, the inspection device 93 includes a pushbutton switch including a button portion 93a and a detection portion 93b configured to detect a grip on the button portion 93a.

An assembly operation of a unit will be described with reference to figures 9 to 15. A state ΞΤ1 shown in figure 9 represents a state in which pallet 1 is loaded into mounting apparatus A. As shown in figure 9, pallet 1 is carried by the transport mechanism 2 (transport step). Cylinder head W is placed on main pallet 11. Valves P2 and seals P4 are placed in sub pallet 12 on the right side in figure 9. Seats P1 and springs P3 are placed in sub pallet 12 on the left side in figure 9. As indicated by a state ST2 shown in figures 9 and 10, when the main pallet 11 reaches the stop position, transport is stopped by the stops 22, and the cylinder head W is located under the working operating region RI.

The process then changes to a motion preparation step of the cylinder head W for the working operating region R1 and sub pallets 12 for the part preparation regions R2, respectively. Firstly, the movement mechanisms 4 begin by moving sub pallets 12 to the part preparation regions R2 (a beginning of a sub pallet detach / lift step). As indicated by ST3 shown in Figure 10, the movement portions 41 lower the aid portions 43. The height of the aid portions 43 is adjusted to the height between the main pallet 11 and sub pallets 12 in the vertical direction.

Subsequently, the motion portions 42 move the motion portions 41 to the sides of the sub pallets 12. The aid portions 43 are thus located between the main pallet 11 and the sub pallets 12, as indicated by a state ST4 shown in the figure. 10. Next, the motion portions 41 raise the aid portions 43 as indicated by a state ST5 shown in figure 11. At this time, the pins 43a of the aid portions 43 are inserted into the through holes 12b of the sub pallets 12 of so that the sub pallets 12 and the aid portions 43 fit and are positioned with respect to each other. The aid portions 43 are raised to a height where the sub pallets 12 are detached from the main pallet 11.

Next, as indicated by a state ST6 shown in Figure 11, the motion portions 42 mill the motion portions 41 until the sub-pallets 12 are located under the part preparation region R2. Thereafter, the movement portions 41 raise the aid portions 43, and the sub-pallets 12 are arranged in the part preparation regions R2 (completion of the sub-pallet detachment / elevation step).

[0079] In parallel with this operation, the lifting mechanism 3 moves the cylinder head W to the working operating region RI. More specifically, the drive portion 32 is driven to raise the lift portion 31, and the lift portion 31 is located in the lift position (working lift step). During the lifting process, the lifting portion 31 passes through the opening 11a of the main pallet 11 and raises the cylinder head W placed on the main pallet 11. The cylinder head W is thus disconnected from the main pallet 11 and is located in the region. RI work operation

[0080] The rotation mechanism 5 then holds the cylinder head W located in the working operating region RI. As indicated by an ST7 state shown in Figure 12, the pair of maintenance portions 54 is actuated to interleave the cylinder head W from both sides in the X direction. The cylinder head W is thus maintained by the rotating mechanism 5. When the rotating mechanism 5 holds the cylinder head W, the drive portion 32 is driven to lower the lift portion 31 to the down position. The rotation mechanism 5 thus becomes capable of rotating the cylinder head W without interfering with the lifting mechanism 3.

[0081] With the operation described above, the cylinder head W is located in the working operating region R1, and parts PI through P4 are located in the preparation regions of part R2. The process changes from mounting parts PI to P4 to cylinder head W. The order of mounting parts P to P4 is seat P -> valve P2 -> spring P3 - retainer P4. A state ST11 shown in figure 13 represents an assembly operation of seat P1 and valve P2 (assembly step).

Seat P1 is assembled by head portion 71 and movement device 72 on the left side of FIG. 13, and valve assembly P2 is done by head portion 71 and movement device 72 on the right side. Figure 13. Four seats P1 and four valves P2 are alternately mounted.

[0083] The seat mounting procedure Pl will be described. First, the TI tool for seat maintenance Pl is affixed to the head portion 71 (Sl). Next, the seat P1 in the R2 part preparation region is maintained by the TI tool and extracted (S2: extraction step). The maintained Pl seat is moved horizontally in the Y direction to the RI working operating region and mounted to the cylinder head W (S3). Operations S2 and S3 are repeated from then on.

The procedure of assembling valve P2 will be described. Firstly, the tool T2 corresponding to valve maintenance P2 is affixed to the head portion 71 (S11). Then, valve P2 in the preparation region of part R2 is held by tool T2 and extracted (S12: extraction step). The maintained valve P2 is moved horizontally in the Y direction to the oil storage device 92, and the oil is fed to the distal end of the stem (S13). Finally, valve P2 is moved horizontally in the Y direction to the working operating region RI and mounted on cylinder head W (S14). Operations S12 to S14 are repeated thereafter.

[0085] Operation unit 7 raises / lowers tool T in direction Z from above cylinder head W and performs the operation. The rotation mechanism 5 and the inclination mechanism 6 change the posture of the cylinder head W according to the operation, so that the operation can be appropriately performed during the assembly of parts PI to P4. For example, depending on the insertion angle of valve P2 with respect to cylinder head W, the posture of cylinder head W is adjusted by tilting mechanism 6, or cylinder head W is rotated by rotation mechanism 5 (step of rotation).

Seat PI and valve P2 are mounted from the combustion chamber side of cylinder head W. On the other hand, spring P3 and retainer P4 are mounted from an opposite side. Hence, when the assembly of seat PI and valve P2 is completed, the rotating mechanism 5 feed roller the cylinder head w so that the cylinder head W is reversed (rotation step) as indicated by an ST12 state. shown in figure 13.

[0087] A state ST13 shown in figure 14 represents the assembly operation of spring P3 and retainer P4 (mounting step).

Spring assembly P3 is made by head portion 71 and movement device 72 on the left side of FIG. 14, and retainer assembly P4 is made by head portion 71 and movement device 72 on the right side. Figure 14. Four springs P3 and four retainers P4 are alternately mounted.

The spring mounting procedure P3 will be described. First, the spring maintenance tool T3 corresponding to P3 is affixed to the head portion 71 (S21). Then the spring P3 in the preparation region of part R2 is held by tool T3 and extracted (S22: extraction step). The retained spring P3 is moved horizontally in the Y direction to the working operating region RI and mounted to the cylinder head W (S23). Operations S22 and S23 are repeated from then on.

[0090] The procedure for mounting the retainer P4 will be described. First, the tool T4 for retainer maintenance P4 is affixed to the head portion 71 (S31). Then the retainer P4 in the part preparation region R2 is held by tool T4 and extracted (S32: extraction step). The retained retainer P4 is moved horizontally in the Y direction to the detachment device 91, and the pair of key pieces C is detached in the tool T4 so that the valve stem P2 can be inserted and held by the tool T4 (S33: key detachment step). Details will be described later.

Subsequently, the retainer P4 is moved horizontally in the Y direction to the working operating region RI and mounted on the cylinder head W (S34). Finally, tool T4 is moved to inspection device 93 to check whether key pair C remains in tool T4 (S35: inspection step). Details will be described later. Operations S32 through S35 are repeated thereafter. Since the detachment device 91 and the inspection device 93 are located between the working operating region R1 and the part preparation region R2, the valve retainer assembly operation can be performed efficiently.

When the assembly of all parts PI to P4 on cylinder head W is completed, the process changes to a unloading operation of cylinder head W. In this case, a reverse operation to the preparation step described above is performed. More specifically, firstly, the drive portion 32 is driven to raise the lift portion 31 and locate it in an up position. When maintenance of the cylinder head W by the pair of maintenance portions 54 of the rotation mechanism 5 is canceled, the cylinder head W is positioned at the lifting portion 31. Then the drive portion 32 is actuated to lower the maintenance portion. lift 31 to a down position. In the process of lowering the lifting portion 31, the cylinder head W is transferred to the main pallet 11 (state ST14 shown in figure 14).

In parallel with the transfer of the cylinder head W, the sub-pallets 12 are affixed to the main pallet 11. More specifically, firstly, the movement portions 41 lower the assistance portions 43. The height of the assistance portions 43 is set to be larger than that of the main pallet 11. The motion portions 42 then move the motion portions 41 to the side of the main pallet 11. The sub pallets 12 are thus located above the side portions of the main pallet 11 (state ST14 shown in figure 14). When the motion portions 41 lower the aid portions 43, the distal ends of the pins 13 are inserted into the through holes 12a of the sub pallets 12, and the sub pallets 12 are affixed to the main pallet 11. The cylinder head W is thus set in a downloadable state.

Thereafter, the conveyor mechanism 2 is actuated thereby discharging the cylinder head W as indicated by an ST15 state shown in figure 15.

As described above, in this embodiment, it is possible to carry work W so as to pass through the mounting apparatus A constituting a cell while implementing the function of simultaneously supplying work W and parts PI to P4 and the function of For this reason, for example, a layout shown in figure 16 may be employed. Fig. 16 shows an example in which a plurality of mounting apparatuses A are provided halfway through main conveyor lines 300A and 300B. Main conveyor lines 300A and 300B form conveyors. In this embodiment, roller conveyors are formed. The conveyor mechanisms 2 of the mounting apparatus A form parallel lines provided halfway through the main conveyor lines 300A and 300B.

Lifting type transfer conveyors 310A and 310B are arranged in the branches between the main conveyor lines 300A and 300B and the conveyor mechanisms 2. The transport height of the transport mechanisms 2 is different from that of the main transport lines 300A and 300B. This allows transfer conveyors 310A and 310B to transfer pallet 1 from main conveyor line 300A to conveyor mechanism 2 and to transfer pallet 1 from conveyor mechanism 2 to main conveyor line 300B.

As already described above, in this embodiment, work W may be transported to pass through mounting apparatus A. Dai, the second integration shopping cart (pallet 1) may be transported in the order of the conveyor line. 300A -> Transport mechanism 2 -> Main transport line 300B, as indicated by the arrows in Figure 16, and work W can be continuously loaded to the mounting apparatus A.

Retainer Assembly [0098] An example of the T4 tool arrangement (retainer maintenance tool) used for retainer assembly P4 will be described. Figure 17 shows a schematic view of tool T4 and a sectional view of a maintenance unit 220 provided on tool T4 for each part.

Tool T4 includes a drive unit 210, maintenance unit 220 and a support member 230 configured to support them. The support member 230 is a portion affixed / detached to / from the head portion 71. As the head portion 71 moves, the entire tool T4 moves.

[0100] Drive unit 210 is an actuator configured to move a piston 211 vertically and formed from an electric cylinder or a fluid cylinder, for example. Piston 211 is connected to a control shaft 223 of maintenance unit 220 (to be described later) through an arm member 212. When drive unit 210 moves piston 211, control shaft 223 may be moved. vertically.

Maintenance unit 220 includes a main body portion 221 which constitutes a housing. The main body portion 221 is formed from a plurality of parts and has a cylindrical shape as a whole in which the control axis 223 is inserted. The main body portion 221 has in its lower portion slots 2211 which are formed on the outer surface and into which a pair of arm members 225 is disposed, and an inner space 2212 capable of storing key pieces C or the like. Slots 2211 are disposed in opposite positions (arranged as they are moved 180 ° in the circumferential direction).

A lower end face 221a of the main body portion 221 forms a top surface against which the upper surface of retainer P4 abuts. A magnet 229 is disposed in a portion immediately above the lower end face 221a (a portion other than slots 2211). In this embodiment, retainer P4 is held by the magnetic force of magnet 229.

Each arm member 225 is pivotally supported by the main body portion 221 through a pin 2251 at its center. A containment portion 2252 that abuts against the outer surface of the control shaft 223 is formed at the upper end of each arm member 225. A hold portion 2253 is formed at the lower end of each arm member 225. A spring member The annular 226 is provided on the containment portions 2252. Spring member 226 always presses the containment portions 2252 against the outer face of the control shaft 223.

The control shaft 223 has an insertion hole 2233 as a closed hole in its center to the lower portion, and includes a solid member in the upper portion. The control shaft 223 is provided through the main body portion 221, and may move in the Z direction while being guided by the main body portion 221.

[0105] A cylindrical clamp 224 is provided around the upper portion of the control shaft 223. The clamp 224 is movable along the axial direction of the control shaft 223 and is connected to the arm member 212. A stop 222 configured to prevent that the clamp 224 is removed is fixed to the uppermost portion of the control shaft 223.

[0106] A receiving member 2231 is fixed to a position of the control shaft 223 spaced from the clamp 224 by a predetermined distance. A coil spring 2232 is affixed between the receiving member 2231 and the clamp 224. When the drive unit 210 operates to lower the arm member 212, the clamp 224 also lowers, and a force acts on the control shaft 223 through the 2232 coil spring to lower it. As a result, the control shaft 223 may be lowered.

[0107] When drive unit 210 operates to raise arm member 212, bracket 224 also raises and interferes with stop 222, and a force acts on control shaft 223 to raise it. As a result, the control shaft 223 may be raised. As described above, in this embodiment, not only movement of the entire tool T4 by the head portion 71 of the operating unit 7, but the raising / lowering of the control shaft 223 alone is also possible. Note that in this embodiment the coil spring 2232 is provided to absorb shocks. However, an arrangement securing arm member 212 and control shaft 223 may also be employed.

An outside diameter change portion 2234 which continuously changes the outside diameter in the axial direction is formed in half on the control shaft 223. The outside diameter change portion 2234 includes a minimum diameter portion 2234a, a diameter portion. intermediate 2234b and a maximum diameter portion 2234c. The outer diameter change portion 2234 controls the open / closed state of the arm members 225. In a state shown in Figure 17, the confining portions 2252 abut against the maximum diameter portion 2234c and the arm members 225 are in a closed state, in which the holding portions 2253 are closed. When the confining portions 2252 abut against the minimum diameter portion 2234a, an open state is obtained, in which the holding portions 2253 are open. When the confining portions 2252 confine against the intermediate diameter portion 2234b, an intermediate state is obtained, in which the holding portions 2253 are slightly opened.

An axle body 227 is coaxially inserted into the insert hole 2233 so as to be movable in the axial direction. The shaft body 227 has at its upper portion a long hole 2272 extending therethrough in the radial direction. A shaft (pin) 2235 attached to the control shaft 223 is inserted into the long hole 2272 for adjusting the movement range of the shaft body 227 at the insertion hole 2233. The lower portion of the shaft body 227 is a solid shaft portion 2271. , whose diameter is smaller than the minimum inside diameter of the key p4.

In the lower portion of the control shaft 223, a cylindrical member 228 is provided in the inner space 2212. The cylindrical member 228 is freely movable in the vertical direction in the range regulated by the axis 2235 in the inner space 2212 and is provided to suppress the key. p4 from above by your weight.

[0111] The mounting operation of retainer P4 by tool T4 will be described below with reference to figures 18 to 23 and figure 14 already explained.

The operation S32 described concerning state ST13 shown in figure 14 will be explained first. In operation S32, retainer P4 is held by tool T4 and extracted from part preparation region R2. When the printhead portion 71 moves to the preparation region of part R2 and lowers, and the lower end face 221a of the main body portion 221 abuts against the upper surface of retainer P4, retainer P4 is held by magnet 229. A state ST21 shown in Figure 18 represents a state in which retainer P4 is held by maintenance unit 220. Key pair C is located in retainer P4.

[0113] The operation S33 described concerning state ST13 shown in figure 14 will be explained below. In operation S33, the pair of key pieces C is detached in tool T4 so that valve stem P2 can be inserted and maintained by tool T4. The head portion 71 moves to the detachment device 91 shown in Fig. 8, and lowers, and retainer P4 is adjusted in the detachment device 91 as indicated by a state ST22 shown in Fig. 19.

The drive unit 210 is driven to lower the control shaft 223, and the confinement portions 2252 of the arm members 225 are confined against the minimum diameter portion 2234a. An open state in which the locking portions 2253 are thus opened is obtained, as indicated by a state ST22, and the key pieces C may be introduced into the inner space 2212.

Thereafter, actuator 91b of detachment device 91 is actuated to raise the push shaft 91a. The diameter of the thrust shaft 91a is larger than that of the inside diameter of the key p4 and smaller than the inside diameter of the retainer P4. Hence, as indicated by a state ST23 shown in figure 19, the key p4 is pushed to the maintenance unit 220 through retainer P4. The key p4 is pushed into the inner space 2212 while being pressed by the cylindrical member 228 from above. The pair of key pieces C is detached to the left and right sides by the magnetic force of the magnet 229. The key pieces C are thus kept in the maintenance unit 220.

[0116] The operation S34 described concerning state ST13 shown in figure 14 will be explained below. In operation S34, retainer P4 is moved horizontally in the Y direction to the working operating region RI and mounted to cylinder head W. As described above, retainer P4 is held at the lower end of maintenance unit 220 by the magnetic force of the 229, and the key pieces C are kept in the maintenance unit 220 in a detached state. The head portion 71 moves in the cylinder head W and lowers, and the upper end of the valve stem P2 enters from the lower end of the maintenance unit 220, as indicated by an ST24 state shown in figure 20. Note that the Figure 20 does not illustrate spring P3.

Tool T4 is lowered to a portion where the upper end engaging portion of valve stem P2 is located between the key pieces C.

In this case, the drive unit 210 is driven to lift only the control shaft 223 and cause the confinement portions 2252 of the arm members 225 to confine against the maximum diameter portion 2234c. The locking portions 2253 are thus set in a closed state and press the key pieces C to the rod side against the magnetic force of the magnet 229, and the key pieces C engage with the locking portion of the upper end of the rod .

[0118] In this state, tool T4 cannot be removed from valve P2. To do this, the drive unit 210 is driven to slightly lower only the control shaft 223 and cause the confinement portions 2252 of the arm members 225 to confine against the intermediate diameter portion 2234b. The holding portions 2253 are thus set in an intermediate state, in which they are slightly opened, as indicated by an ST25 state. When the clamping portions 2253 are slightly opened, the key pieces C may be moved in a peeling direction again by the magnetic force of magnet 229. However, since the clamping portions 2253 are not in an open state, the key pieces C and the locking portion of the upper end of the rod are at least in a semi-locking state.

[0119] In this state, the head portion 71 is raised for lifting the entire tool T4. Retainer P4 begins to rise as maintenance unit 220 is raised. However, the key pieces C do not follow. As long as the key pieces C enter retainer P4, and the locking state between the key pieces C and the upper end locking portion of the stem is maintained, tool T2 may be removed from valve P2. As a result, as indicated by an ST26 state shown in Figure 21, retainer P4 is mounted on valve stem P2. Note that figure 21 does not illustrate spring P3.

The operation S35 described with respect to state ST13 shown in figure 14 will be explained below in operation S35, tool T4 is moved to the inspection device 93 shown in figure 8 to check whether the pair of key pieces C remains in the tool T4 (on maintenance unit 220). This is an operation to confirm that retainer P4 has been correctly mounted on valve stem P2. If assembly fails, key pieces C will remain in maintenance unit 220, or retainer P4 will be held at the end of maintenance unit 220 by magnetic force. To avoid this, an inspection is conducted.

The head portion 71 moves to the inspection device 93, and the maintenance unit 220 lowers to the inspection device 93, as indicated by a state ST27 shown in figure 22. When the head portion 71 decreases by a predetermined amount, the maintenance unit 220 enters the inspection device 93 by a predetermined amount.

As indicated by an ST28A state shown in Fig. 23, when key pieces C remain in maintenance unit 220, key pieces C interfere with button portion 93a and tighten it. Detection portion 93b detects tightness in button portion 93a, thereby detecting that key pieces C remain. Therefore, it is determined that retainer assembly P4 has failed.

[0123] As indicated by an ST28B state shown in Fig. 23, when the key pieces C do not remain in the maintenance unit 220, the button portion 93a enters the inner space 2212, but is not tightened. Detection portion 93b detects non-tightening of button portion 93a, thereby detecting that key pieces C do not remain. Therefore, it is determined that assembly of retainer P4 was successful.

Although the present invention has been described with reference to the exemplary embodiments, it is to be understood that the invention is not limited to the foregoing exemplary embodiments. The scope of the following claims is to be in accordance with the broader interpretation to encompass all such modifications and equivalent structures and functions.

Claims (7)

Mounting apparatus for mounting a valve retainer including a pair of key pieces for a cylinder head, comprising: a main pallet on which the cylinder head is placed; a sub pallet which is detachably affixed to said main pallet and to which at least one valve retainer is placed; a transport mechanism configured to horizontally transport said main pallet; a lifting mechanism under a predetermined position of a transport rail of said main pallet by said transport mechanism, and configured to disconnect, from said main pallet, the cylinder head placed on said main pallet and raise / lower said said cylinder head; a movement mechanism provided on one side of said lift mechanism and configured to detach said sub pallet from said main pallet affixed to said main pallet and raise / lower said sub pallet; a rotating mechanism configured to hold the cylinder head raised to a working operating region by said cylinder head lifting and rolling mechanism about a horizontal geometry axis; an operation unit including a retainer maintenance tool configured to hold the valve retainer, and configured to extract, by said retainer maintenance tool, the valve retainer from said raised sub pallet to a portion preparation region by said mechanism movement and mounting of the valve retainer to a valve stem of a valve incorporated in the cylinder head; and a detachment device disposed between the working operating region and the part preparation region and configured to detach the pair of valve retainer key pieces in said retainer maintenance tool so that the valve stem can be inserted and cause said retainer maintenance tool to hold the pair of key pieces. Apparatus according to claim 1, further comprising an inspection device disposed between the working operating region and the part preparation region and configured to inspect whether the pair of key pieces remain in said part. retainer maintenance tool. Apparatus according to claim 1, characterized in that the part preparation region is spaced from the working operation region in a direction perpendicular to a transport direction of said transport mechanism, said movement mechanism being able to moving said sub pallet in a perpendicular direction and in a vertical direction with respect to said main pallet, said operating unit comprises: a head portion to which a plurality of mounting tool types, including said retainer maintenance tool, are affixed interchangeably; and a movement device configured to move said head portion in the transport direction, in the perpendicular direction and in the vertical direction, the mounting apparatus further comprises a tool positioning portion in which the plurality of mounting tool types are placed. , and the work operating region, the part preparation region and said tool positioning portion are arranged in an order named in the perpendicular direction. Apparatus according to claim 3, characterized in that the movement mechanism comprises: a first movement portion configured to move said sub-pallet in the vertical direction; and a second movement portion configured to move said first movement portion in the perpendicular direction. Apparatus according to claim 1, characterized in that said transport mechanism comprises a conveyor, said conveyor constituting one of a plurality of lines provided halfway through a main conveyor line. A method of controlling a mounting apparatus for mounting a valve retainer including a pair of key pieces to a cylinder head, the mounting apparatus comprising: a main pallet on which the cylinder head is placed; a sub pallet which is detachably affixed to the main pallet and to which at least the valve retainer is attached; a transport mechanism configured to horizontally transport the main pallet; a lifting mechanism under a predetermined position of a transport rail of said main pallet by said transport mechanism and configured to disconnect from said main pallet the cylinder head placed on said main pallet and raise / lower said head cylinder; a movement mechanism provided on one side of the lift mechanism and configured to detach from the main pallet the sub pallet affixed to the main pallet and raise / lower the sub pallet; a rotating mechanism configured to hold the cylinder head raised to a working operating region by the cylinder head lifting and rolling mechanism about a horizontal geometry axis; an operation unit including a retainer maintenance tool configured to hold the valve retainer, and configured to extract, by the retainer maintenance tool, the valve retainer from said raised sub pallet to a portion preparation region by the movement mechanism. and mounting the valve retainer to a valve stem of a valve incorporated in the cylinder head; and a detachment device disposed between the working operating region and the part preparation region and configured to detach the pair of valve retainer key pieces in the retainer maintenance tool so that the valve stem may be insert and cause the retainer maintenance tool to maintain the pair of key pieces, the method comprising: a step preparing the cylinder head movement for the working operating region and the sub-pallet for the working region. part preparation; a motion extraction step from the retainer maintenance tool to the valve retainer portion preparation and extraction region; a key piece detachment step, after the extraction step, moving the retainer maintenance tool to the detaching device and detaching the key piece pair in the retainer maintenance tool, so that the valve stem can be inserted, and causing the retainer maintenance tool to hold the pair of key pieces; and an assembly step, following the key piece detachment step, of moving the retainer maintenance tool to the working operating region and mounting the liner to the valve stem. Method according to claim 6, characterized in that the mounting apparatus further comprises an inspection device arranged between the working operating region and the part preparation region, and configured to inspect the pair of pieces. The keyway remains in the retainer maintenance tool, and the method further comprises an inspection step, after the assembly step, of moving the retainer maintenance tool to the inspection device and inspecting whether the pair of key pieces remain in the retainer. retainer maintenance tool.