JP2006007371A - Assembling machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an assembling machine capable of being compactly composed. <P>SOLUTION: A composite assembling machine (the assembling machine) 1 carries out at least two or more kinds of assembling works such as fastening, press fitting, caulking, bending or measurement of assembling components to a work. The composite assembling machine 1 comprises a tool placing stand 25 for keeping working tools 4 and 5, a working head part 21 for holding the working tool 4 or 5, a head moving mechanism 2 for moving the working head part 21, and a rotation table 3 for holding and rotating the work 91. The composite assembling machine 1 is designed to make the working tool 4 or 5 approach an assembling working site in the work 91 held by the rotation table 3 by the movement of the working head part 21 moved by a forward/backward moving shaft (a second moving shaft) 22, a vertical moving shaft (a first moving shaft) 23 of the head moving mechanism 2 and the rotation of the rotation table 3. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an assembling machine that performs assembling work such as tightening, loosening, press-fitting, caulking, bending, or measuring of an assembly part with respect to a workpiece.

  For example, when assembling a large number of assembly parts (workpieces) in an automobile using bolts, the bolts are automatically tightened by a machine. As an assembly machine (nut runner) for tightening such bolts, for example, there is one disclosed in Patent Document 1. The nut runner of this patent document 1 has a tool switching means, and can switch the tool according to the type of bolt to be tightened.

Further, when the bolts are tightened to the respective bolt tightening positions of the work by the nut runner, the work is placed on the table, and the work and the nut runner are relatively moved in the three directions of front and rear, left and right, and up and down.
Moreover, as what performs a process by moving tools, such as a nut runner, to 3 directions, there exists a machining center shown in patent document 2, for example. In this machining center, a workpiece is moved in the XY plane by an X-axis table that can move in the X-axis direction (left-right direction) and a Y-axis table that can move in the Y-axis direction (front-back direction). The workpiece is processed by a tool attached to a Z-axis table movable in the direction (vertical direction).

  However, as shown in Patent Document 2, when the workpiece is moved in the left-right direction and the front-rear direction using the two tables of the X-axis table and the Y-axis table, the configuration of the moving device for performing this movement, It becomes difficult to make the assembly machine compact.

JP 2002-86366 A JP 2000-158217 A

  The present invention has been made in view of such conventional problems, and an object of the present invention is to provide an assembling machine that can be compactly configured.

The present invention is an assembly machine capable of assembling assembly parts with respect to a workpiece,
A rotary table for holding and rotating the workpiece;
A work head that holds a work tool for performing the above assembly work;
A head moving mechanism having a first moving shaft for moving the work head portion to the work held on the rotary table and a second moving shaft for moving the work head in a direction intersecting the first moving shaft; And
Assembling work site in the work holding the work tool on the rotary table by the movement of the work head part by the first moving shaft and the second moving shaft of the head moving mechanism and the rotation of the rotary table. The assembling machine is characterized in that the assembling machine is configured to approach the machine.

  The assembling machine according to the present invention has a head moving mechanism having a first moving shaft and a second moving shaft, and the head moving mechanism moves the work head portion holding the work tool in two directions. . Further, the assembly machine has a rotary table that holds and rotates the workpiece, and the work tool held by the work head unit is moved by the relative movement between the work head unit and the rotary table. Any assembly work site can be approached.

As a result, the assembly machine controls the position of the work head in two directions and the rotational position of the rotary table, thereby bringing the work tool closer to any assembly work site on the workpiece and performing the assembly work. It can be carried out. Therefore, it is not necessary to move the work head unit in directions other than the above two directions, and the assembly machine can be provided with a head moving mechanism and a rotary table in a compact manner.
Therefore, according to the present invention, the assembly machine can be configured in a compact manner.

A preferred embodiment of the present invention described above will be described.
In the present invention, it is preferable that the rotary table and the head moving mechanism are disposed on a gantry.
In this case, the mount on which the head moving mechanism and the rotary table are arranged can be made smaller.

Further, the assembly machine has a control device capable of controlling each operation in the work tool, the head moving mechanism, and the rotary table, and the control device moves the head in the gantry or in the gantry. It is preferable that it is disposed in at least one of the portions located behind the mechanism.
In this case, the control device can be arranged directly on the assembly machine, and the arrangement is easy. In addition, the control device can be disposed inside the gantry or behind the head moving mechanism, and the control device can be integrated with the assembly machine so that the entire assembly machine including the control device can be made compact.

  The assembly machine has a tool table for storing the work tool, and the work tool is prepared in a plurality of types for performing a plurality of types of assembly work. Each of the assembly machines is stored in the tool table, and the assembly machine sequentially holds the plurality of types of assembly work by holding one of the plurality of types of work tools stored in the tool table in the work head unit. It is preferable to configure such that (Claim 4).

In this case, the assembling machine performs assembly work by sequentially changing each work tool stored in the tool table to the work head unit. That is, the assembling machine takes out a work tool corresponding to the type of assembling work from the tool mounting table and holds it on the work head unit, and performs the assembling work. Thereafter, the assembling machine can return the work tool after the assembly work to the tool pedestal, take out another work tool from the tool pedestal, and hold it again on the work head unit to perform another assembling work.
Therefore, in the assembling machine, it is possible to sequentially perform at least two kinds of assembling work for the assembly parts, and it is possible to efficiently perform a plurality of kinds of assembling work in a short time.

Further, it is preferable that the assembly work is any one of tightening, loosening, press-fitting, caulking, bending, and measurement.
In this case, the assembly machine can efficiently perform at least two of the tightening, loosening, press-fitting, caulking, bending, and measurement.

One of the work tools is a tightening tool for tightening or loosening a bolt or nut as the assembly part, and the tightening tool includes a tightening rod engaged with the bolt or nut, And a tightening actuator that rotates the tightening rod about its axial direction.
In this case, when the assembly machine holds the tightening tool on the work head, the assembly machine engages the bolt or nut with the tightening rod and operates the tightening actuator to Alternatively, the nut can be tightened or loosened.

One of the work tools is a press-fit tool for press-fitting a press-fit part as the assembly part, and the press-fit tool includes a press-fit rod engaged with the press-fit part, and the press-fit rod in the axial direction. A press-fitting actuator to be moved (claim 7).
In this case, when the assembly machine holds the press-fitting tool on the work head, the press-fitting component is engaged with the press-fitting rod and the press-fitting actuator is operated to press the press-fitting component into the work. It can be carried out.

  The press-fitting tool includes a press-fitting main body that holds the press-fitting rod so as to be movable, and a link member that engages with the press-fitting rod and the press-fitting actuator. It is arranged so as to be rotatable about a rotation fulcrum part with respect to the main body part, and the length from the rotation fulcrum part to one end part engaged with the press-fit rod is from the rotation fulcrum part. Preferably, the length is shorter than the length to the other end engaged with the press-fitting actuator, and the press-fitting rod is configured to generate a larger pressure input than an output load by the press-fitting actuator. 8).

  In this case, the press-fitting tool can transmit the output load by the press-fitting actuator to the press-fitting rod via the link member. And the pressure input which a press-fit rod produces can be easily enlarged by the setting of the ratio of the length from the rotation fulcrum part of a link member to each edge part.

One of the working tools is a caulking tool for caulking the caulking part as the assembly part, and the caulking tool includes an caulking rod that engages with the caulking part, and the caulking rod is subjected to impact force. And an impact force generating means for moving in the axial direction.
In this case, when the assembly machine grips the caulking tool on the work head, the assembling machine engages the caulking part with the caulking rod and generates an impact force by the impact force generating means so that the caulking rod is moved in the axial direction. The caulking parts can be caulked with respect to the workpiece by being moved.

  The impact force generating means includes a caulking main body portion, a guide rod disposed in the caulking main body portion, an impact block slidable along the guide rod, and an impact force applied to the impact block. A spring member, and a sliding actuator that slides the impact block along the guide rod so as to elastically deform the spring member. The caulking rod is disposed at a distal end portion of the guide rod. And a step portion having a diameter larger than the diameter of the guide rod, and the impact force generating means is configured such that the movable portion of the slide actuator engages with the impact block and the impact block is retracted. When the engagement state between the movable part and the impact block is released, the spring member is elastically deformed. By colliding with the step portion of the caulking rod hammer block is advanced by receiving a repulsive force of the spring member is preferably configured so as to advance the caulking rod by the impact force (claim 10).

In this case, the impact force generation means can generate the impact force with a simple configuration using the guide rod, impact block, spring member, slide actuator, and the like.
In this case, not only the repulsive force by the spring member is used, but also the impact force can be generated more effectively by utilizing the weight of the impact block.

  Further, one of the work tools is a bending tool for bending a lock plate for preventing the hexagon bolt or the hexagon nut from being loosened as the assembly part, and the bending tool includes a bending main body portion, the bending portion, and the bending tool. A bending arm member that is rotatable about the rotation fulcrum portion with respect to the main body portion and that engages with the lock plate, and for rotating the bending arm member around the rotation fulcrum portion. The bending actuator may be provided (claim 11).

  In this case, when the hexagon bolt or the hexagon nut is fastened to the work, the lock plate is sandwiched between the work and the work. When the assembly machine grips the bending tool on the work head, the assembly machine engages the lock plate with the bending arm member and operates the bending actuator to bend the lock plate disposed on the workpiece. This can be made to face one side of the head of the hex bolt or hex nut.

Further, the bending arm member has a length from the rotation fulcrum portion to the bending engagement claw that engages with the lock plate, and is engaged with the movable portion of the bending actuator from the rotation fulcrum portion. Preferably, the bending force is shorter than the length to the engaging portion to be generated, and a bending force larger than the output load by the bending actuator is generated.
In this case, the bending tool generates the bending arm member by setting the ratio of the length from the rotation fulcrum portion of the bending arm member to the bending engagement claw and the length to the engagement portion. The bending force to be made can be easily increased.

The bending tool preferably includes a rotation actuator that rotates the bending arm member and the bending actuator about a vertical axis.
In this case, it is possible to easily bend the various lock plates having different bending directions by operating the rotating actuator and changing the direction of the bending tool.

Further, one of the work tools is a measurement tool that measures an assembly state of an assembly part assembled on the workpiece, and the measurement tool is configured to measure the position and inclination of the assembly component with respect to the workpiece. (Claim 14).
In this case, the assembly machine can measure the position and inclination of the assembly part with respect to the workpiece by using the measurement tool when the measurement tool is gripped by the work head unit. Therefore, it is possible to easily detect the occurrence of assembly failure of an assembly part by measuring whether the assembly part is assembled at a normal position with a normal inclination with respect to the workpiece.

  The measurement tool includes a measurement main body and a measurement unit arranged to be floatable with respect to the measurement main body, and the measurement unit includes a plurality of contact references that contact the workpiece. A plurality of measuring elements that contact the assembly part assembled on the workpiece, and each measuring element has a contact amount that changes according to the amount of protrusion of each detection end. The measurement tool is configured to measure a distance from the surface to each detection end, and the measurement tool is configured to detect the detection end of each measuring element in a state where the contact reference surface is in contact with the workpiece. It is preferable that the position and the inclination of the assembly part with respect to the workpiece are measured by changing the distance from the contact reference surface to the detection end when the contact is made with the assembly part. (Claim 15).

In this case, when measuring the assembly part with the measurement tool held by the work head unit, when the contact reference surface of the measurement unit in the measurement tool is brought into contact with the workpiece, the measurement unit is attached to the measurement main body unit. On the other hand, by performing floating, each contact reference surface can be reliably contacted with the workpiece.
Then, in a state where each contact reference surface is securely in contact with the work, the detection end portion of each measuring element comes into contact with the assembly part assembled with the work. At this time, if there is an error in the position and inclination of the assembly part with respect to the workpiece, the amount of protrusion of each detection end changes, and the distance from each contact reference surface to each detection end changes.

  As a result, errors in the position and inclination of the assembly part relative to the workpiece can be measured, and it is accurately inspected whether the assembly part is assembled at the normal position and inclination (design position and inclination) with respect to the work. be able to. Therefore, by using the measurement tool, it is possible to accurately inspect whether there is an assembly failure of the assembly part with respect to the workpiece.

  The tool table includes a master jig that contacts the contact reference surfaces of the measurement tool stored in the tool table and the detection end of each measuring element. Is formed in a shape that reproduces the normal position and inclination of the assembly part in an assembled state with respect to the workpiece, and each measuring element has its detection end and each contact reference surface. It is preferable that the projection amount of each detection end is set as a reference projection amount in a state where the contact is in contact with the master jig (claim 16).

In this case, just by placing the measurement tool on the tool stand, the assembly parts are assembled at regular positions and inclinations with respect to the workpiece from each contact reference plane to the detection end of each measuring element. The distance can be easily formed. And each measuring element can set the amount of protrusion of each detection end when each contact reference surface and each detection end are in contact with the master jig as a reference protrusion when measuring. it can.
As a result, when measuring the position and inclination of the assembly part with respect to the workpiece, the protruding amount of the detection end of each measuring element is on the plus side (side on which the protruding amount increases) or minus side with respect to the reference protruding amount. By detecting how much it has changed (to the side where the protrusion amount decreases), it is possible to easily measure errors in the position and inclination of the assembly part relative to the workpiece.

  Further, the rotary table includes a mounting table for mounting the pallet loaded with the workpiece, a table motor for rotating the mounting table, and the loading of the pallet loaded with the workpiece onto the mounting table. A transport conveyor for carrying out, and a table moving mechanism for moving the mounting table and the table motor. The table moving mechanism moves the mounting table and the table motor to the workpiece by the transport conveyor. A loading / unloading position for loading and unloading the loaded pallet, and a position closer to the head moving mechanism than the loading / unloading position, and rotating the pallet placed on the mounting table by the table motor It is preferable to be configured to be moved to the rotational work position for making it (claim 17).

  In this case, when assembling the assembly part with respect to the workpiece, the rotary table is moved from the carry-in / carry-out position to the rotary work position and brought close to the head moving mechanism. Thus, when the rotary table rotates, it is possible to prevent a part of the pallet or work held on the rotary table from jumping out of the assembly machine and interfering with surrounding objects.

  In this case, when the rotary table is set to the carry-in / carry-out position, the positional relationship between the head moving mechanism and the rotary table can be made appropriate. Therefore, the assembly machine can maintain the compact configuration and can appropriately change the position of the rotary table both when carrying in and out the pallet and when performing the assembly work.

Below, the Example concerning the assembly machine of this invention is described with FIGS.
As shown in FIGS. 1 to 3, the assembling machine 1 according to the present embodiment performs a composite assembly that performs at least two kinds of assembling operations such as tightening, loosening, press-fitting, caulking, bending, or measuring of an assembly part 92 with respect to a work 91. Machine 1.
The composite assembly machine 1 includes a tool table 25 that stores two or more types of work tools 4 to 8 for performing assembly work, and two or more types of work tools 4 to 8 stored in the tool table 25. It has a work head unit 21 that holds one of them, a head moving mechanism 2 that moves the work head unit 21, and a rotary table 3 that holds and rotates the work 91.

The head moving mechanism 2 also includes a first moving shaft 23 that moves the work head unit 21 closer to the work 91 held on the rotary table 3, and a second moving unit that moves the work head unit 21 in a direction that intersects the first moving shaft 23. And a moving shaft 22. The first movement shaft 23 in this example is a vertical movement shaft 23 that moves the work head portion 21 in the vertical direction H, and the second movement shaft 22 is a front-back movement shaft 22 that moves the work head portion 21 in the front-rear direction D. It is.
The work head unit 21 is configured to move in the front-rear direction D and the vertical direction H, but does not move in the left-right direction W. The rotary table 3 is disposed in front of the head moving mechanism 2 in the front-rear direction D.
The tool table 25, the head moving mechanism 2, and the rotary table 3 are disposed on one frame 11.

The composite assembly machine 1 rotates any one of the work tools 4 to 8 by moving the work head unit 21 by the front and rear moving shaft 22 and the vertical moving shaft 23 of the head moving mechanism 2 and by rotating the rotary table 3. The work 91 held on the table 3 is configured to approach the assembly work site.
The movement direction of the vertical movement axis (first movement axis) 23 is a direction substantially parallel to the rotation center axis of the rotary table 3, and the movement direction of the front / rear movement axis (second movement axis) 22 is the rotation table 3. This is a direction substantially orthogonal to the rotation center axis of the.

  The composite assembly machine 1 of this example will be described in the order of the control device 151, the tool mounting table 25, the work head unit 21, the rotary table 3, the work 91, the assembly component 92, and the work tools 4 to 8, and finally the composite. The effects and the like of the entire assembly machine 1 will be described.

(Control device)
As shown in FIGS. 1 to 3, in the composite assembly machine 1 of this example, each operation in each of the work tools 4 to 8, the tool mounting table 25, the work head unit 21, the head moving mechanism 2, and the rotary table 3 is controlled by a control device 151. Controlled by. The control device 151 is disposed in a control panel (control box) 15, and the control panel 15 is divided into an inside of the gantry 11 and a portion of the gantry 11 located behind the head moving mechanism 2. It is installed.

  More specifically, the gantry 11 includes a moving mechanism disposing portion 12 for disposing the head moving mechanism 2 and a table disposing portion 13 for disposing the rotary table 3. 12 is formed to a position higher than the table disposition portion 13. Spaces 14 for disposing the control panel 15 are formed in the inside of the moving mechanism disposing portion 12 and in the vicinity of the rear end portion on the upper surface of the moving mechanism disposing portion 12. The control panel 15 is arranged in each space 14 so as not to protrude in the left-right direction W of the gantry 11.

(Tool stand)
As shown in FIGS. 1 and 2, the tool mounting table 25 of this example includes a plurality of tool storage units 251 that store two or more types of work tools 4 to 8. More specifically, the tool table 25 includes two tool storage units 251 so as to store the tightening tool 4 and the bending tool 5. In addition, the tool mounting table 25 includes a mounting table moving mechanism 252 for disposing each tool storage unit 251 that stores two or more types of the work tools 4 to 8 below the work head unit 21.

  The tool table 25 of this example can be rotated around the axis in the vertical direction H of the composite assembly machine 1 by the table moving mechanism 252, and the tool storage units 251 are sequentially arranged below the work head unit 21 so as to face each other. It is configured. Further, when the work head unit 21 operates the front-rear movement shaft 22 of the head moving mechanism 2 and moves in the front-rear direction D, the work head unit 21 and the work head unit 21 move on the movement trajectory in the front-rear direction D. The gripped portions 411, 541, 611, 711, and 811 of the work tools 4 to 8 stored in the arranged tool storage portion 251 are configured to be engaged (see FIGS. 10 to 20).

(Working head)
As shown in FIGS. 1 to 3, the work head portion 21 has a grip portion 211 for gripping any one of the work tools 4 to 8, and the grip portion 211 is gripped by a lock cylinder 212. Configured to generate force. The work head unit 21 operates the lock cylinder 212 in a state in which the grip part 211 and the gripped parts 411, 541, 611, 711, 811 of the work tools 4 to 8 are engaged. Any of the tools 4 to 8 can be gripped (see FIGS. 10 to 20).

(Rotating table)
As shown in FIGS. 4 to 9, the rotary table 3 of this example includes a mounting table 31 for mounting the pallet 90 on which the workpiece 91 is loaded, a table motor 32 for rotating the mounting table 31, and A transport conveyor 33 that loads and unloads the pallet 90 loaded with workpieces 91 onto and from the mounting table 31 and a table moving mechanism 34 that moves the mounting table 31 and the table motor 32 are provided.
4, 6, and 8, the table moving mechanism 34 includes a loading table 31 and a table motor 32, a loading / unloading position 301 for loading and unloading the pallet 90 by the transfer conveyor 33, and As shown in FIGS. 5, 7, and 9, the table motor 32 is configured to move the pallet 90 mounted on the mounting table 31 to a rotational work position 302 for rotating the pallet 90. The rotational work position 302 is formed as a position closer to the head moving mechanism 2 than the carry-in / carry-out position 301.

  As shown in FIGS. 4 to 9, the table moving mechanism 34 of the present example raises the placing table 31 and the table motor 32, and lifts the pallet 90 from the conveying conveyor 33 and places it on the placing table 31. A mechanism unit 35 and a back-and-forth movement mechanism unit 36 that moves the mounting table 31 and the table motor 32 to the rear side in the front-rear direction D of the composite assembly machine 1 are provided.

The ascending mechanism unit 35 includes an ascending cylinder 351, a tapered block 352 disposed at the tip of the rod of the ascending cylinder 351, a roller member 354 that rolls on the tapered surface 353 of the tapered block 352, An upper and lower frame 355 that supports the roller member 354 and has a mounting table 31 and a table motor 32 attached thereto, and an upper and lower slide guide 356 that guides the vertical movement of the upper and lower frame 355 are provided.
The forward / backward movement mechanism 36 is engaged with the forward / backward movement cylinder 361, the rod tip of the forward / backward movement cylinder 361, the slide base 362 to which the entire ascending mechanism 35 is attached, and the slide base 362. And a front / rear slide guide 363 for guiding the front / rear movement.

As shown in FIGS. 4 and 6, when the pallet 90 loaded with the work 91 is carried into the rotary table 3, the mounting table 31 and the table motor 32 are moved to the carry-in / out position 301, and the conveyor 33 is operated to carry the pallet 90 up to the upper side of the mounting table 31.
Next, as shown in FIG. 7, the tapered block 352 is slid by the lifting cylinder 351 in the lifting mechanism 35 of the table moving mechanism 34. At this time, the roller member 354 rolls on the tapered surface 353 of the tapered block 352, so that the upper and lower frames 355 to which the mounting table 31 and the table motor 32 are attached are raised while being guided by the upper and lower slide guides 356. Thereby, the pallet 90 is lifted from the transport conveyor 33 and placed on the placement table 31.

Next, as shown in FIG. 5, the entire ascending mechanism 35, that is, the mounting table 31 on which the pallet 90 is arranged, the table motor 32, and the like are combined by the longitudinal movement cylinder 361 in the longitudinal movement mechanism section 36 of the table movement mechanism 34. The assembly machine 1 is moved rearward in the front-rear direction D.
Thus, as shown in FIGS. 5, 7, and 9, when assembling each of the assembly parts 92 with respect to the work 91, the rotary table 3 is moved from the loading / unloading position 301 to the rotating work position 302, It can be brought close to the head moving mechanism 2. Therefore, when the turntable 3 rotates, a part of the pallet 90 held on the turntable 3 can be prevented from jumping forward in the front-rear direction D of the composite assembly machine 1.
Further, when the rotary table 3 is set to the loading / unloading position 301, the positional relationship between the head moving mechanism 2 and the rotary table 3 can be made appropriate.

(Workpieces and assembly parts)
The composite assembly machine 1 of this example assembles an automatic transmission that changes the output of an engine or the like. As shown in FIG. 1, two work tools are stored in the tool table 25 of the composite assembly machine 1, and one is a tightening tool 4 for tightening a hexagon bolt 92 </ b> B as an assembly part 92. The other one is a bending tool 5 for bending a lock plate 92C for preventing the hexagon bolt 92B from loosening.

  As shown in FIG. 10, the composite assembly machine 1 is configured such that the internal part 92A is assembled to the case part 91A by a hexagon bolt 92B. The case component 91A and the internal component 92A as the work 91 are in a state where the internal component 92A is temporarily fixed to the case component 91A by the hexagon bolt 92B (the extent that the hexagon bolt 92B and the internal component 92A are not detached from the case component 91A. Are attached to the rotary table 3 of the composite assembly machine 1.

The case component 91A is formed with a screw hole 911 to be screwed with the screw portion of the hexagon bolt 92B, and the internal component 92A is screwed with the screw portion of the hexagon bolt 92B to the screw hole 911 of the case component 91A. Thus, it is assembled to the case component 91A.
When the work 91 is carried into the turntable 3, the hexagon bolt 92B is brought into contact with one side surface of the head of the hexagon bolt 92B between the hexagon bolt 92B and the internal part 92A to prevent the hexagon bolt 92B from loosening. A lock plate 92C is clamped (see FIG. 12).

(Tightening tool)
As shown in FIG. 10, the tightening tool 4 of this example includes a tightening rod 42 that engages with the head of a hexagonal bolt 92B as an assembly part 92, and a tightening that rotatably holds the tightening rod 42. A main body 41 and a tightening actuator 43 that rotates the tightening rod 42 about its axial direction are provided.
The tightening rod 42 and the tightening actuator 43 are disposed in the tightening main body 41, and the tightening main body 41 is disposed with a gripped portion 411 that is gripped by the work head unit 21. . The tightening rod 42 is disposed in the vertical direction H of the work head unit 21 and can rotate about the vertical axis H of the composite assembly machine 1. Further, the tightening actuator 43 of this example is a motor.

The tightening rod 42 is disposed so as to be floatable in the axial direction with respect to the tightening main body 41 (referred to as being able to swing under a predetermined pressure, the same shall apply hereinafter). The clamping rod 42 can be swung in the axial direction with respect to the clamping main body 41 while applying a pressing force within a predetermined range to the hexagon bolt 92B. When the hexagon bolt 92B is tightened, the tightening rod 42 can move forward as the hexagon bolt 92B is tightened, and the engagement state with the hexagon bolt 92B can be appropriately maintained. it can.
When the complex assembly machine 1 holds the tightening tool 4 on the work head portion 21, the complex assembly machine 1 engages the head of the hexagon bolt 92B with the tightening rod 42 and operates the tightening actuator 43, thereby The hexagon bolt 92 </ b> B can be fastened to 91.

Further, the tightening rod 42 can also tighten a nut as an assembly component 92 to a thread portion disposed on the work 91. In this case, the end of the tightening rod 42 in the tightening rod 42 is structured to be able to hold the nut, and the nut held at the end of the tightening rod 42 is tightened against the threaded portion disposed on the work 91. Can do.
The tightening rod 42 can also loosen a bolt or nut as the assembly component 92. In this case, for example, the tightening rod 42 can loosen a bolt or nut that has been unexpectedly screwed in an oblique state.

(Folding tool)
Next, as shown in FIGS. 11 and 12, the bending tool 5 of the present example can be rotated around a bending main body 51 and a rotation fulcrum 521 with respect to the bending main body 51. In addition, a bending arm member 52 that engages with the lock plate 92C and a bending actuator 53 for rotating the bending arm member 52 about the rotation fulcrum 521 are provided. Further, the bending arm member 52 and the bending actuator 53 are disposed in the bending main body 51. Further, the bending actuator 53 of this example is an air cylinder.

Further, a rotation holding portion 54 provided with a gripped portion 541 held by the work head portion 21, a rotation shaft portion 55 provided rotatably with respect to the rotation holding portion 54, A rotation actuator 56 for rotating the rotation shaft portion 55 is provided.
The bent main body 51 is connected to the rotation shaft portion 55 in the axial direction, and is disposed so as to be floatable in the axial direction and the axial direction with respect to the rotation shaft portion 55. More specifically, the bent main body 51 is connected in the axial direction of the rotating shaft portion 55 via a connecting member 57, and the connecting member 57 is connected to the rotating shaft portion 55 via a spring member. It is arranged so that it can float.

  Further, the bent main body 51 is disposed so as to be floatable around the rotation shaft portion 55 with respect to the connecting member 57. Further, the rotation shaft portion 55 is arranged in the vertical direction H of the work head portion 21, and the bending main body portion 51 can rotate around the vertical axis H of the composite assembly machine 1. it can. Further, the rotation actuator 56 of this example is an air cylinder.

As shown in FIGS. 11 and 12, the bent arm member 52 has a length from the rotation fulcrum 521 pivotally supported by the bent main body 51 to the bent engagement claw 522 engaged with the lock plate 92C. The length L1 is shorter than the length L2 from the rotation fulcrum portion 521 to the engaging portion 523 that engages with the movable portion of the bending actuator 53, and is larger than the output load by the bending actuator 53. It is configured to generate a bending force.
The lock plate 92 </ b> C can be bent easily even with a small output load by the bending actuator 53.

  Then, as shown in FIG. 12, when the composite assembly machine 1 holds the bending tool 5 on the work head portion 21, the combined assembly machine 1 engages the bending engagement claw 522 of the bending arm member 52 with the lock plate 92C and folds it. By actuating the bending actuator 53, the lock plate 92C disposed on the work 91 can be bent so as to face one side of the head of the hexagon bolt 92B.

As shown in FIG. 11, when the rotation actuator 56 is operated, the bending main body 51 rotates via the rotation shaft portion 55 and the connecting member 57, and the bending arm member 52 is bent and engaged. The position of the claw 522 around the axis in the vertical direction H (around the axis of the rotation shaft portion 55) can be changed. As a result, when the plurality of lock plates 92C are bent, each lock plate 92C is bent even if the circumferential position (the position around the axial direction of the hexagon bolt 92B) of the portions where the lock plates 92C are bent is different. The plate 92C can be bent.
Further, since the bending main body 51 can float in the axial direction (vertical direction H) and the axial direction of the rotation shaft portion 55, the bending portion 51 can be attached to the work head portion 21 when the lock plate 92C is bent. It is possible to prevent a large reaction force from acting.

As described above, the tightening tool 4 and the bending tool 5 are placed on the tool mount 25 of this example, and the composite assembly machine 1 performs the tightening of the hexagon bolt 92B and the bending of the lock plate 92C. went.
On the other hand, the following press-fit tool 6, caulking tool 7 or measuring tool 8 is placed on the tool mount 25, and the composite assembling machine 1 press-fits the press-fit part 92D, caulking the caulking part 92E, or the assembly part 92. The assembly state can also be measured.

(Press-fit tool)
The press-fit tool 6 of this example can be configured as follows.
That is, as shown in FIG. 13, the press-fit tool 6 includes a press-fit rod 62 that engages with the press-fit component 92D, a press-fit main body 61 that holds the press-fit rod 62 movably, and the press-fit rod 62 in the axial direction. A press-fitting actuator 63, a press-fitting rod 62, and a link member 64 that engages with the press-fitting actuator 63.

  The press-fit rod 62, the press-fit actuator 63, and the link member 64 are disposed in the press-fit main body 61, and a gripped portion 611 that is gripped by the work head unit 21 is disposed in the press-fit main body 61. . Further, the press-fit main body 61 is disposed so as to be floatable in the axial direction of the press-fit rod 62 with respect to the gripped portion 611. Further, the press-fitting actuator 63 of this example is an air cylinder.

As shown in FIG. 13, the link member 64 is disposed so as to be rotatable about the rotation fulcrum 641 with respect to the press-fitting main body 61. This link member 64 is an actuator in which a length L3 from the rotation fulcrum portion 641 to the rod side end portion (one end portion) 642 that engages with the press-fit rod 62 is engaged with the press-fit actuator 63 from the rotation fulcrum portion 641. It is shorter than the length L4 to the side end (other end) 643. Accordingly, the press-fit rod 62 is configured to generate a pressure input that is larger than the output load of the press-fit actuator 63.
Then, the press-fit tool 6 transmits the output load by the press-fit actuator 63 to the press-fit rod 62 through the link member 64, and the press-fit component 92D can be easily press-fitted even with a small output load by the press-fit actuator 63. It is configured to be able to.

When the press-fit tool 6 is gripped by the work head portion 21, the composite assembly machine 1 engages the press-fit component 92 </ b> D with the press-fit rod 62 and operates the press-fit actuator 63 to press the press-fit component 92 </ b> D with respect to the work 91. Can be press-fitted.
The press-fitting component 92D of this example is a pin that is press-fitted into a flange portion 912 formed at the end portion of the work 91, and a press-fitting hole 913 is formed in the flange portion 912. The press-fitting tool 6 is press-fitted into the press-fitting hole 913 so that the flange 912 of the work 91 is clamped by the clamping end 612 formed in the press-fitting main body 61 and the tip 621 of the press-fitting rod 62. The component 92D is press-fitted.

  Further, the press-fitting component 92D can be supplied to the tip portion 621 of the press-fitting rod 62 by a press-fitting component supply means (not shown). The press-fitting tool 6 can hold the press-fitting component 92D supplied by the press-fitting component supply means at the tip 621 of the press-fitting rod 62 and sequentially press fit the press-fitting component 92D into a plurality of press-fitting sites.

(Caulking tool)
Further, the caulking tool 7 of this example can be configured as follows.
That is, as shown in FIGS. 14 to 16, the caulking tool 7 is engaged with the caulking main body 71, the caulking part 92 </ b> E as the assembly part 92, and the caulking rod 72 that is movable with respect to the caulking main body 71. Further, an impact force generating means 73 for moving the caulking rod 72 in the axial direction by an impact force is provided.
The impact force generating means 73 includes a guide rod 731 disposed in the caulking main body 71, an impact block 732 slidable along the guide rod 731, and an impact spring for applying an impact force to the impact block 732. A member 733 and a slide actuator 734 for sliding the impact block 732 along the guide rod 731 so as to elastically deform the impact spring member 733 are provided.

The caulking rod 72, the guide rod 731, the impact block 732, the impact spring member 733, and the slide actuator 734 are disposed in the caulking main body portion 71, and the caulking main body portion 71 is gripped by the work head portion 21. A gripped portion 711 is provided.
The caulking main body 71 has a guide block 712 that guides the movement of the caulking rod 72, and the caulking rod 72 is slidably disposed in a guide hole 713 formed in the guide block 712. Yes. The caulking main body 71 is disposed so as to be floatable in the axial direction of the caulking rod 72 with respect to the gripped portion 711.

As shown in FIGS. 14 and 17, the caulking rod 72 is provided at the tip of the guide rod 731 and includes a stepped portion 721 having a diameter larger than the diameter of the guide rod 731. Further, a spring member 723 is disposed between the step portion 721 of the caulking rod 72 and the guide block 712, and the caulking rod 72 advances by receiving the impact force of the impact block 732 and moves forward of the press-fit component 92D. After the press-fitting is performed, the spring member 723 receives the repulsive force and moves backward.
Further, as shown in FIG. 18, a caulking projection 722 for deforming a part of the caulking part 92E is formed at the distal end portion of the caulking rod 72. The slide actuator 734 of this example is an air cylinder.

  As shown in FIGS. 17 and 18, the caulking part 92E of this example performs press-fitting into the press-fitting caulking hole 914 formed in the work 91, and after press-fitting, a part of the caulking part 92E. Further, the work 91 is caulked by deforming the vicinity of the opening end portion of the press-fitting caulking hole 914 facing this. More specifically, the press-fitting caulking hole 914 is an oil passage, and the caulking part 92E is an orifice that performs press-fitting caulking at the opening end of the oil passage.

  Then, as shown in FIG. 14, the complex assembling machine 1 holds the caulking tool 7 on the working head portion 21 when caulking the caulking part 92 </ b> E with the caulking tool 7. Then, the caulking part 92E is held at the tip of the caulking rod 72 in the caulking tool 7. At this time, the caulking part 92E can be supplied to the distal end portion of the caulking rod 72 by caulking part supply means (not shown).

Next, as shown in FIG. 15, the rod portion (movable portion) of the sliding actuator 734 is engaged with the impact block 732, and the impact block 732 is retracted along the guide rod 731 by the rod portion. At this time, the impact spring member 733 is elastically deformed by the retreat of the impact block 732, and a repulsive force by the impact spring member 733 is applied to the impact block 732.
Then, as shown in FIG. 16, when the engagement state between the rod portion of the sliding actuator 734 and the impact block 732 is released, the impact block 732 reacts with the repulsive force of the impact spring member 733 and the weight of the impact block 732. In response, it advances and collides with the stepped portion 721 of the caulking rod 72.

  At this time, as shown in FIG. 17 and FIG. The caulking protrusion 722 at the distal end of the caulking rod 72 deforms a part of the caulking part 92E and the vicinity of the opening end of the press-fitting hole 913 facing the caulking part 92E. Thus, the caulking tool 7 can press-fit and caulk the caulking part 92E.

(Measurement tool)
Moreover, the measurement tool 8 of this example can be configured as follows.
That is, as shown in FIGS. 19 and 20, the measurement tool 8 includes a measurement main body 81 and a measurement unit 82 disposed so as to be floatable with respect to the measurement main body 81. The measuring unit 82 includes a plurality of contact reference surfaces 83 that contact the case component 91A as the work 91, and a plurality of measuring elements 84 that contact the internal component 92A as the assembly component 92 assembled to the case component 91A. Have.

As shown in FIG. 19, each measuring element 84 is configured to measure the distance from each contact reference surface 83 to each detection end 841 when the protrusion amount X of each detection end 841 changes. ing. Thereby, the measurement tool 8 is configured to measure the position and inclination of the internal component 92A after being assembled into the case component 91A. The measurement main body 81 is provided with a gripped portion 811 that is gripped by the work head portion 21.
In addition, the measuring unit 82 can float in the vertical direction H of the work head unit 21 by the vertical floating mechanism 821 using a spring member, and the work head by the curved surface engaging unit 822 by engaging the curved surfaces. Floating is also possible in a direction perpendicular to the vertical direction H of the portion 21.

  Further, as shown in FIG. 19, the tool storage unit 251 of the tool mounting table 25 that stores the measurement tool 8 includes a contact reference surface 83 and a measuring element 84 of the measurement tool 8 stored in the tool storage unit 251. A master jig 85 that contacts the detection end portion 841 is provided. The master jig 85 is formed in a shape that reproduces the normal position and inclination of the internal part 92A in an assembled state with respect to the case part 91A. That is, the master jig 85 has a reference contact surface 851 that contacts each contact reference surface 83 and a detection contact surface 852 that contacts the detection end portion 841 of each measuring element 84. The reference abutment surface 851 and the detection abutment surface 852 are formed such that the distance and inclination between the reference abutment surface 851 and the design normal dimension of the case component 91A and the internal component 92A.

In addition, each measuring element 84 has a projection amount X of each detecting end 841 relative to each measuring element 84 in a state where each detecting end 841 and each contact reference surface 83 are in contact with the master jig 85. It is configured to set as a reference protrusion amount (configured to perform zero correction of the protrusion amount X of each detection end 841). When measuring the assembly state of the position and inclination of the internal part 92A with respect to the case part 91A, the protrusion amount X of each detection end 841 is a plus side (the side on which the protrusion amount X increases) from the reference protrusion amount, or The position and inclination of the internal component 92A with respect to the case component 91A can be measured depending on how much it changes to the minus side (the side on which the projection amount X decreases).
In addition, by using the master jig 85, it is possible to perform zero correction of the protrusion amount X of each detection end 841 simply by placing the measurement tool 8 on the tool storage unit 251 of the tool mounting table 25.

Then, as shown in FIG. 20, the composite assembly machine 1 holds the measurement tool 8 on the work head unit 21 when measuring the assembly state of the internal component 92 </ b> A by the measurement tool 8.
Then, the measuring tool 8 is moved forward in the front-rear direction D by the front-rear moving shaft 22 of the head moving mechanism 2, and the measuring tool 8 is placed on the mounting table 31 of the rotary table 3 by the vertical moving shaft 23 of the head moving mechanism 2. The part 91A is brought close to the measurement site.

At this time, as shown in FIG. 20, the measurement unit 82 of the measurement tool 8 can float with respect to the measurement main body 81 so as to change the arrangement angle (attachment angle) with respect to the measurement main body 81. Thereby, each contact reference surface 83 in the measurement part 82 can be reliably contacted with the reference end surface 910A of the case component 91A.
Then, in a state where each contact reference surface 83 is securely in contact with the reference end surface 910A of the case component 91A, the detection end portion 841 of each measuring element 84 is in contact with the internal component 92A assembled to the case component 91A. At this time, if there is an error in the position and inclination of the internal component 92A with respect to the case component 91A, the protrusion amount X of each detection end 841 changes from the reference protrusion amount to the plus side or the minus side.

  Thereby, the error of the position and inclination of the internal part 92A with respect to the case part 91A can be measured, and the internal part 92A is assembled with the normal position and inclination (designed position and inclination) with respect to the case part 91A. Can be accurately inspected. Therefore, by using the measurement tool 8, it is possible to accurately inspect whether there is an assembly failure of the internal component 92A with respect to the case component 91A.

  In this example, the measurement tool 8 is placed on the tool storage unit 251 of the tool mounting table 25, and the contact reference surfaces 83 and the detection end portions 841 of the measurement elements 84 are connected to the contact surfaces of the master jig 85. Each time the contact end 851 or 852 is brought into contact, zero correction (reset) of the protrusion amount X of each detection end portion 841 is performed, and the protrusion amount X is reset to the reference protrusion amount. Therefore, every time the measurement tool 8 repeats measurement in the measurement state, it is possible to prevent the zero reference of each detection end 841 from being shifted. Therefore, the measurement tool 8 can repeatedly and accurately measure the assembled state of the internal component 92A.

  In the composite assembly machine 1 of this example, when performing each assembly operation such as tightening, bending, press-fitting, or caulking, each operation is performed so that the reaction force due to each assembly operation does not directly act on the head moving mechanism 2. It was set as the structure which floats the tools 4-8. On the other hand, the composite assembly machine 1 is provided with a floating mechanism for floating the work tools 4 to 8 for performing assembly operations such as tightening, bending, press-fitting or caulking in the vertical direction H. It can also be set up.

  Further, in the composite assembly machine 1 of this example, any two of the work tools 4 to 8 are stored in the tool table 25 and any of the work tools 4 to 8 held by the work head unit 21 are alternately arranged. Each assembly work was carried out by changing. On the other hand, the composite assembling machine 1 stores three or more of the work tools 4 to 8 in the tool table 25, and sequentially changes the work tools 4 to 8 held by the work head unit 21 to perform each assembly work. You can also.

Further, when each assembly work is performed by the work tools 4 to 8, the rotary table 3 can receive a pressing force from the work tools 4 to 8 held by the work head portion 21 and can float in the rotation direction. It is also possible to form a state and improve the work efficiency of each assembly work.
That is, when performing each assembling work, the position control of the table motor 32 of the rotary table 3 is released, and a state in which the table motor 32 can float in the rotation direction can be formed. As a result, even if there is a slight misalignment between the work tools 4 to 8 gripped by the work head unit 21 and the assembly work site of the work 91 held on the turntable 3, the turntable 3 is slightly rotated. Thus, each assembly work can be normally performed.

(Composite assembly machine as a whole)
As described above, the composite assembly machine 1 of the present example sequentially operates each of the work tools 4 to 8 in order to perform at least two kinds of assembly operations such as tightening, press-fitting, caulking, bending, and measurement of the assembly part 92. Carry out assembly work. That is, the composite assembly machine 1 takes out any of the work tools 4 to 8 corresponding to the type of assembly work from the tool mounting table 25 and grips it on the work head unit 21 to perform the assembly work. Thereafter, the composite assembling machine 1 returns any of the work tools 4 to 8 after the assembly work to the tool table 25, takes out any of the other work tools 4 to 8 from the tool table 25, and again returns to the work head unit 21. It can be gripped and another assembly operation can be performed.
Therefore, in the composite assembling machine 1, at least two types such as tightening, press-fitting, caulking, folding, and measurement of the assembly part 92 can be sequentially performed, and a plurality of types of assembly operations can be efficiently performed in a short time. Can do.

  Moreover, the composite assembly machine 1 of this example has a head moving mechanism 2 having a front and rear moving shaft 22 and a vertical moving shaft 23, and any one of the work tools 4 to 8 can be operated by the head moving mechanism 2. The gripped work head unit 21 is moved in the front-rear direction D and the vertical direction H. Further, the composite assembly machine 1 has a rotary table 3 that holds and rotates the workpiece 91, and performs each assembly operation by relative movement between the work head unit 21 and the rotary table 3.

That is, when performing any of the assembling operations, the front / rear moving shaft 22 of the head moving mechanism 2 is operated to move the work head portion 21 holding any of the work tools 4 to 8 in the front / rear direction D, Further, the work table 91 is rotated by operating the rotary table 3. Thereby, any of the work tools 4 to 8 gripped by the work head unit 21 can be made to face any assembly work site in the work 91. Further, the vertical movement shaft 23 of the head moving mechanism 2 is operated to move the work head unit 21 in the vertical direction H, thereby bringing any of the work tools 4 to 8 closer to the assembly work site in the work 91. Can do.
The front / rear moving shaft 22 of the head moving mechanism 2 and the vertical moving shaft 23 of the head moving mechanism 2 can be operated simultaneously.

Therefore, by controlling the position of the work head portion 21 in the front-rear direction D and controlling the rotation position of the turntable 3, any assembly work site on the work 91 and any one of the work tools 4 to 8 are opposed to each other. Each assembly work can be performed with any of the work tools 4 to 8 approaching an arbitrary assembly work site.
Accordingly, the work head unit 21 does not need to be moved in the left-right direction W, and the width in the left-right direction W of the gantry 11 on which the tool mounting table 25, the head moving mechanism 2, and the rotary table 3 are disposed can be reduced. . Therefore, the area occupied when the composite assembly machine 1 is installed in a factory or the like can be reduced.
Therefore, the composite assembly machine 1 can efficiently perform a plurality of types of assembly operations and can be configured compactly.

As described above, the assembling machine 1 of the present example is a vertical assembling machine that moves the work head portion 21 in the vertical direction H by the first moving shaft 23 and moves in the front-rear direction D by the second moving shaft 22. The rotary table 3 is configured to rotate about the axis C in the vertical direction H. FIG. 21 is a diagram schematically showing the vertical assembly machine 1 of this example.
In addition to the vertical assembly machine, the assembly machine 1 can take various forms with the first moving shaft 23, the second moving shaft 22 and the rotary table 3 directed in various directions.

  That is, for example, as shown in FIG. 22, the assembly machine 1 as a horizontal assembly machine moves the work head portion 21A in the left-right direction W by the first movement shaft 23A and moves it in the front-rear direction D by the second movement shaft 22A. The rotary table 3A may be configured to rotate about the axis C in the left-right direction W. Further, for example, as shown in FIG. 23, the assembly machine 1 is a vertical assembly machine in which the work head portion 21B is moved in the front-rear direction D by the first movement shaft 23B and is moved in the vertical direction H by the second movement shaft 22B. The rotary table 3B can also be configured to rotate about the axis C in the front-rear direction D.

The perspective view which shows the composite assembly machine in an Example. Cross-sectional explanatory drawing shown in the state which looked at the composite assembly machine from the left-right direction in an Example. Sectional explanatory drawing shown in the state which looked at the composite assembly machine from the front-back direction in an Example. Cross-sectional explanatory drawing which shows the state which looked at the rotary table in a carrying in / out position in an Example from the left-right direction. Cross-sectional explanatory drawing which shows the state which looked at the rotary table in a rotation work position in the Example from the left-right direction. Cross-sectional explanatory drawing which shows the rotary table in a carrying in / out position in the Example seen from the front-back direction. Cross-sectional explanatory drawing which shows the state which looked at the rotary table in a rotation work position in the Example from the front-back direction. Cross-sectional explanatory drawing which shows the table moving mechanism in the rotary table in a carrying in / out position in the Example seen from the top. Cross-sectional explanatory drawing which shows the state which looked at the table moving mechanism in the rotary table in a rotation work position in an Example from upper direction. Sectional explanatory drawing which shows the clamping tool in an Example. Sectional explanatory drawing which shows the bending tool in an Example. Explanatory drawing which expands and shows the state which bent the lock plate with the bending tool in an Example. Sectional explanatory drawing which shows the press-fit tool in an Example. Cross-sectional explanatory drawing which shows the crimping tool of the state before performing press-fit crimping in an Example. Cross-sectional explanatory drawing which shows the crimping tool of the state which retracted the impact block in an Example. Sectional explanatory drawing which shows the crimping tool of the state which advanced the impact block in the Example and performed press-fit crimping. Sectional explanatory drawing which expands and shows the state which crimped and crimped the crimping | compression-bonding part with the crimping tool in an Example. Cross-sectional explanatory drawing which expands and shows the crimping | crimped components which performed the press-fit crimping in an Example. Cross-sectional explanatory drawing which shows the measurement tool of the state stored in the tool mounting stand in an Example. Sectional explanatory drawing which shows the measurement tool of the state which is measuring the assembly state of an assembly part in an Example. Explanatory drawing which showed typically the vertical assembly machine in an Example. Explanatory drawing which showed typically the horizontal type assembly machine in an Example. Explanatory drawing which showed the upper-lower type assembly machine typically in an Example.

Explanation of symbols

1 Combined assembly machine (assembly machine)
DESCRIPTION OF SYMBOLS 11 Stand 15 Control panel 151 Control apparatus 2 Head moving mechanism 21 Work head part 22 Front-back moving axis (2nd moving axis)
23 Vertical movement axis (first movement axis)
Reference Signs List 25 Tool table 3 Rotary table 301 Loading / unloading position 302 Rotating work position 31 Mounting table 32 Table motor 33 Conveyor 34 Table moving mechanism 35 Lifting mechanism 36 Front / rear moving mechanism 4 Tightening tool 41 Tightening main body 42 Tightening rod 43 Tightening actuator 5 Bending tool 51 Bending main body 52 Bending arm member 521 Rotating fulcrum 522 Bending engagement claw 523 Engaging portion 53 Bending actuator 6 Press fitting tool 61 Press fitting main body 62 Press fitting rod 63 Press fitting actuator 64 Link member 641 Rotating fulcrum 642 Rod side end 643 Actuator side end 7 Caulking tool 71 Caulking main body 72 Caulking rod 721 Stepped portion 73 Impact force generating means 731 Guide rod 732 Impact block 733 Impact spring member 734 Sula Actuator 8 Measuring tool 81 Measuring body 82 Measuring unit 83 Contact reference surface 84 Measuring element 841 Detection end 85 Master jig 90 Pallet 91 Work 91A Case part 92 Assembly part 92A Internal part 92B Hexagon bolt 92C Lock plate 92D Press fit Parts 92E Caulking parts D Front-rear direction H Vertical direction W Left-right direction

Claims (17)

An assembly machine capable of assembling assembly parts for a workpiece,
A rotary table for holding and rotating the workpiece;
A work head that holds a work tool for performing the above assembly work;
A head moving mechanism having a first moving shaft for moving the work head portion to the work held on the rotary table and a second moving shaft for moving the work head in a direction intersecting the first moving shaft; And
Assembling work site in the work holding the work tool on the rotary table by the movement of the work head part by the first moving shaft and the second moving shaft of the head moving mechanism and the rotation of the rotary table. An assembly machine characterized in that the assembly machine is configured to approach the machine.   2. The assembly machine according to claim 1, wherein the rotary table and the head moving mechanism are arranged on a gantry. In claim 2, the assembly machine has a control device capable of controlling each operation in the work tool, the head moving mechanism and the rotary table,
The assembling machine, wherein the control device is disposed in at least one of the inside of the gantry or a portion of the gantry located behind the head moving mechanism. In any one of Claims 1-3, the said assembly machine has a tool stand which stores the said work tool,
A plurality of types of the work tools are prepared for performing a plurality of types of assembly work, and the plurality of types of work tools are respectively stored in the tool table,
The assembly machine is configured to sequentially hold the plurality of types of assembly operations by holding any one of the plurality of types of work tools stored in the tool table on the work head unit. Assembly machine.   5. The assembly machine according to claim 4, wherein the assembly operation is any one of tightening, loosening, press-fitting, caulking, bending, and measurement. In claim 5, one of the work tools is a tightening tool for tightening or loosening a bolt or nut as the assembly part,
The assembly tool comprising: a tightening rod that engages with the bolt or nut; and a tightening actuator that rotates the tightening rod about its axial direction. In Claim 5 or 6, one of the work tools is a press-fit tool for press-fitting a press-fit part as the assembly part,
The press-fitting tool is provided with a press-fitting rod that engages with the press-fitting component, and a press-fitting actuator that moves the press-fitting rod in the axial direction thereof. In Claim 7, the press-fit tool has a press-fit body portion that holds the press-fit rod so as to be movable, and a link member that engages with the press-fit rod and the press-fit actuator.
The link member is disposed so as to be rotatable about a rotation fulcrum part with respect to the press-fitting main body part, and a length from the rotation fulcrum part to one end part engaged with the press-fitting rod is set. , Shorter than the length from the rotation fulcrum to the other end engaged with the press-fitting actuator,
The assembling machine, wherein the press-fitting rod is configured to generate a pressure input larger than an output load by the press-fitting actuator.   9. The caulking rod according to claim 5, wherein one of the working tools is a caulking tool for caulking the caulking part as the assembly part, and the caulking tool is engaged with the caulking part. And an impact force generating means for moving the caulking rod in the axial direction by the impact force. The impact force generation means according to claim 9, wherein the impact force generating means includes a caulking main body portion, a guide rod disposed in the caulking main body portion, an impact block slidable along the guide rod, and an impact force applied to the impact block. A spring member for giving, and a slide actuator for sliding the impact block along the guide rod so as to elastically deform the spring member,
The caulking rod is provided at a tip portion of the guide rod, and includes a step portion having a diameter larger than the diameter of the guide rod,
The impact force generation means is configured to elastically deform the spring member by causing the movable portion of the slide actuator to engage with the impact block and retract the impact block, so that the movable portion and the impact block When the engagement state is released, the impact block moves forward by receiving the repulsive force of the spring member and collides with the stepped portion of the caulking rod, thereby causing the caulking rod to advance by impact force. An assembly machine characterized by being made. In any one of Claims 5-10, one of the said work tools is a bending tool which bends the lock plate which carries out the locking prevention of the hexagon bolt or hexagon nut as said assembly parts,
The bending tool includes a bending main body, a bending arm member that is rotatable with respect to the bending main body about a rotation fulcrum and that engages with the lock plate; An assembly machine comprising: a bending actuator for rotating the arm member about the rotation fulcrum.   12. The bending arm member according to claim 11, wherein the bending arm member has a length from the rotation fulcrum portion to the bending engagement claw that engages with the lock plate, from the rotation fulcrum portion to the movable portion of the bending actuator. The assembly machine is configured to generate a bending force larger than an output load by the bending actuator.   13. The assembling machine according to claim 11, wherein the bending tool includes a rotation actuator that rotates the bending arm member and the bending actuator about an axis in the vertical direction.   14. The measurement tool according to claim 5, wherein one of the work tools is a measurement tool for measuring an assembly state of an assembly part assembled on the workpiece, and the measurement tool is the assembly component for the workpiece. An assembly machine configured to measure the position and inclination of the machine. 15. The measurement tool according to claim 14, wherein the measurement tool includes a measurement main body portion and a measurement portion disposed so as to be floatable with respect to the measurement main body portion. A contact reference surface, and a plurality of measuring elements that contact the assembly parts assembled to the workpiece,
Each of the measuring elements is configured to measure a distance from each of the contact reference planes to each of the detection end parts by changing a protruding amount of each of the detection end parts.
When the detection end of each measuring element is brought into contact with the assembly part in a state where the contact reference surface is in contact with the workpiece, the measurement tool is configured to release the respective contact reference surface from the contact reference surface. An assembly machine configured to measure a position and an inclination of the assembly part with respect to the workpiece by changing a distance to a detection end. The tool mounting base according to claim 14 or 15, wherein the tool mounting base includes a master jig that comes into contact with each of the contact reference surfaces of the measurement tool stored in the tool mounting base and the detection end of each measuring element. The master jig is formed in a shape that reproduces the normal position and inclination of the assembly part in an assembled state with respect to the workpiece.
Each measuring element is configured to set the protruding amount of each detecting end as a reference protruding amount in a state where each detecting end and each contacting reference surface are in contact with the master jig. An assembly machine characterized by being made. The rotary table according to any one of claims 1 to 16, wherein the rotary table includes a mounting table for mounting the pallet on which the workpiece is loaded;
A table motor for rotating the mounting table;
A transfer conveyor for carrying in and out of the pallet loaded with the workpiece,
A table moving mechanism for moving the table and the table motor;
The table moving mechanism includes: the table and the table motor; a loading / unloading position for loading and unloading the pallet loaded with the work by the transfer conveyor; and the head moving mechanism from the loading / unloading position. An assembly machine, wherein the assembly machine is configured to be moved to a rotating work position for rotating the pallet placed on the mounting table by the table motor.

Images