JP3436298B2 - Work assembling / temporary fastening device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work assembling / temporary tightening device for assembling and temporarily tightening a work such as a flywheel or a drive plate on a crankshaft of an engine in an automatic engine assembling apparatus.

[0002]

2. Description of the Related Art In an engine assembly line, a manual transmission (M / T) vehicle engine has a plurality of (5) flywheels FW mounted on a crankshaft CS of an engine E as shown in FIGS.
Bolt) BT is screwed into the screw hole Hb and temporarily tightened.
On the other hand, in an engine of an automatic transmission (A / T) vehicle, a centering bush BU is attached to a central positioning hole Ha of a crankshaft CS of an engine E as shown in FIGS. Drive plate DP and adapter plate AP are assembled, a plurality of (five) bolts BT are screwed into the screw holes Hb and temporarily tightened, and the next assembly step is carried. Bolt BT
Is temporarily tightened to such an extent that the flywheel FW and drive plate DP attached to the crankshaft CS do not fall. Incidentally, depending on the type of the drive plate DP, there are some which do not use the bush BU.

[0003]

The above-described conventional work (flywheel or drive plate) is assembled to the crankshaft by an operator, which is used for improving productivity and working environment. Automation is required to respond. When automating the assembly of these workpieces, due to the nature of the workpiece, even if it is fitted and mounted on the crankshaft, it is unstable because the fitting margin is small, and there is a possibility that it will drop during transportation in the next process. It is necessary to temporarily tighten with bolts. Further, it is necessary to mount the work set and the mounting bolts on the device in view of the restriction on the cycle time of the automatic assembly and the positioning accuracy of the engine, and to assemble the target engine. Further, since the crankshaft, which is the mounting portion, is a rotating body and may rotate during the assembling, there is a problem that the assembling is not reliable.

Therefore, it is an object of the present invention to provide a work assembling / temporary tightening device capable of automatically assembling a work on a crankshaft of an engine whose positioning has been stopped and temporarily tightening and fixing it with a bolt. I am trying.

[0005]

In order to achieve the above object, according to claim 1 of the present invention, the crank of an engine is positioned and stopped in a position facing the work assembling / temporary tightening device and is positioned in the rotational direction. The work is received corresponding to the shaft, and in this state, the head is rotated to a horizontal position so that the work faces the crankshaft so that the work can be assembled, and then the main body moves forward to mount the work on the crankshaft. The nut runner receives a bolt for mounting the work when the head is rotated to an upper position, and the head assembles the work on the crankshaft and then moves forward to temporarily tighten the work on the crankshaft.

[0006] In the present invention of claim 2, the head, the guide pin in the first positioning hole in the center of the receiving passed Ru workpiece
It was allowed to penetrate the workpiece the center pin while supporting
The work is held in the positioned position by being fitted in the second positioning hole, and the transferred work is sucked and held by the suction means. The guide pins are
When mounting a workpiece on the shaft,
Fits into a positioning hole in the center of the shaft end
And supports the work. This allows the flywheel or drive plate to be reliably assembled to the crankshaft.

According to the invention of claim 3, the nut runner changes the pitch of the nut runner to which the bolt is mounted according to the pitch of the screw hole of the work and the crank shaft with which the bolt is screwed by the variable pitch mechanism. . This allows
It is possible to handle assembling and temporary tightening of works such as various flywheels and drive plates.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be exemplarily described in detail below with reference to the drawings. 5 shows a schematic configuration diagram of an automatic engine assembly apparatus as an embodiment of the present invention, and FIG. 6 shows a schematic side view of FIG. 5 and 6, in the automatic assembly apparatus 1, a line conveyor 3 for transporting the engine E is arranged on the front side (front side in the drawing) of the base 2, and the flywheel FW as a work is arranged on the rear side of the base 2. , Flywheel supply conveyor 4 for supplying drive plate DP, drive plate supply conveyor 5
Is provided, and a bush supply device 6 for supplying the bush BU, an adapter plate supply device 7 for supplying the adapter plate AP, a flywheel FW, and a bolt BT for attaching the drive plate DP to the crankshaft CS of the engine E are provided on the right side in the drawing. A bolt supply device 8 for controlling the assembling device, a control device 9 for controlling the assembling device 1, and the like are arranged. And, in the approximate center of the base 2, a multi-axis for assembly (6 axes)
A robot 10 is provided and includes a flywheel FW, a drive plate DP, and a bush B from the supply device.
U, the adapter AP, etc. are received and supplied to the crankshaft CS of the engine E on the line conveyor 3. The engine E is placed on a pallet, is placed on the line conveyor 3 with the flywheel of the crankshaft CS or the drive plate attachment end surface facing the robot 10, and is conveyed in the arrow direction.

A flywheel and a drive plate assembling / temporary tightening device (hereinafter referred to as "workpiece assembling / temporary tightening device") 20 are provided on the base 2 of the robot 10 on the front side of the robot 10.
The flywheel and drive plate rotational direction positioning device (hereinafter referred to as “workpiece rotational direction positioning device”) 30 on the left side of the robot 10 in the figure.
Are arranged. A crankshaft rotation direction positioning device 40 is arranged in front of the work assembling / temporary fastening device 20 with a slight gap from the line conveyor 3, and the crankshaft rotation direction positioning device 40 is disposed on the back side (the robot 10 side). ) Is integrally provided with a guide pin exchanging device 50. A bolt distribution delivery device 60 is arranged between the work assembling / temporary fastening device 20 and the guide pin exchanging device 50.

The flywheel supply conveyor 4 has a plurality of types (for example, 10 types) of flywheels FW, and the drive plate supply conveyor 5 has a plurality of types (for example, 7 types).
Type) drive plate DP, the bush supply device 6
Is a plurality of types (for example, two types) of the bush BU, and the adapter plate supply device 7 supplies a plurality of types (for example, two types) of the adapter plates AP toward the robot 10 side, respectively. The adapter plate supply device 7 has a front / back surface inspection unit that determines the front / back of the loaded drive plate DP, and a rotation direction positioning unit that positions the determined drive plate DP in the rotation direction.

A plurality of adapter plates AP are stacked in layers to form one set, and the adapter plate AP is supplied to the adapter plate supply device 7 with the front side facing upward. In this one set, there may be a mixture of the front side facing downward (facing the back side). Therefore, the front and back inspection unit
Determine the front and back of the adapter plate and eliminate the adapter plate facing the back side. Further, the front and back inspection unit eliminates all the adapter plates of the set, for example, when the two adapter plates are continuously facing the back side, it is assumed that the entire remaining adapter plates of the set are facing the back side. . This is to reduce the waste of cycle time in consideration of a case where the operator sets the front and back incorrectly.

The bolt supply device 8 has a plurality of types (for example,
Three types of bolt supply parts 8a to 8c are provided. The bolt supply section 8a is a long bolt for the flywheel FW, and the bolt supply section 8b is a drive plate DP.
The bolt supply portion 8c supplies a bolt for preventing loosening. These bolts are tubes 8d-8
It is supplied to the bolt distribution delivery device 60 through f.

The robot 10 is, for example, a six-axis robot and has three hands. When the drive plate DP is assembled, the bush BU and the drive plate DP are used.
The three workpieces of the adapter plate AP can be individually gripped and assembled to the crankshaft in a predetermined order. If the flywheel FW is assembled, 1
Two hands are used.

The work rotation direction positioning device 30 positions the flywheel FW or the drive plate DP as a work in the rotation direction according to the crankshaft CS in which the rotation direction is positioned.
Thus, the flywheel FW or the drive plate DP taken out and supplied from the flywheel supply conveyor 4 or the drive plate supply conveyor 5 is rotated and positioned at a predetermined rotation position. The positioned flywheel FW or drive plate DP is taken out by the robot 10 and supplied to the head 22 of the work assembly / temporary fastening device 20.

Crankshaft rotation direction positioning device 4
No. 0 is arranged so as to be able to move up and down as shown by arrows A and B in FIG. 6, and the work is assembled at the raised position (standby position).
The head 22 and the nut runner 23 of the temporary tightening device 20 are
The lower side of the crankshaft rotation direction positioning device 40 can be moved back and forth in the direction of the line conveyor 3. The crankshaft rotation direction positioning device 40 faces the flywheel or the drive plate mounting end surface of the crankshaft CS of the engine E, which is placed on the line conveyor 3 and conveyed at the lowered position (positioning position) and stopped. And the crankshaft CS
It engages with the knock pin of and is rotated until a predetermined rotation position, for example, the knock pin is located right above.

The guide pin exchanging device 50 has many types and shapes when the flywheel or the drive plate whose rotational direction is positioned is mounted on the head 22 of the work assembling / temporary tightening device 20 in advance. Complex,
Since it is extremely difficult to position and support with a common jig or the like, several types of work supporting guide pins are provided, and this is dealt with by exchanging and mounting to the head 22 according to the type of the work.

The bolt distributing / delivering device 60 is arranged so that it can be raised and lowered similarly to the crankshaft rotation direction positioning device 40, and in the raised position the work assembly / temporary fastening device 2 is installed.
The main body 21, the head 22, the nut runner 23, and the like of 0 can be moved back and forth in the direction of the line conveyor 3 below the bolt distribution delivery device 60. Then, in the raised position, the workpieces to be assembled to the crankshaft of the engine E, that is, a plurality of (five) bolts necessary for assembling the flywheel or the drive plate are sequentially received from the bolt supply device 8 one by one, and in the lowered position. 5 above
This bolt is distributed and supplied to the five nut runners 23 of the work assembly / temporary fastening device 20 at once. The bolt distribution delivery device 60 supplies bolts to the nut runner 23, then ascends, receives the bolt of the next work from the bolt supply device 8, and stands by.

The work assembling / temporary tightening device 20 will be described later in detail, and therefore, a brief description will be given here to explain the overall structure of the assembling device 1. The work assembly / temporary fastening device 20
The main body 21 can be moved forward and backward horizontally, and
The head 22 is also movable forward and backward with respect to the main body 21. Further, as shown in FIG. 6, the head 22 is rotatable by an arm 24 upward from the horizontal position indicated by the solid line so that its front surface faces upward. Then, the head 22 moves upward by 90 ° as shown by the chain double-dashed line.
The work, that is, the flywheel or the drive plate positioned in the rotation direction is received from the robot 10 at the position rotated to the position. Further, five bolts are delivered and supplied from the bolt distribution delivery device 60 to the five nut runners 23.

The work assembling / temporary tightening device 20 includes a head 22.
After receiving the work and the nut runner 23 receiving the bolt, the arm 24 pivots from the vertical position to the horizontal position and returns to perform the assembling / temporary tightening operation. That is, work assembly
The provisional tightening device 20 does not drop the work in a state where the head 22 is moved forward and is conveyed on the line conveyor 3 and the positioning is stopped on the flywheel of the crankshaft CS of the engine E or the drive plate mounting end surface in the accurately positioned state. Then, the nut runners 23 move forward and the bolts are respectively inserted through the bolt holes of the flywheel or the drive plate and screwed into the screw holes on the end surface of the crankshaft CS to temporarily fix them. .

The control device 9 includes the above-mentioned devices and the robot 1.
The flywheel FW or the drive plate DP is assembled to the crankshaft CS of the engine E by controlling 0 according to a predetermined sequence, and temporarily fixed. Next, the work assembly / temporary fastening device 20 will be described in detail. Figure 7
8 is a side view of the work assembly / temporary fastening device 20 shown in FIG.
7 is an enlarged side view of an essential part with one side wall of FIG. 7 removed, and FIG. 9 is a partially omitted plan view of FIG. 7.

7 to 9, the work assembling / temporary tightening device 20 is composed of a main body 21, a head 22, a nut runner 23 and the like. First, the main body 21 will be described. As shown in FIG. 7, two left and right rails 201, 201 are arranged on the board 200 in the front-rear direction (longitudinal direction toward the line conveyor 3), and the main body is mounted on these rails 201 via the LM guide 202. A bottom plate 203 of 21 is arranged so as to be able to move forward and backward. On both left and right sides of the bottom plate 203, side frames 204, 2 are provided along the front-back direction (longitudinal direction).
04 are fixed and these side frames 20
At the front portions of the shafts 4 and 204, the vicinity of the base ends of the left and right turning brackets 205 and 205 having a substantially crank shape forming the arm 24 are pivotally supported by shafts 206 and 206 so as to be vertically rotatable. Then, the swing brackets 205, 205
A frame-shaped mounting plate 207 is provided at the tip of the tip so as to connect them, and stopper plates 208, 208, 209, 209 are provided at the upper and lower end surfaces of the tip, respectively.

The base 200 has left and right rails 201, 20.
Feed screw 2 as a feed mechanism along the longitudinal direction between 1
10 is rotatably supported at both ends, and a bottom plate 203 has a nut portion 211 that is screwed with a feed screw 210.
Is provided. The feed screw 210 is rotationally driven by a drive mechanism (not shown) to drive the bottom plate 203, that is, the work assembly / temporary fastening device 20 forward and backward.

Cylinders 212, 212 are horizontally arranged in the lower part of the left and right side frames 204, 204 along the front-rear direction, and the bottoms of the cylinders are respectively arranged in the side frame 2.
04 and 204 are supported at the rear ends thereof, and the tip ends of the rods are pivotally supported by the base ends of pivot brackets 205 and 205 serving as the arms 24, respectively. Left and right side frames 204, 2
A stopper 215 (FIG. 7) is provided at substantially the center of each upper portion of 04, and a damper 216 and a stopper (not shown) are provided in parallel at each front end. Swivel bracket 2
When the cylinders 212 and 212 are shortened as shown in the drawing, the reference numerals 05 and 205 are rotated to a horizontal position, and the stopper plates 209 are horizontally held by being brought into contact with and locked by the dampers 216 and stoppers. The stopper plate 208 is rotated upward and each stopper plate 208 is attached to each stopper 215.
Is abutted and locked to and held vertically as indicated by the chain double-dashed line in FIG.

Next, the head 22 will be described. Figure 1
0 and the swing plate 2 of the head 22 as shown in FIG.
20 are provided at four corners of the front surface of the mounting plate 207.
The V-shaped roller 221 is sandwiched between the upper and lower sides of the V-shaped roller 221 so as to be vertically movable in the vertical direction, and the left and right sides are hung from the mounting plate 207 by springs 222 and 222. Stoppers 223 are provided on the mounting plate 207 so as to face the left and right upper and lower ends of the swing plate 220. The vertical movement amount of the swing plate 220 is restricted by these stoppers 223. The movement amount of the swing plate 220 is about several meters (for example, 1
m)). In this way, the swing plate 220 has a floating structure. As shown by the broken line in FIG. 10, the swing plate 220 is provided at the center with a hole 220a through which the socket of the nut runner 23 is inserted, and this hole 220a is opened upward.

Positioning pins 224 and 224 are horizontally attached to the front side on the lower left and right sides of the swing plate 220. These positioning pins 224, 224
Is a positioning hole CBa provided on the lower left and right sides of the cylinder block CB of the engine E when the work is assembled.
(FIG. 16) to accurately position the head 22. As shown in FIG. 12, the positioning pin 224 is housed in a guide 225 via a spring 226 and protruded by a spring force, and is retractable against the spring force.

As shown in FIGS. 10 and 12, the circular plate 227 is annular and is arranged at the center of the front side of the rocking plate 220, and the outer edge portion is formed by four V-shaped rollers 228 provided on the rocking plate 220. Are rotatably held at equal intervals in the circumferential direction. The cylinder 230 has a back-to-back structure in which two cylinders 230A and 230B having the same stroke are fixed back to back. The cylinder 230 is disposed horizontally below the mounting plate 207 in the left-right direction, and the rod of the cylinder 230A moves the lever 231. The rod of the cylinder 230B is connected to the lower end of the circular plate 227 via the lever 232 at the lower end of the mounting plate 207 via the lever 232. The mounting plate 207 has a lever 232.
Stoppers 233 and 234 are provided on both the left and right sides of the circular plate 227 to restrict the rotational position of the lever 232 in the lateral direction, that is, the rotational position of the circular plate 227.

The cylinder 230 has a guide pin 2 which will be described later.
This is for swinging the circular plate 227 in the rotational direction in order to reliably position 41 and the center pin 258 on the crankshaft CS. The circular plate 227 is
When the cylinder 230A is shortened and the cylinder 230B is extended, the cylinder 230A is positioned at the center in the illustrated state.
When the cylinder 230A is shortened in the state shown in the drawing in which 30A is shortened and the cylinder 230B is extended, the cylinder 230A rotates counterclockwise. By controlling the two cylinders 230A and 230B in this manner, the circular plate 227 is swung in the rotation direction.

As shown in FIG. 10, the guide pin housing 240 horizontally penetrates the central hole 227a of the circular plate 227 in the front-rear direction, and the flange 240a has the hole 227a.
Is fixedly supported on the peripheral edge of the. Flange 240
In a, a plurality of holes 240b through which the sockets 285 of the nut runner 23 pass are provided on the same circumference. These holes 240b are long holes that are long in the radial direction, and allow the respective sockets 285 of the nut runner 23 to move in the radial direction (diameter expansion, diameter reduction).

A guide pin 241 is replaceably attached to the tip of the guide pin housing 240. The guide pin 241 penetrates and supports a hole in the center of the work when the head 22 receives the work, and the tip of the guide pin 241 has a positioning hole Ha at the center of the end surface of the crankshaft CS when the work is attached to the crankshaft CS. (FIGS. 2 and 16) is for fitting and delivering the work. This guide pin 241 is connected to the crankshaft C.
The guide pins are replaced by the guide pin replacement device 50 (FIG. 6) according to the type of work to be attached to the S (size of the positioning hole Ha). A cylinder 242 is vertically disposed above the guide pin housing 240 at the center of the upper rear side of the circular plate 227, and the lock lever 24 is provided at the tip of the rod.
3 is fixed. The tip end of the lock lever 243 engages with a locking portion (not shown) provided at the rear end of the guide pin 241 through a hole (not shown) provided in the guide pin housing 240 so that the lock lever 243 cannot escape. It's locked. When the cylinder 242 shortens, the lock lever 243
Is released from the engagement of the guide pin 241 with the engaging portion, so that the lock pin 241 can be attached or detached, that is, can be replaced.

As shown in FIGS. 10 to 12, on the front side of the circular plate 227, a vacuum mounting plate 245 having a diameter substantially the same as that of the circular plate 227 is arranged. This vacuum mounting plate 245 has guides 2 on both left and right sides.
It is supported by the circular plate 227 via 46 and 246 so as to be able to move forward and backward. As shown in FIG. 13, a guide 247 is provided side by side with the guide 246, the tip of the rod 247a is fixed to the vacuum attachment plate 245, and the shaft portion is provided on the circular plate 227.
Is stored via a spring 247c. The rod 247a is pushed forward by the spring force of the spring 247c, and retreats against the spring force when a pressing force is applied to the front surface. The rod 24 is attached to the circular plate 227.
A sensor 248 is provided facing the position detection dog 247d provided at the rear end of 7a. This sensor 248
Is turned on when the vacuum mounting plate 245 is at the position shown and is turned off when the vacuum mounting plate 245 is retracted from the position to detect the position of the vacuum mounting plate 245, that is, the position of the workpiece from the end surface of the crankshaft CS. To do.

On the front surface of the vacuum mounting plate 245, as shown in FIGS. 11 to 13, a plurality of vacuum pads (suckers) 250 and a plurality of vacuum pads 251 as suction means for sucking and holding the work at predetermined positions along the circumferential direction are provided. They are provided one by one. These vacuum pads 25
Reference numerals 0 and 251 are for holding the flywheel and the drive plate by suction, and are connected to a vacuum source (vacuum source) not shown. Further, as shown in FIG. 12, a plurality of stoppers 252 are provided on the vacuum mounting plate 245 side by side with the vacuum pad 251, so that the suctioned work is positioned and held at a predetermined distance from the vacuum mounting plate 245.

Further, as shown in FIGS. 11 and 12, a guide pin 241 is provided on the front side of the vacuum mounting plate 245.
A joint plate 255 is horizontally arranged above the above, and both left and right ends are supported by the circular plate 227 via guide rods 256. Further, as shown in FIG. 12, a guide 257 is provided side by side with the guide rod 256, and the rod 257a has a tip fixed to the joint plate 255 and a rear end fixed to the circular plate 227. It is stored through.

A center pin 258 as a positioning pin is provided at the center of the joint plate 255 with a guide pin 241.
It is provided directly above and horizontally protruding forward. This center pin 258, as shown in FIG.
Is provided at a position facing the positioning knock pin NP provided on the crankshaft CS. The joint plate 255 is pushed forward by the spring force of the spring 257c, and when a pressing force is applied to the center pin 258, the joint plate 255 moves backward against the spring force of the spring 257c.

Next, the nut runner 23 will be described. As shown in FIGS. 7 to 9, a box-shaped frame 260 is housed in the main body 21, and bottom plates 260c are arranged on the bottom plate 203 of the main body 21 on both left and right sides in the front-rear direction (longitudinal direction). The rails 261 and 261 are supported by an LM guide 262 so as to be able to move forward and backward. Cylinder 2
63 and 264 have a back-to-back structure, and the left and right rails 2
61, 261 are arranged along the longitudinal direction,
The bottom end of the cylinder 263 with a short stroke is the bottom plate 2
Cylinder 26 with a long stroke fixed to the rear end of 03
The tip of the rod 4 is fixed to the front end of the bottom plate 260c of the frame 260. These cylinders 263,264
Respectively move the frame 260 forward and backward to a predetermined position.

On the rear plate 260a of the frame 260, the drive portion 280 of the nut runner 23 is arranged on the same circumference along the circumferential direction at positions corresponding to the screw holes Hb of the crankshaft CS. A main plate 265 is provided on the front surface of the front plate 260b of the frame 260, and the main plate 265 has a variable pitch mechanism 2 for switching the pitch of the nut runner 23.
70 is provided.

The interval along the circumferential direction of the adjacent screw holes arranged on the same circumference on the end surface of the crankshaft CS is called a pitch, and it depends on the type of engine. Therefore, it is necessary to change the interval (pitch) between the adjacent sockets of the nut runner 23 according to this change in pitch. This pitch changes according to the distance (radius) r from the center of the crankshaft CS to the center of the screw hole. The variable pitch mechanism 270 is for switching the pitch of the nut runner 23 depending on the model of the engine. still,
In the present embodiment, the case where the pitch is changed in two steps (the distance r from the center is changed to r1 and r2 (> r1)) will be described with reference to FIGS. 8, 9, 14, and 15.

As shown in FIG. 14, the main plate 265
An annular cam plate 271 on the front side (head 22 side) of the
Is rotatably supported by a plurality of, for example, four V-shaped rollers 272 on its outer peripheral portion. This cam plate 27
No. 1 has a long hole 271a along the circumferential direction corresponding to the tension bar 285 of each nut runner corresponding to the work mounting bolt of the crankshaft on the plate surface. Each long hole 2
71a is shaped such that the radius from the center of the cam plate 271 to the center of the start end (the left end in the drawing) is r1, and the radius to the center of the end (the right end in the drawing) is r2 (> r1). A cylinder 273 is horizontally arranged above the main plate 265, and the tip of the rod 273a is attached to the bracket 27.
4 is connected to the upper end of the cam plate 271. The cylinder 273 rotates the cam plate 271 counterclockwise when extended as shown in the drawing, and rotates the cam plate 271 clockwise when shortened.

As shown in FIGS. 14 and 15, the pitch switching plate 275 is located between the main plate 265 and the cam plate 271 and at a position facing each elongated hole 271a.
The cam plates 271 are radially arranged with respect to the cam plate 271, and are supported by the main plate 265 via the LM guide 276 so as to be movable in the radial direction of the cam plate 271. An L-shaped block 277 is fixed to the front side of the pitch switching plate 275 so as to sandwich the cam plate 271, and the block 277 is provided with a roller 278 which is rotatably engaged with the long hole 271a of the cam plate 271. Has been.

The tension bar 281 is rotatably and horizontally supported along the front-rear direction at the tip of the pitch switching plate 275 via a bearing 282, and the base end thereof is shown in FIG.
And, as shown in FIG. 9, it is connected to the rotary shaft of the drive unit 280 of the nut runner 23 via a universal joint 283. The pitch switching plate 275 is movable from the radius r1 to the radius r2 along the LM guide 276 via the roller 278 along with the rotation of the cam plate 271 in the radial direction of the cam plate 271. In response to this, the tension bar 281 is moved horizontally in parallel with the radial direction. The tension bar 281 has a nut runner drive unit 28 having a base end portion via a universal joint 283.
Since it is connected to 0, it is translated in the radial direction in the horizontal state. The same applies to the other tension bars 281. As a result, the pitch of the nut runner 23 is variable.

At the tip of the tension bar 281, a socket 285 is mounted so as to be slidable in the axial direction. A sensor pin 286 having one end fixed to the front end of the socket 285 is provided at the axial center of the socket 285, and the sensor pin 286 is slidably fitted in a hole 281 a provided at the axial center of the tension bar 281. The pin 287 is inserted and fixed to the tip through the diametrically direction. This pin 287
Is slidably fitted in a slit 281b provided in the tension bar 281 along the axial direction, and both ends thereof are fixed to an annular dog 288 slidably fitted on the tension bar 281. . A stopper 289 is externally fitted and fixed to the front portion of the tension bar 281, and the pin 28
Lock 7 As a result, the socket 285 cannot be rotated relative to the tension bar 281 and cannot be deviated. A spring 290 is contracted between the socket 285 and the stopper 289 to push the socket 285 forward.

A sensor 291 is provided on the block 277 so as to face the dog 288. This sensor 291
When the nut runner 23 moves forward and the mounting bolt attached to the socket 285 comes into contact with the open end of the screw hole of the crankshaft, the nut runner 23 moves further forward, the spring 290 is compressed, and the socket 285 moves backward. When the dog 288 moving backward is detected, it is turned on. The nut runner drive unit 280 is rotationally driven by the signal of the sensor 291 to start the temporary tightening of the mounting bolt.

The operation of the work assembly / temporary tightening device 20 will be described below. FIG. 17 shows an outline of the operation of the work assembly / temporary fastening device 20. The work assembly / temporary fastening device 20 is the base 20.
It is backing up to the rear end position P1 of 0 and waiting. Further, the crankshaft rotation direction positioning device 40, the guide pin exchanging device 50, and the bolt distributing / delivering device 60 are respectively raised and stand by. In this standby state, the work assembling / temporary tightening device 20 holds the swing bracket 20 as shown in FIG.
5 is held horizontally, the head 22 faces forward (front), and the nut runner 23 is retracted as shown in FIG. The engine E is conveyed to the automatic engine assembly apparatus 1 by the line conveyor 3.

Crankshaft rotation direction positioning device 4
0 and the guide pin exchange device 50 are lowered to attach the work.
The temporary tightening device 20 advances to a predetermined position P2 by the feed screw 210 as a feed mechanism and the nut portion 211 (FIG. 7), and faces the guide pin exchanging device 50. Then, the guide pin exchanging device 50 operates the guide pin housing 2 of the head 22.
The guide pin 241 attached to the tip of 40 is replaced with a guide pin according to the work to be attached to the engine E. The work assembling / temporary tightening device 20 is retracted to the original position P1 by the feeding mechanism after the completion of the exchange of the guide pins.

Next, the left and right cylinders 212 of the main body 21
Extends to pivot the left and right pivot brackets 205 upward by 90 ° as shown by the chain double-dashed line to make them horizontal and allow the workpiece to be received. At the same time, the bolt distribution and delivery device 60 descends as shown by the arrow, and the heads of the five bolts are attached to the runner 2 respectively.
The three sockets 285 (FIG. 8) of FIG. next,
The cylinder 263 shown in FIG.
5 receive each of the opposite bolts at the same time. After each socket 285 receives the respective bolt, the cylinder 2
63 shortens. Further, the bolt distribution delivery device 60 moves up after supplying the bolt to the nut runner 23.

While the nut runner 23 receives the bolt, the robot 10 shown in FIGS. 5 and 6 receives the work, for example, the flywheel FW, which is positioned in the work rotation direction positioning device 30, and the two-dot chain line in FIG. As shown in, the head 2 of the work assembly / temporary tightening device 20
Place on 2 and hand over. The head 22 receives the flywheel FW in a state where the guide pin 241 is fitted in the central positioning hole FWA of the flywheel FW and the center pin 258 is fitted in the positioning hole FWb, and the positioning is performed.
The flywheel FW is sucked and held by the vacuum pads 250 and 251. After the head 22 receives the flywheel FW and completes, the left and right cylinders 21 of the main body 21
2 is shortened and the swing bracket 205 is rotated to the horizontal position. In this state, as shown in FIG.
Supports the flywheel FW in a state where the center pin 258 is located right above and supports the flywheel FW so as to be able to face the crankshaft CS.

While the work assembling / temporary tightening device 20 receives the bolts and the flywheel FW, the position of the conveyed engine E is stopped and the crankshaft rotation direction positioning device 40 causes the crankshaft C to move.
Position S in the direction of rotation. The crankshaft CS is positioned so that the knock pin NP is located right above. Crankshaft rotation direction positioning device 40
Rises after the positioning of the crankshaft CS is completed.

Then, the work assembling / temporary tightening device 20 is moved forward by the feeding mechanism to the position P3 in FIG. 17, and the left and right positioning pins 224 of the head 22 are moved to the left and right of the cylinder block CB of the engine E as shown in FIG. Engages with the positioning hole CBa provided in the. At this time, the oscillating plate 220 (see FIG.
2) has a floating structure that can move up and down, so that the cylinder block CB of the positioning pin 224 can be moved.
It becomes easy to engage with the positioning hole CBa.

At the same time, the guide pin 241 engages with the central hole Ha of the crankshaft CS, and the knock pin NP of the crankshaft CS engages with the positioning hole FWb of the flywheel FW. At this time, as shown in FIGS. 10 and 11, the circular plate 227 provided with the guide pin 241 and the center pin 258 is swung in the rotational direction by the cylinder 230 to facilitate the engagement. When the knock pin NP engages with the positioning hole FWb of the flywheel FW, the center pin 258 is pushed by the knock pin NP against the spring force of the spring 257c (FIG. 12) and pushed out from the positioning hole FWb (FIG. 16).
As a result, the flywheel FW sucked and held by the head 22 is attached to the crankshaft CS via the guide pin 241 and the knock pin NP.

Then, the cylinder 264 shown in FIG. 8 extends, the nut runner 23 advances together with the frame 260, and the sockets 285 are inserted through the holes 240b (FIGS. 10 and 11) provided in the guide pin housing 240. The bolt BT (Fig. 16) is inserted into the bolt hole of the flywheel FW, and the screw hole Hb of the crankshaft CS (Fig. 2) is inserted.
Press on the open end of. The tip of the bolt BT has a screw hole Hb.
15 hits the open end of the sensor 291 and the socket 285 shown in FIG.
Turns on. Next, the nut runner drive unit 280 rotates and the socket 285 rotates, and the bolt BT is screwed into the screw hole Hb of the crankshaft CS to temporarily tighten the flywheel FW. As the bolt BT is screwed, the socket 285 is pushed by the spring force of the spring 290 to move forward, and when screwing is completed, the sensor 291 is turned off.

In the nut runner 23, when the flywheel FW is temporarily tightened by the bolts BT attached to the sockets 285, the cylinder 264 is shortened and retracted, the socket 285 is separated from the bolts BT, and the main body 21 Is retreated to the position P1 in FIG. 17 by the feeding mechanism. In this way, the flywheel FW is assembled to the crankshaft CS and temporarily fixed by the bolt BT. The engine E is transported to the next assembly process by the line conveyor 3 after the flywheel FW is temporarily fixed.

[0051]

According to the present invention, in the invention of claim 1,
Receiving and holding a workpiece such as a flywheel or drive plate that has been positioned in the rotational direction corresponding to the crankshaft of the engine that has been positioned in the position opposite to the workpiece mounting / temporary tightening device and positioned in the rotational direction. In this state, the head rotates to a horizontal position to face the work so that it can be assembled to the crankshaft, and the main body moves forward to assemble the work to the crankshaft, while the nut runner rotates the head to the upper position. When the head receives a bolt for attaching the work when it moves, the head mounts the work on the crankshaft and then moves forward to temporarily tighten the work on the crankshaft, whereby a flywheel or a drive plate is attached to the crankshaft. Assembly and temporary tightening work can be automated, Increased productivity of engines can be improved, such as the working environment.

[0052] In the present invention of claim 2, the head of the work assembly, the temporary fastening device holds the passed workpiece to the position positioned by the center pin while supporting the guide pins, the workpiece by suction means By adsorbing and holding, the flywheel or drive plate can be reliably assembled to the crankshaft. In the invention of claim 3, the nut runner equipped with a work assembly, the temporary fastening device, wherein in response to the pitch of the screw hole of the work and <br/> crankshaft bolt screwed bolts are mounted by a variable pitch mechanism nutrunner The pitch can be changed, and various types of flywheels and drive plates can be mounted on the crankshaft and temporarily tightened, which makes the device highly versatile.

[Brief description of drawings]

FIG. 1 is an explanatory view of assembling a flywheel to a crankshaft of an engine.

FIG. 2 is a cross-sectional view showing the relationship between the crankshaft and the flywheel of FIG.

FIG. 3 is an explanatory view of assembling the drive plate and the adapter plate to the crankshaft of the engine.

FIG. 4 is a cross-sectional view showing the relationship between the crankshaft and drive plate of FIG.

FIG. 5 is a perspective view showing an embodiment of an automatic engine assembling apparatus provided with a work assembling / temporary fastening device according to the present invention.

FIG. 6 is a schematic side view of FIG.

7 is a side view of the work assembling / temporary fastening device of FIG.

8 is a side view showing a state where a side plate on one side of FIG. 7 is removed.

9 is a plan view with a part of FIG. 7 omitted.

10 is a front view taken along the line XX of FIG.

11 is a front view of the head of FIG. 7. FIG.

12 is a cross-sectional view of the main parts of the head of FIG.

13 is an explanatory view of a mounting portion of the vacuum pad of FIG.

14 is a sectional view taken along the line XIV-XIV in FIG.

15 is an enlarged cross-sectional view of a main part of the nut runner of FIG.

16 is an operation explanatory view of assembling / temporarily tightening a work on a crankshaft of an engine by the work assembling / temporary tightening device shown in FIG. 7.

17 is an explanatory view of the outline of the operation of the work assembly / temporary fastening device shown in FIG. 7. FIG.

[Explanation of reference numerals] 1 automatic engine assembly device 3 line conveyor 4 flywheel supply conveyor 5 drive plate supply conveyor 6 bush supply device 7 adapter plate supply device 8 bolt supply device 9 control device 10 robot 20 work (flywheel and drive plate) )
Assembly / temporary tightening device 21 Main body 22 Head 23 Nut runner 30 Workpiece (flywheel and drive plate)
Rotation direction positioning device 40 Crankshaft rotation direction positioning device 50 Guide pin exchange device 60 Bolt distribution delivery device 241 Guide pin 258 Center pins 250, 251 Vacuum pad 270 Variable pitch mechanism E Engine CS Crankshaft Ha Positioning hole Hb Screw hole NP Knock pin CB Cylinder Block CBa Positioning hole FW Flywheel (workpiece) BT Bolt

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Ryuji Shiode 5-3-8, Shiba, Minato-ku, Tokyo Within Mitsubishi Motors Corporation (72) Inventor Yuichi Hazaki 4-21-1, Shimomaruko, Ota-ku, Tokyo Sanritsu Automobile Engineering Co., Ltd. (72) Inventor Hiroyuki Funao 4-21-1, Shimomaruko, Ota-ku, Tokyo Sanritsu Automobile Engineering Co., Ltd. (56) Reference JP-A-2-70620 (JP, A) JP-A 63-300826 (JP, A) JP-A 61-249233 (JP, A) JP-A 4-289035 (JP, A) Actually open 2-135131 (JP, U) Actually open 64-1822 (JP, U) Actual Development 2-143127 (JP, U) Actual Development Sho 64-12740 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) B23P 19 / 00-21 / 00

Claims (3)

(57) [Claims] 1. A crankshaft of an engine which is horizontally arranged and whose rotational direction is determined by the crankshaft of the engine.
A work assembling-temporary clamping device for temporarily clamping fixing by assembling workpieces positioned to correspond to the shift, is disposed retractably horizontally pre Symbol crankshaft and the counter is driven forward and backward by a driving means a body that, from a horizontal position are pivotally supported substantially centrally on both sides of the body
A pair of arms that are rotatable upward to a vertical position, and the arm provided between the main body and the base end of the arm.
Drive means for rotating the arm, and the arms provided at the tips of the pair of arms to move upward.
It receives and holds the front Symbol workpiece Te rotation position odor,
When the arm is rotated to a horizontal position, the work is opposed to the crankshaft so that the work can be assembled, and the head is assembled to the crankshaft by advancing the main body; and the crankshaft is attached to the main body. a facing provided on the frame which is movable forward and backward arranged horizontally, moving forward when the head is rotated to the upper position to receive the bolts for mounting the workpiece, then retracted, the head is the work A nut runner that is assembled to the crankshaft and then moves forward to temporarily tighten the work on the crankshaft, and the frame provided between the main body and the frame.
A work assembling / temporary tightening device, which is provided with a drive means for driving the workpiece back and forth . 2. The head is provided with the positioned workpiece.
While supporting through the first positioning hole in the center of the
When attaching the work to the crankshaft
Positioning where the end is provided in the center of the crankshaft end face
A guide pin for positioning fitted in order bore, the work
Positioned by fitting into the second positioning hole of
A center pin for holding the previous claim 1 Symbol mounting work assembly, temporary clamping device is characterized in that a suction means for holding by adsorbing Kiwa over click. 3. The nut runner has an annular shape, and a rotation shaft of the nut runner is freely penetrating the circumferential surface of the nut runner.
Along the direction and the distance from the center to the start and end centers
The long holes that change in position are arranged in the circumferential direction according to the rotation axis.
And a cam plate rotatably supported by the frame
And arranged so as to face the positions of the respective long holes of the cam plate.
Free to move in the radial direction of the cam plate on the frame
Is supported by the roller and is engaged with the slot through a roller.
It is movable in the radial direction according to the rotation of the
A support member that pivotally supports the rotating shaft at a side end thereof is provided between the frame and the cam plate.
Drive means for rotating the plate.
Claim 1 Symbol mounting work assembly, the temporary fastening device characterized by comprising a variable pitch mechanism for varying the pitch of Toran'na.