JP2683029B2 - Shaft member assembly device - Google Patents

Description

TECHNICAL FIELD The present invention relates to an improvement of a shaft member assembling device for inserting and assembling a shaft member such as a valve of a vehicle engine into an assembly body such as a cylinder head. In particular, it relates to measures for improving the efficiency of assembling.

(Prior Art) Conventionally, for example, as in the work of inserting a valve into a cylinder head of a vehicle engine and assembling it, an assembling work of inserting a shaft member into a shaft hole of an assembling body requires a hole diameter and a shaft diameter. Since there is little dimensional allowance between them, delicate alignment and centering operations are required. Then, today, automation of such insertion and assembling work, which has been carried out until now, by a robot is being promoted. As one example,
By attaching a variable compliance mechanism as shown in Japanese Patent No. 59-59389 to the wrist of the robot, a robot configured to obtain appropriate compliance according to the work content, that is, an RCC (Remote Center Compliance) device is used. The shaft member absorbs the reaction force received from the peripheral edge of the shaft hole to eliminate the error.

(Problems to be Solved by the Invention) However, in the above-mentioned technology, a very high level of information processing is required in the control system, or the function becomes complicated, and a new means for improving the system is provided. That is, there is a problem in that the robot hand must be provided with a floating unit for absorbing displacement, and there has been a demand for an assembling device that can be reliably inserted with a simple structure.

The present invention has been made in view of these points, and an object of the present invention is to obtain an assembly device that can obtain a reliable and reliable insertion operation with a simple principle. .

(Means for Solving the Problem) A solution means of the present invention for achieving the above object is an apparatus for inserting a shaft member having a predetermined length into a shaft hole of an assembly body and assembling the shaft member. A support member movable in the extension direction of
The shaft member can be clamped so that the shaft center of the shaft member is parallel to the extension direction of the shaft hole, and the clamp member is movably supported by the support member in the extension direction of the shaft hole, and the shaft member is a shaft. In the inserting operation of the urging means for urging the clamp member in the direction of being inserted into the hole, and the shaft member in which the support member moves while the clamp member clamps the shaft member,
Detecting means for detecting an insertion error when the clamp member moves relative to the supporting member against the urging force of the urging means, and when the detecting means detects the insertion error, the insertion position at that time is a reference point. Until one end of the shaft member is inserted into the shaft hole, the insertion position of the shaft member is changed from the reference point to multiple retry points that are spirally displaced in the centrifugal direction in the plane orthogonal to the axis of the shaft hole. Insertion position correction means for sequentially performing retry movements and correction, and the other end of the shaft member provided in the support member, with the one end portion of the shaft member inserted in the shaft hole,
A pressing member that presses in the extension direction of the shaft hole as the support member moves and presses the shaft member to a predetermined position in the shaft hole is provided.

(Operation) With the above configuration, in the present invention, when the insertion error of the shaft member occurs, the clamp member moves relative to the support member (for example, moves backward) against the biasing force of the biasing means.
At this time, the detection means detects an insertion error. In accordance with this detection, the insertion position correcting means retries the insertion position of the shaft member in order from the reference point to a plurality of retry points which are spirally displaced in the centrifugal direction in the plane orthogonal to the axis of the shaft hole, The retry movement is repeated until the shaft member is inserted into the shaft hole. Therefore, the probability that the shaft member is inserted into the shaft hole increases due to the repetition of this retry movement, and the shaft member can be securely attached without the need for a complicated structure such as a floating unit for absorbing the shift as in the conventional case. It can be inserted and assembled into the assembly. Further, when one end portion of the shaft member is inserted into the shaft hole by the retry movement, the pressing member provided on the support member presses the other end of the shaft member as the support member moves, and the shaft member is rotated. Push it to the specified position in the hole. That is, if the clamped state by the clamp member is released during this pushing operation, the portion of the shaft member that was clamped by the clamp member can be pushed into the shaft hole.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings.

FIG. 4 shows an assembling process of assembling various assembling parts to a cylinder head of a vehicle engine such as an automobile. The assembling process by the valve assembling device according to the embodiment of the present invention is also included in this. First, before entering into the description of the valve assembling apparatus (the shaft member assembling apparatus of the present invention) of the present embodiment, an outline of the entire assembling procedure will be described.

First, the cylinder head is carried into the vehicle type detection station S _1, and it is detected here which vehicle type the cylinder head standard is. Then, perform the press-fit assembling the valve seal to carry a cylinder head that is vehicle type detected valve seal assembly station S _2. After that, the cylinder head is carried into the reversing station S ₃ and turned upside down by reversing 180 °, and then the inlet valve and the exhaust valve are installed at the inlet valve mounting station S ₄ and the exhaust valve mounting station S ₅ , respectively. Insert and assemble. Then, at the reversing station S ₆ , the cylinder head with both valves inserted and assembled is reversed 180 degrees to return to the original posture, and then the spring and lower seat assembly station S ₁₇ is assembled with the spring and lower seat. I do. Next, the cylinder head with the spring and the lower seat assembled is carried into the inlet side retainer (upper seat) and collet assembly station S ₈ to assemble the retainer and the collet, and then the exhaust side retainer and the collet. After loading the retainer and collet into the assembling station S ₉ , and then assembling the retainer and collet at the same assembling station S ₉ , it can be checked whether all the collets on the inlet side and exhaust side are assembled properly. Then, the assembling of various assembling parts to the cylinder head is completed.

And, the shaft member assembling apparatus according to the embodiment of the present invention,
During the above assembling process, they are installed at each of the inlet valve assembling station S ₄ and the exhaust valve assembling station S ₅ .

Each of the inlet valve assembling station S ₄ and the exhaust valve assembling station S ₅ has a robot (not shown) as a valve inserting means having a valve gripper 9 at the tip of an arm 10, as shown in enlarged detail in FIG. Each) is installed. The operation of the robot is controlled by the controller A.

Next, the valve insertion mechanism in the robot will be described in detail.

The valve gripper 9 is provided with a support member 12 connected to the tip of the arm 10 of the robot via a connection member 11, and the support member 12 has a pair of upper sides that extend in the same direction at the upper and lower positions thereof. Further, the lower overhanging portions 12a, 12b are formed, and the both overhanging portions 12a, 12b are connected to each other by a rod 13 extending in the vertical direction.

Further, a clamp member 14 for clamping the valve B with the piston rod by the extension operation of a pressing cylinder (not shown) is rotatably fitted to and supported by the boss portion 14a on the rod 13, and the clamp member 14 is rotated. The boss portion 14a of 14 is always urged downward by the spring force of a coil spring 15 as a biasing means that is compressed between the boss portion 14a and the upper protruding portion 12a of the support member 12. .

Further, at the front end (the left end in the figure) of the lower surface of the lower protruding portion 12b of the support member 12, when the valve B is assembled, the valve B
A spherical pressing member 16 for pressing the head b ₂ of the head is fixed. Further, a fluid pressure cylinder 18 as a detection means having a vertical piston rod 18a having a pad 17 fixed to the lower end is fixedly supported at the front end (the left end in the figure) of the upper protruding portion 12a of the support member 12, The fluid pressure cylinder 18 is internally provided with a detector (not shown) including a switch mechanism or the like for detecting the clamp position of the valve B which is clamped by the pressing cylinder and the clamp member 14 in the upside down posture. There is. That is, when the valve B is inserted into the opening C1 of the valve guide C in the cylinder head W and assembled, and the insertion of the valve B into the opening C1 is not performed smoothly, the valve B is fixed to the clamp member. By being pushed upward against the spring force of the coil spring 15 via 14, the head portion b ₂ thereof comes into contact with the pad 17 of the piston rod 18a of the fluid pressure cylinder 18 and the fluid pressure cylinder 18 is contracted. In this way, the detector is operated to detect the insertion error of the valve B. When this insertion error is detected, the control unit A
The insertion position correction unit A1 therein is configured to correct the insertion position of the valve B.

Next, the valve insertion movement by this device will be described.

First, when the insertion position of the valve B is accurately aligned with the position of the opening C1 of the valve guide C previously mounted on the cylinder head W, that is, when the insertion error does not occur, the robot is turned upside down. Clamp the valve B in the facing position with the valve gripper 9
Is made to correspond to the valve guide C, and the stem b ₁ of the valve B is inserted into the opening C ₁ of the valve guide C by a descending operation (arrow D in FIG. 1) to a predetermined depth, and then the valve gripper 9 of the valve B is used. Release the clamp. After that, as shown in an enlarged detail in FIG. 2, the robot moves so that the pressing member 16 contacts the head b _{2 of the} valve B, and the pressing member 16 moves the head of the valve B by the same descending operation as described above. Press b ₂ , press the valve B into the valve guide C and assemble it to the cylinder head W. Accordingly, it becomes possible to push the inner opening C1 portions were clamped by the clamping member 14 in the stem b ₁ of the valve B.

On the other hand, when the insertion position of the valve deviates from the position of the opening C1 of the valve guide C, that is, when an insertion error occurs, the valve B is not inserted into the valve guide C as described above. The part b ₂ is the fluid pressure cylinder
The fluid pressure cylinder 18 is contracted and moved by coming into contact with the pad 17 of the piston rod 18a of 18 and the above detector is operated to detect an insertion error of the valve B. Then, the insertion position correction unit A1 is operated by the detection signal, the arm 10 is retracted, and the valve B is moved up (arrow E in FIG. 1). Then, the valve B is moved to the retry position (details will be described later) deviated by a predetermined amount, and the inserting operation is performed again. Then, this inserting operation is repeated until the valve B is securely inserted into the opening C1 of the valve guide C. As shown in FIG. 3, the displaced retry position is spirally displaced in the order of II, III, ... With respect to the first insertion position I. Therefore, by accurately setting the retry position interval, accurate alignment can be performed. In addition, the setting of this retry position interval is
It is appropriately changed according to the accuracy of stopping the arm of the robot.

As described above, in this embodiment, the valve B is the valve guide C.
When an insertion error is detected when it is press-fitted into the assembly and assembled, the valve B is displaced and the insertion operation is performed again.
Since the operation is repeated until the valve B is securely inserted into the valve guide C, the insertion is performed without requiring a complicated structure.

In the present embodiment, the case where the valve is inserted into the valve guide has been described, but the present invention is not limited to this, and can be applied to any shaft member and assembled body.

(Effects of the Invention) As described above, according to the present invention, the shaft member is inserted into the shaft hole of the assembly body to be assembled, and the clamp member resists the biasing force of the biasing means. When moving relative to the support member, an insertion error is detected, and the bearing insertion position is retried in order from the reference point to multiple retry points that are spirally displaced in the centrifugal direction in the plane orthogonal to the axis of the shaft hole. A device that can reliably insert and assemble the bearing material into the assembly body without the need for a complicated structure such as a floating unit for absorbing the shift, which is required in the past, by performing the correction by moving. Is what you get. Further, when the shaft member is pushed into the shaft hole by the pressing member, if the clamped state of the clamp member is released, the portion of the shaft member that has been clamped by the clamp member can also be pushed into the shaft hole. Become.

BRIEF DESCRIPTION OF THE DRAWINGS FIGS. 1 to 4 show an embodiment of the present invention, FIG. 1 is a side view of a valve gripper attached to an arm of a robot, and FIG. 2 is a set of valves to a cylinder head. FIG. 4 is a cross-sectional view showing a mounting state, FIG. 3 is a view showing a retry position when an insertion error occurs, and FIG. 4 is a cross-sectional view of a parts assembling line. 12 ... Supporting member, 14 ... Clamping member, 15 ... Coil spring (biasing means), 16 ... Pressing member, 18 ... Fluid pressure cylinder (detecting means), A1 ... Insertion position correcting section, B ... …
Valve (shaft member), C1 ... Valve guide opening (shaft hole),
W: Cylinder head (assembly).

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Sumio Abe 1-1-12-34-501 Ryugadai, Suma-ku, Kobe-shi, Hyogo Prefecture (72) Inventor Minoru Okamoto 5-1-8-103 Fukuda, Tarumi-ku, Kobe-shi, Hyogo Prefecture ( 56) References JP-A-60-177827 (JP, A) JP-A-61-265218 (JP, A) JP-A-62-48430 (JP, A) Actual development Sho-62-63964 (JP, U)

Claims (1)

(57) [Claims] 1. A device for inserting a shaft member having a predetermined length into a shaft hole of an assembly, and assembling the support member, wherein a support member movable in an extension direction of the shaft hole and a shaft center of the shaft member are provided. The shaft member can be clamped so as to be parallel to the extension direction of the shaft hole, and the clamp member is movably supported by the support member in the extension direction of the shaft hole, and the shaft member is inserted into the shaft hole. In the inserting operation of the urging means for urging the clamp member toward the direction, and the shaft member in which the support member moves while the clamp member clamps the shaft member, the clamp member resists the urging force of the urging means. Detecting means for detecting an insertion error when moving relative to the supporting member, and when the detecting means detects an insertion error, one end portion of the shaft member is inserted into the shaft hole with the insertion position at that time as a reference point. Until the shaft member is inserted Insertion position correction means for sequentially performing a retry motion to correct a plurality of retry points that are spirally displaced in a centrifugal direction from a reference point in a plane orthogonal to the axis of the shaft hole, and the support member provided on the support member. A pressing member that presses the other end of the shaft member in the extension direction of the shaft hole along with the movement of the support member while the one end portion is inserted into the shaft hole, and presses the shaft member to a predetermined position in the shaft hole. A shaft member assembling apparatus comprising: