JP3501209B2 - Bolt distribution and delivery 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 bolt distributing / delivering device, and more particularly to a bolt suitable for an automatic engine assembling device or the like in which a flywheel or a drive plate is assembled to a crankshaft of an engine and a plurality of bolts are simultaneously tightened by a nut runner. Distributing and delivering device.

[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.

When automating the temporary tightening of the bolts, it is necessary to previously attach a plurality of bolts (for example, five bolts) to the tip of the nut runner according to the model of the engine. The means for supplying and mounting the bolts is not technically difficult, but generally there is a restriction that the size of the equipment cannot be increased. Also, when passing the bolt to the nut runner, the nut runner is rotated in order to fit the bolt into the socket of the nut runner, but at this time it is necessary to have a function so that the bolt does not rotate together, and overall, small size,
And it is desired to have a simple structure.

Therefore, it is an object of the present invention to provide a bolt distributing / delivering device having a relatively simple structure and capable of simultaneously selecting a predetermined bolt from a plurality of parts feeders and supplying the bolts to a plurality of take-out nut runners at the same time. I am trying.

[0006]

To achieve the above object, in claim 1 of the present invention, a predetermined bolt is selected from a plurality of types of bolts supplied from a plurality of parts feeders by the bolt selecting means. Through bolt transport means 1
Each piece is transported to the bolt holder of the bolt receiving means. The bolt distribution means sequentially opposes the bolt conveying means to the plurality of bolt holders of the bolt receiving means to sequentially distribute the bolts one by one. After each bolt holder of the bolt receiving means receives the bolt, the moving means moves the bolt receiving means to a position for passing (supplying) the bolt to the nut runner.
In the nut runner, each bolt socket and the corresponding nut runner socket simultaneously receive the bolts. In this way, the bolt distribution receiving device selects a predetermined bolt from a plurality of parts feeders and collectively supplies a plurality of bolts to the nut runner.

[0007] The bolt receiving means is configured to move the swing ring to the second rotation.
Rotate to the moving position to release each locking claw and
The bolt holder enables the receiving of bolts, and each bolt holder
Move the swing link to the first pivoted position after receiving the bolt.
Rotate to and lock the bolt received by each bolt holder
By receiving the bolt from the bolt transport means,
To the nutrunner without departing from the bolts received by
It becomes possible to hand over.

In the invention of claim 2 , the bolt distributing means is
When the two gears rotate due to the rotation of the motor, the links rotate accordingly, and the lower end of the bolt conveying means provided at the tip end faces the respective bolt holders of the bolt receiving means in order. The positioning means stops the bolt carrying means at a position where the bolt carrying means faces the bolt holder and delivers the bolt to the bolt holder. In this way, the bolt distributing means sequentially distributes the bolts sent to the bolt conveying means to the bolt holders of the bolt receiving means.

[0009]

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 fastening device (hereinafter referred to as a "workpiece assembling / temporary fastening 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 one on top of the other, and the adapter plate AP is supplied to the adapter plate supply device 7 with the front side facing upward.

Bolt supply device 8 as a parts feeder
Are a plurality of types (for example, three types) of bolt supply units 8a to
8c. Then, the bolt supply unit 8a uses a long bolt for the flywheel FW as a bolt supply unit 8b.
Is for supplying a short bolt for the drive plate DP, and the bolt supply portion 8c is for supplying a bolt for preventing loosening. These bolts are supplied to the bolt distribution delivery device 60 through the tubes 8d to 8f for carrying bolts.

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 a flywheel or a drive plate whose rotational direction is positioned is previously mounted on the head 22 of the work assembling / temporary tightening device 20. Is complicated,
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 will be described in detail later, and therefore will be briefly described here to explain the overall structure of the assembling device 1. The bolt distribution delivery 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 main body 21, the head 22 and the nut runner 2 of the work assembly / temporary fastening device 20.
3 and the like are capable of advancing and retracting below the bolt distribution and delivery device 60 in the direction of the line conveyor 3. 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. The five bolts are 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 has a main body 21 which can be moved forward and backward horizontally and a 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. And head 2
The work 2 receives and holds the work, that is, the flywheel or the drive plate, which is positioned in the rotation direction from the robot 10 at a position rotated upward by 90 ° as shown by a chain double-dashed line. 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 bolt distribution delivery device 60 will be described in detail. FIG. 7 is a schematic block diagram showing the relationship between the bolt supply device 8, the bolt distribution / delivery device 60, and the nut runner 23 of the work assembling / temporary tightening device 20. The bolt distribution / delivery device 60 selects bolts as bolt selecting means. Depending on the work to be temporarily tightened from the three types of bolts, which are sequentially supplied by the mechanism 62 from the plurality of bolt supply portions 8a to 8c of the bolt supply device 8 via the escape portions 8a 'to 8c', respectively. Select and take out the bolts, the number required to temporarily tighten the work
Five bolts BT are passed through a bolt transfer hose 623 as bolt transfer means and five bolt holders 641, 642, ... Of the bolt receiving mechanism 63 as bolt receiving means.
To each nut runner socket 23a, 2 of the nut runner 23 by moving the bolt receiving mechanism 63 by the moving mechanism 68 as moving means.
3b, ..., Is supplied (passed) at once.

FIG. 8 shows the bolt distribution / delivery device 6 shown in FIG.
0 is a front view, FIG. 9 is a side view of FIG. 8, and FIG. 10 is a plan view of FIG. 8 to 10, a bolt distribution delivery device 60 includes a frame 61, a bolt selection mechanism 62 disposed on one side (left side) of the frame 61, and a bolt receiving mechanism disposed substantially in front of the center of the frame 61. 63, a bolt distributing mechanism 66 arranged between the bolt selecting mechanism 62 and the bolt receiving mechanism 63, and a moving mechanism 6 for moving the bolt receiving mechanism 63 between a bolt receiving position and a bolt passing (supply) position.
It is composed of 8 and the like.

As shown in FIGS. 9 and 11, the support frame 611 has a substantially inverted L shape, the base end of the vertical portion 611a is fixed to the upper surface of the frame 61, and the upper portion 611b is horizontally projected to the front side of the frame 61. It is provided in the upper 6
11b includes a bolt supply unit 8a of the bolt supply device 8 (FIG. 5).
Bolt transport means for transporting the bolts respectively extended from 8c to 8c, that is, the lower ends of the tubes 8d to 8f are arranged and fixed in a row in the front-rear direction via the hose support fittings 8g to 8i.

As shown in FIG. 11, an LM constituting a bolt selection mechanism 62 is provided on the upper portion 611b of the support frame 611.
A guide 620 is horizontally provided below the hose support fittings 8g to 8i, and a support fitting 622 of the bolt conveying hose is provided with a slider 621 so that its open end is slightly different from the open ends of the hose support fittings 8g to 8i. They are arranged so as to face each other with a wide gap and be movable in the front-rear direction. An upper end of a transfer hose 623 that transfers the selected bolt to the bolt receiving mechanism 63 is fixed to the hose support fitting 622. The driving cylinder 624 is composed of two cylinders 624.
A and 624B are back-to-back structure and are horizontally arranged so that the rod of the cylinder 624A is fixed to the vertical portion 611a of the support frame 611.
The B rod is connected to the lower portion of the slider 621.

The cylinder 624 is composed of the cylinders 624A, 6A.
When 24B is shortened together as shown in the drawing, the hose support fitting 622 is opposed to the hose support fitting 8i so that the tube 8f and the bolt transfer hose 623 communicate with each other, and when the cylinder 624A is shortened and the cylinder 624B extends. The hose support fitting 622 faces the hose support fitting 8h to connect the tube 8e to the bolt and the transfer hose 623. When the cylinders 624A and 624B extend together, the hose support fitting 622 faces the hose support fitting 8g and the tube 8d. It communicates with the bolt transfer hose 623. In this way, the bolt selection mechanism 62 selects any one of the three types of bolts supplied from the bolt supply units 8a to 8c of the bolt supply device 8.

As shown in FIG. 8, the support frame 630 of the bolt receiving mechanism 63 has a gate shape, and both side portions 630a, 630a.
LM guides 631 and 631 are fixed to the back surface of 30a, and these LM guides 631 and 631 can be vertically moved up and down to fixed blocks 632 and 632 fixed to the frame 61 as shown in FIGS. 9 and 10. Supported by. Then, both side portions 630a of the support frame 630,
A frame 633 is fixed to the lower end of 630a.
As shown in FIGS. 12 and 13, the support plate 634 is disposed above the frame 633 with a slight gap, and the lower parts 634a and 634a on both sides are shown by solid lines in FIG. 13 with respect to the frame 633 by the shafts 635 and 635. It is rotatably supported by 90 ° from the horizontal position shown to the front side to the vertical position shown by the two-dot chain line.

The rotation cylinder 636 has a cylinder bottom rotatably connected to the frame 633 and a rod rotatably connected to a support portion 634b formed at the center of the lower surface of the support plate 634. As shown in FIG. 13, a stopper 637 that supports the support plate 634 at the horizontal position and a stopper 638 that supports the support plate 634 at the vertical position are provided on the upper portion and the front portion of the frame 633. The support plate 634 is supported at the horizontal position indicated by the solid line when the cylinder 636 is shortened,
When extended, it is rotated 90 ° to the front and supported at the vertical position indicated by the chain double-dashed line. As shown in FIG. 9, the frame 633 is provided with a sensor 690 that detects that the support plate 634 is in the horizontal position and a sensor 691 that detects that the support plate 634 has been rotated to the vertical position.

As shown in FIGS. 10 and 12 to 14, the rocking ring 639 which constitutes the locking means is horizontally arranged substantially at the center of the support plate 634, and its outer peripheral portion is the same circle as the support plate 634. It is rotatably supported by three rollers 640 arranged on the circumference at equal intervals along the circumferential direction. The support plate 634 has a slight gap inside the swing ring 639 and along the inner peripheral surface thereof, and at predetermined positions corresponding to the respective five bolt holes of the work along the circumferential direction on the same circumference. Are provided with bottomed cylindrical bolt holders 641 to 645.
The bolt holders 641 to 645 have upper portions projecting above the swing ring 639 and are arranged with their respective openings facing upward, and each base end is fixed to the support plate 634. As shown in FIGS. 15 and 16, the bolt holder 641 has a notch 6 formed in the upper outer peripheral wall in a slit shape that is orthogonal to the hole 641a and is slightly smaller than a semicircle along the circumferential direction.
41b is provided. Other bolt holders 642-6
45 is also formed similarly to the bolt holder 641.

As shown in FIGS. 12 to 14, bolt locking claws 646 to 650 as bolt locking means are provided on the swing ring 639 corresponding to the bolt holders 641 to 645. As shown in FIG. 16, the locking claw 646 has a substantially right-angled triangular shape in a plan view, is horizontally arranged on the swing ring 639, and is pivotally movably supported by a shaft 651 in the vicinity of one corner on the proximal side. The tip 64 of the edge 646a on one side is supported.
6b is engaged with the notch 641b of the bolt holder 641 so as to be able to move in and out. One end of the spring 652 is the locking claw 6
The pin 653 planted in the other corner of the base end side of 45 and the other end thereof are engaged with the pin 654 planted in the swing ring 639, respectively, and the tip portion 646b of the engaging claw 646 is bolted. The holder 641 is drawn into the notch 641b, and its end face is pressed against the end face of the notch 641b. Accordingly, the locking claw 646 radially presses the outer peripheral surface of the shaft portion of the bolt housed in the hole 641a of the bolt holder 641 to rotate the bolt.
Also, it prevents deviation when the support plate 634 is rotated to the vertical position. The other locking claws 647 to 650 are configured similarly to the locking claw 646.

As shown in FIG. 14, cylinders 655 are mounted and fixed at the corners of the support plate 634, and rods 655 are fixed.
The tip of a is connected to the swing ring 639 via a joint 656. The cylinder 655 rotates the swing ring 639 to simultaneously position the locking claws 646 to 650 at the locking position or the locking release position. That is, in FIG. 14, the locking claws 646 to 650 engage with the notches of the bolt holders 641 to 645 by the spring force of the spring 652 when the cylinder 655 is shortened (FIG. 16). When 655 is extended, swing ring 639
14 rotates in the counterclockwise direction indicated by an arrow CC in FIG. 14 by a predetermined rotation angle, and as a result, as shown in FIG.
The tip end portion 646b of No. 6 has an end surface 641 on one side of the notch 641b of the bolt holder 641 by the spring force of the spring 652.
The side portion 646a and the tip end portion 646b move to the outside of the hole 641a of the bolt holder 641 by rotating counterclockwise as indicated by an arrow CC in the drawing with the corner of c as a fulcrum. As a result, the bolts stored in the holes 641a of the bolt holder 641 can be pulled out. Other bolt holders 642-64
5 and the locking claws 648 to 650 are the same. In this way, the locking claws 646 to 650 are locked or unlocked from the bolt holders 641 to 645 at the same time. As shown in FIG. 14, a sensor 692 is provided on the support plate 634 so as to face the tip of the joint 656 at a distance, and when the cylinder 655 extends to rotate the swing ring 639 to the unlocking position. To detect this.

Returning to FIG. 12, the frame 660 of the bolt distribution mechanism 66 is fixed to the front side of the frame 61 along with the bolt receiving mechanism 63, and the support plate 661 is mounted on the frame 660 as shown in FIG. Further, both sides thereof are vertically movable via linear guides 662 and 662. As shown in FIG. 19, a lifting cylinder 663
Is arranged between the two linear guides 662, the cylinder bottom is on the frame 660, and the rod tip is on the support plate 66.
It is fixed at 1. Then, the support plate 661 is moved up and down by the expansion and contraction of the cylinder 663. Further, as shown in FIG. 18, a frame 660 is provided at a rear position of the cylinder 663.
A stopper 664 on the support plate 661 and a stopper pin 68 on the support plate 661.
1 are provided so as to face each other and regulate the lower limit position of the support plate 661.

As shown in FIGS. 12 and 18, a support plate 66 is provided.
1. A driving motor 66 with a built-in speed reducer near the center of the front side of FIG.
5 is arranged vertically, and the rotation axis is the supporting plate 661.
Through a hole (not shown) of the gear 66 and projected downward.
6 is fixed. A gear 66 is provided on the lower surface of the support plate 661.
Gears 667 and 668 having the same shape are rotatably supported on the left and right sides of 6 and mesh with the gear 666. As shown in FIG. 20, the link 669 has its substantially center and one end rotatably supported by the rotation shafts 670 and 671 on the lower surfaces of the gears 667 and 668, respectively. This link 669
A positioning pin 672 as a positioning means that protrudes downward is provided on the lower surface of the device at an intermediate position between the rotating shafts 670 and 671. A hose support fitting 673 is supported at the other end of the link 669 so as to face the bolt holders 641 to 645 of the bolt receiving mechanism 63. The link 669 causes the two gears 66 to rotate as the motor 665 rotates.
7 and 668 rotate in the same direction as indicated by an arrow, and accordingly, the link 669 rotates while moving in parallel in the front-rear direction with the link 669 oriented in the left-right direction as shown in FIG. 673 sequentially faces the bolt holders 641 to 645 of the bolt receiving mechanism 63.

As shown in FIG. 22, a hose support fitting 673
Is rotatably supported at its center in a hole 669a at the other end of the link 669, and has a bolt conveying hose 62 at its upper end.
The lower end of 3 is attached. The open end at the lower end of the hose support bracket 673 has notches 6 at intervals of 180 ° in the circumferential direction.
73a and 673b are provided facing each other. The sensor holder 674 is attached to a lower portion of the hose support metal fitting 673, and a light projector 694 and a light receiver 695 as optical sensors are attached to both side portions facing the notches 673a and 673b. These projector 694 and receiver 695
Detects that the bolt holder has received the bolt.

Returning to FIGS. 12 and 20, each bolt holder 641-6 of the bolt receiving mechanism 63 is provided on the upper surface of the gear 667.
Dogs 675 to 679 are provided at respective positions corresponding to 45. The five dogs 675 to 679 are the links 66.
The relationship between the mounting positions of the rotary shaft 670 of the gear 667 that pivotally supports the shaft 9 and the five bolt holders 641 to 645 in FIG.
Are arranged in a state in which the support plate 634 in which the are arranged is rotated by 180 °. A dog 675 is provided above the gear 667.
A sensor 696 is provided so as to be able to face ~ 679.
The sensor 696 detects that the hose support metal fitting 673 faces any of the bolt holders 641 to 645 and that the bolt can be delivered from the bolt transport hose 623 to the facing bolt holder.

A frame 66 as shown in FIGS.
A positioning plate 680 as a disk-shaped positioning means is disposed below the positioning pin 672 of the link 669 on the position 0. The positioning plate 680 is provided with five positioning holes 680a to 680e at positions corresponding to the dogs 675 to 679 of the gear 667, and the positioning pin 672 can be engaged with the positioning plate 680 (FIG. Two
1) . That is, when the cylinder 663 shown in FIG. 19 is extended, the support plate 661 is raised and the positioning pin 67 is moved.
2 is located above the positioning plate 680, the link 669 is rotatable, and when the cylinder 663 is shortened, the support plate 661 is lowered and the positioning pin 672 is placed in any of the positioning holes 680a to 680e of the positioning plate 680. The link 669 is engaged and the positioning of the link 669 is stopped at that position. That is, the hose support fitting 673 is stopped and held at a position facing any of the bolt holders 641 to 645.

Returning to FIGS. 8 and 9, a support frame 630 is provided on the upper side of the frame 61 on the side opposite to the bolt selection mechanism 62.
A support frame 684 of the moving mechanism 68 is vertically provided close to. The cylinder 685 as a moving mechanism is arranged vertically, the cylinder bottom is fixed to the support frame 684, and the tip of the rod 685 a is connected to the lower end of the side portion of the frame 633 supporting the bolt receiving mechanism 63. A stopper pin 686 is provided on the upper end portion 630b of the support frame 630, and a fixed portion block 632 of the frame 61.
A stopper 687 (FIG. 13) is provided to face the upper end of the side. The cylinder 685 moves the bolt receiving mechanism 63 to the upper limit position when shortened, and moves the bolt receiving device 63 to the lower limit position when extended. Bolt receiving mechanism 6
3, the stopper pin 686 contacts the stopper 687 and is positioned at the lower limit position. The cylinder 685
The sensor has a built-in sensor (not shown) that detects a shortened position (upper limit position) and an extended position (lower limit position). In the bolt receiving mechanism 63, at the upper limit position (bolt receiving position) shown in FIGS. 8 and 9, the upper ends of the bolt holders 641 to 645 are opposed to the lower ends of the hose support fittings 673 of the bolt transfer hose 623 with a slight gap. 24 to receive the bolts, and at the lower limit position (bolt transfer position) to be able to face the nut runner 23 of the work assembling / temporary tightening device 20 as shown in FIG. 24, which will be described later, to transfer (supply) the bolts. Made possible.

The operation of the bolt distribution delivery device 60 will be described below. In the initial state, the bolt distribution delivery device 60 is, for example, in the following state. That is,
As shown in FIGS. 9 and 11, the cylinders 624A and 624B of the bolt selection mechanism 62 are extended, for example, so that the hose support fitting 622 is positioned to face the hose support fitting 8g (shown by a chain double-dashed line in FIG. 11). The bolt of the bolt supply unit 8a (FIG. 5) of the bolt supply device 8 is selected.
Further, as shown in FIG. 8, the cylinder 685 is shortened so that the bolt receiving mechanism 63 is at the upper limit position, and the bolt can be received. Further, the cylinder 655 shown in FIG.
Is extended and the swing ring 639 is rotated in the counterclockwise direction CC, the locking claws 646 to 650 are rotated to the release position indicated by the chain double-dashed line, and the bolt holders 641 to 645 can receive the bolts. ing. Also, the link 66 shown in FIG.
The positioning pin 672 of No. 9 is fitted and positioned in the positioning hole 680a of the positioning plate 680 shown in FIG. 21, and as shown by the diagonal lines in FIG.
The hose support fitting 673 of 23 is opposed to the bolt holder 641. Further, the sensor 696 faces the dog 675 to detect the position.

Now, the bolt BT sent from the bolt supply section 8a shown in FIG. 5 is sent to the support fitting 8g (FIG. 11) through the carrying tube 8d, and the hose support fitting 622,
It is supplied to the bolt holder 641 (FIG. 23) through the bolt transfer hose 623 and the hose support fitting 673. FIG. 23
As shown in (4), the head portion BTa of the bolt BT is located in the vicinity of the open end of the hose support fitting 673 and the light from the projector 694 is blocked when the bolt BT is received and stored in the bolt holder 641. The light receiver 695 detects the head BTa and the bolt holder 641 detects the bolt BT.
Detect that you have received.

[0038] Then, the bolt dispensing mechanism 66 shown in FIG. 1 9
Of the cylinder 66 3 raises the support plate 661 extends is
The positioning pin 672 is attached to the hole 68 of the positioning plate 680.
The link 669 can be rotated by pulling it out from 0a.
Next, the motor 665 shown in FIG. 18 rotates in the arrow direction C of FIG. 20 to rotate the link 669 with the gears 667 and 668. The link 669 rotates to rotate the hose support fitting 6
When 73 is located above the bolt holder 642, the sensor 696 detects the dog 676 and stops the motor 665. Then, the support plate 661 is lowered cylinder 66 3 is shortened, positioning the positioning pins 672 plate 68
The hole 680b of No. 0 is engaged and the link 669 is positioned and locked at that position. Then, bolts are delivered from the bolt supply unit 8a, and the bolt holder 64 is operated in the same manner as described above.
2 is supplied. Such an operation is sequentially repeated to supply the bolts BT to the bolt holders 641 to 645, respectively.

When the bolt holders 641 to 645 respectively receive the bolts BT, the cylinder 655 shown in FIG. 14 is shortened, the swing ring 669 is rotated clockwise, and the locking claw 646 is caused by the spring force of each spring 652. .About.650 are pressed against the outer peripheral surfaces of the respective bolts BT housed in the corresponding bolt holders 641 to 645, and are locked so that they cannot rotate and cannot deviate. Then, the cylinder 685 shown in FIG. 8 extends to lower the bolt receiving mechanism 63 to the lower limit position as shown in FIG. At the lower limit position of the bolt receiving mechanism 63, the cylinder 636 extends to rotate the support plate 634 from the horizontal position to the vertical position indicated by the chain double-dashed line. The support plate 634 is shown in FIG.
, The bolt holders 641 to 645 face the corresponding five nut runner sockets 23a, 23b, ... (Only the nut runner sockets 23a, 23b are shown) of the nut runner 23 of the bolt assembling / temporary tightening device 20.

Next, the bolt assembling / temporary tightening device 20 advances in the direction of arrow A while rotating the nut runner 23,
The head B of the bolt BT of the bolt sockets 641 to 645 in which the nut runner sockets 23a, 23b, ...
Fits on Ta. At this time, since the bolt BT is held non-rotatably, the head BTa is fitted in the nut runner socket without rotating together. Each nut runner socket has a built-in magnet and attracts and holds the head portion BTa of the taken-in bolt BT.

Next, the bolt receiving mechanism 63 shown in FIG.
Cylinder 655 expands to rotate rocking ring 639 to separate locking claws 646 to 650 from bolt BT to release the locking. Thereby, each bolt holder 641
The bolt held by 645 can be pulled out. Next, the nut runner 23 retracts in the direction of arrow B and separates from the bolt receiving mechanism 63. To do. In this way, the five nutrunner sockets 23 of the nutrunner 23
5 bolts BT are simultaneously passed (supplied) to a, 23b, .... Then, the cylinder 636 is shortened and the support plate 6
After returning 34 to the horizontal position shown by the solid line in FIG. 13, the cylinder 685 is shortened and raised to the upper limit position shown in FIG. 8, and the cylinder waits to receive the bolt of the next work.

[0042]

According to the present invention, in the invention of claim 1,
In a relatively simple structure, it is possible to supply simultaneously the nut runner with a plurality of selecting a desired bolt from the bolt supplied from a plurality of parts feeders, the flywheel or the drive plate, especially a crankshaft of an engine It is possible to improve the productivity of the engine, improve the working environment, etc. by applying it to an automatic engine assembling apparatus for assembling and temporarily tightening workpieces.

The bolt transfer means can lock each bolt received by a plurality of bolt holders at the same time with a simple structure and release the lock at the same time, and transfer the received bolts to the nut runner without departing. It becomes possible. According to the second aspect of the present invention, it is possible to sequentially pass a plurality of bolts to each bolt holder of the bolt receiving mechanism with a simple structure.

[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 bolt distribution delivery device according to the present invention.

FIG. 6 is a schematic side view of FIG.

FIG. 7 is an explanatory view showing the relationship between the bolt supply device, the bolt distribution delivery device, and the nut runner of the work assembling / temporary tightening device of FIG.

FIG. 8 is a front view of the bolt distribution delivery device shown in FIG.

9 is a side view of FIG.

FIG. 10 is a plan view with a part of FIG. 8 omitted.

11 is a side view of the bolt selection mechanism of FIG.

FIG. 12 is an enlarged view of the bolt receiving mechanism and the bolt distributing mechanism of FIG.

13 is a partially cutaway side view of the bolt receiving mechanism shown in FIG.

14 is an enlarged view of the bolt receiving mechanism of FIG.

15 is a cross-sectional view of the bolt holder of FIG.

16 is an explanatory view showing the relationship between the bolt holder and the locking claws of FIG.

FIG. 17 is an explanatory diagram of unlocking of the locking claws of the bolt holder of FIG. 15.

18 is a partial side view of the bolt distribution mechanism of FIG.

19 is a sectional view taken along the line XIX-XIX in FIG.

20 is a plan view of relevant parts taken along the line XX-XX in FIG.

21 is a plan view of the positioning plate of FIG. 12. FIG.

22 is a cross-sectional view of the hose support fitting of FIG.

23 is an explanatory view of a state in which a bolt is passed from the hose support fitting of the bolt distribution mechanism of FIG. 12 to a bolt holder of the bolt receiving mechanism.

FIG. 24 is an explanatory diagram when the bolt distribution delivery device shown in FIG. 8 delivers a bolt to a nut runner of a work assembly / temporary fastening device.

[Explanation of symbols]

1 Engine Automatic 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 (Parts Feeder) 9 Control Device 10 Robot 20 Workpiece (Flywheel and Drive Plate)
Assembly / temporary tightening device 30 Work (flywheel and drive plate)
Rotation direction positioning device 40 Crankshaft rotation direction positioning device 50 Guide pin exchange device 60 Bolt distribution delivery device 61 Frame 62 Bolt selection mechanism (bolt selection means) 63 Bolt receiving mechanism (bolt reception means) 66 Bolt distribution mechanism (bolt distribution means) 68 Moving mechanism (moving means) E Engine CS Crankshaft FW Flywheel (work) 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. (56) Reference JP-A 1-122819 (JP, A) JP-A-62-120923 (JP, A) Actually open 1-115623 (JP, U) Actually open 2 -31633 (JP, U) Actual opening 2-135131 (JP, U) Actual opening 6-66931 (JP, U) Actual opening 1-149225 (JP, U) Actual opening Sho 63-166529 (JP, U) ) Actual Kaihei 63-116230 (JP, U) (58) Fields surveyed (Int.Cl. ⁷ , DB name) B23P 19 / 00-21 / 00

Claims (2)

(57) [Claims] 1. A bolt distribution delivery device for supplying a bolt supplied from a parts feeder to a nut runner, and bolt selecting means for selecting and extracting a predetermined bolt from bolts supplied from a plurality of parts feeders. A plurality of bolt holders arranged on the support plate along the circumferential direction along the circumferential direction to receive and hold the taken-out bolts, and outside the plurality of bolt holders on the support plate.
An oscillating ring concentrically and rotatably mounted on the
It is interposed between each bolt holder and the swing ring,
The rocking ring is rotated to move each of the buttons in the first rotation position.
Second rotation by locking each bolt held in the holder
The locking claw for releasing the locking at the position and the rocking lever.
For rotating the ring to the first and second rotation positions
And a bolt receiving means having a locking mechanism for locking the bolts held by the respective bolt holders so as not to move and releasing the locking when the bolts are supplied to the nut runner, and the bolt selecting means. a bolt conveying means for conveying the connected and the respective bolt holders can face supported has been the selected bolt to the each bolt holder, positioned by sequentially opposing said bolt carrying means in close proximity to each bolt holder And a bolt distributing means for sequentially distributing the selected bolts to the bolt holders, and a nut runner socket of the nut runner corresponding to the bolt holders after the bolt holders of the bolt receiving means receive the bolts. And a moving means for moving the bolt receiving means to a position where the bolt is passed. Distribution delivery device. 2. The bolt distributing means is connected to two identical gears that are rotatably arranged at a predetermined interval and one end surface of each of the gears so as to be relatively rotatable, and one end of the bolt distributing means is provided with the same gear. A bolt conveying means is attached, and a link for moving the bolt conveying means so as to sequentially face each of the bolt holders as the two gears rotate in the same direction, and a link for rotating the two gears to rotate the link. a motor to be driven, the bolt carrier means bolts dispensing delivery apparatus of claim 1 Symbol mounting, characterized in that it comprises the a positioning means for sequentially positioning locking said link at a position facing the respective bolt holders.