JP2763912B2 - Assembly device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an assembling apparatus used in an automatic assembling apparatus for automatically assembling a plurality of assembled parts on a component body.

<Prior art> As one of conventional automatic assembling apparatuses, a component main body is transported by a transport device, an assembly component A is inserted into the component main body at a first assembly station, and the component assembly is inserted into a first assembly station. On the other hand, the assembled part A is tightened to the component body at the adjacent second assembling station, and the assembled part B is fastened to the component body at the adjacent third assembling station with respect to the second assembling station. In some cases, insertion is performed, and the assembled component B is fastened to the component body at the fourth assembly station adjacent to the third assembly station.

<Problems to be Solved by the Invention> When there are a large number of components to be assembled to the component body, there is a problem that the number of steps is increased and the entire length of the assembly line is increased. In addition, there is a problem that a component insertion device and a component tightening device are required in accordance with the number of assembled components, thereby increasing costs.

In order to solve such a problem, the applicant of the present invention has specially disclosed an automatic assembling apparatus that inserts a large number of assembled parts, supplies tightened parts, and tightens the assembled parts at one assembly station. It is provided in No. 63-214589. This apparatus is provided with a plurality of hands for holding assembled components corresponding to various component bodies. The task of this hand is to satisfy the demands for rational functions, compactness and low cost.

<Means for Solving the Problems> The present invention has been made in view of the above-described problems, and has a main pallet installed while holding a component main body on a support table, and a main pallet installed near the support table. Assembly head having a plurality of nut runner shafts guided vertically up and down on the component body held on the main pallet held on the main pallet, and an assembly component transfer head supporting a hand holding the assembly components And a motor for operating each of the assembling head and the assembling component transfer head installed on the column, wherein the hand is a reference sheet on which a reference surface of the assembling component is brought into contact with a hand body. A holding claw that is opened and closed by an operating rod and a spring and holds the assembled part, a positioning mechanism that engages with the assembled part, a tightened part storage part to which the tightened part is supplied, and the holding claw. next to An openable / closable gripping claw that is disposed in contact with and grips the tightening component stored in the tightening component storage unit.

<Operation> With the above configuration, the assembly component is positioned by the positioning mechanism with one band, held by the holding claws, and
It is provided with a multi-function of supplying a tightening component and gripping it with a gripping claw.

<Example> Hereinafter, an example of the present invention will be described with reference to the drawings. First, an automatic assembling apparatus using the hand of the present invention will
This will be described with reference to FIGS.

Reference numeral 10 denotes a pallet transfer device, which is a pallet transfer device.
Reference numeral 10 denotes a moving base 12 that moves on the rail 11, a driving device (not shown) that moves the moving base 12, a plurality of supports 14 provided at equal intervals on the moving base 12, and The main pallet 15 and the sub pallet 16 are provided. The main pallet 15 and the sub pallet 16 are separated from each other by a predetermined distance in the transport direction.
Is rotatably supported on the component body (engine body) 17, and the sub-pallet 16 is an assembly component 18 mounted on the component body 17.
(18a, 18b, 18c) are stored in the order of assembly.

Bases 20 are installed at intervals of the support base 14, and this base
On top of the column 20, a column 21 is provided. An assembling head 22 is guided by the column 21 so as to be movable in the vertical direction, and a plurality of nut runner shafts 23 are provided on the assembling head 22 so as to be rotationally driven by a motor 24.

The column 21 is guided by an assembly component transfer head 25 so as to be movable in the vertical direction. The assembly component transfer head 25 guides and supports the hand 30 so as to be movable in the transport direction of the pallet transport device 10. A section 26 is provided.

The vertical movement of the assembly head 22 is performed via a ball screw (not shown) by a servomotor 27 installed at the top of the column 21, and the vertical movement of the assembly component transfer head 25 is also installed at the top of the column 21. This is performed by a servomotor 28 via a ball screw (not shown).
The assembly part transfer head 29 and the servomotor 28 constitute an assembly part transfer device 29.

Multiple hands 30 (30
a, 30b, 30c, 30d, 30e)
Is installed. This hand stocker 31
The upper plate 32 and the side plate fixed on the back and on the base 20
A cover 34 comprising a cover 33; a guide support member 35 for guiding and supporting the plurality of hands 30 so as to be movable in the transfer direction of the pallet transfer device 10; and a hand insertion drawer for inserting and withdrawing the hand 30 from the guide support member 35. Device 36. The guide support member 35 and the hand insertion and withdrawal device 36
Is fixed to the side plate 33 of the cover 34, and the hand insertion / pulling-out device 36 has a claw 37 for hooking and moving the hand 30.

Each hand 30a, 30b, 30c, 30d, 30e is an assembly part 18a,
It has a holding portion for holding 18b, 18c,... And a fastening component storage portion for storing fastening components. The detailed structure will be described later.

52 is a tightening part (bolt, nut, etc.)
It is a fastening component supply device that supplies P. A fastening part supply device 52 includes a storage part 53 for aligning and storing the fastening parts P,
The pipe 54 guides the tightening parts P sent by air to the tightening parts storage.

On both sides of the hand stocker 31, a hand carry-in device 60 and a hand carry-out device 61 are provided. The hand carry-in device 60 and the hand carry-out device 61 have guide rails 62 provided on the base 20 in a direction orthogonal to the carrying direction of the pallet carrying device 10,
63, and cradles 64, 65 which are moved on the guide rails 62, 63 by a linear motor. Each of the receiving tables 64 and 65 includes guide support portions 66 and 67 for guiding and supporting the hand 30 in the transport direction of the pallet transport device 10.

A column 70 is provided on a base 20 corresponding to the sub-pallet 16 by a pair of pilot bars 71 and 72.
The column 70 is supported so as to be movable in a direction orthogonal to the transport direction of the column 10, and the column 70 is moved by the cylinder device 73. The column 70 has an assembly component take-out head 74
Are guided movably in the vertical direction, and the assembly component take-out head 74 is provided with a guide support portion 75 for guiding and supporting the hand 30 so as to be movable in the transport direction of the pallet transport device 10. The vertical movement of the assembly component take-out head 74 is performed by a servo motor 76 installed above the column 70 via a ball screw (not shown). The column 70, the assembly component extraction head 74, and the servomotor 76 constitute an attachment component extraction device 77.

A bracket 80 is fixed to the column 21 so as to cross the pallet transfer device 10. The bracket 80 has a hand 30 between an assembly component transfer head 74 and an assembly component transfer head 25.
The intermediate guide support member 80a that guides and supports the hand 30 is fixed in order to transfer the hand.

A first hand transfer device 81 for transferring the hand 30 from the assembled component take-out head 74 to the intermediate guide support member 80a is fixed to the assembled component take-out head 74, and a bracket 80 is provided.
A second hand transfer device 82 for transferring the hand 30 from the intermediate guide support member 80a to the assembled component transfer head 25 is fixed to the second hand transfer device 82. The first hand transfer device 81 and the second hand transfer device 82 move the claws 83, 84 engaging with the hand 30, the turning parts 85, 86 for turning the claws 83, 84, and the claws 83, 84 forward and backward. Cylinder devices 87 and 88 are provided.

Each of the hands 30a to 30e has a holding part and a fastening part storage part which are different depending on the assembled parts 18a, 18b,..., But all of the basic constitutions are the same. This will be described with reference to FIGS.

Reference numeral 30 denotes a hand, which has a reference sheet 57 with which the reference surface of the assembly component 18 contacts. At the center of the hand 30, a holding portion 41 for holding the assembled component 18 is provided, and a fastening component storage hole 42 for storing the fastening component P is provided adjacent to the holding portion 41. In addition, positioning guide mechanisms 50 for the assembled components 18 are provided at a plurality of locations on the hand 30.

The holding member 41 includes a pair of holding claws 43 for holding the mounting component 18 at the lower end of an operating rod 45a that is inserted into the hand 30 so as to be movable up and down, and a spring that biases the holding claw 43 in the opening direction.
And an operating rod 4 on the outer periphery of the operating rod 45a.
A sleeve 47 that is relatively movable with 5a is fitted, and has a window hole 48 at the lower end of the sleeve 47 for controlling opening and closing of the holding claw 43.

A spring 46a for urging the operating rod 45a upward is interposed between the operating rod 45a and the sleeve 47, and a spring 49 for urging the sleeve 47 to the lower end is provided between the sleeve 47 and the hand 30. It is interposed. Further, an operating pin 45b is fitted to the upper end of the operating rod 45a so as to be liftable, and is configured to be urged upward by a spring 46b loaded in the operating rod 45a.

The positioning mechanism 50 is as follows. A holding cylinder 51 is fixed to the hand 30, and a guide member 52 is allowed in the holding cylinder 51 only in the elevating direction, and is always fitted to the lower end by a spring 54 while urging the lower end. The guide member 52 has a positioning hole 52a for fitting and guiding the positioning pin 40 projecting from the assembly component 18. The holding cylinder 51 has a positioning pin 4
A proximity switch 100 for checking 0 is attached. 56
Reference numeral denotes a detection plate facing the proximity switch 100, which is stopped by the holding cylinder 51 and held so as to be able to move up and down. Reference numeral 53 denotes a rod coupled to the detection plate 56, which fits into the positioning hole 53 of the guide member 52, is always urged downward by the spring 55, and comes into contact with the positioning pin 40.

At the lower end of the fastening component storage hole 42, a gripping claw 58 for gripping the fastening component P is disposed so as to be openable and closable. This gripping claw
58 is pivotally attached to a bracket 90 so as to be openable and closable with a pivot 59 as a fulcrum, and is urged in the closing direction by a spring 58a interposed between the rear ends of the gripping claws located behind the pivot 59.

The bracket 90 is a block fixed to the hand 30.
The support 91 is supported by a support shaft 92 held movably in a horizontal axis direction orthogonal to the axis of the tightening component storage hole 42 at the 91, and is always interposed between the block 91 and the bracket 90 by a spring 94. It is biased to the forward end.

A rod 93 having an axis parallel to the support shaft 92 is connected to the bracket 90, and the rod 93 is supported by the hand 30.
A cam follower 97 is attached to the upper end of a lever 96 pivotally supported at 96.

On the other hand, the assembling head 22 in the automatic assembling apparatus of FIGS. 1 to 3 is provided with a fixed abutment 98 for abutting on the operating pin 45b and the operating rod 45a, and a fixed rail 99 for abutting the cam follower 97 of the lever 95. ing.

Next, an outline of an operation cycle of the automatic assembling apparatus shown in FIGS. 1 to 3 will be described. When the assembly of the previous component body 17 is completed, the tightening component P is supplied to each hand 30 by the tightening component supply device 52. Hand 30 placed on hand stocker 31
The cradle 64 is moved to a position corresponding to a, and the hand 30a is pulled out from the guide support member 35 to the guide support portion 66 of the cradle 64 by the hand insertion and withdrawal device 36. Next, the cradle 64 is moved toward the intermediate support member 80, and the column 70 is moved to the cylinder device 73.
Retreat by Cradle 64 and assembly component take-out head
The first hand transfer device 81 supports the hand 30a on the receiving table 64 by the guide support 75 of the assembly component take-out head 74 in a state in which the column 74 corresponds, and advances the column 70. In this state, it waits until a new component body 17 is conveyed.

The main pallet 15 supporting the new component body 17 is transported to a position corresponding to the assembly component transfer head 25, and at the same time, a sub-unit in which the new assembly component 18 is stored at a position corresponding to the assembly component removal head 74. When the pallet 16 is transported,
The assembly component take-out head 74 descends. At this time, the assembling component take-out head 74 is also provided with an operating rod, not shown, similar to the fixing abutment 98 of the assembling head 22. With this operating rod, the tip of the holding claw 43 is released to the inside. Keep it. The hand 30a comes into contact with the assembly part 18a, and the assembly part 18a
When the operating rod is raised in a state where is positioned by the positioning pin 40, the tip of the holding claw 43 moves outward, and the assembled component 18a is held by the hand 30a.

With the assembly part 18a held by the hand 30a, the assembly part removal head 74 is raised, and then the hand 30a is moved by the first hand transfer device 81 to the assembly part removal head 7.
4 and transferred to the intermediate guide support member 80, and further transferred from the intermediate guide support member 82 to the assembled component transfer head 25 by the second hand transfer device 82. At this time, the hand 30 held by the assembled component transfer head 25 is pushed out and transferred to the receiving table 65. The assembling head 22 and the assembling component transfer head 25 are lowered by the servomotors 27 and 28, and the assembling component 18a abuts on the component body 17. Further, the assembling head 22 is lowered to engage the nut runner shaft 23 with the tightening component P, and the tightening component P is screwed into the component body 17 by the rotation of the nut runner shaft 23. Thus, the assembled component 18a is fixed to the component main body 17. Next, the operating rod 45a is operated to release the tip of the holding claw 43 inside. In this state, the mounting head 22
Then, the assembly component transfer head 25 is raised.

By lowering and moving the assembly component transfer head 25, the hand 30b is moved from the hand stocker 31 to the assembly component removal head 74 by the same operation as described above, and the assembly components stored in the sub-pallet 16 18b Hand 3
0b, and the intermediate guide support member 82 supports the hand 30b. Also, the handle 30 before being transferred to the cradle 65,
It is retracted together with the pedestal 65 and inserted into the guide support 35 at a predetermined position by the hand insertion / extraction device 36.

The assembly component transfer head 25 is raised, and the intermediate guide support member 82 is moved.
While the hand 30b is guided and supported by the second hand transfer device 82, the hand 30b is transferred from the intermediate guide support member 82 to the assembly component transfer head 25 at the same time as the hand 30b.
a is extruded and transferred to the receiving table 65. At this time, the hand 30 held by the assembled component transfer head 25 is pushed out and transferred to the receiving table 65.

Lower the component transfer head 25 and raise the component main body 17
While the assembling component 18b is being fixed to the pedestal 65, the pedestal 65 is retracted, and the hand 30a on the pedestal 65 is inserted into the guide support member 35 at a predetermined position by the hand insertion and extraction device 36. Further, the hand 30c is moved to the assembly component take-out head 74, the assembly component 18c stored in the sub pallet 16 is held by the hand 30c, and the hand 30c is supported by the intermediate guide support member 82.

With the same operation as described above, the assembled component 18c is
The main pallet 15 moves to the next assembly station.

Next, the operation of the hand, which is the subject of the present invention, will be described with reference to FIGS. Holding claw 43 is spring 46a
As a result, the operating rod 45a rises and the spring 44 urges the opening to protrude from the window hole 48 at the lower end of the sleeve 47.The lowering movement of the operating rod 45a causes the window 47 to move in the closing direction by relative movement with the sleeve 47. Controlled. Therefore, the assembled component 18 held by the opened holding claw 43 is
The spring 46a holds the reference sheet 57 by the pulling force.

The positioning of the assembly part 18 is performed by a guide member of the positioning mechanism 50.
The positioning is performed by fitting the positioning pins 40 into the positioning holes 53 of the 52. The guide member 52 is projected from the lower end of the holding cylinder 51 by a spring 54, and the positioning pin 40 is
When the lower end of the guide member 52 comes into contact with the assembly part 18, the spring 54 compresses and moves upward, and the positioning pin 40 hits the rod 53 and raises the rod 53 against the spring 55. . As a result, the detection plate 56 is lifted, the proximity switch 100 is turned off, and normal positioning is confirmed.
When the assembly component 18 has a positioning hole, the guide member 52 may be omitted, and the rod 53 may be engaged with the positioning hole.

The gripping claw 58 of the fastening component P is always closed by the spring 58a, and is located at the lower end of the fastening component storage hole 42 at the forward end of the bracket 90 by the spring 94. Accordingly, a part (a screw in the case of a bolt) of the tightening component P supplied to the tightening component storage hole 42 is inserted and gripped by the closed gripping claw 58. This release of gripping means that the tightening part P is
Bracket with lever 95 while engaging with 18 tightening holes
The gripping claw 58 is retracted by moving the 90 backward, leaving the fastening component P behind, and at this time, the gripping claw 58 opens and closes again when passing through the fastening component P.

When the operating rod 45a is pressed down, the fixed abutment 98 provided on the assembly head 22 abuts, and when the lever 95 is operated, the fixed rail 99 provided on the assembly head 22 abuts the cam follower 97, and the tightening part P The operation is performed by the descending movement of the assembling head 22 which performs the tightening operation.

Here, the above-described series of operations will be described. In FIG. 5, the hand 30 holding the fastening part P and the assembly part 18 has the lower end of the sleeve 47 in contact with the part body 17. In this state, the assembling head 22 in FIG. 2 descends, and during the descending movement of the assembling head 22, the nut runner shaft 23 rotates and fits into the tightening component P, and the spring (not shown) bends. The lowering of the nut runner shaft 23 is prevented.

On the other hand, the fixed rail 99 comes into contact with the cam follower 97 to release the holding of the fastening component P by the gripping claw 58, and the nut runner shaft 23 is lowered by the spring force, so that the fastening component P is fitted into the assembly component 18. At this time, the fixing pin 98 comes into contact with the operating pin 45b, the operating rod 45a overcomes the spring 46a and descends, the holding claw 43 is released, and the downward movement of the assembly head 22 is absorbed by bending the spring 46b. .

Further, the assembling part transfer head 25 and the assembling head 22 are lowered, the assembling part 18 abuts on the part body 17, and the tightening part P fitted into the assembling part 18 is screwed into the part body 17. ,
The assembled part 18 is tightened and connected to the part body 17, and the nut runner shaft
The rotation of 23 stops. When this fastening connection is completed, the assembly component transfer head 25 and the assembly head 22 simultaneously rise, and the assembly component transfer head 25 stops at its original position, and the assembly head
22 further moves up to the original position at the rising end to end the parts assembling cycle.

In the above-described embodiment, the opening / closing operation of the holding claw 43 and the holding claw 58 is described by using the up and down movement of the assembling head 22. 58 may be opened and closed.

<Effects of the Invention> As described above, according to the present invention, the assembling apparatus has a function of positioning and holding the assembled parts by one hand, and a function of supplying and gripping the tightened parts. The charging and tightening can be performed in the same process, the machine space is sufficient for the tightening process, the number of processes can be reduced, the space can be reduced, and the cost can be reduced. Further, even after the positioning and holding of the assembled parts, it is possible to supply the tightened parts, and the degree of freedom in supplying the tightened parts is provided.

[Brief description of the drawings]

The drawings show an embodiment of the present invention. FIG. 1 is a plan view of an automatic assembling apparatus in which the present invention is used, FIG. 2 is a view taken in the direction of the arrow II in FIG. 1, and FIG. FIG. 4 is a plan view of the present invention, FIG. 5 is a cross-sectional view taken along line VV of FIG. 4, FIG. 6 is a cross-sectional view of FIG. 5 taken along arrow VI, and FIG. FIG. 8 is an enlarged plan view of the holding section. 18 ... Assembly parts, 22 ... Assembly head, 30 ... Hand, 40
… Positioning pin, 41… Holding part, 42… Tightening part storage hole, 43 …… Holding claw, 45a …… Operating rod, 46a …… Spring, 47 …… Sleeve, 48 …… Window hole, 50… ... Positioning mechanism, 57 ... Reference sheet, 58 ... Grip pawl, 58a ... Spring, 90 ... Bracket, 92 ... Support shaft, 93 ... Rod, 94 ... Spring, 95 ... Lever, 97 ... Cam follower, 98… Fixing allowance, 99 …… Fixed rail.

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Katsuhisa Tanaka 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Corporation (72) Inventor Politics 1-1-1 Asahimachi, Kariya City, Aichi Prefecture Toyota Koki Co., Ltd. (72) Inventor Yoshio Tsuruta 1-1-1, Asahi-cho, Kariya-shi, Aichi Prefecture Inside Toyota Koki Co., Ltd. References JP-A-63-295128 (JP, A) JP-A-63-93530 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B23P 19/04 E B23P 19/04 Z

Claims (1)

(57) [Claims] 1. A main pallet installed on a support base while holding a component main body, and a column installed close to the support base is vertically movable directly above the component main body held on the main pallet. Assembly head having a plurality of nut runner shafts guided by the assembly and an assembly component transfer head supporting a hand holding the assembly component, and the assembly head and assembly component transfer head installed on the column The hand includes a reference sheet that abuts a reference surface of the assembly component on a hand body, and a holding claw that is opened and closed by an operating rod and a spring to hold the assembly component. And a positioning mechanism that engages with the assembled component, a tightened component storage unit to which the tightened component is supplied, and a tightened component stored adjacent to the holding claw and stored in the tightened component storage unit. Grasp Assembling apparatus being characterized in that a closable gripping claws.