JP2574777B2 - Sheet material assembling device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a sheet material assembling apparatus used for attaching a sheet material such as a gasket to a member to be assembled such as a cylinder block. is there.

(Prior Art) For example, in assembling a cylinder head to a cylinder block in a cylinder block assembly line or the like in an automobile manufacturing plant, a gasket is previously attached to a cylinder head assembly surface of the cylinder block. The gasket is usually automatically assembled by a robot. However, this gasket is usually made of a sheet material, and a plurality of sheets are supplied at a gasket supply position in a state of being stacked, and the gasket is assembled by a robot in a state where the gasket is adsorbed by a robot hand. However, there has been a problem that the robot hand may adsorb two gaskets at a time, which may lead to defective products due to an assembly error.

Various measures have conventionally been devised to cope with such a problem. For example, as described in Japanese Patent Application Laid-Open No. 60-80586, at the time of adsorbing a sheet material to the robot hand, the suction portion of the robot hand is moved. In some cases, the sheet material sucked by being rotated inward is curved to separate the stacked sheet materials one by one.

(Problems to be Solved by the Invention) In order to rotate the suction part of the robot hand inward as in the above-described prior art, it is necessary to devise a structure of the robot hand, and the robot hand has The structure may be complicated and the cost may be increased.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and has been made to be able to securely assemble sheet materials one by one by adding a simple and low-cost means without making any improvement on the robot hand side. The purpose of the present invention is to eliminate the occurrence of defective products due to an assembly error.

(Means for Solving the Problems) In the present invention, as a means for solving the above problems, a plurality of sheet materials made of a magnetic material are supplied in a state of being stacked via an intermediate material made of a nonmagnetic material. A sheet material supply unit, a magnetic material discriminating means for discriminating between these sheet materials and the intermediate material, and a robot having a robot hand including an adsorbing means configured to adsorb the sheet material or the intermediate material. In the sheet material assembling apparatus, the robot hand is supplied to the suction means by the discriminating action of the magnetic material discriminating means in the process of moving through the sheet material supply unit and the magnetic material discriminating means. When the robot hand is identified as a material, the robot hand is moved to a sheet material assembling position, and when the robot hand is identified as an intermediate material, the robot hand is moved to an intermediate material disposal position. Dynamic control.

(Action) In the present invention, the following action is obtained by the above means.

That is, when a plurality of sheet materials made of a magnetic material are supplied to the sheet material supply unit in a state of being stacked via an intermediate material made of a non-magnetic material, the highest one in the sheet material supply unit is the sheet material. There is a case where it is not known whether there is or an intermediate material.However, the robot hand identifies the material sucked by the sheet material supply unit by the magnetic material discriminating means,
If the sucked material is identified as a sheet material, the robot hand is moved to the sheet material assembling position where the sheet material is to be assembled, and if the sucked material is identified as an intermediate material. Means that the robot hand can be moved to the intermediate material disposal position, so that the sheet material can be selected accurately regardless of whether the top layer of the laminated member is the sheet material or the intermediate material, and it is possible to select one sheet at a time. The sheet material is assembled.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

As shown in FIG. 5, the sheet material assembling apparatus according to the present embodiment includes a cylinder head 2 prior to assembling the cylinder head 2 to the cylinder block 1 of a V-type 6 cylinder (that is, a member to be assembled). It is used when the gasket 4 is mounted on the mounting surface 1a. Reference numeral 3 denotes a bolt for assembling the cylinder head, and reference numeral 5 denotes a hollow positioning pin projecting from the cylinder head assembly surface 1a of the cylinder block 1. That is, in the case of the present embodiment, the gasket 4 constitutes a sheet material, and the cylinder block 1 constitutes a member to be assembled.

Sheet assembling apparatus according to the present embodiment, as shown in FIG. 1 shown, the main line L ₁ for conveying the pallet jig 6 supporting the cylinder block 1, is installed in the main line L ₁ and perpendicularly, Sub-line L ₂ for transporting cylinder head ₂
And an assembling robot 7 installed at a corner C surrounded by the main line L ₁ and the sub line L _2, and installed on the side opposite to the robot 8 on the side of the sub line L ₂ and stock the gasket 4. sheet feeding unit to and a S _3.

The pallet jig 6, as Figure 2 illustrates, pallet body 6a and the pallet body 6a which is conveyed the main line L ₁
It has become and a erected the jig body 6b in order to support the cylinder block 1 above, and is positioned on the sheet material assembly position S ₁ in the main line L _1. Reference numeral 8 denotes a posture correcting device for correcting the posture of the cylinder block 1 supported by the pallet jig 7.

Wherein the opposite side of the robot 7 in the main line L ₁ side, the bolt supplying device for supplying the bolt 3 9
Is installed. The bolt feeder 9 temporarily receives the bolts 3 supplied by the parts feeders 10 and 10 and the parts feeders 10 and 10 which supply the bolts 3 individually and continuously.
S ₂ (shown by a chain line in FIG. 1).

In the sheet supply section S3, as shown in FIG. ₃ , a gasket made of a magnetic material is placed on a sheet support jig 13.
4 and 4 are supplied in a stacked state via a paper intermediate material 14 which is a non-magnetic material. Reference numeral 15 denotes a sheet material support jig 13.
A locking projection is provided on the upper surface to lock the gasket 4 and the intermediate member 14.

The sub-line L above the _2, bolt gripper 16 is configured to clamp the bolt 3 and the cylinder head 2
Cylinder gripper configured to clamp
While the station S ₄ for accommodating and 17 are installed, between the robot 8 and the main line L ₁ is gasket 4
And station S ₅ for accommodating the gasket gripper 18 which acts an intermediate member 14 as a suction means for sucking and supporting are installed. These bolt gripper 16, cylinder head gripper 17, and gasket gripper
Numeral 18 is selectively attached to and detached from the robot hand 19 of the robot 7, and the bolt gripping positions S ₂ ,
Sheet feeding unit S ₃ and the station S _4, S ₅ is installed within the operating range of the robot hand 19.

The gasket gripper 18 is, as shown in FIG.
Suction cup for adsorbing gasket 4 or intermediate material 14
And positioning pins 21, 21 which are inserted into the inner holes of the positioning pins 5, 5 on the cylinder block 1 side when the gasket 4 is assembled to perform positioning.

Also, the station S _4, the touch sensor member that is adsorbed to the gasket gripper 18 in the sheet material feeding section S ₃ acts as a magnetic discriminating means for identifying whether the intermediate material 14 or a gasket 4 22 is attached. As the touch sensor 22, a magnetic sensing type is adopted, and the gasket 4 (in other words, the sheet material) and the intermediate material 14 are separated depending on whether the detected member is a magnetic material or a non-magnetic material. Identify.

Furthermore, the in front of the sheet feeding section S _3, station S _6, which is an intermediate material waste position to discard the intermediate member 14 adsorbed to the gasket gripper 18 in the sheet feeding section S ₃ is provided .

And Thus, the robot 7, in the process of the robot hand 19 moves through the touch sensor 22 is a sheet supply section S ₃ and the magnetic discriminating means, the touch sensor
22 robot hand 19 when those adsorbed on the gasket gripper 18 is identified as the gasket 4 by the identification action to the sheet material assembling apparatus S ₁ of, when it is identified as the intermediate member 14 Is configured to control the movement of the robot hand 19 to the intermediate material disposal position (that is, the intermediate material disposal station S ₆ ).

 Next, the operation of the illustrated sheet material assembling apparatus will be described.

First, after positioning the pallet jig 6 conveyed through the main line L ₁ to a predetermined sheet assembling apparatus S _1, to position the cylinder head 2 which has been conveyed to the sub-line L ₂ to a predetermined position. Thereafter, the gasket gripper 18 mounted on the robot hand 19 of the robot 7, the suction cups 20, 20 ... sheet supplying unit S ₃ by the said gasket grippers 18
The gasket 4 (or intermediate member 14) adsorbed (see FIG. 4), a touch sensor provided a gasket 4 (or intermediate member 14) in the attached state to the station S ₄
The gasket 4 is moved to a position above the gasket 4 and the intermediate material 14 is identified by the touch sensor 22. And
If the member adsorbed on the gasket gripper 18 is identified as the gasket 4, the robot hand 19
Is made to move to the sheet assembling apparatus S ₁ on the main line L _1, assembling the gasket 4 in the cylinder head assembly surface 1a of cylinder block 1 positioned in said sheet material assembling apparatus S _1. On the other hand, when the member that is adsorbed to the gasket gripper 18 by the touch sensor 22 is identified as the intermediate member 14, the robot hand 19 is moved to an intermediate material disposal station S _6, where the intermediate material is suckers 20, 20 ... is released adsorption by is caused to drop into the intermediate material disposal station S ₆ in. Therefore, the sheet material supply unit S ₃
In the above, the gasket 4 or the intermediate material 14 has the highest order of the components laminated on the sheet material supporting jig 13, and only the gasket 4 is accurately identified and assembled to the cylinder block 1. It becomes.

When the assembly of the gasket 4 is completed, the gasket gripper 18 of the robot hand 19 is moved to the bolt gripper 16.
Replace the bolt 3 from the position S ₂ out gripping bolts in the bolt feeding device 9 by the bolt gripper 16
After pre Ji because inserted into the bolt insertion holes 23 of the cylinder head 2 which is positioned on the sub-line L ₂ by clamping (see FIG. 5), replacing the bolt gripper 16 of the robot hand 19 to the cylinder head gripper 17, clamping the cylinder head 2 a and bolt 3 is positioned on the sub-line L ₂ is pre Ji fit inserted by the cylinder head gripper 17, so assembling the cylinder block 1 is positioned on the main line L ₁ is there.

The present invention, as described in the above embodiment,
It is not applied only when a gasket is attached to a cylinder block, but a sheet material made of a magnetic material supplied in a stacked state via an intermediate material made of a non-magnetic material is covered with a robot. Needless to say, the present invention can be applied to all components to be mounted on the mounting member.

Further, the present invention is not limited to the configuration shown in the above embodiment, and it is needless to say that the design can be changed as appropriate without departing from the gist of the invention.

(Effects of the Invention) As described above, according to the present invention, a sheet material supply unit in which a plurality of sheet materials made of a magnetic material are supplied in a stacked state via an intermediate material made of a nonmagnetic material, A sheet material assembling apparatus comprising: a magnetic material discriminating means for discriminating between the sheet material and the intermediate material; and a robot having a robot hand having an adsorbing means configured to adsorb the sheet material or the intermediate material. In the process in which the robot hand moves through the sheet material supply unit and the magnetic material discriminating means, when the object adsorbed by the adsorbing means is identified as a sheet material by the discriminating action of the magnetic material discriminating means, Is configured to control the movement of the robot hand to the sheet material assembling apparatus and to move the robot hand to the intermediate material disposal position when the robot hand is identified as an intermediate material. Sheet materials can be reliably assembled one by one, regardless of whether the top layer of the laminated member is a sheet material or an intermediate material, without modifying the structure on the hand side. There is an excellent effect that the occurrence of defective products due to mistakes can be eliminated and automatic assembly by a complete robot can be performed.

[Brief description of the drawings]

1 is a plan view showing a sheet material assembling apparatus according to an embodiment of the present invention, FIG. 2 is a side view of a main part of FIG. 1, and FIG. 3 is a sheet material assembling apparatus of FIG. FIG. 4 is an exploded perspective view showing a state of a sheet material supply section, FIG. 4 is a side view showing a state in which a gasket is clamped by a robot hand, and FIG. 5 is a sheet material assembling apparatus using the sheet material assembling apparatus shown in FIG. FIG. 6 is an exploded perspective view of a cylinder block assembly in which the operation is performed. 4 ...... sheet material (gasket) 7 ...... robot 14 ...... intermediate member 18 ...... suction means (gaskets gripper) 19 ...... robot hand 22 ...... magnetic discriminating means (touch sensor) S ₁ ...... sheet assembly Position S ₃ …… Sheet material supply section S ₆ …… Intermediate material disposal position

Claims (1)

(57) [Claims] 1. A sheet material supply section in which a plurality of sheet materials made of a magnetic material are supplied in a stacked state via an intermediate material made of a non-magnetic material, and the sheet material and the intermediate material are identified. A magnetic material discriminating means, a robot hand having an adsorbing means configured to adsorb the sheet material or the intermediate material, wherein the robot hand moves through the sheet material supply unit and the magnetic material discriminating means, When the object adsorbed by the adsorbing means is identified as a sheet material by the discriminating action of the magnetic material identifying means, the robot hand is moved to the sheet material assembling position, and when the robot hand is identified as an intermediate material. A sheet material assembling device, comprising: a robot that controls movement of the robot hand to an intermediate material disposal position.