JP2016179540A - Assembly apparatus for inserting shaft-shaped component into annular component - Google Patents

Abstract

PROBLEM TO BE SOLVED: To correctly maintain axial coincidence between an annular component and a shaft-shaped component from a step before assembly until completion of assembly thereby achieving a high assembly reliability.SOLUTION: An assembly apparatus is so configured as to comprise: an insertion base member 42 which supports an annular component 6 in the state such that the annular component is coaxial to an insertion axis O-O; a reception head 66 which receives a shaft-shaped component 1 and holds the shaft-shaped component in the state that the shaft-shaped component is axial to the insertion axis O-O; suction means 68 which is provided on the reception head 66 in order to prevent oscillation of the shaft-shaped component 1; insertion actuation means 73 which inserts the shaft-shaped component 1 into the annular component 6 by moving the reception head 66; and transfer drive means 50 for transferring the shaft-shaped component equipped with the annular component after completion of assembly to a delivery mechanism 120 while keeping the state that the shaft-shaped component equipped with the annular component is supported on the insertion base member 42.SELECTED DRAWING: Figure 8

Description

  The present invention relates to an assembling apparatus for inserting a shaft-like part such as a bolt into an annular part such as a washer.

  In Japanese Patent Application Laid-Open No. 08-071870, a bolt that has been slid down with its head suspended is dropped, a lower part of the bolt is inserted into a waiting washer, and then the inclined surface is slid down in a suspended state. The bolt shaft portion is fully inserted until the head reaches the washer.

  On the other hand, Japanese Patent Application Laid-Open No. 2008-142819 describes that a bolt transferred in a suspended state is supported by a bolt receiving portion, a washer is raised from below, and the bolt is relatively inserted into the washer. ing.

Japanese Patent Application Laid-Open No. 08-071870 JP 2008-142819 A

  Since the prior art described in the above-mentioned patent document 1 drops a bolt onto a waiting washer, if the fall trajectory of the bolt is slightly out of order, the lower end of the bolt will not enter the washer correctly. Also, if the bolt is swung by some external force before the bolt is inserted, the lower end of the shaft portion will not enter the washer as well. In order to solve such a problem, it is important that the washer and the bolt are completely coaxial before the bolt is inserted, and this state is maintained even during the inserting operation.

  Since the prior art described in Patent Document 2 is to raise the washer from the bottom with respect to the bolt suspended by the bolt receiving portion, if the center of the bolt and the washer is not completely matched, The lower end of the bolt will not be inserted into the washer. In particular, it is important to prevent the center of the washer from shifting when the washer is rising. As in Patent Document 1, coaxiality is important.

  The present invention is provided in order to solve the above-described problems, and maintains the center-to-center alignment of the annular part and the shaft-like part accurately from the stage before the insertion assembly to the completion of the assembly, thereby achieving high assembly reliability. The purpose is to seek.

The invention described in claim 1
The center line when the annular part and the axial part are in a coaxial state and the axial part is inserted into the annular part is the insertion axis,
An insertion base member for supporting the annular component in a state where the center thereof is coaxial with the insertion axis;
A receiving head that receives the shaft-shaped component that has been transferred through the delivery path of the shaft-shaped component and holds the shaft-shaped component in a state coaxial with the insertion axis;
Suction means provided on the receiving head for holding the shaft-shaped component on the receiving head and preventing the shaft-shaped component from swinging;
An insertion actuating means for inserting the shaft-like component into the annular component by moving the receiving head along the insertion axis;
Transfer driving means for transferring the shaft-shaped part with the annular part after the assembly, in which the shaft-shaped part is inserted into the annular part, to the delivery mechanism of the shaft-shaped part with the annular part while being supported by the insertion base member. An assembling apparatus for inserting a shaft-like component into an annular component characterized by being configured to include.

  The annular component is previously supported coaxially with the insertion axis by an insertion base member that performs a standard positioning function when inserting the axial component into the annular component. On the other hand, the shaft-like component is held on the receiving head coaxially with the insertion axis, and is positioned so as not to swing by the suction means of the receiving head. Then, the shaft-like component is inserted into the annular component along the insertion axis by the insertion actuating means while being held in a state where the relative position to the receiving head does not change.

  Since the operation is as described above, the shaft-like component is reliably inserted into the annular component positioned by the insertion base member, and the operation reliability as the assembling apparatus becomes perfect. In other words, the annular part is held on the insertion base member and can be kept in a state where it cannot move, and the axial part is positioned by the suction means on the receiving head, so the annular part and the axial part are inserted. It can be in a state where it cannot deviate from the axis, and as described above, the operation reliability is perfect. Accordingly, it is possible to accurately maintain the axial center alignment of the annular part and the shaft-like part from the stage before the insertion assembly to the completion of the assembly, and to obtain high assembly reliability.

  By adopting an air cylinder or an advance / retract output type electric motor as the insertion operation means for performing the above insertion operation, these advance / retreat operations become completely linear operations. Accurate movement can be reliably achieved.

  The shaft-shaped component with the annular component after completion of the assembly is transferred to the delivery mechanism by the transfer driving means while being held by the insertion base member. Accordingly, the relative position between the annular part and the shaft-like part can be transferred from the delivery mechanism to the target position in the correct insertion state without any deviation.

It is a top view of the whole apparatus. It is a side view of the whole apparatus. It is a top view which shows simply the space state of the whole apparatus. It is a top view which shows the transfer state of a washer. It is the top view and side view which show the transfer state of a volt | bolt. It is a side view which shows the insertion process of a volt | bolt. It is a side view which shows delivery of the volt | bolt after an assembly. It is a diagram which shows the movement locus | trajectory of a volt | bolt and a washer. It is a perspective view which shows a volt | bolt and a washer.

  Next, a mode for carrying out an assembling apparatus for inserting a shaft-like component into the annular component of the present invention will be described.

  1 to 9 show an embodiment of the present invention.

  First, the shaft-like part and the annular part to be assembled will be described.

  There are various types of shaft-shaped parts such as bolts, rotating shafts, support rods, and the like here are iron bolts. As shown in FIG. 9, the bolt 1 includes a head portion 2 and a shaft portion 3, and a male screw 4 is formed on the shaft portion 3. The head 2 is provided with a square hole 5 into which a rotary tool is inserted. The dimensions of each part of the bolt 1 are that the diameter and length of the shaft part 3 are 9 mm and 130 mm, respectively, and the diameter and axial height of the head part 2 are 16 mm and 11 mm, respectively.

  In addition, the cross-sectional shape of the axial part 3 is circular.

  There are various kinds of annular parts such as a washer, an O-ring, a distance piece, and the like here is an iron washer. As shown in FIG. 9, an insertion hole 7 into which the shaft portion 3 is inserted is formed in the circular washer 6. The dimensions of each part of the washer 6 are an outer diameter and an inner diameter of 20 mm and 9.4 mm, respectively, and a thickness of 2.8 mm.

  Next, the arrangement structure of the entire apparatus will be described.

  The entire assembly apparatus is indicated by reference numeral 100. The support member 8 is made of a thick and flat steel plate having a square shape in plan view, and is arranged horizontally. The support member 8 is supported by a support column 10 standing from the floor 9. An imaginary line YY is a diagonal line of the support member 8.

  The parts feeder storing the shaft-shaped parts, that is, the bolt parts feeder 12 has a circular bowl 13. The structure for converting the bolt 1 sent out from the spiral conveyance passage 14 into a standing posture is generally employed. In brief, the arc-shaped inclined plate 15 is formed on the bowl 13. It is of the type provided along the outer periphery. The bolt 1 that has come out of the transport passage 14 is guided to the inclined plate 15 with the head 2 facing upward, and gradually rises as it moves. A conveyance rail 16 that is continuous with the inclined plate 15 serves as an outlet passage. The outlet passage is also denoted by reference numeral 16. In the exit passage 16, the bolt 1 is suspended in the vertical direction. This is the same as the neck hanging structure shown in FIG.

  That is, two elongated rail members 17 are arranged in parallel, the upper surface of both rail members 17 is a sliding surface 18, and the space between both rail members 17 is a passing space 19 of the shaft portion 3. The lower surface of the head 2 slides on the sliding surface 18, and the shaft portion 3 passes through the passage space 19. Reference numeral 20 denotes a coupling member that integrates both rail members 17 and is welded to the lower portion of the rail member 17.

  As described above, the hanging structure in the vertical direction shown in FIG. 5C is the same in each of the below-described delivery paths for bolts.

  The bolt parts feeder 12 is arranged so as to be shifted to a location where the center O1 is separated from the diagonal line Y-Y. That is, in FIG. 1 and FIG. 3, it is shifted to the upper side of the diagonal line YY, and this shifted separation distance is indicated by reference numeral S1.

  A parts feeder that stores annular parts, that is, a washer parts feeder 22 has a circular bowl 23, and the washer 6 sent out from the spiral conveying passage 24 is sent out from the outlet passage 25.

  The washer parts feeder 22 is arranged so as to be shifted to a location where the center O2 is separated from the diagonal line Y-Y. That is, in FIG. 1 and FIG. 3, it is shifted to the upper side of the diagonal line YY, and this shifted separation distance is indicated by reference numeral S2.

  Next, the delivery passage will be described.

  The location where the outlet passage 16 is disposed is a location where the outer periphery of the bolt parts feeder 12 is closest to one side 26 of the support member 8. A delivery passage 27 is connected to the outlet passage 16. The delivery passage 27 is in a horizontal posture, and the rail member, sliding surface, passage space, coupling member and the like constituting the delivery passage 27 are the same as the structure shown in FIG. 5C, and the same reference numerals are shown in FIG. It is described. The delivery passage 27 extends straight and straight in parallel with the side 26 and is disposed at a location close to the side 26. That is, the longitudinal direction of the delivery passage 27 is the same as the tangential direction of the bowl 13.

  On the other hand, the place where the outlet passage 25 is disposed is the place where the outer peripheral portion of the washer parts feeder 22 is closest to the other side 28 of the support member 8. A delivery passage 29 is connected to the outlet passage 25. The delivery passage 29 is in a horizontal posture, and the elongated guide member 30 constituting the delivery passage 29 has a cross-sectional shape shown in FIG. 4E, in which the washer 6 slides. This sliding surface is indicated by reference numeral 32.

The guide member 30 has a flat passage space, and its width and thickness are set slightly larger than the outer dimensions of the washer 6. And the elongate space 31 is provided so that a part of washer 6 can be seen in the center part.
The delivery passage 29 extends straight and straight in parallel with the other side 28 and is disposed at a position as close as possible to the other side 28. That is, the longitudinal direction of the delivery passage 29 is the same as the tangential direction of the bowl 23.

  The one side 26 and the other side 28 are edge lines of the support member 8, and are orthogonal to each other due to the square shape of the support member 8. The longitudinal direction of the bolt delivery passage 27 and the longitudinal direction of the washer delivery passage 29 are also orthogonal.

  Next, a device arrangement space will be described.

  As shown in FIGS. 1 and 3, the center O1 of the bolt parts feeder 12 and the center O2 of the washer parts feeder 22 are shifted so as to be separated from the diagonal line YY to one side, that is, the separation distance S1. Since S2 is set, a wide space is formed on the support member 8 on the side opposite to the separation direction. This space is a device arrangement space 33.

  As shown in FIG. 3, the device arrangement space 33 is a right-angled triangular region, into which a bolt-side delivery passage 27 and a washer-side delivery passage 29 enter.

  An insertion device 110 for receiving the bolt 1 and the washer 6 from both the delivery passages 27 and 29 and inserting the bolt 1 into the washer 6 is arranged in the device arrangement space 33. The bolt 1 and the washer 6 move through the delivery passages 27 and 29. As the moving method, there are methods of sliding down the slope, pushing out with the stroke of the air cylinder, or applying vibration. . Here, a vibration type linear feeder that applies vibration to both the delivery passages 27 and 29 is employed.

  As shown in FIG. 2, the linear feeder 34 has a support base 37 attached on a base 35 via a leaf spring 36 inclined, and the above-described bolt suspension rail member 17 is attached to the support base 37. Yes. An electromagnet 38 is attached on the base 35, and a suction piece 39 is attached to the lower surface of the support base 37 so as to face it. By applying electromagnetic vibration to the support base 37 by the electromagnet 38, the bolt 1 slides on the sliding surface 18 of the rail member 17 and is transferred to the right in FIG.

  The guide member 30 forming the delivery passage 29 is also vibrated by the same mechanism as the linear feeder 34, and the washer 6 is transferred. The washer 6 moves downward in FIGS. 1 and 4A. The straight feed of the guide member 30 is also denoted by the same reference numeral 34 as that of the straight feed.

  Next, the washer transfer structure of the insertion device will be described.

  Since the bolt 1 suspended in the vertical direction is inserted into the insertion hole 7 of the washer 6, the bolt 1 moves at a high location and the washer 6 moves at a low location. And the place which moves and stops is a place which becomes coaxial with the insertion axis OO. In order to provide such a height difference, as shown in FIG. 2, the bolt parts feeder 12 is arranged at a high position on the support column 41, and the washer parts feeder 22 is placed directly on the support member 8. Supported by short struts.

  The insertion axis OO is a center line when the washer 6 and the shaft portion 3 are coaxial and the shaft portion 3 is inserted into the washer 6.

  An insertion base member 42 is disposed in order to stop the washer 6 coaxially with the insertion axis OO and enter a standby state. The detailed structure of the insertion base member 42 will be described with reference to FIGS. 6D, 4A, and 4C. A first recess 43 that receives the washer 6 and a second portion that receives the shaft portion 3 in a state of being connected thereto. A recess 44 is formed. By forming both concave portions 43 and 44 in this way, a horizontal and flat sliding surface 53 is provided. An arc-shaped first stop recess 45 that receives the washer 6 is formed in the back of the first recess 43, and an arc-shaped second stop recess 46 that receives the shaft portion 3 is formed in the back of the second recess 44. . The first recessed portion 43 and the second recessed portion 44 are provided with a first opening portion 47 and a second opening portion 48 in order to allow the bolt 1 and the washer 6 to come out.

  Two permanent magnets 52 are embedded in the insertion base member 42 in order to apply an attractive force to the washer 6 and the shaft portion 3 of the bolt 1. When the washer 6 and the shaft portion 3 are attracted by the permanent magnet 52, the washer 6 comes into close contact with the first stop recess 45 and stops at a position coaxial with the insertion axis OO, and at the same time, the shaft portion inserted from above. 3 comes into close contact with the second stop recess 46 and stops at a position coaxial with the insertion axis OO.

  The permanent magnet 52 is a suction means for the washer 6 and can be replaced with an air suction type instead of the permanent magnet.

  As already described, a part after assembly in which the shaft portion 3 is inserted into the washer 6 is expressed as “a bolt with a washer” or “an axial part with an annular part”.

  An air cylinder 50 is fixed to a mounting piece 49 fixed to the support member 8 and erected, and the insertion base member 42 is coupled to the piston rod 51 thereof. The advancing / retreating direction of the air cylinder 50 is a direction that is different from the longitudinal direction of the delivery passage 27 at a right angle, and the insertion base member 42 is advanced / retreated in the horizontal direction in the above-mentioned difference direction by the advance / retreat operation of the air cylinder 50. ing.

  The retracted position of the air cylinder 50 is a standby position for receiving the washer 6 and the bolt 1 in the insertion base member 42. In this standby position state, the insertion axis OO exists in the vertical direction.

  The air cylinder 50 is a transfer driving unit that conveys a bolt with a washer to a later-described delivery mechanism 120. That is, the air cylinder 50, that is, the transfer driving means, plays a role of feeding the washer-attached bolt to the delivery mechanism 120 installed outside the assembly apparatus 100.

  The transfer direction of the washer 6 that has come out of the washer delivery passage 29 is changed so as to be directed to the first recess 43 of the insertion base member 42. Such a change in the transfer direction is to change the movement of the washer 6 at a right angle, and for this purpose, a diverting member 55 is arranged. As shown in FIG. 4, the diverting member 55 is a rectangular block member fixed to the support member 8, and a diverting passage groove 56 is formed on the upper surface thereof. The passage groove 56 has a depth dimension and a width dimension set slightly larger than the thickness and diameter of the washer 6, and is constituted by an inlet groove 57 and a delivery groove 58. The guide member 30 forming the delivery passage 29 of the washer 6 matches the inlet groove 57, and the delivery groove 58 matches the first opening 47. The diverting member 55 is fixed to the support member 8 via the attachment member 64.

  The horizontal and flat bottom surface of the passage groove 56, the above-described sliding surface 53, and the sliding surface 32 of the guide member 30 exist on one virtual plane. In order to stop the first washer 6, a permanent magnet 59 is embedded on the side of the feed groove 58. In the vicinity of the end portion of the delivery groove 58, an extruding member 60 composed of an elongated plate member is inserted. The pushing member 60 is advanced at an end thereof to be coupled to the piston rod 62 of the air cylinder 61 so as to push the washer 6 toward the first recess 43. FIG. 4A shows a state before the washer 6 is pushed out. At this time, the first washer 6 is attracted by the permanent magnet 59 and formed on the inner wall of the delivery groove 58 and the front end of the pushing member 60. It is pressed against the extruded surface. At this time, the second washer 6 cannot be moved by the first washer 6. The air cylinder 61 is fixed to the support member 8 via an attachment member 63.

  The air cylinder 61 and the pushing member 60 that pushes out by the air cylinder 61 are transfer means, and the washer 6 that has entered the turning member 55 is transferred to the insertion base member 42.

  As described above, positioning is performed on the first recess 43 where the washer 6 is lower than the lower end of the shaft portion of the bolt 1. Therefore, the virtual plane on which the sliding surface 53 and the like are located is disposed at a position lower than the bolt 1 transferred through the delivery passage 27.

  Next, the bolt transfer structure of the insertion device will be described.

  The bolt 1 that is hung and transferred by the rail member 17 is transferred to the receiving head 66. As shown in FIG. 5, the receiving head 66 is constituted by a block-like member having a rectangular parallelepiped shape, and a receiving concave portion 67 for receiving the shaft portion 3 is formed on one end side. The receiving recess 67 opens toward the delivery passage 27, and a permanent magnet 68 for drawing the shaft portion 3 is embedded in the block-shaped member. The flat upper surface 69 and the sliding surface 18 of the receiving head 66 exist on one virtual plane.

  An arc surface on which the shaft portion 3 is in close contact is formed at the back of the receiving recess 67. Further, the permanent magnet 68 is a suction means, and it can be replaced with an air suction type instead of the permanent magnet 68. When the shaft portion 3 is sucked into the receiving recess 67, the shaft portion 3 comes into close contact with the arc surface of the receiving recess 67, is firmly held along the insertion axis OO, and the lower end of the shaft portion 3 is in the descending operation. Are prevented from swinging.

  An elevating arm 70 is coupled to the other end side of the receiving head 66 by welding or the like, and an end thereof is coupled to the piston rod 72 of the air cylinder 71. The forward / backward direction of the air cylinder 71 is the same as the longitudinal direction of the delivery passage 27. The position of the receiving recess 67 is set so that the bolt 1 drawn into the receiving recess 67 is coaxial with the insertion axis OO.

  An elevating air cylinder 73 that moves forward and backward in the vertical direction is fixed in an upright state on the support member 8, and the air cylinder 71 is attached to the upper end of the piston rod 74 so as to move forward and backward in the horizontal direction. . The receiving head 66 is caused to perform a square motion by combining the ascending / descending operations of the ascending / descending air cylinder 73 and the air cylinder 71.

  The air cylinder 73 that operates as described above moves the receiving head 66 up and down, and is an insertion operation means that inserts the shaft portion 3 into the washer 6 on the insertion base member 42.

  When the first bolt 1 enters the receiving recess 67, the second bolt 1 needs to be stopped. For this purpose, an air cylinder 76 is fixed to the side surface of the rail member 17 via a bracket 75, and the second bolt 1 is stopped at the tip of the piston rod 77. When the receiving recess 67 is vacant, the piston rod 77 moves backward and the shaft portion 3 is drawn into the receiving recess 67, the head 2 is placed on the upper surface 69, and is in a hanging state. Thereafter, the piston rod 77 advances again to stop the next bolt 1 and wait.

  2, 6 </ b> C, and FIG. 6E, a stopper piece 78 that receives the lower end of the shaft portion 3 is disposed. The stopper piece 78 is formed of a thick plate material, and its upper surface is a stopper surface 79. The stopper surface 79 includes a receiving surface 80 formed at a position coaxial with the insertion axis OO, and an inclined surface 81 that functions when a bolt to be described later is delivered.

  Next, the operation of the insertion device will be described.

  The washer 6 coming out of the washer parts feeder 22 passes through the delivery passage 29 by the operation of the linear feeder 34, enters the entrance groove 57 of the diverting member 55, and is drawn into the delivery groove 58 by the attractive force of the permanent magnet 59, The inner surface of the delivery groove 58 and the front end surface of the pushing member 60 are lightly pressed.

  Next, the push-out member 60 is advanced by the operation of the air cylinder 61, and the washer 6 pushed out by this is pushed into the first recess 43 of the insertion base member 42 and slides on the slide surface 53, and the first stop recess. Received at 45. In this received state, the center of the washer 6 is coaxial with the insertion axis OO.

  The washer 6 received by the first stop recess 45 is attracted by the permanent magnet 52, thereby holding the washer 6 on the insertion base member 42 and waiting in a state where it cannot move.

  The washer 6 is transferred to the first stop recess 45 via the guide member 30 and the deflecting member 55 as described above. Instead, the deflecting member 55 and the pushing member 60 are eliminated, and the guide member 30 is removed. 4 may be configured such that the vicinity of the tip thereof is bent to the left in FIG. 4A and the opening thereof matches the first opening 47 (see FIG. 6D). If it does in this way, the washer 6 will be sent in the 1st recessed part 43 directly from the guide member 30 drawing the curved movement locus | trajectory.

  On the other hand, the bolt 1 that has come out of the bolt parts feeder 12 passes through the delivery passage 27 by the operation of the linear feeder 34, and when the piston rod 77 moves backward by the operation of the air cylinder 76, the first attracting force of the permanent magnet 68 is used. The bolt 1 is pulled into the receiving head 66. In this state, the center of the bolt 1 is coaxial with the insertion axis OO.

  Thus, the shaft portion 3 of the bolt 1 comes into close contact with the arc surface of the receiving recess 67, and the relative position between the bolt 1 and the receiving head 66 on the insertion axis OO is not changed.

  In FIG. 6A, the bolt 1 is supported by the receiving head 66 in a state of being coaxial with the insertion axis OO, and the washer 6 is supported by the insertion base member 42 in a standby state. It shows a state of being coaxial with -O. The piston rod 74 of the air cylinder 73 extends, and the piston rod 72 of the air cylinder 71 is in the contracted position.

  Here, when the air cylinder 73 is contracted, the receiving head 66 is lowered in the vertical direction, and the shaft portion 3 is inserted into the insertion hole 7 and the second recess 44 of the washer 6 as shown in FIG. .

  Then, when the receiving head 66 comes to just before the insertion base member 42, the lowering operation of the air cylinder 73 stops, and then the piston rod 72 of the air cylinder 71 advances to retract the receiving head 66, and FIG. The receiving head 66 moves away from the bolt 1 as shown in FIG.

  When the receiving head 66 moves away from the bolt 1 in this way, the bolt 1 falls in the vertical direction by its own weight, and the lower end of the shaft portion 3 lands on the receiving surface 80 of the stopper piece 78. 10-15 mm is suitable for the height of this dead weight fall, and here is 12 mm. By adjusting the vertical position of the receiving surface 80, the fall amount becomes 12 mm as described above, and in the state where the lower end of the shaft portion 3 is received by the receiving surface 80, as shown in FIG. A slight gap L is formed between 2 and the washer 6.

  Thus, since the receiving head 66 holds the bolt 1 and lowers the bolt 1 to a lower position and then releases the bolt, the drop distance of the bolt 1 is shortened and the impact force on the receiving surface 80 is minimized. Further, it is possible to prevent the receiving surface 80 from sagging and deforming. By providing the gap L as described above and the fact that the shaft portion 3 is seated on the receiving surface 80, it is possible to avoid the head 2 from impacting the washer 6 and the insertion base member 42 can be avoided. The effect that the shape of each part is not deformed abnormally is obtained.

  Returning to the explanation of the operation, the advancement of the air cylinder 71 stops at a position where the receiving head 66 is separated from the bolt 1, and subsequently, the piston rod 74 of the air cylinder 73 is extended, and the receiving head 66 is connected to the rail member 17. Returning to the same original height, finally, the piston rod 72 of the air cylinder 71 is contracted, and the receiving head 66 returns to a position matching the delivery passage 27 to prepare for the reception of the next bolt 1. The movement trajectory of the above-described lowering, horizontal movement, ascent and horizontal movement of the receiving head 66 is in the form of a square motion.

  As described above, when the receiving head 66 moves backward to the right in the stage of FIG. 6B, the shaft portion 3 may also be pulled out from the insertion base member 42 together. In order to solve such a problem, the movement of the shaft portion 3 is restricted by the lateral side surface 65 of the deflecting member 55. That is, the lateral side surface 65 of the diverting member 55 serves as a regulating surface for the shaft portion 32.

  When the assembled bolt 1 and washer 6 are pushed out by the operation of the air cylinder 50 from the state where the lower end of the shaft portion 3 is supported by the receiving surface 80, the lower end of the shaft portion 3 slides down the inclined surface 81. However, it leaves | separates from the inclined surface 81, and when leaving | separating, the head 2 closely_contact | adheres to the washer 6.

  Therefore, the longitudinal direction of the inclined surface 81 is the same as the advance direction of the air cylinder 50, and the advance side of the air cylinder 50 is low.

  Next, the delivery mechanism will be described.

  The bolt 1 and the washer 6 assembled by the insertion device 110 are transferred to the delivery mechanism 120 and delivered to the target location. The assembled bolt 1 and washer 6 are locked to the insertion base member 42 and are sent out in a direction perpendicular to the delivery passage 27 by the operation of the air cylinder 50 as shown in FIG. Here, it is sent out to the outside of the support member 8 as seen in a plan view.

  The bolt 1 and the washer 6 supported by the insertion base member 42 are transferred to the delivery passage 83 having the same structure as the previous delivery passages 27 and 29. As shown in FIGS. 1 and 7, the members constituting the delivery passage 83 are denoted by the same reference numerals as those described above. The rail member 17 is driven by the same rectilinear feeder 34 as that of the previous one so as to perform a transfer function.

  In order to transfer the bolt 1 and the washer 6 supported by the insertion base member 42 to the rail member 17 of the delivery passage 83, as shown in FIG. The pushing member 84 advances and retreats by the same mechanism as the mechanism that operates the pushing member 60 described above. Therefore, the same reference numerals as those described above are given to the air cylinder and the piston rod. Reference numerals 85 and 86 shown in FIG. 1 are brackets that couple the linear feeder 34 and the air cylinder 61 to the end of the support member 8. Both the pushing direction of the pushing member 84 and the transfer direction of the sending passage 83 are parallel to the sending passage 27.

  The bolt 1 and the washer 6 sent to the end of the delivery passage 83 are transferred by a conveying means corresponding to the next process. For example, although not shown, the bolt 1 waiting at the end of the delivery passage 83 is gripped by the chuck of the screw tightening machine.

  In addition, while extending the support member 8 downward in FIG. 1, the brackets 85 and 86 can be eliminated and the delivery mechanism 120 can be disposed on the support member 8.

  FIG. 8 is a diagram three-dimensionally showing the movement path of the component. Reference numerals of delivery passages and members related to each transfer are described. The square movement trajectory shown by the two-dot chain line in this figure is the movement trajectory of the receiving head 66 and indicates the aforementioned square motion.

  The support member 8 is made of a steel plate supported by the support column 10, but instead of this, the aggregates are assembled in a square shape, and other aggregates are installed in the horizontal direction, and the parts feeders 12, 22, It is also possible to mount devices such as the insertion device 110. Further, the male screw 4 formed on the shaft portion 3 is shown only in FIG. 9 and is not shown in other drawings. Furthermore, illustration of the supply / exhaust pipe of the working air to each air cylinder is omitted.

  It should be noted that an electric motor that performs forward / backward output can be employed instead of the various air cylinders. It is also possible to replace the various permanent magnets with electromagnets.

  Various operations such as operating the various air cylinders described above in accordance with the operation sequence described above or intermittently operating the parts feeder can be easily performed by a commonly used control method. By combining an air switching valve that operates with a signal from a control device or a sequence circuit configured by a simple computer device, a sensor that emits a signal at a predetermined position of the air cylinder and transmits it to the control device, etc. Operation can be ensured.

  In addition, although the said Example presupposes an apparatus invention, it can replace with this and can exist as a method invention which combined each moving element as shown in FIG. Three-dimensional X, Y, and Z by setting the forward / backward direction of the piston rod 74, that is, the insertion axis OO direction as the X direction, the transfer direction of the delivery passage 27 as the Y direction, and the transfer direction of the delivery passage 29 as two directions. A method invention including a typical transfer displacement is constructed.

  The operational effects of the embodiment described above are as follows.

  The washer 6 is supported in advance in a coaxial state with the insertion axis OO by an insertion base member 42 that performs a standard positioning function when inserting the bolt 1 into the washer 6. On the other hand, the bolt 1 is held coaxially with the insertion axis OO on the receiving head 66 and positioned so as not to swing by a permanent magnet 68 that is a suction means of the receiving head 66. Then, the bolt 1 is inserted into the washer 6 along the insertion axis OO by the air cylinder 73 serving as insertion operation means while being held in a state where the relative position with the receiving head 66 does not change.

  Since the operation is as described above, the bolt 1 is surely inserted into the washer 6 positioned by the insertion base member 42, and the operation reliability as the assembling apparatus 100 becomes perfect. That is, the washer 6 can be held by the insertion base member 42 and cannot move, and the bolt 1 is positioned in the receiving head 66 by the permanent magnet 68. Therefore, the washer 6 and the bolt 1 are It can be in a state where it cannot deviate from the insertion axis OO, and as described above, the operation reliability is perfect. Therefore, it is possible to accurately maintain the axial center alignment of the washer 6 and the bolt 1 from the stage before the insertion assembly to the completion of the assembly and to obtain a high assembly reliability.

  By adopting an air cylinder, an advance / retreat output type electric motor or the like as the insertion operation means 73 for performing the above-described insertion operation, the advance / retreat operation becomes a complete linear operation, and therefore, along the insertion axis OO. Accurate movement of the bolt 1 can be reliably achieved.

  The bolt with the washer after completion of assembly is transferred to the delivery mechanism 120 by the air cylinder 50 serving as transfer driving means while being held by the insertion base member 42. Accordingly, the relative position between the washer 6 and the bolt 1 can be transferred from the delivery mechanism 120 to the target location in the correct insertion state without being deviated.

  When the receiving head 66 holds the bolt 1 and the head 2 is moved to the vicinity of the washer 6, the bolt 1 is released from the receiving head 66, so that the falling distance of the bolt 1 is shortened and the stopper piece. The impact force on the receiving surface 80 of the 78 is minimized, and it is possible to prevent the receiving surface 80 from being drooped and deformed. The arrangement position of the receiving surface 80 is selected, and the gap L as described above is provided between the head 2 and the washer 6, and the fact that the shaft portion 3 is seated on the receiving surface 80 is congested, and the washer. It is possible to avoid the impact of the head 2 on the head 6 and the shape of each part such as the sliding surface 53 of the insertion base member 42 is not abnormally deformed.

  The advancement of the air cylinder 71 stops at the position where the lowered receiving head 66 is separated from the bolt 1, and subsequently, the piston rod 74 of the air cylinder 73 extends, and the receiving head 66 is at the same height as the rail member 17. Finally, the piston rod 72 of the air cylinder 71 is contracted, and the receiving head 66 returns to a position matching the delivery passage 27 to prepare for receiving the next bolt 1. The movement trajectory of the receiving head 66 descending, horizontally retreating, ascending, and horizontally advancing is in the form of a square motion.

  The bolt 1 is grasped by the receiving head 66, the bolt 1 is inserted into the washer 6, the receiving head 66 is retracted after the insertion, the receiving head 66 returns to the original height, and the receiving head 66 sends out. A series of operations for mating and joining the passage 27 is performed by the square motion. For this reason, the receiving, inserting, and dropping of the bolt 1 are reliably performed with a series, and the inserting device 110 operates reliably. At the same time, the movement motion trajectory after the open drop is also formed reliably.

  An elevating air cylinder 73 that moves forward and backward in the vertical direction is fixed in an upright state on the support member 8, and the air cylinder 71 is attached to the upper end of the piston rod 74 so as to move forward and backward in the horizontal direction. . The receiving head 66 is caused to perform a square motion by combining the ascending / descending operations of the ascending / descending air cylinder 73 and the air cylinder 71. Thus, by combining the lifting air cylinder 73 and the air cylinder 71 operating in the horizontal direction like a unit, the head 66 can receive an accurate square motion with a simple structure.

  As described above, according to the apparatus of the present invention, it is possible to accurately maintain the axial center alignment of the annular part and the shaft-like part from the stage before the insertion assembly to the completion of the assembly, thereby obtaining high assembly reliability. Therefore, it can be used in a wide range of industrial fields, such as an automobile body assembly process and a home appliance sheet metal assembly process.

1 bolt 2 head 3 shaft 6 washer 7 insertion hole 8 support member 12 parts feeder 13 for bolt 13 bowl 16 outlet passage 22 parts feeder 23 for washer 23 bowl 25 outlet passage 26 one side 27 delivery passage 28 other side 29 delivery passage 30 guide member 33 equipment arrangement space 34 rectilinear feeder 42 insertion base member 43 first recess 44 second recess 45 first stop recess 46 second stop recess 47 first opening 48 second opening 50 transfer drive means, air cylinder 53 sliding surface 55 Deflection member 66 Receiving head 68 Suction means, permanent magnet 73 Insertion operation means, elevating air cylinder 78 Stopper piece 83 Delivery passage 100 Assembly device 110 Insertion device 120 Delivery mechanism YY Diagonal line OO Insertion axis O1 Bolt parts feeder Center O2 Center of washer parts feeder S1 Separation distance S Distance L gap

Claims (1)

The center line when the annular part and the axial part are in a coaxial state and the axial part is inserted into the annular part is the insertion axis,
An insertion base member for supporting the annular component in a state where the center thereof is coaxial with the insertion axis;
A receiving head that receives the shaft-shaped component that has been transferred through the delivery path of the shaft-shaped component and holds the shaft-shaped component in a state coaxial with the insertion axis;
Suction means provided on the receiving head for holding the shaft-shaped component on the receiving head and preventing the shaft-shaped component from swinging;
An insertion actuating means for inserting the shaft-like component into the annular component by moving the receiving head along the insertion axis;
Transfer driving means for transferring the shaft-shaped part with the annular part after the assembly, in which the shaft-shaped part is inserted into the annular part, to the delivery mechanism of the shaft-shaped part with the annular part while being supported by the insertion base member. An assembling apparatus for inserting a shaft-like component into an annular component characterized by comprising an annular component.

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