JP3464911B2 - Automatic assembly facility for handling cylinders - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure of an automatic assembling facility of a handling cylinder used for a threshing device in a threshing device mounted on an agricultural combine harvester or a harvester and a fixed threshing device.

[0002]

2. Description of the Related Art A handle barrel used in a threshing device is generally constructed by attaching handle teeth to an outer peripheral surface of a cylindrical body. Specifically, a screw part is formed on the leg of the handle tooth,
Insert the leg of the handle tooth into the mounting hole formed in the main body, and attach the nut to the leg of the handle tooth from the inside of the main body to tighten and fix. In this case, as disclosed in Japanese Examined Patent Publication No. 1-55934 as an example of an automatic assembling facility for a handle, a nut is inserted from the inside of the main body into the leg portion of the handle tooth inserted into the mounting hole of the main body. Some are equipped with a nut tightening device for tightening and fixing the handle teeth.

[0003]

As a handle tooth, there is a handle tooth formed by combining a plate handle tooth formed of a plate material with a parallel tooth formed by bending a wire into a bifurcated shape (for example, FIG. 3). As shown in FIG.
In some cases, a pair of leg portions 21a of the parallel teeth 21 formed by bending a wire into a bifurcated shape are inserted thereinto).

As a result, when fixing the handle teeth in which the plate handle teeth and the parallel teeth are combined to the body of the handle cylinder, the above-mentioned Japanese Patent Publication No.
In the automatic assembling facility of the handle cylinder disclosed in Japanese Patent Publication No. 55934, in the plate handle teeth and the parallel teeth which are separately supplied, the operator configures the handle teeth by combining the plate handle teeth with the parallel teeth, Since it is necessary to perform the work of inserting the leg portions of the handle teeth into the mounting holes of the main body, there is room for improvement in terms of improving the overall work efficiency. An object of the present invention is to improve the overall work efficiency in an automatic assembly facility for a handling cylinder used in a threshing device.

[0005]

[I] According to the feature of claim 1, the plate treating teeth formed by the plate material in the tooth combination device are automatically combined with the parallel teeth formed by bending the wire. The handle teeth combined in the handle tooth combination device are held and taken out by the hand device, and the leg portion of the handle tooth is inserted by the hand device into the mounting hole of the main body of the handle cylinder supported by the main body supporting device. To be done. When the handle tooth is inserted into the mounting hole of the main body as described above, the nut mounting device inserted inside the main body attaches the nut to the leg portion of the handle tooth inserted into the mounting hole of the main body and tightens it. The handle teeth are fixed to the main body.

As described above, according to the feature of claim 1, since the parallel teeth are automatically combined with the plate handle teeth and the leg portions of the handle teeth are automatically inserted into the mounting holes of the main body, the operator can operate the plate. It is not necessary to perform the work of constructing the handle teeth by combining the handle teeth with the parallel teeth and inserting the leg portions of the handle teeth into the mounting holes of the main body.

[II] According to the characteristics of claim 1 , the "action" described in the above item [I]
In addition to this, the following "action" is provided. Some handle teeth are configured by inserting a pair of leg portions of parallel teeth formed by bending a wire into a forked shape into a pair of holes of the plate handle tooth formed of a plate material. Since the plate handling teeth formed of the plate material are generally formed by press working, the pair of holes are provided with relatively high accuracy. On the other hand, since the parallel teeth are formed by bending the wire into a bifurcated shape, it is difficult to say that the distance between the pair of leg portions of the parallel teeth is set accurately.

According to the feature of claim 1 , when the parallel operating teeth are moved toward the pair of holes of the plate treating teeth by the movement operating section in the dental combining device, the pair of leg portions of the parallel teeth contact the guide portion. However, the distance between the pair of leg portions of the cognate tooth is corrected with the movement of the cognate tooth, and the positions of the pair of leg portions of the cognate tooth and the positions of the pair of holes of the plate treating tooth are matched to each other. The pair of leg portions of are inserted into the pair of holes of the plate handle tooth. As a result, even if the position of the pair of leg portions of the parallel tooth is displaced with respect to the position of the pair of holes of the plate handle tooth, the distance between the pair of leg portions of the parallel tooth is corrected regardless of this, The pair of leg portions of the tooth are inserted into the pair of holes of the plate treating tooth without any trouble.

[III] According to the characteristics of claim 2 , as in the case of claim 1 , the "action" described in the above [I] and [II] is provided, and in addition to this, the following "action" is provided. It is equipped with. According to the feature of claim 2 , when the pair of leg portions of the parallel teeth are inserted into the pair of holes of the plate treating tooth, the pair of leg portions of the parallel tooth are separated from the guide portion. Therefore, since the parallel teeth are in a free state when the pair of leg portions of the cog teeth are inserted into the pair of holes of the plate handling teeth, the pair of leg portions of the cog teeth are displaced in an attempt to return to the original state. The state in which the pair of leg portions of the parallel tooth are pressed against the pair of holes of the plate handling tooth from the inside so that the pair of leg portions of the parallel tooth cannot be easily removed from the pair of holes of the plate handling tooth. become. As a result, even if the tooth comes out from the tooth combination device,
It is possible to avoid a state in which the pair of leg portions of the coplanar tooth easily come out from the pair of holes of the plate coping tooth, and the coping tooth is separated by the hand device without being divided into the plate treating tooth and the coplanar tooth. It is held and taken out without any trouble.

[IV] According to the characteristics of claim 3 , as in the case of claim 1 or 2 , it has the "action" described in the above [I] to [III]. It has the "action".
According to the feature of claim 3 , when the handle teeth (parallel teeth) from the handle tooth combination device are held by being held by the holding portion of the hand device, the position of the parallel teeth is corrected by the correction portion provided in the holding portion. Then, the positions of the pair of leg portions of the common teeth are corrected. As a result, as described in the previous section [III], the parallel teeth are in a free state in a state where the pair of leg portions of the parallel teeth are inserted into the pair of holes of the plate treating tooth, and the pair of leg portions of the parallel teeth are Even if it is displaced in an attempt to return to the state described above, this state is corrected by the correction section provided in the holding section, so the pair of leg portions of the handle teeth (normal teeth) do not match the position of the mounting hole of the main body. The hand device allows the pair of leg portions of the handle tooth to be inserted into the attachment hole of the main body without any trouble.

[V] According to the characteristics of claim 4 , as in the case of claim 3 , the "action" described in the above [I] to [IV] is provided. In addition to this, the following "action" is provided. It is equipped with. According to the feature of claim 4 , when the handle teeth (parallel teeth) from the handle tooth combination device are held by being held by the holding portion of the hand device, the plate handle teeth are held by the holding portion provided in the holding portion. It As a result, both the parallel teeth and the plate handling teeth of the handling teeth are held by the sandwiching portion of the hand device, and the positional relationship between the plate handling teeth and the positioning teeth does not change and the handling teeth (plate The handling teeth and the parallel teeth are stably held.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION [1] FIG. 1 shows the entire automatic assembling facility for a handling cylinder. As shown in FIG. 1, a main body supporting device 1 for rotatably supporting a main body 18 of a handle cylinder, a plate handle tooth supply device 2 for storing and supplying plate handle teeth 20, a first parallel tooth 2
A first supply device 3 which stores and supplies 1; a second supply device 4 which stores and supplies a second parallel tooth 22; and a third supply device 5 which stores and supplies a third parallel tooth (not shown) , A tooth combination device 6, which combines the plate tooth 20 with the first or second parallel tooth 21, 22, a robot hand 7, a nut mounting device 8, and a nut which stores the nut 23 and supplies the nut 23 to the nut mounting device 8. It is configured to include a supply device 9.

With the above configuration, the plate handling teeth 20 (see FIG. 3) supplied from the plate handling tooth supply device 2 are combined with the first and second parallel teeth 21, 22 in the tooth handling combination device 6. The handle teeth 19 (see FIG. 3) are configured. The handling hand 19 is clamped and taken out by the robot hand 7, and the main body 18
The handle tooth 19 is attached to the leg, and the nut 23 with the flange is attached to the leg portion 21a (22a) of the first parallel tooth 21 (second parallel tooth 22) from the inside of the main body 18 by the nut attaching device 8 and tightened. The handle teeth 19 are fixed to the main body 18 (see FIG. 3). The above operation is repeated to fix a large number of handling teeth 19 to the main body 18, and this is the basic operation flow of the automatic assembly facility for the handling barrel in the present invention.

[2] Next, the main body 18 of the handling cylinder and the main body supporting device 1 will be described. As shown in FIGS. 2 and 3,
The main body 18 is configured by rolling a plate material into a cylindrical shape, and has a large number of mounting holes 18a into which the handle teeth 19 (the legs 21a and 22a of the first and second parallel teeth 21 and 22) are inserted. Has been done. The mounting holes 18a are a pair of main body 18
A plurality of sets of holes are formed in the same circumference L in the above, and a large number of circumferences L in which a plurality of sets of mounting holes 18 a are opened are set in the axial direction of the main body 18. Connection hole 18b for fixing a lid member (not shown) that closes both ends of the main body 18 with a bolt
Is opened in the outer peripheral portion of the end of the main body 18.

As shown in FIGS. 1, 4, 5 and 7, the main body supporting device 1 includes a supporting base 10, a first supporting portion 11 and a second supporting portion 1.
2 is provided. The support base 10 is formed of an arc-shaped plate material, is disposed between the first and second support portions 1 and 12, and is supported by the operation cylinder 13 so as to be vertically movable. A ring member 14 having an outer diameter substantially the same as that of the main body 18 is rotatably provided by a bearing,
The support portion 12 is configured, and the pair of guide rails 15 is provided.
The second support portion 12 is movably supported along the
An operation cylinder 16 for moving the support portion 12 along the guide rail 15 is provided.

As shown in FIGS. 4, 5 and 6, the first support portion 11
Is fixed, and the main body 18 is the same as the second support portion 12.
A ring member 17 having an outer diameter substantially the same as is rotatably supported by a bearing. The timing belt 25 is wound around the pulley 24a of the motor 24 fixed to the first support portion 11 and the ring member 17, and the ring member 17 is configured to be rotatable.

As shown in FIGS. 4, 5 and 6, the ring member 1
The block-shaped support portion 26 is fixed to the position 7 in FIG.
As shown in (b), three rod members 27 are slidably supported in the radial direction of the ring member 17, and a positioning pin 27a is fixed to the center of the ring member 17 of the rod member 27. The rod member 27 is biased by the spring 28 so as to project toward the center of the ring member 17, and the positioning pin 2 in the rod member 27 is urged.
An engagement portion 27b is fixed to the side opposite to 7a. The operation cylinder 29 is fixed to the first support portion 11, and the operation cylinder 29 is provided with an engagement portion 29a.

With the above structure, the first and second support portions 11, 1 are provided inside the main body 18 as described in [7] below.
When the second ring members 14 and 17 are fitted, as shown in FIG.
As shown in (b), the positioning pin 27a of the ring member 17 is inserted into the predetermined connecting hole 18b of the main body 18 to determine the position of the main body 18 with respect to the ring member 17, and the main body 18 is rotated by the motor 24. To be done.

In this case, the engaging portion 27b of the rod member 27
And the engaging portion 29a of the operating cylinder 29 is shown in FIG.
Since the shape is as shown in (b), even if the main body 18 is rotated, the engaging portion 27b of the rod member 27 passes through the engaging portion 29a of the operating cylinder 29. When the positioning pin 27a is pulled out from the connection hole 18b of the main body 18, as shown in FIGS. 8A and 8B, the engaging portion 27b of the rod member 27 enters the engaging portion 29a of the operating cylinder 29. By stopping the main body 18 and retracting the operating cylinder 29, the operating cylinder 29 pulls out the positioning pin 27a from the connecting hole 18b of the main body 18.

[3] Next, the handle teeth 19, the plate handle tooth supply device 2, and the first, second, third supply devices 3, 4, 5 will be described. As shown in FIG. 3, the handle tooth 19 is configured by combining the plate handle tooth 20 with the first and second parallel teeth 21 and 22. The plate handle tooth 20 is formed by bending a plate material and includes a vertical wall portion 20a and a seat portion 20b. The seat portion 20b is formed in an arc surface shape having the same curvature as the outer peripheral portion of the main body 18, and a pair of seat portions 20b are provided. The hole 20c is opened.

As shown in FIG. 3, the wire is bent into a V shape to form first and second parallel teeth 21 and 22 (the first parallel tooth 21 has a rounded tip, whereas the first parallel tooth 21 has a rounded tip). 2 parallel teeth 22
Has a square tip), the first and second parallel teeth 21, 22
A pair of legs 21a, 22a and a circular flange 21
b, 22b are formed, and the legs 21a, 22a are formed with screws. Thereby, the hole 20 of the plate handle tooth 20
c, the leg portions 21a, 22 of the first and second parallel teeth 21, 22
The handle tooth 19 is formed by inserting a.

As shown in FIGS. 1, 9, 10, and 12, a large number of plate handling teeth 20 are stored in the plate handling tooth supply device 2, and the plate handling teeth 20 from the plate handling tooth supply device 2 are seated portions 20b. Is conveyed vertically to the tooth combination device 6 along the rail-shaped feeder 30. As shown in FIGS. 1 and 9, the first supply device 3 stores a large number of first parallel teeth 21.
The first parallel teeth 21 from the supply device 3 are oriented vertically with the legs 21a facing down, and follow the rail-shaped feeder 34 along the feeder 34.
Is conveyed to the end portion 34a. A large number of second parallel teeth 22 are stored in the second supply device 4, and
The parallel teeth 22 are vertically oriented with the leg portions 22a facing down, and are conveyed to the end portion 35a of the feeder 35 along the rail-shaped feeder 35. As a result, in the handle tooth combination device 6 described in [4] described above and below, the first hole is formed in the hole 20c of the plate handle tooth 20.
And the leg parts 21a and 22a of the second parallel teeth 21 and 22 are inserted.

The third parallel tooth (not shown) is formed by bending a wire rod like the first and second parallel teeth 21 and 22, but the third parallel tooth is not combined with the plate handling teeth 20. Only the teeth are used as the handle teeth 19. As shown in FIG. 1, a large number of third parallel teeth are stored in the third supply device 5, and the third parallel teeth from the third supply device 5 are in the vertical direction with the legs down, and in the shape of a rail. 3 It has been conveyed to the end 33a along the handling tooth feeder 33 and stopped.

[4] Next, the tooth combination device 6 and the pushing hand 39 arranged above the tooth combination device 6 will be described. As shown in FIGS. 9, 10, and 11, the tooth-handling combination device 6 is arranged at a position connected to the feeder 30 of the plate tooth-feeding device 2, and the guide rail 36 is located above the tooth-handling combination device 6. Are fixed to the pair of left and right columns 37. A hand base portion 38 is movably supported along the guide rail 36, and the pushing hand 3 is attached to the hand base portion 38.
9 is provided so that it can be raised and lowered.

As shown in FIGS. 13B, 15 and 16, the pushing hand 39 has a pair of holding portions 39a having a U-shape (see FIG. 16) in a cross sectional view and a bifurcated shape in a side view (see FIG. I)
And FIG. 15), a flat plate-shaped pushing portion 39b is provided, and the holding portion 39a is provided along the guide rail 39c.
3 (b) is movably supported in the left-right direction on the paper surface, and the pressing portion 39b is fixed between the pair of holding portions 39a.

Next, the handling tooth combination device 6 will be described.
As shown in FIGS. 12, 13 (b), 15, and 16, a pair of block-shaped correction parts 40 are arranged so as to face each other with a predetermined interval, and the first guide is provided in the front-rear center of the correction part 40. A portion 40a is formed, and a pair of second guide portions 40b is formed in front of and behind the first guide portion 40a.
Below the guide portions 40a and 40b, a recessed portion 40 facing forward and backward is provided.
c is formed. As a result, as shown in FIG. 16, cross-shaped slits are formed in the front-back direction in a plan view by the first and second guide portions 40a, 40b of the pair of facing straightening portions 40, and As shown in FIG. 12, cross-shaped slits (first and second guide portions 40
The corners of a and 40b) are formed in a tapered shape (wedge shape) in which the lower side is narrowed.

As shown in FIGS. 12 and 13 (a) and (b), a support base 42 is supported along the guide rail 41 in the lower portion of the tooth combination device 6 so as to be movable in the lateral direction of the paper surface of FIG. ing. The first transfer portion 43 including the pair of pins 43a and the second transfer portion 44 including the pair of support portions 44a are the guide rails 42a and 42b of the support base 42.
An operation cylinder 45, which is movably supported in the vertical direction along the above and below, and which moves up and down the first and second transfer portions 43 and 44, is provided.

As a result, as described in [7] and [9] below, the first and second parallel teeth 21, 2 are inserted into the hole 20c of the plate handling tooth 20 by the pushing hand 39 in the handling tooth combination device 6.
The second leg portions 21a and 22a are inserted, and the plate handling teeth 20 are combined with the first parallel teeth 21 and the plate handling teeth 20 and the plate handling teeth 20.
The handle teeth 19 in which the second parallel teeth 22 are combined with each other are configured, and the handle teeth 19 are transferred from the handle tooth combination device 6 to the first and second handle tooth feeders 31 and 32 shown in FIGS. 1 and 9. .

As shown in FIGS. 9 and 10, a support base 47 is supported along a guide rail 46 so as to be movable in the vertical direction of the paper surface of FIG. 9, and the support base 47 supports the first and second handling tooth feeders. 31, 32 are supported. As a result, as described in [7] described later, in the state in which the first toothed teeth 21 are combined with the plate toothed teeth 20 in the toothed tooth combination device 6, as shown in FIG.
As shown in FIG. 3, the support base 47 is located at the first position where the first tooth handling feeder 31 is connected to the tooth handling combination device 6, and
(The plate handle teeth 20 and the first parallel teeth 21) are transferred to the first handle tooth feeder 31. In the handling tooth combination device 6, in a state where the plate toothing 20 and the second parallel tooth 22 are combined, the support base 47 moves to the second position where the second toothing feeder 32 is connected to the tooth handling device 6, Handle teeth 19 (plate handle teeth 20 and second
The parallel teeth 22) are transferred to the second handle tooth feeder 32.

[5] Next, the robot hand 7 will be described. The robot hand 7 is configured as a 6-axis articulated type. As shown in FIG. 17A, a hand base 48 is provided at the tip of the robot hand 7 via four support rods 49 as shown in FIG. The hand base 48 is supported by the spring 50 so as to be movable in the vertical direction, and the hand base 48 is biased toward the protruding side by the spring 50.

As shown in FIGS. 17 (a), (b) and (c),
A pair of flat plate-shaped holding portions 51 are movably supported along the guide rails 48 a of the hand portion 48. A pair of convex portions 51a are formed at the ends of the sandwiching portion 51, and a semi-cylindrical concave portion 51b is formed as shown in FIG.
A flat urethane rubber 51c is formed in the vicinity of the center of the sandwiching portion 51.

Accordingly, when the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 21) (the plate handle teeth 20 and the second parallel teeth 22) are held by the holding portion 51 of the robot hand 7, the first
Also, the vicinity of the flange portions 21b and 22b of the second parallel teeth 21 and 22 is fitted into the recess 51b and is sandwiched,
The vertical wall portion 20a of the plate handle tooth 20 is located between the pair of convex portions 51a and is sandwiched by the urethane rubber 51c. A pair of proximity sensors 52 and 53 are provided on one holding portion 51 of the robot hand 7, and the proximity sensor 52 allows the flange portions 21 b of the first and second parallel teeth 21 and 22 to move.
It is detected that the vicinity of 22b is sandwiched, and the proximity sensor 53 detects that the vertical wall portion 20a of the plate handling tooth 20 is sandwiched.

[6] Next, the nut mounting device 8 and the nut supply device 9 will be described. As shown in FIG. 1, a nut mounting device 8 is arranged next to the main body supporting device 1, and a base 55 is movable along a pair of guide rails 54 as shown in FIGS. Supported by the base 5
A feed screw 56 for moving the feed screw 5 and a motor 57 for rotating the feed screw 56 are provided. The arm portion 58 fixed to the base portion 55 is cantilevered toward the main body supporting device 1, and is supported by the main body supporting device 1 by moving the base portion 55 to the main body supporting device 1 side. The arm portion 58 is inserted inside the main body 18 through the ring member 17 of the first support portion 11.

As shown in FIGS. 18 (b) and 19 (a) (b), the first support portion 61 is vertically moved along the guide rail 60a of the substrate 60 fixed to the tip of the arm portion 58. An operation cylinder 63 that is movably supported and that moves and operates the first support portion 61 is provided. The first operation shaft 64 is rotatably supported by the first support part 61, and the first drive shaft 65 a of the motor 65 fixed to the arm part 58 and the first operation shaft 64 are fixed to the arm part 58.
The operation shaft 64 is connected so as to be extendable and contractible and integrally rotatable, and the first operation shaft 64 is connected to the second operation shaft 66.

As shown in FIGS. 19A, 19B, and 24A, a pin 66a is provided on the second operating shaft 66, and the pin 66a is provided in the elongated hole 59a of the cylindrical third operating shaft 59. A spring 67 that is inserted and biases the third operation shaft 59 upward is provided, and the third operation shaft 59 is attached to the second operation shaft 66 so as to rotate integrally with the second operation shaft 66 and expand and contract. Are connected. As shown in FIG. 24A, the third operation shaft 59
Is provided with a spherical head portion 59b, and a thin pin 59c is inserted into a large lateral hole of the head portion 59b.
The socket 76 is supported by b and the pin 59c. A hexagonal recess 76 a is formed in the socket 76, and a rubber plate 68 is laid on the bottom of the recess 76 a. As a result, the spherical operation head 59b and the play and rotation of the pin 59c with respect to the hole of the operation head 59b cause the third operation shaft 5 to move.
The socket 76 can freely incline (a slight angle incline) in the range of 360 ° in the front, rear, left, and right directions with respect to 9.

As shown in FIGS. 18 (b) and 19 (a) (b), the second support portion 62 is vertically moved within the range of the pair of upper and lower stoppers 60b along the guide rail 60a of the substrate 60. It is movably supported and has a pair of holding claws 6.
9 is movably supported in the left-right direction of the paper surface of FIG. As shown in FIGS. 22 and 23, the nut 2
3 has a long groove 69a formed in the holding claw 69, and the handling tooth 19 (first and second parallel teeth 21,
The semicircular notch 69b into which the legs 21a and 22a of 22) are inserted is formed in the holding claw 69.

As shown in FIGS. 18A, 18 </ b> B, 19 </ b> B, and 20, a guide block 70 of the nut 23 is fixed to the upper part of the tip of the arm 58, and the cross section is square and is gentle. A curved guide path 70 a is formed inside the guide block 70. As shown in FIG. 1 and FIGS. 18A and 18B, the nut supply device 9 and the guide block 70 are connected by a guide pipe 71 having a square cross section.
As shown in FIG. 8B and FIG. 20, the operation cylinder 72 for positioning the nut 23 is fixed to the arm portion 58,
An elongated flat plate-shaped positioning member 73 provided on the operation cylinder 72 is inserted into the guide block 70. Thereby, as described in [7] described later, by the compressed air supply unit (not shown) provided in the nut supply device 9,
The nuts 23 are supplied one by one from the nut supply device 9 to the long groove 69a of the holding claw 69 through the guide pipe 71 and the guide path 70a of the guide block 70.

[7] Next, the overall work flow in the automatic assembling facility of the handling cylinder of the present invention will be described with reference to this section [7] and [8] described later, and FIGS. 26 and 27.
The main body 18 of the handling cylinder is carried by an operator on a trolley (not shown), and the main body 18 is placed by the operator on the support base 10 (raised position) of the main body supporting device 1 as shown in FIG. (Step S1). As shown in FIGS. 18 (a) and 18 (b), the worker is
While rotating the main body 18 by hand so as to match the position of the positioning pin 27a on the ring member 17 of the first support portion 11, the main body 18 is fitted into the ring member 17 of the first support portion 11 and the operation cylinder 29 is extended. Positioning pin 2
7a is inserted into a predetermined connecting hole 18b of the main body 18 (step S2).

When an operator starts the automatic assembly facility in the above state (step S3), the second support portion 12 is moved to the first support portion 11 side as shown in FIG. 5, and the second support portion 11 is moved. The ring member 14 of 12 is fitted into the main body 18, and the main body 18 is supported by the ring members 14 and 17 of the first and second support portions 11 and 12 (step S4). As shown in FIG. 10 is moved down by the height of the handle teeth 19 (step S5).

As shown in FIG. 2 and the above [2], a plurality of sets of mounting holes 18a are formed in the same circumference L of the main body 18 as a set, and a plurality of sets of mounting holes 18a are formed. A large number of circles L are set in the axial direction of the main body 18. In this case, handle teeth 19 having different sizes and shapes are fixed in advance in the mounting hole 18a of the circumference L closest to the first support portion 11.

As a result, when the operator starts the automatic assembly facility as described above, the nut mounting device 8 shown in FIG.
The base 55 of the main body 1 is moved to the main body supporting device 1 side, and the main body 1
The arm portion 58 is inserted inside 8 and the circumference L (1) next to the circumference L closest to the first support portion 11 as shown in FIG.
The socket 76 is set at the position (step S
6). Next, in a plurality of sets of mounting holes 18a on the circumference L (1), the socket 76 is set at the position of one mounting hole 18a (1) of the mounting holes 18a (1,2) of the reference set. Then, the main body 18 is rotated (step S7).

When the operator starts the automatic assembly facility as described above, as shown in FIGS. 1 and 9, the first handling tooth feeder 31 is at the first position where the tooth handling combination device 6 is connected to the supporting table. In the state where 47 is positioned (steps S8, S
9), as described in [9] described later, the tooth-handling combination device 6
And the pushing hand 39 starts to operate (step S1).
0). As a result, the handle teeth 19 constituted by the plate handle teeth 20 and the first parallel teeth 21 are transferred from the handle tooth combination device 6 to the first handle tooth feeder 31, and along the first handle tooth feeder 31, the first handle tooth feeder 31 is moved. One handling tooth feeder 31 is conveyed to the end portion 31a. In this case, the position of the end portion 31a of the first handle tooth feeder 31 is the extraction position of the handle tooth 19 (the plate handle tooth 20 and the first parallel tooth 21).

Next, the robot hand 7 moves to the take-out position (the end 31a of the first handle tooth feeder 31) (step S
13), the gripping portion 51 of the robot hand 7 is used to handle the teeth 19
(The plate handle teeth 20 and the first parallel teeth 21) are clamped and taken out (step S14). In this case, FIG.
As described in (b), (c) and [5] above, the vicinity of the flange portion 21b of the first parallel tooth 21 is fitted into the recess 51b and is sandwiched between the leg portion 21a of the first parallel tooth 21. Since the space is corrected, the vertical wall portion 20a of the plate handle tooth 20 is located between the pair of convex portions 51a and is sandwiched by the urethane rubber 51c.

As a result, as described in FIGS. 2 and 22 and [10] described later, the robot hand 7 holding the handling teeth 19 (the plate handling teeth 20 and the first parallel teeth 21) is moved to the main body 18
On the circumference L (1) of the reference set of mounting holes 18a
It moves to the position of (1, 2) (step S15). Next, the robot hand 7 moves to the main body 18 side, and the leg portions 21a of the gripped teeth 19 (the plate teeth 20 and the first parallel teeth 21) are sandwiched.
24 is inserted into the reference set of mounting holes 18a (1, 2) (step S16), and the robot hand 7 holds the handle teeth 19 (the plate handle teeth 20 and the first parallel tooth 21) in FIG.
The insertion posture shown in (a) is maintained (step S1).
7).

At the same time, FIGS. 20, 23 and 24 (a)
Also, as described in the above item [6], one nut 23 is guided from the nut supply device 9 to the guide pipe 71 and the guide block 70 by the compressed air supply unit (not shown) provided in the nut supply device 9. It is supplied to the long groove 69a of the holding claw 69 of the nut attaching device 8 through the passage 70a (step S18). As shown in FIG. 23, when the nut 23 is supplied to the holding claw 69 of the nut attaching device 8 and hits the inner portion of the long groove 69a of the holding claw 69, the nut 23 is caused by the reaction force of the collision.
May slightly return from the long groove 69a of the holding claw 69 to the guide block 70 side. Therefore, after the nut 23 is supplied to the holding claw 69 of the nut mounting device 8, the operation cylinder 72 shown in FIG. 20 is extended and the positioning member 73 enters the guide path 70a of the guide block 70, and the nut 23
Is pushed and positioned in the inner part of the long groove 69a of the holding claw 69 (position directly above the socket 76 as shown in FIG. 24A) (step S19).

As a result, FIGS. 24A and 24B and FIG.
5 (a), as described in [11] described later, in a state where the robot hand 7 holds the handling teeth 19 (the plate handling teeth 20 and the first parallel teeth 21) and maintains the insertion posture (step S1).
7), the nut 23 is attached to the handle tooth 1 by the nut attaching device 8.
One leg portion 21a of 9 (plate handle tooth 20 and first normal tooth 21)
Is attached to and fastened (step S
20).

[8] As described in the above item [7], the treatment tooth 1
One leg portion 21a of 9 (plate handle tooth 20 and first normal tooth 21)
When the nut 23 is tightened and fixed to the robot (step S20), the robot hand 7 separates the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 21) to the extraction position (the end of the first handle tooth feeder 31). Part 31a) (step S13), and the gripping part 51 of the robot hand 7 handles the handle teeth 19 (plate handle teeth 2).
0 and the first parallel tooth 21) are clamped and taken out (step S14).

At the same time, FIG. 25A to FIG.
As shown in (b), the reference set of mounting holes 18a
From the position of one mounting hole 18a (1) of (1,2), the other mounting hole 1 of the mounting hole 18a (1,2) of the reference set
The main body 18 is rotationally operated so that the socket 76 is set at the position of 8a (2) (step S21), and the nut 2 is moved in the same manner as in the previous section [7] and steps S18 and S19.
3 is supplied to the holding claw 69 of the nut mounting device 8, and the nut 23 is pushed in by the operation cylinder 72 and positioned (steps S22 and S23). Therefore, FIG.
As described in (a), (b), FIG. 25 (a), and [7] above, the nut mounting device 8 causes the nut 23 to move to the handle teeth 19.
It is attached to the other leg portion 21a of the plate handling tooth 20 and the first parallel tooth 21 and is tightened and fixed (step S2).
4). In this way, the fixing of one handle tooth 19 (the plate handle tooth 20 and the first parallel tooth 21) to the main body 18 is completed.

Next, the process proceeds from step S25, S26 to step S7, and the mounting hole 18a of the next set of the reference set is attached.
The main body 18 is rotated so that the socket 76 is set at the position of the one mounting hole 18a (3) of (3, 4),
The robot hand 7 holding the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 21) moves to the mounting holes 18a (3, 4) described above, and steps S15 to S24 are performed in the same manner as in the above [7]. The handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 2).
1) is fixed to the main body 18.

As described above, the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 21) are provided in all the mounting holes 18a of the circumference L (1).
18 is fixed (step S25), the process proceeds from step S27 to step S6, and as shown in FIG. 2, the socket 76 is set at the position of the next circumference L (2) as shown in FIG. ) (B) The base 55 of the nut attachment device 8 is moved to the main body support device 1 side. As a result, as described in the previous section [7] and this section [8], step S7 is performed.
Through step S26, the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 21) are provided in all the mounting holes 18a of the next circumference L (2).
Is fixed.

As shown in FIG. 2, in the main body 18, a handle tooth 19 constituted by a plate handle tooth 20 and a first parallel tooth 21 is fixed to the front half portion (a range of about 3/4 on the right side of the drawing), In the latter half (the remaining 1/4 range), the plate handle teeth 2
The handle tooth 19 constituted by the zero and the second parallel tooth 22 is fixed. As a result, the last circumference L of the first half of the main body 18
The last handle tooth 19 (the plate handle tooth 20 and the first tooth 2)
The leg portion 21a of 1) is inserted into the attachment hole 18a by the robot hand 7, and the nut 23 is attached to one leg portion 21a of the handle tooth 19 (the plate handle tooth 20 and the first parallel tooth 21) and tightened and fixed. When the robot hand 7 separates the handle teeth 19 (the plate handle teeth 20 and the first normal teeth 21) (step S20), the steps S28, S29 to S8, S29 are performed.
11, shift to S12.

Therefore, from the first position where the first handling tooth feeder 31 shown in FIGS. 1 and 9 is connected to the tooth handling combination device 6, the second handling tooth feeder 32 is connected to the tooth handling combination device 6. The support base 47 is moved to the second position, and the position of the end 32a of the second handle tooth feeder 32 is changed to the handle tooth 19 (plate handle tooth 2
0 and the second parallel tooth 22) are taken out. This allows
As described in [9] described later, the tooth-handling combination device 6 and the pushing hand 39 are actuated, and the tooth-handling teeth 19 constituted by the plate tooth-handling teeth 20 and the second parallel teeth 22 are moved from the tooth-handling combination device 6 to Two
The second handling tooth feeder 3 is transferred to the handling tooth feeder 32.
2 along a predetermined position (the end portion 32 of the second handling tooth feeder 32)
It is transported to a).

As described above, the handle teeth 19 (plate handle teeth 20
And the second parallel tooth 22) is at a predetermined position (second handle tooth feeder 32).
When it is conveyed to the end portion 32a) of the above, as described in the previous section [7] and the present section [8], steps S6 to S26.
Thereby, the handle teeth 19 (the plate handle teeth 20 and the second parallel teeth 22) are fixed to the mounting holes 18a on the circumference L of the rear half of the main body 18.

[9] Next, the operations of the tooth-handling combination device 6 and the pushing hand 39 in steps S10 and S12 of the above-mentioned [7] and [8] will be described. As shown in FIG. 9 and FIG. 10, a state in which the plate handling teeth 20 from the plate handling tooth supply device 2 are in the vertical direction with the seat portion 20b facing downward, and are continuous along the feeder 30 to the position immediately before the tooth handling device 6. Being transported in. First
And the second supply devices 3 and 4 to the first and second parallel teeth 21 and 2.
2 is in the vertical direction with the legs 21a and 22a facing down, and the end portions 34 of the feeders 34 and 35 are arranged along the feeders 34 and 35.
a and 35a are conveyed in a continuous state.

In the state shown in FIGS. 12 and 13 (a) and (b), the support base 47 is located at the first position where the first handling tooth feeder 31 is connected to the tooth handling apparatus 6, and the tooth handling apparatus is operated. 6, the leg portion 21a of the first parallel tooth 21 is inserted into the hole 20c of the plate handle tooth 20.
This is a state in which the step of inserting is completed once. After this, as shown in FIG. 14A, the first and second transfer units 4
3, 44 are moved up, the pin 43a of the first transfer portion 43 is inserted into the hole 20c of the plate handling tooth 20 of the feeder 30, the plate handling tooth 20 of the feeder 30 is lifted, and the second transfer portion 44 is moved. The plate handling teeth 20 located below the recesses 40c of the orthodontic unit 40 are lifted by the supporting portions 44a (the seat portion 20b of the plate handling teeth 20 is moved to the first and second guide portions 4).
The holes 20c of the plate handle teeth 20 are located slightly below the lower ends of the first and second guide portions 40a, 40a,
It is located below the cross-shaped slit of 40b).

At the same time, as shown in FIGS. 9 and 11, the pushing hand 39 is moved along the guide rail 36 to the position of the end 34a of the feeder 34, and is lowered to hold the first parallel tooth 21. Then, it is moved up again and moved to the position of the tooth combination device 6. in this case,
As shown in FIG. 12, the nipping portion 39a of the pushing hand 39 nips a little upper side of the flange portion 21b of the first parallel tooth 21, and the pushing portion 39b of the pushing hand 39 contacts the upper end of the first parallel tooth 21. ing.

After that, the pushing hand 39 is lowered as shown in FIG. 14 (a), and the holding portion 39a of the pushing hand 39 is moved to the first and second guiding portions of the correction portion 40 as shown in FIG. The pressing part 39b of the pressing hand 39 and the first parallel teeth 21 enter the slit between the pair of correction parts 40, and enter the slit between 40a and 40b. Therefore,
As shown in FIGS. 14A and 16, the pushing hand 39
The flange portion 21b of the first parallel tooth 21 sandwiched between the
And, the first parallel teeth 21 are pushed downward by the pressing portion 39b of the pushing hand 39 into the cross-shaped slits of the second guiding portions 40a, 40b, and the first and second guiding portions 40a, 40b. With the four corners,
The flange portion 21b of the first parallel tooth 21 is guided, and the distance between the leg portions 21a of the first parallel tooth 21 is corrected against the elasticity of the first parallel tooth 21.

When the flange portion 21b of the first parallel tooth 21 reaches near the lower ends of the first and second guide portions 40a, 40b by pushing the first parallel tooth 21 by the pushing hand 39,
The leg portion 21a of the first parallel tooth 21 is inserted into the hole 20c of the plate handling tooth 20, and the recessed portion 44 of the support portion 44a of the second transfer portion 44 is formed.
Enter b. Next, the flange portion 21b of the first parallel tooth 21
However, if the lower corners of the first and second guide portions 40a and 40b move downward, the guiding action of the four corners of the first and second guide portions 40a and 40b disappears, so that the first parallel tooth 21 is in the free state. Therefore, the first parallel teeth 21 try to spread (or narrow) in the left-right direction of the paper surface of FIG.
The leg portions 21a of the parallel teeth 21 are in a state of pressing and engaging the inner periphery of the hole 20c of the plate handling tooth 20. In this way, the leg portion 21a of the first parallel tooth 21 is inserted into the hole 20c of the plate handle tooth 20 to configure the handle tooth 19.

After that, the pushing hand 39 is operated to move up, and is moved to the position of the end 34a of the feeder 34 along the guide rail 36 as shown in FIGS. The teeth 21 are clamped and lifted again, and moved to the position of the tooth combination device 6. Next, as shown in FIG. 14B, the support base 42 (first and second transfer portions 43, 44) moves to the right in the drawing, and the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth). 21) is transferred to the first handle tooth feeder 31, and the plate handle tooth 20 supported by the first transfer portion 43 is transferred to the lower side of the recess 40c of the correction portion 40. After this, the first and second transfer units 43,
44 is operated to descend, the support base 42 (first and second transfer portions 43, 44) moves to the left side of the drawing, and returns to the state shown in FIG. By repeating the above operation, the plate handling teeth 20 and the first parallel teeth 21 configure the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 21), and the handle teeth 19 (the plate handle teeth 20 and The first parallel teeth 21) are transferred to the first handling tooth feeder 31 and are conveyed along the first handling tooth feeder 31 to the end portion 31a of the first handling tooth feeder 31 shown in FIGS. 1 and 9.

In step S11 shown in FIG. 26, when the support base 47 is moved to the second position and the second handling tooth feeder 32 is connected to the handling tooth combination device 6, FIGS.
As shown in FIG. 3, the pushing hand 39 is moved and moved up and down between the tooth-handling combination device 6 and the end portion 35a of the feeder 35, so that the tooth-handling 19 constituted by the plate-handling teeth 20 and the second parallel teeth 22 is generated. The tooth-handling combination device 6 transfers the tooth-handling combination device 6 to the second tooth-handling feeder 32 and conveys the tooth-handling feeder 32 to a predetermined position (the end portion 32a of the second tooth-handling feeder 32).

[10] Next, the operation of the robot hand 7 in step S16 of the above-mentioned [7] and [8] will be described with reference to FIG. As in step S15 of the previous section [7], the robot hand 7 holding the handle teeth 19 therebetween.
However, when the handle tooth 19 moves to the position of the attachment hole 18a where the handle tooth 19 should be fixed on the circumference L of the body 18, the robot hand 7 moves to the body 18 side as shown in FIG. The portion 21a (22a) is about to be inserted into the mounting hole 18a (step S31).

In this case, the positions of the legs 21a (22a) of the handle teeth 19 held by the robot hand 7 and the mounting holes 18 are set.
When the position of a accurately matches with the position of a, the leg portion 21a (22a) of the handle tooth 19 held by the robot hand 7 is directly inserted into the mounting hole 18a (step S32),
It transfers to step S17 of FIG.

On the contrary, if the positions of the leg portions 21a (22a) of the handling teeth 19 held by the robot hand 7 and the positions of the mounting holes 18a do not accurately match, the handling held by the robot hand 7 is performed. The leg 21a (22a) of the tooth 19 is caught in the mounting hole 18a and the insertion resistance increases, and the hand base 48 shown in FIGS. It retreats to the 7 side (step S32).

In such a state, as shown in FIG. 22, the robot hand 7 moves in a direction away from the main body 18, and the leg portions 21a (22a) of the gripped teeth 19 are separated from the mounting hole 18a (step S33), main body supporting device 1
Thus, the main body 18 is rotated by a minute angle in the direction of arrow Y1 in FIG. 22 (step S34). As a result, the robot hand 7 moves again to the main body 18 side and tries to insert the leg portion 21a (22a) of the sandwiched handle tooth 19 into the mounting hole 18a (step S35), and the sandwiched handle tooth 19 is removed. When the leg portion 21a (22a) is inserted into the mounting hole 18a (step S36), the process proceeds to step S17 in FIG.

In this case, the leg portion 21a (22a) of the handle tooth 19 which is again held by the robot hand 7 is attached to the mounting hole 18
When the hand base portion 48 shown in (a) and (c) of FIG. 17 is retracted to the robot hand 7 side against the resistance of the spring 50 (step S36), the insertion resistance becomes large as shown in FIG. As shown, the robot hand 7 moves again in the direction away from the main body 18, the leg portions 21a (22a) of the gripped teeth 19 are separated from the mounting holes 18a (step S37), and the main body supporting device 1 causes the main body 18 to move. The rotation operation is performed in the direction of the arrow Y2 in FIG. 22, which is opposite to the step S34, by a minute angle twice as large (step S38). As a result, the robot hand 7 moves to the main body 18 side again, and tries to insert the leg portions 21a (22a) of the gripped tooth 19 into the mounting hole 18a (step S3).
9) When the leg portion 21a (22a) of the gripped tooth 19 is inserted into the mounting hole 18a (step S40), the process proceeds to step S17 in FIG.

Also in the above-mentioned step S39, the leg portions 21a (22) of the handle teeth 19 held by the robot hand 7 are held.
17A, the insertion resistance increases, and the hand base 48 shown in FIGS. 17A and 17C moves back toward the robot hand 7 side against the resistance of the spring 50 (step (a)). S40), the robot hand 7 is shown in FIG.
26 is moved to the recovery box 74, and the gripped tooth 19 is put into the recovery box 74 (step S41), and step S of FIG.
Move to 13.

In this way, even if the operation of rotating the main body 18 in the direction of the arrow Y1 by a minute angle (step S34) and the operation of rotating the main body 18 in the direction of the arrow Y2 by a minute angle twice (step S38) are performed. , The leg portion 2 of the handle tooth 19 in the mounting hole 18a
If the 1a (22a) cannot be inserted, the robot hand 7 moves to the recovery box 74 shown in FIG.
9 is put into the collection box 74 (step S41). As a result, the process proceeds to step S13, the new handling tooth 19 is clamped by the robot hand 7 and taken out, the process proceeds to steps S15 and S16 in FIG. 27, and steps S31 to S41 in FIG. 28 are performed again.

[11] Next, the operation of the nut mounting device 8 in steps S20 and S24 of the above [7] and [8] will be described with reference to FIG. As in steps S19 and S23 in the previous paragraphs [7] and [8], the nut 23 is supplied to the holding claw 69 of the nut mounting device 8 and the operating cylinder 7
When the nut 23 is pushed and positioned by 2 (state of FIG. 24A), the operation cylinder 63 is extended and the first support portion 61 is raised as shown in FIGS. 21 and 24B. Then, the nut 23 enters the recess 76a of the socket 76, the socket 76 contacts the lower surface of the holding claw 69, and the holding claw 69 and the second support portion 62 are operated to move up together with the socket 76 (step S51). .

In this way, the holding claw 69 and the second support portion 62 are
21 is brought into contact with the stopper 60b on the upper side of the substrate 60 as shown in FIG. 21, the socket 76, the holding claw 69 and the second supporting portion 62 are moved.
Stops. At this stopped position, as shown in FIG. 24B, the nut 23 held by the holding claw 69 slightly contacts the lower end of the leg portion 21a (22a) of the handle tooth 19, and thus the third operating shaft 59 moves. The spring 67 for urging the socket 76 and the third operation shaft 59 upward is compressed by the accommodation action of the elongated hole 59a and the pin 66a.

Next, as shown in FIG.
19 is held by the holding claws 69, FIG.
By rotating the socket 76 in the reverse direction a set number of times by the motor 65 shown in (step S52), the screw hole of the nut 23 and the leg portion 21a (22a) of the handle tooth 19 are aligned. When the socket 76 is raised in step S51, the recess 76a of the socket 76 does not match the phase of the recess 76a of the socket 76 and the phase of the nut 23 does not match.
Even if the nut 23 does not fit in a, the nut 23 fits in the recess 76 a of the socket 76 when the socket 76 is rotated in the reverse direction in step S <b> 52. Next, as shown in FIG. 25A, the holding claw 69 is operated to open (step S53), and the socket 76 is rotated forward by the motor 65 shown in FIGS.
Tightening of the nut 23 to the leg portion 21a (22a) of the is started (step S54).

As shown in FIGS. 25 (a) and 25 (b), the socket 76 can be tilted about the head 59b and the pin 59c of the third operating shaft 59 within a very small angle, and the third operating shaft 59 is the second. Due to the fact that the operation shaft 66 can be expanded and contracted in the range of the long hole 59a, and that the rubber plate 68 is laid on the bottom of the recess 76a of the socket 76 and the nut 23 contacts the rubber plate 68,
In step S54, the socket 76 is rotated forward,
When tightening of the nut 23 to the leg portion 21a (22a) of the handle tooth 19 is started, the leg portion 21a (22a) of the handle tooth 19 is started.
On the other hand, the nut 23 is in a state of being capable of subtly changing its direction in all directions.

As a result, in step S54, the socket 76 is rotated forward, and the leg portion 21a (2) of the handle tooth 19 is rotated.
When the tightening of the nut 23 to 2a) is started, the nut 23 slightly changes its direction, and the leg portion 21a (22a) of the handle tooth 19 enters the screw hole of the nut 23 without difficulty. Further, as shown in FIGS. 24A and 24B and FIG. 19B, the guide plate 75 is fixed downward to the holding claw 69, and the first support portion 61 is lifted in step S51. In steps S52, S54 and S59, the socket 76 is prevented from being largely separated from the holding claw 69 and the nut 23 when the socket 76 is rotated in the reverse direction and the normal direction.

A torque sensor (not shown) is provided for the motor 65 shown in FIGS. 19A and 19B, and the torque generated in the motor 65 is detected. This allows
When the socket 76 is normally rotated in step S54 and the tightening of the nut 23 to the leg portion 21a (22a) of the handle tooth 19 is started, the torque generated in the motor 65 becomes larger than the set value (step S55). ), It is determined that the nut 23 was not properly attached to the leg portion 21a (22a) of the handle tooth 19. As a result, the normal rotation of the socket 76 is stopped, the socket 76 is again rotated by the set number of times in reverse (step S59), the process proceeds to step S54, the socket 76 is normally rotated again, and the leg of the handle tooth 19 is rotated. The tightening of the nut 23 on the portion 21a (22a) is started.

The tightening of the nut 23 to the leg portion 21a (22a) of the handle tooth 19 is started, the nut 23 enters the leg portion 21a (22a) of the handle tooth 19 without difficulty, and the tightening is performed normally. When finished (step S6)
1), the forward rotation of the socket 76 is stopped (step S62), and the operation cylinder 6 shown in FIGS.
3 is contracted and the first support portion 61 is lowered (step S63). As a result, the holding claw 69 and the second support portion 62 are lowered together with the socket 76,
The holding claw 69 is closed (step S64). In this case, after the tightening of the nut 23 in step S20 shown in FIG. 27, the process proceeds to steps S21, S22, S28, and after the tightening of the nut 23 in step S24 shown in FIG. 27, the process proceeds to step S25. .

As described above, when the nut 23 is comfortably inserted into the leg portion 21a (22a) of the handle tooth 19 and tightened, for example, the leg portion 21a of the handle tooth 19 is provided.
If the nut 23 is tightened obliquely with respect to (22a) or if dust or the like is caught in the nut 23, the torque rises above the set value after the nut 23 has been tightened to some extent. In such a state, the handling tooth 1
The nut 23 bites into the leg portion 21a (22a) of 9
The leg portion 21a (22a) of the handle tooth 19 and the screw portion of the nut 23 are in a crushed state.

As a result, when the torque rises above the set value after the nut 23 has been tightened to some extent (step S60), the forward rotation of the socket 76 is stopped (step S65), and FIG. The operation cylinder 63 shown in (b) is contracted and the first support portion 61 is moved down (step S66). This allows the socket 76
At the same time, the holding claw 69 and the second support portion 62 are lowered, the holding claw 69 is closed (step S67), a buzzer (not shown) is operated (step S68), and the automatic assembly facility is temporarily operated. It stops (step S69).

Therefore, the operator marks the handle teeth 19 having an abnormality in the tightening of the nut 23 with a paint or the like (step S70), and restarts the automatic assembly facility (step S71). In this case, the leg 21a of the handle tooth 19
Even when an abnormality occurs when the first nut 23 is tightened to (22a) (step S20 shown in FIG. 27), an abnormality occurs when the second nut 23 is tightened to the leg portion 21a (22a) of the handle tooth 19. 27 is generated (step S24 shown in FIG. 27), the process proceeds to step S25 shown in FIG.
It is clamped by and taken out, and fixed to the main body 18. This completes the fixing of the handle teeth 19 to the main body 18, and after taking out the main body 18 from the main body supporting device 1, the operator manually removes the handle teeth 19 with the mark to make a new handle. Fix the tooth 19.

[Other Embodiments of the Invention] In the above-mentioned [Embodiment of the Invention], the handle teeth 19, the plate handle teeth 20, and the second align teeth 21 constituted by the plate handle teeth 20 and the first aligning teeth 21. 26 is a state in which the handle tooth 19 configured by is fixed to the main body 18, but when only the third parallel tooth is fixed to the main body 18 as the handle tooth 19 without combining the plate handle tooth 20, the steps shown in FIG. In S13 and S14, the robot hand 7 moves to the end portion 33a (predetermined position) of the third handling tooth feeder 33 shown in FIG. 1, holds the handling tooth 19 (third parallel tooth), and takes it out, as shown in FIG. Handle teeth 19 after step S15
The (third regular tooth) is fixed to the main body 18.

[0079]

According to the features of claim 1, in the automatic assembling facility of the handling cylinder used in the threshing device, the plate handling teeth formed by the plate material are automatically combined with the parallel teeth formed by bending the wire material. The combined handling teeth are automatically inserted into the mounting holes of the main body, so the operator combines the plate handling teeth with the parallel teeth and inserts the legs of the handling teeth into the mounting holes of the main body. No longer needed. We were able to improve the overall work efficiency of the automatic assembly facility.

[0080] includes the according to the features of claim 1, before has a "effect of invention" predicate, the "effect of the invention" described below in addition to the "effect of invention". According to the feature of claim 1 , the pair of leg portions of the parallel teeth are arranged to serve as the plate handling teeth such that the positions of the pair of leg portions of the common teeth and the positions of the pair of holes of the plate tooth are matched by the guide portion. Since it is inserted into a pair of holes, even if the distance between the pair of parallel teeth is not set accurately,
Regardless of this, the pair of leg portions of the parallel teeth can be inserted into the pair of holes of the plate handling teeth without any trouble, and it is possible to prevent the poor combination of the plate handling teeth and the parallel teeth. As a result, we were able to further improve the overall work efficiency of the automatic assembly facility.

[0081] If according to the features of claim 2, before mentioned claims 1
In addition to the "effect of the invention", the following "effect of the invention" is provided. According to the feature of claim 2 , when the pair of leg portions of the cog tooth is inserted into the pair of holes of the plate handle tooth, the pair of leg portions of the cog tooth are separated from the guide portion, and the cog tooth is in a free state. Since the pair of leg portions of the parallel teeth cannot easily come out of the pair of holes of the handle tooth, the handle tooth is held by the hand device without being divided into the plate handle tooth and the parallel tooth. Since it can be taken out, it becomes possible to prevent poor handling tooth holding by the hand device, and it is possible to further improve the overall work efficiency of the automatic assembly facility.

[0082] If according to the features of claim 3, the pre-mentioned claim 1
Alternatively, the "effect of the invention" of 2 is provided, and in addition to the "effect of the invention", the following "effect of the invention" is provided. According to the feature of claim 3 , when the handling tooth (parallel tooth) is held by being held by the holding portion of the hand device, the position of the common tooth is corrected by the correction portion provided in the holding portion, and a pair of the parallel teeth is formed. Since the position of the leg of the handle tooth is corrected, the pair of leg portions of the handle tooth can be inserted into the mounting hole of the main body without any trouble by the hand device, and the defective insertion of the leg of the handle tooth by the hand device can be prevented. Therefore, the work efficiency of the entire automatic assembly facility can be further improved.

[0083] If according to the features of claim 4, before mentioned claims 3
In addition to the "effect of the invention", the following "effect of the invention" is provided. According to the feature of claim 4 , both the parallel tooth and the plate handle tooth of the handle tooth are held by the holding portion and the holding portion of the hand device, and the positional relationship between the plate handle tooth and the parallel tooth changes. Since the handling teeth (plate handling teeth and parallel teeth) are stably held in the hand device without doing so, it is possible to prevent inadequate insertion of the leg portion of the handling device by the hand device. As a result, the overall work efficiency of the automatic assembly facility could be further improved.

[Brief description of drawings]

[Fig. 1] Overall plan view of automatic assembly facility for handling cylinder

FIG. 2 is a perspective view of a main body of a handling cylinder.

FIG. 3 is a side view of the handle tooth and an exploded perspective view of the handle tooth.

FIG. 4 is an overall plan view of the main body supporting device.

FIG. 5 is a front view of the main body supporting device.

FIG. 6 is a side view of a first support portion of the main body support device.

FIG. 7 is a vertical sectional side view in the vicinity of a support base in the main body support device.

FIG. 8 is a vertical sectional side view and a vertical sectional front view in the vicinity of the positioning pin of the first supporting portion of the main body supporting device.

FIG. 9 is a plan view of the vicinity of the first and second handling tooth feeders, the tooth handling combination device, and the pushing hand.

FIG. 10 is a front view of the vicinity of the first and second handling tooth feeders, the tooth handling combination device, and the pushing hand.

FIG. 11 is a side view of the vicinity of the tooth combination device and the pushing hand.

FIG. 12 is a vertical cross-sectional front view showing a state in which the step of inserting the leg portions of the first parallel teeth into the holes of the plate treating teeth is completed once in the tooth combination device

FIG. 13 is a vertical sectional side view in the vicinity of the first and second supporting portions of the tooth combination device.

FIG. 14 shows a state in which the leg of the first cog tooth is inserted into the hole of the plate coping tooth next to FIG. 12 in the tooth coordinating device and the insertion of the leg of the first cog tooth into the hole of the plate coordinating tooth. Front view in vertical section showing the end of

FIG. 15 is a perspective view of the vicinity of the orthodontic portion in the tooth combination device.

FIG. 16 is a cross-sectional plan view of the correction unit and the pushing hand in the tooth combination device.

FIG. 17 is a side view and a front view in the vicinity of a gripping portion of the robot hand.

FIG. 18 is an overall plan view and overall front view of the nut mounting device.

FIG. 19 is a side view and a front view of the vicinity of the tip of the arm portion of the nut mounting device.

FIG. 20 is a cross-sectional plan view near the tip of the arm portion of the nut mounting device.

FIG. 21 is a side view showing a state where the socket is lifted at the tip of the arm portion of the nut mounting device.

FIG. 22 is a side view showing the positional relationship between the gripping portion of the robot hand that grips the handle teeth, the mounting hole of the main body, and the socket of the nut mounting device.

FIG. 23 is a cross-sectional plan view showing a state where the nut is supplied to the holding claw at the tip of the arm portion in the nut mounting device.

FIG. 24 is a side view showing a first half state in which a nut is attached to the leg portion of the handle tooth inserted into the attachment hole of the main body and tightened.

FIG. 25 is a side view showing the latter half of the state in which the nut is attached and tightened to the leg portion of the handle tooth inserted into the attachment hole of the main body.

FIG. 26 is a diagram showing the first half of the overall work flow in an automatic assembly facility for a handling cylinder.

FIG. 27 is a diagram showing the latter half of the flow of the entire work in the automatic assembly facility for the handling cylinder.

FIG. 28 is a diagram showing a flow when the handle teeth clamped by the robot hand are inserted into the mounting holes of the main body.

FIG. 29 is a view showing a flow when a nut is attached and tightened to a leg portion of a handle tooth inserted into a mounting hole of a main body.

[Explanation of symbols]

1 Main unit support device 6 Handle tooth combination device 7 Hand device 8 Nut mounting device 18 body 18a Body mounting hole 19 handle teeth 20 plate teeth 20c A pair of holes for plate handle teeth 21,22 Orthodontic teeth, a pair of equilateral teeth 21a, 22a legs 23 nuts 39 Moving operation unit 40 Guide 51 Hand device clamping part 51b Correcting part for holding part of hand device 51c Holding part for holding part of hand device

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Koichi Yamamoto 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory Co., Ltd. In-house (56) Reference JP-A 52-10977 (JP, A) JP-A 61-121842 (JP, A) JP-A 50-86799 (JP, A) JP-A 58-10435 (JP, A) JP-A-52-9759 (JP, A) Actual development Sho-62-24631 (JP, U) Actual development Sho-52-11687 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) B23P 19/00-21/00 A01F 12/22

Claims (4)

(57) [Claims] 1. A main body supporting device for supporting a main body of a handle body having a cylindrical shape and a large number of mounting holes into which handle teeth are inserted; and a plate handle tooth formed of a plate material, which is formed by bending a wire rod. A tooth-handling combination device that assembles tooth-handling teeth by combining parallel teeth, a hand device that holds and takes out the tooth-handling teeth from the tooth-handling combination device, and inserts a leg portion of the tooth-handling into an attachment hole of the main body; An automatic assembling facility for a handle body, which is equipped with a nut mounting device that fits into a leg of a handle tooth inserted into a mounting hole of the body and fixed by tightening a nut, the plate handle tooth To move the parallel teeth toward the pair of holes.
Formed by bending the dynamic operation part and the wire into a bifurcated shape.
While contacting the pair of leg parts of the regular teeth,
A guide part that guides and inserts into a pair of holes in the plate handle tooth is provided.
By the way, it is an automatic assembly facility for the handle cylinder that constitutes the handle combination device . 2. The guide portion is configured such that when the pair of leg portions of the parallel teeth are inserted into the pair of holes of the plate handle tooth, the pair of leg portions of the parallel tooth are separated from the guide portion. The automatic assembling facility of the handling cylinder according to claim 1 . 3. A hand device is provided with a sandwiching portion for sandwiching the parallel teeth of the assembled handling teeth, and when the parallel teeth are sandwiched, the positions of the parallel teeth are corrected to adjust the positions of the pair of legs. A correction unit to be corrected is provided in the sandwiching unit, or
The automatic assembly facility for the barrel described in 2 . Wherein the holding portion for holding the pressing plate扱歯in assembled扱歯claim 3 that is provided on the clamping portion
Automatic assembly facility for the described barrel.