JP4725745B2 - Pressurization jig integration equipment - Google Patents

Description

  The present invention relates to a pressurizing jig collecting facility provided with a plurality of pressurizing jigs arranged in a horizontal direction for sequentially performing workpiece press-fitting, caulking and other predetermined pressurizing processes.

When assembling a workpiece that is a mechanical part, pressurization such as press-fitting or caulking using a power source may be performed. And in the workpiece | work which consists of a some component, these pressurization processes are divided | segmented into a some process. Even in the same pressure treatment, the structure of the pressure jig varies depending on the difference between the press-fitting and caulking parts. For this reason, conventionally, an assembly line facility is configured by combining a plurality of pressurizing devices (for example, press-fitting devices, caulking devices, etc.) provided with a pressurizing power source connected to a jig (for example, Patent Documents). 1).
JP-A-6-106426 (paragraph [0003], FIG. 13)

  However, the above-described conventional assembly line equipment requires a large installation space for arranging a plurality of pressure devices. On the other hand, in order to reduce the installation space, if a plurality of pressurization devices are simply integrated and integrated into a facility, there may be a problem that it takes time to change the facility due to the change of the workpiece.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a pressurizing jig collecting facility that can reduce the installation space as compared with the prior art and that can be easily changed in accordance with the change of the workpiece.

  The pressurizing jig integrating facility (75) according to the invention of claim 1 made to achieve the above object includes a plurality of pressurizing units for sequentially performing press-fitting, caulking and other predetermined pressurizing processes on the work (90). It has a jig (12-18) and a ceiling wall (32) extending in the horizontal direction, and a plurality of pressure jigs (12-18) are arranged along the longitudinal direction of the upper surface of the ceiling wall (32). An attached base table (31), and a jig lifting / lowering part (41) which is provided on the pressurizing jigs (12 to 18) so as to be movable up and down, and pressurizes the work (90) by moving upward. The guide rail (49R) and the rack (54) which are arranged below the ceiling wall (32) of the base table (31) and extend in the longitudinal direction of the ceiling wall (32), and penetrate the ceiling wall (32) A plurality of the formed pressure jigs (12 to 18) facing the jig lifting / lowering portion (41). And a pinion (55) engaged with the guide rail (49R) so as to be capable of linear movement and meshed with the rack (54). A pressure actuator capable of positioning control at a position opposite to the hole (32K) and capable of pushing up the jig lifting / lowering portion (41) of an arbitrary pressure jig (12-18) through the upper and lower through holes (32K). (50), and each pressurizing jig (12-18) passes a plurality of columns (40) in parallel between the upper wall (42) and the bottom wall (43) opposed in the vertical direction. And it has the characteristic in having made the unit structure which engaged the jig | tool raising / lowering part (41) to these support | pillars (40) so that an up-down movement was possible.

  According to a second aspect of the present invention, in the pressurizing jig integrating facility (75) according to the first aspect, the base table (31) including the ceiling wall (32), the guide rail (49R), and the rack (54) is disposed in the longitudinal direction. Is divided into a plurality of module tables (31A to 31C), and the plurality of module tables (31A to 31C) are connected to each other so that the total length of the base table (31) can be changed.

  According to a third aspect of the present invention, in the pressurizing jig integrating facility (75) according to the first or second aspect, the guide rail (49R) and the rack (54) are fixed to the lower surface of the ceiling wall (32). It has the characteristics.

  According to a fourth aspect of the present invention, in the pressure jig assembling facility (75) according to any one of the first to third aspects, the bottom wall (43) of the pressure jig (12 to 18) is a ceiling wall (32). ) And a flat plate shape having a jig hole (43A) communicating with the upper and lower through holes (32K).

  According to a fifth aspect of the present invention, in the pressure jig assembling facility (75) according to any one of the first to fourth aspects, two pressure actuators (50) are provided, and the two pressure actuators are normally pressed. The actuator (50) shares power to apply power to the plurality of pressure jigs (12 to 18), and when one pressure actuator (50) fails, all of the other pressure actuators (50) The pressurizing jig (12 to 18) is characterized in that power can be applied.

  According to a sixth aspect of the present invention, in the pressurization jig integrating facility (75) according to any one of the first to fifth aspects, the pressurization actuator (50) includes a servo motor (51, 52) as a power source, and is added. It is characterized in that the jig lifting / lowering section (41) is pressed with a pressing force and / or pressing stroke set in advance for each pressure jig (12 to 18).

[Inventions of Claims 1 and 2]
Since the pressurizing jig integrating equipment according to claim 1 is provided with a plurality of pressurizing jigs arranged on the upper surface of the base table, the interval between the pressurizing jigs can be reduced. The installation space can be reduced as compared with the case where a plurality of the devices are arranged. In addition, since the pressure actuator that pushes up the jig lifting portion of each pressure jig can be moved, the pressure actuator is shared among the plurality of pressure jigs, and the equipment cost can be reduced. Furthermore, since each pressing jig has a unit structure, it can be attached to and detached from the base table as one element (that is, one module). As a result, it is possible to easily replace only some of the pressurizing jigs among the pressurizing jigs with another pressurizing jig as the work is changed, making it easy to change the equipment accompanying changing the work become. In addition, according to the second aspect of the present invention, since the total length of the base table can be changed by connecting any plurality of module tables, it is possible to easily add and delete the pressure jig.

  The module table may have a size in which the base table is divided in the longitudinal direction for each pressure jig, or the base table is divided in the longitudinal direction for each of a plurality of pressure jigs. May be.

[Invention of claim 3]
The guide rail and the rack according to the present invention described above may be fixed at a position separated downward from the ceiling wall in each module table, or may be fixed to the lower surface of the ceiling wall as in the configuration of claim 3. Good. Fixing the guide rail and rack to the lower surface of the ceiling wall of each module table also reinforces the ceiling wall and facilitates positioning between the pressure jig attached to the upper surface of the ceiling wall and the pressure actuator become.

[Invention of claim 4]
According to the configuration of the fourth aspect, since the bottom wall of the pressure jig has a flat plate shape, the pressure jig can be stably placed on the ceiling wall of the base table. The attachment / detachment work can be easily performed.

[Invention of claim 5]
According to the configuration of the fifth aspect, two pressure actuators are provided, and in normal times, the two pressure actuators share and apply power to a plurality of pressure jigs, and one pressure actuator In the event of failure, the power can be applied to all the pressure jigs with the other pressure actuator. Stopping can be avoided.

[Invention of claim 6]
According to the configuration of the sixth aspect, the pressing force and the pressing stroke can be controlled by the servo motor provided in the pressing actuator, and the jig lifting / lowering portion can be controlled by the pressing force and / or the pressing stroke suitable for each pressing jig. Can be operated.

[First Embodiment]
Hereinafter, an embodiment according to the present invention will be described with reference to FIGS. FIG. 1 shows the entire assembly line facility 10 including the pressurizing jig integrating facility 75 of the present embodiment. FIGS. 2 (A) and 2 (B) show this assembly line facility. 10 shows a plurality of types of workpieces 90 that can be assembled. The workpiece 90 is generally called a constant velocity joint, and communicates between the vehicle differential and the drive wheels, and is used to transmit drive torque from the engine. Further, the work 90 differs in length, presence / absence of additional parts, and the like depending on the vehicle type. 2A and 2B show only a part of a plurality of types of workpieces 90 that can be assembled by the assembly line facility 10 of the present embodiment.

  Any type of work 90 has a structure in which a first end shaft 91 and a second end shaft 92 are connected to both ends of the intermediate shaft 93. Specifically, one end portion of the intermediate shaft 93 is received in the connection cup 91C provided in the first end shaft 91 so as to be linearly movable and non-rotatable, and the other end portion of the intermediate shaft 93 is the second end shaft. The coupling cup 92 </ b> C included in the main body 92 is received in a tiltable and non-rotatable manner. As a result, the workpiece 90 transmits drive torque in a state where the drive wheel is allowed to move up and down and tilt. Further, rubber boots 91B and 92B for dust prevention are attached to each connecting portion between the intermediate shaft 93 and the first end shaft 91 and the second end shaft 92. Further, a cylindrical damper 93 </ b> B is fitted and attached to the intermediate shaft 93 in some types of workpieces 90.

  In the assembly line facility 10 of the present embodiment shown in FIG. 1, the workpiece 90 is assembled in the first to tenth steps. For this purpose, the assembly line facility 10 is provided with first to tenth stages ST1 to ST10 for performing the first to tenth processes. And each component of the workpiece | work 90 shown in FIG. 2 is assembled | attached as follows in 1st-9th stage ST1-ST9. That is, in the first stage ST1, the cup inner component 95 is assembled into the connection cup 92C of the second end shaft 92 by manual work. In the second stage ST2, the end ring 92R is press-fitted outside the connection cup 92C in the second end shaft 92. In the third stage ST3, the end ring 91R is press-fitted outside the connection cup 91C in the first end shaft 91. In the fourth stage ST4, the damper 93B is press-fitted from one end of the intermediate shaft 93 to the intermediate position. In the fifth stage ST5, rubber boots 91B and 92B are press-fitted into both end portions of the intermediate shaft 93. In the sixth stage ST6, one end of the intermediate shaft 93 is press-fitted into the cup inner part 95. In the seventh stage ST7, the cup inner component 94 is press-fitted into the other end of the intermediate shaft 93. In the eighth stage ST8, the cup inner component 94 is press-fitted into the connection cup 91C of the first end shaft 91, and the end portions on the large diameter side of the rubber boots 91B and 92B are the first and second end shafts. 91 and 92 are respectively press-fitted. In the ninth stage ST9, the caulking rings 96A to 96E are caulked, and the rubber boots 91B and 92B and the damper 93B are fixed. And in 10th stage ST10, the visual inspection and weight inspection of the workpiece | work 90 by an operator are performed.

  In order to perform the above-described press-fitting process and caulking process on the workpiece 90, the second to ninth stages ST2 to ST9 are provided with second to ninth pressurizing jigs 12 to 19 as shown in FIG. Yes. And these 2nd-9th pressurization jigs 12-19 are assembled | attached to the base table 31, as shown in FIG. 3, and the pressurization jig aggregation equipment 75 which concerns on this invention is comprised. In the present embodiment, the second to eighth pressure jigs excluding the ninth pressure jig 19 among the second to ninth pressure jigs 12 to 19 assembled to the base table 31. 12 to 18 correspond to “a plurality of pressure jigs” according to the present invention.

  The base table 31 is configured by connecting the three module tables 31A, 31B, and 31C shown in FIG. The second to fourth pressing jigs 12 to 14 are assembled to the module table 31A, the fifth to seventh pressing jigs 15 to 17 are assembled to the module table 31B, and the eighth is mounted to the module table 31C. And the 9th pressurization jig | tools 18 and 19 are assembled | attached.

  As shown in FIG. 4, each of the module tables 31 </ b> A, 31 </ b> B, and 31 </ b> C has a structure in which a plurality of legs 33 are suspended downward from a rectangular ceiling wall 32 and the legs 33 are communicated with each other by a bottom plate 34. . Further, the ceiling walls 32 of the module tables 31A, 31B, 31C are different from each other in the arrangement direction of the module tables 31A, 31B, 31C (hereinafter referred to as “module arrangement direction”), and are orthogonal to the module arrangement direction. The length of the direction (hereinafter referred to as the “width direction”) is the same.

  In addition, on the ceiling wall 32 of each module table 31A, 31B, 31C, four jig fixing screw holes 32A shown in FIG. 7 are provided for each of the second to ninth pressure jigs 12-19. And two pin holes 32B are formed. Further, upper and lower through holes 32 </ b> K are formed in the ceiling walls 32 so as to correspond to the second to eighth pressing jigs 12 to 18. In the present embodiment, each of the upper and lower through holes 32K is a long hole extending in the module arrangement direction, but the shape of the “up and down through hole” according to the present invention is not limited to the long hole, A round hole, a square hole, etc. may be sufficient.

  A rack 54 and a pair of guide rails 49R, 49R are fixed to the lower surface of the ceiling wall 32 of each module table 31A, 31B, 31C so as to extend in the module arrangement direction. Note that both ends of the rack 54 and the guide rails 49R and 49R slightly protrude from both end surfaces of the ceiling wall 32. When the module tables 31A, 31B, and 31C are connected to each other as will be described later, adjacent modules are connected. The end faces of the rack 54 and the end faces of the guide rail 49R are joined between the tables 31A, 31B, 31C.

  As shown in FIG. 4, the plurality of leg portions 33 in each of the module tables 31 </ b> A, 31 </ b> B, and 31 </ b> C are arranged only at positions along both side edges in the width direction of the ceiling wall 32. As a result, a traveling area of the pressure actuator 50 described later is secured in the area below the ceiling wall 32. The bottom plate 34 has a shape in which a strip-shaped plate is joined in a frame shape facing the edge of the entire ceiling wall 32, and each leg portion 33 is fixed to the upper surface of the bottom plate 34.

  The module tables 31A, 31B, and 31C are arranged in a line in order from the right side of the figure, and are placed on the base member 35 with both sides in the width direction of the ceiling walls 32 aligned in a straight line. . The base member 35 extends in the module arrangement direction of the module table 31A, and is placed on the ground or floor surface of a factory or the like. Specifically, the upper surface of the base member 35 is horizontal, and the bottom plates 34 of the module tables 31A, 31B, 31C are overlaid on the upper surface. Further, the bottom plate 34 of each module table 31A, 31B, 31C is provided with a height adjusting mechanism 34K shown in FIG. The height adjustment mechanism 34K has a structure in which an adjustment bolt 34B is screwed into a screw hole 34A that vertically penetrates the bottom plate 34, and a contact plate 34C is connected to a lower end portion of the adjustment bolt 34B. Then, the adjustment bolt 34B is screwed and adjusted so that the racks 54 and the guide rails 49R are aligned in a straight line between the module tables 31A, 31B, and 31C.

  The module tables 31A, 31B, 31C are directly connected by a pair of connecting protrusions 36, 36 (see FIG. 7) provided at both ends in the module arrangement direction, and via the base member 35. It is indirectly linked. Specifically, as shown in FIG. 7, the pair of connecting protrusions 36, 36 are modules in the module tables 31A, 31B, 31C (only the module tables 31A, 31B are shown in FIG. 7). Projecting from both ends in the arrangement direction toward both sides. For example, a pin hole 36P and a screw insertion hole 36N are formed through each connecting protrusion 36. Then, the connecting projecting pieces 36, 36 are overlapped between the adjacent module tables 31A, 31B, 31C, and a pin is driven into the pin hole 36P of both the connecting projecting pieces 36, 36, and the screw insertion hole 36N. The inserted bolts are fastened to the nuts, and the module tables 31A, 31B, 31C are directly connected to each other. Further, as shown in FIG. 8, screw insertion holes 34D are formed through the bottom plate 34 at predetermined positions, and the bolts inserted therethrough are screwed into the screw holes 35D of the base member 35 to be module tables 31A, 31B, 31C. The two are indirectly connected through the base member 35.

  As shown in FIG. 6, when the module tables 31 </ b> A, 31 </ b> B, and 31 </ b> C are connected to form the base table 31, the ceiling wall 32 extends horizontally in the entire base table 31. And the 2nd-9th pressurizing jigs 12-19 are arranged in a line in order from the right to the left in the figure along the longitudinal direction of the upper surface of the ceiling wall 32 in the base table 31. On the other hand, on the lower surface of the ceiling wall 32, the rack 54 and a pair of guide rails 49R (only the guide rails 49R are shown in FIG. 6) are parallel and extend in the horizontal direction. A pair of pressure actuators 50 and 50 are slidably assembled to the guide rail 49R.

  Specifically, as shown in FIG. 9, each pressure actuator 50 includes a flat traveling base 44 at the upper end. A pair of sliders 49S and 49S are fixed to the upper surface of the traveling base 44, and these sliders 49S are slidably engaged with the pair of guide rails 49R and 49R. Further, one end of the traveling base 44 is located below the rack 54, and the traveling servo motor 52 shown in FIG. 9 and the lifting servo motor 51 shown in FIG. .

  As shown in FIG. 9, a reduction gear 52G is connected to the traveling servo motor 52, and a pinion 55 is attached to the output shaft of the reduction gear 52G. The reduction gear 52G penetrates the traveling base 44 and the pinion 55 is disposed above the traveling base 44 and meshes with the rack 54. Thereby, the pressure actuator 50 can be positioned and controlled at an arbitrary position in the longitudinal direction of the base table 31.

  A through hole 44A is formed at a position facing the portion of the traveling base 44 sandwiched between the pair of guide rails 49R, 49R, and a base sleeve 45 is formed below the opening edge of the through hole 44A. Welded in a suspended state. A ball nut 47 is rotatably supported inside the base sleeve 45 via a bearing, and a push-up linear rod 48 as a ball screw shaft is screwed into the ball nut 47 and penetrates vertically. ing.

  The push-up linear movement rod 48 includes a contact disk 48A at the upper end portion and a retaining disk 48B at the lower end portion. Further, an auxiliary shaft (not shown) is suspended from the opening edge of the through hole 44A in the traveling base 44, and a part of the retaining disk 48B is slidably engaged with the auxiliary shaft, whereby a push-up linear rod The rotation of the 48 traveling bases 44 is restricted. As shown in FIG. 10, a pulley 46B is attached to the rotation output shaft of the lifting servo motor 51, and a timing belt 46C is provided between the pulley 46B and the pulley 46A attached to the upper end of the ball nut 47. It is laid over. Then, the ball nut 47 is rotationally driven by the lifting servo motor 51, and the linear movement position, linear movement speed, and axial force of the push-up linear movement rod 48 are controlled.

  As shown in FIG. 5, each of the second to ninth pressing jigs 12 to 19 includes a jig top plate 42 (corresponding to the “upper wall” of the present invention) and a jig bottom plate 43 opposed in the vertical direction. A pair of struts 40 are passed between (corresponding to the “bottom wall” of the present invention), and the lift base 41 (corresponding to the “jig lift section” according to the present invention) is moved up and down on the struts 40, 40. The unit structure is engaged with each other.

  Specifically, as shown in FIG. 4, the jig top plate 42 and the jig bottom plate 43 have a quadrangular shape, and the pair of support columns 40, 40 are diagonal to the jig top plate 42 and the jig bottom plate 43. Placed in position. Each jig bottom plate 43 is fixed in a state of being positioned with respect to the ceiling wall 32 by a jig fixing screw hole 32A and a pin hole 32B (see FIG. 7) in the base table 31. Further, a jig hole 43A shown in FIG. 9 is formed through the center of each jig bottom plate 43 in each of the second to eighth pressure jigs 12 to 18, and the jig hole 43A is formed in the ceiling wall 32. It is in the state which connected to each upper and lower through-hole 32K. Thereby, a part of each raising / lowering base 41 in each pressurization jig | tool 12-18 has faced the downward direction of the ceiling wall 32 via the jig hole 43A and the up-and-down through-hole 32K. Then, each elevating base 41 is pushed up by the push-up linearly acting rod 48 of the pressurizing actuator 50, thereby press-fitting the work.

  More specifically, as shown in FIG. 11, the second pressing jig 12 is provided with a work holding cup 12A on the upper surface of the elevating base 41, and an upper end facing the work holding cup 12A from above. A contact block 12G is provided. As shown in FIG. 12A, the work holding cup 12A has a double cylinder structure in which an inner sleeve 12A2 is provided inside an outer sleeve 12A1. In the standby state in which the elevating base 41 (see FIG. 12) is disposed at the lower end position, as shown in FIG. 12A, the outer sleeve 12A1 is disposed below the inner sleeve 12A2, and in this state, the inner sleeve 12A2 is disposed. An end ring 92R is inserted outside the upper end of the. Next, the second end shaft 92 conveyed from the first stage ST1 (see FIG. 1) is inserted into the work holding cup 12A with the coupling cup 92C facing up. Then, as shown in FIG. 12 (B), the connecting cup 92C is positioned in contact with the upper end surface of the inner sleeve 12A2. When the elevating base 41 is actuated and raised, the coupling cup 92C comes into contact with the upper end contact block 12G and is sandwiched between the upper end contact block 12G and the inner sleeve 12A2. When the elevating base 41 is further raised, the outer sleeve 12A1 is raised with respect to the inner sleeve 12A2 as shown in FIG. 12C, and the end ring 92R is press-fitted into the base end portion of the coupling cup 92C. In this state, since the grease nozzle 12N provided in the upper end contact block 12G has entered the connecting cup 92C, the grease is discharged from the grease nozzle 12N. In this way, in the second stage ST2, the end ring 92R (see FIG. 2) can be press-fitted into the second end shaft 92 and filled with grease.

  As shown in FIG. 11, the third press-fitting jig 13 includes a workpiece holding cup 13 </ b> A and an upper end contact block 13 </ b> G in which the structure of the workpiece holding cup 12 </ b> A and the upper end contact block 12 </ b> G is changed for the first end shaft 91. It has. Then, similarly to the second stage ST2, the end ring 91R (see FIG. 2) can be press-fitted into the first end shaft 91 and filled with grease.

  Although the second and third pressurizing jigs 12 and 13 have different configurations as described above, they are common in that the pressurizing jigs 12 and 13 perform press-fitting processing by raising the elevating base 41. The same applies to each of the stages ST5 to ST8 other than the ninth stage ST9 in the pressurizing jig integrating equipment 75, and the structure of each jig is different, but the jig is operated by raising the elevating base 41. The press-in process is performed.

  As shown in FIG. 5, the ninth pressurizing jig 19 has a structure in which the elevating base 41 is moved up and down by a ball screw mechanism 19B using an elevating motor 19A provided on the upper surface of the jig top plate 42 as a drive source. It has become. The elevating base 41 is provided with a caulking mechanism (not shown) having a separate drive source, and the elevating base 41 is moved up and down so that the caulking mechanism is moved to a predetermined position in the longitudinal direction of the workpiece 90 from the side. It can oppose and each caulking ring 96A-96E (refer FIG. 2 (A)) can be caulked by this.

  As shown in FIG. 3, the work table 11 is provided adjacent to one side of the base table 31 on the side where the pressing jig 12 is disposed. The work table 11 extends in parallel with the longitudinal direction of the base table 31. As shown in FIG. 1, one end side of the work table 11 is disposed adjacent to one side surface of the base table 31, and the other end side of the work table 11 protrudes from one end portion of the base table 31 to the right side of the figure. The entire upper surface of the work table 11 is the first stage ST1, and an operator manually assembles the work 90 on the other end side of the first stage ST1 protruding from the base table 31 to the right in FIG. When the work 90 that has been assembled is placed on one end side of the first stage ST1, the robot 90, which will be described later, transports the work 90 and sets it on the pressure jig 12 of the pressure jig aggregation equipment 75.

  In addition, an inspection table 20 is provided at a position sandwiching the work table 11 with the base table 31. The inspection table 20 extends in a direction orthogonal to the longitudinal direction of the base table 31. A measurement jig 20J is provided on the upper surface of the inspection table 20. Then, the weight inspection is performed as described above using the measuring jig 20J.

  With the above-described configuration, the pressurizing jig integrating equipment 75, the work table 11, and the inspection table 20 are arranged in a substantially L shape as a whole as shown in FIG. 1, and the processing line 10L is constituted as a whole. The worker dedicated area R1 and the robot dedicated area R2 are partitioned with the processing line 10L interposed therebetween. The robot dedicated area R2 is a rectangular parallelepiped space surrounded by the processing line 10L and the safety fence 62, and an operator cannot enter the robot dedicated area R2. Only the robot 80 is operable in R2.

  Specifically, in the robot dedicated region R2, a plurality (for example, five) of robots 80 are arranged in a line along the longitudinal direction of the pressurizing jig collecting facility 75 and installed on the ground. These stationary robots 80 transport the workpiece 90 between the stages ST1 to ST10 (see FIG. 3), and assist the pressure processing of the workpiece 90 in a predetermined stage.

  Further, as shown in FIG. 3, a robot support frame 39 stands up from an outer region adjacent to the safety fence 62, and a support beam 39A provided on the robot support frame 39 is located above the robot dedicated region R2. It extends in the horizontal direction parallel to the pressing jig collecting equipment 75. A linear motion mechanism (not shown) is provided on the lower surface of the support beam 39A. Then, a suspension type robot 80 is attached to the movable part of the linear motion mechanism, and the workpiece 90 that has been processed in the ninth stage ST9 is transported to the tenth stage ST10 and set on the measuring jig 20J.

  The worker-dedicated region R1 shown in FIG. 1 is located outside the operation region of the robot 80, and only the worker can operate in the worker-dedicated region R1. In the present embodiment, the worker dedicated area R1 has an L shape along the outer edge side of the entire processing line 10L. Here, since one end portion of the work table 11 protruding from the entire processing line 10L is located outside the operation region of the robot 80, it is included in the worker-dedicated region R1, and the other end portion of the work table 11 is described below. Is included in the work processing area R3.

  The work processing area R3 is as follows. That is, for the second to ninth stages ST2 to ST9, the space between the jig top plate 42 and the jig bottom plate 43 of each of the pressurizing jigs 12 to 19 corresponds to the work processing region R3. As for the first stage, as described above, a part of the upper space of the work table 11 corresponds to the work processing region R3, and for the tenth stage, the upper space of the entire inspection table 20 corresponds to the work processing region R3. . The work processing area R3 is open to both the worker dedicated area R1 and the robot dedicated area R2, and both the robot 80 and the worker can enter the work processing area R3 and perform work.

  As shown in FIG. 1, in the assembly line facility 10, worker-side area sensors 58 </ b> A to 58 </ b> J are provided for each stage ST <b> 1 to ST <b> 10 at the boundary between the worker-dedicated region R <b> 1 and the work processing region R <b> 3. Yes. In addition, robot side area sensors 59A to 59J are attached to the boundaries between the robot dedicated area R2 and the work processing area R3 for each stage ST1 to ST10.

  FIG. 13 shows a control configuration of the assembly line facility 10. In this assembly line facility 10, control boards TB1 to TB10 are provided for each of the first to tenth stages ST1 to ST10. Each of the control boards TB1 to TB10B is connected to worker side area sensors 58A to 58J and robot side area sensors 59A to 59J for each stage ST1 to ST10, and a lift motor 19A provided for a predetermined stage, etc. A drive control circuit for driving and controlling the power source is provided. The control boards TB1 to TB10 are connected to the system control board 60. Further, the pair of pressure actuators 50 and 50 are connected to the system control panel 60 via the actuator controller 61. Further, the robot 80 is connected to the system control panel 60 via the robot controller 63. The system control panel 60 includes a system main operation panel 65 for operating the entire system of the assembly line facility 10, and first to tenth stage operation panels 64A to 64A provided for each stage ST1 to ST10. 64J is connected.

  When the system main operation panel 65 is operated to activate the entire assembly line facility 10, the control circuit provided in the system control panel 60 repeatedly executes the safety monitoring program PG1 shown in FIG. 14 at a predetermined cycle, and each stage ST1. Every time ST10, the operator controls the robot 80, the pressure actuator 50, etc. so as not to interfere with the robot 80 and the pressure jigs 12-19.

  Specifically, when the safety monitoring program PG1 is executed, the following processing is performed for each stage ST1 to ST10 as shown in FIG. That is, first, based on the presence or absence of a detection signal from the worker-side area sensor 58A in the first stage ST1, it is checked whether or not the worker has entered the work processing region R3 of the first stage ST1 from the worker-dedicated region R1. (S1). When there is a detection signal from the worker-side area sensor 58A, that is, when the worker has entered the work processing region R3 of the first stage ST1 (S1: YES), the push-up linear motion rod of the pressure actuator 50 48 is held in a stopped state (S2). Then, based on the presence / absence of the detection signal of the robot side area sensor 59A of the first stage ST1, it is checked whether or not the robot 80 has entered the work processing area R3 of the first stage ST1 (S3). Here, when there is a detection signal of the robot-side area sensor 59A, that is, when the robot 80 has already entered the work processing area R3 of the first stage ST1, or has attempted to enter (S3: YES), The robot 80 is stopped or held in a stopped state (S4).

  Further, even when the worker has entered the work processing area R3 of the first stage ST1 (S1: YES), when the detection signal of the robot-side area sensor 59A is not present, that is, the robot 80 performs the work of the first stage ST1. If the robot has not entered the processing region R3 (S3: NO), the driving of the robot 80 is permitted (S6).

  Further, when there is no detection signal from the worker-side area sensor 58A, that is, when the worker has not entered the work processing region R3 (S1: NO), the drive of the push-up linear motion rod 48 is permitted (S5). And the drive of the robot 80 is permitted (S6).

  Similarly, with respect to the second to tenth stages ST2 to ST10, the safety monitoring program PG1 is executed to perform the same processing. In the case of the ninth stage ST9, in step S2, the lift motor 19A is stopped and held instead of the push-up linear rod 48 of the pressure actuator 50, and in step S5, the lift motor is replaced in place of the push-up linear rod 48. 19A is allowed to drive.

  This completes the description of the configuration according to the present embodiment. Next, the operation and effect of the assembly line facility 10 will be described. In the assembly line facility 10, as shown in FIGS. 3 and 4, for example, two workers work together with the robot 80. As an example, the first worker assembles the cup inner component 95 (see FIG. 2) on the second end shaft 92 at one end of the work table 11 included in the worker-dedicated region R1 (see FIG. 1). During this time, the second operator sets the end ring 92R (see FIG. 2) at a predetermined position of the pressing jig 12, and when the setting is completed, the stage operation arranged on the front side of the pressing jig 12 is performed. The panel 64B (see FIGS. 3 and 13) is turned on. On the other hand, the first operator places the second end shaft 92, which has been assembled, on the other end of the work table 11 included in the work processing region R3 (see FIG. 1), and then the stage operation panel 64A (see FIG. 3 and FIG. 13) is turned on. Then, the robot 80 conveys and sets the second end shaft 92 to the pressure jig 12 of the second stage ST2. And the pressurization actuator 50 pushes up the raising / lowering base 41 of the pressurization jig | tool 12, and a press-fit process is performed. Similarly, in each of the stages ST3 to ST9, the operator, the robot 80, and the pressure actuator 50 cooperate to perform press-fitting processing on the work 90 and the like. Then, the robot 80 transports the workpiece 90 from the ninth stage ST9 to the first stage ST10, performs a predetermined inspection, and completes the assembly of the workpiece 90.

  Here, as shown in FIG. 1, for example, the worker enters the work processing region R3 of the first and second stages ST1 and ST2, and the worker enters the work processing region R3 of the other stages ST3 to ST10. When the vehicle has not entered, only the detection signals of the worker side area sensors 58A and 58B of the first and second stages ST1 and ST2 among the plurality of worker side area sensors 58A to 58J are The data is taken into the system control panel 60 (see FIG. 13). Then, the system control panel 60 prohibits the robot 80 from entering the work processing region R3 in the first and second stages ST1 and ST2, and the first and second stages ST1 and ST2 enter the lifting base 41. The pushing-up linear rod 48 is not allowed to be pushed up by the pressure actuator 50. In other words, the robot 80 and the pressure actuator 50 are allowed to enter the work processing region R3 of the stages ST3 to ST10 other than the first and second stages. Thereby, for example, while the worker is working in the work processing region R3 of the first and second stages ST1, ST2, the pressurizing actuator 50 in the work processing region R3 of the other stages ST3 to ST10. It is possible to perform press-fitting and caulking processing by the robot, and to carry the robot 80.

  Further, while the push-up linear movement rod 48 of the pressure actuator 50 enters the work processing region R3 of the predetermined stage, or while the robot 80 enters the work processing region R3 of the predetermined stage, When the worker enters the work processing area R3 of the stage, the pressure actuator 50 and the robot 80 are stopped. As a result, it is possible to prevent a situation in which the operator's hand that has entered the workpiece processing region R3 is caught between the movable parts.

  In the pressurizing jig integrating equipment 75 of the present embodiment, the two pressurizing actuators 50 are controlled so as to share power during normal times and apply power to the pressurizing jigs 12 to 18. For example, when one pressure actuator 50 fails, the other pressure actuator 50 is programmed to apply power to all the pressure jigs 12 to 19. As a result, the productivity is improved in a normal state, and it is possible to avoid stopping the entire pressurizing jig integrating facility 75 when the pressurizing actuator 50 is broken.

  By the way, due to the change of the workpiece 90, it is necessary to change some of the pressurizing jigs among the pressurizing jigs 12 to 19 provided in the pressurizing jig integrating equipment 75 in the state shown in FIG. In such a case, only the pressure jig in question may be removed from the base table 31 and a new pressure jig may be assembled to the base table 31 instead. At this time, the pressure jigs 12 to 19 can be stably placed on the ceiling wall 32 of the base table 31 because the jig bottom plate 43 has a flat plate shape. 19 can be easily attached and detached.

  Further, when another pressure jig (not shown) is added to the pressure jig collecting equipment 75 in the state shown in FIG. 6 due to the change of the workpiece 90, either end of the base table 31 or the base table A module table (not shown) may be added separately between any of the module tables 31A, 31B, 31C constituting the component 31, and a new pressing jig may be attached on the module table. Then, the pressure actuator 50 may be caused to travel below the added new module table, and the new pressure jig may be driven by the pressure actuator 50.

  Further, when a part of the pressurizing jig is removed from the pressurizing jig integrating equipment 75 in the state shown in FIG. 6 due to the change of the workpiece 90, any one of the module tables 31A, 31B, 31C is also excluded. Thus, the entire pressurizing jig collecting facility 75 can be reduced.

  As described above, when the working effects of the present embodiment are summarized, the pressurizing jig integrating equipment 75 described above includes a plurality of pressurizing jigs 12 to 19 arranged on the upper surface of the base table 31. The space | interval of 12-19 can be narrowed, and it becomes possible to make an installation space small compared with the case where two or more conventional pressurization apparatuses are arranged. Further, since the pressure actuator 50 that pushes up the lifting base 41 of each pressure jig 12-19 can be moved, the pressure actuator 50 is shared among the plurality of pressure jigs 12-19, and the equipment cost is increased. Can be reduced. Furthermore, since each pressing jig 12-19 has a unit structure, it can be attached to and detached from the base table 31 as one element (that is, one module). As a result, only part of the pressure jigs 12 to 19 can be easily replaced with another pressure jig as the workpiece 90 is changed. In addition, since the total length of the base table 31 can be changed by connecting any plurality of module tables 31A to 31C, it is possible to easily add and delete the pressing jigs 12 to 19. That is, according to the pressurizing jig integrating facility 75 of the present embodiment, the facility change accompanying the change of the workpiece 90 is facilitated.

  Moreover, since the pressurizing actuator 50 uses the servo motor 51 as a drive source, even if the pressing strokes and the optimal pressing forces of the pressing jigs 12 to 18 are different, they are suitable for each pressing jig 12 to 18. The pressurizing jigs 12 to 18 can be operated with a linear motion stroke and a pressing force.

  Further, since the guide rail 49R and the rack 54 for running the pressure actuator 50 are fixed to the lower surface of the ceiling wall 32 among the module tables 31A to 31C, the ceiling wall 32 is reinforced and the Positioning between the pressure jigs 12 to 19 attached to the upper surface and the pressure actuator 50 is also facilitated.

[Second Embodiment]
In the first embodiment, as shown in FIGS. 15 and 16, the guide rail 49 </ b> R and the rack 54 described in the first embodiment are provided in a portion of the base table 31 that is separated downward from the ceiling wall 32. It is different from the first embodiment in that it is fixed. Specifically, among the module tables 31A to 31C (see FIG. 5), a traveling table 67 shown in FIG. 15 is passed between a pair of bottom plates 34 at both ends in the module arrangement direction. Yes. The traveling table 67 is configured such that a pair of channel steels 67C and 67C having substantially the same length as the entire length of the module tables 31A to 31C are opposed to each other in the width direction of the module tables 31A to 31C. Both ends are welded onto the bottom plates 34 and 34. The guide rails 49R and 49R are fixed to the upper surfaces of the channel steels 67C and 67C, and the rack 54 is fixed to the side surface of the one channel steel 67C. Further, the pressure actuator 50 of the present embodiment is provided in a state where the pressure actuator 50 of the first embodiment is turned upside down, and sliders 49S and 49S provided in the pressure actuator 50 are provided with guide rails 49R and 49R, respectively. 49R is engaged, and the pinion 55 meshes with the rack 54. Since other configurations are the same as those of the first embodiment, the same portions are denoted by the same reference numerals, and redundant description is omitted. The configuration of the present embodiment also provides the same operational effects as the first embodiment.

[Third Embodiment]
This embodiment is shown in FIGS. 17 and 18, and is different from the second embodiment in that the push-up linear movement rod 48 in the pressure actuator 50 includes an opening / closing connection mechanism 74. As shown in FIG. 17, the open / close connecting mechanism 74 has a pair of connecting arms 70 and 70 symmetrically arranged on both side surfaces of a flat rectangular contact block 73 fixed to the upper end of the push-up linear movement rod 48. It has a prepared structure. FIG. 17 shows only a pair of connecting arms 70, 70 on one side surface of the contact block 73.

  Each connecting arm 70 has a structure in which one end of a linearly extending rotation main portion 70B is bent upward to form a hook portion 70A, and the intermediate portion in the longitudinal direction of the rotation main portion 70B A pivot shaft 70 </ b> S orthogonal to the side surface of the contact block 73 is pivotally supported. And hook part 70A, 70A of both the connection arms 70 and 70 is arrange | positioned in the mutually separated side, Between the edge part 70C (henceforth protrusion upper end part 70C) in which both rotation main part 70B and 70B approached. For example, a tension spring 72 is provided.

  Further, when the abutting support 71 stands from the upper surface of the main body (specifically, the base sleeve 45) of the pressure actuator 50 and is positioned at the lower end of the linear motion stroke from the push-up linear motion rod 48. Further, the abutting strut 71 pushes up the protruding upper end portions 70C and 70C of the connecting arms 70 and 70, and the hook portions 70A and 70A of the connecting arms 70 and 70 are opened.

  Further, a rod abutting portion 53 is provided on the lower surface of the elevating base 41 in each of the pressurizing jigs 12 to 18 (see FIG. 5). A jig lower end block 53 </ b> A having a planar shape is attached to the lower end portion of the rod abutting portion 53. The jig lower end block 53A is longer than the contact block 73 in the axial direction of the rotation shaft 70S. Since the other configuration is the same as that of the second embodiment, a duplicate description is omitted.

  According to the configuration of the present embodiment, when the push-up linear motion rod 48 is positioned at the lower end of the linear motion stroke, the hook portions 70A and 70A in both the connecting arms 70 and 70 are opened. In this state, the abutting block 73 is opposed to the jig lower end block 53A of the rod abutting portion 53 from below, and the push-up linear motion rod 48 is raised. Then, as shown in FIG. 18 (A), the amount of thrust by the abutment strut 71 with respect to the projecting upper end portions 70C and 70C of the two connecting arms 70 and 70 is reduced, and the hook portions 70A and 70A are gradually closed.

  When the push-up linear movement rod 48 is further raised together with the rod abutting portion 53, as shown in FIG. 18 (B), the hook portions 70A and 70A are further closed, and the hook portions 70A and 70A are interposed between the lower ends of the jigs. The block 53A is sandwiched, and the tips of the hook portions 70A overhang on the upper surface side of the jig lower end block 53A of the rod abutment portion 53. When the push-up linear movement rod 48 is further raised from this state, as shown in FIG. 18C, the lifting base 41 (see FIG. 5) is pushed up by the push-up linear movement rod 48 together with the rod abutting portion 53, and pressurization is performed. The workpiece is pressurized by the jig.

  Now, when the pressurizing process is finished and the push-up linearly moving rod 48 is lowered, the state in which the hook portions 70A and 70A are connected to the jig lower end block 53A is maintained partway. Thereby, the raising / lowering base 41 (refer FIG. 5) can be forcedly pulled down by the pressurization actuator 50, the operation | movement of a pressurization jig | tool can be speeded up, and productivity can be improved. When the connecting arm 70 is lowered to a position close to the main body portion of the pressure actuator 50, the abutting support 71 pushes up the protruding upper end portion 70C in the reverse order, and the hook portions 70A and 70A are opened. As a result, the connection is released.

[Other Embodiments]
The present invention is not limited to the above-described embodiment. For example, the embodiments described below are also included in the technical scope of the present invention, and various other than the following can be made without departing from the scope of the invention. It can be changed and implemented.

  (1) In the above-described embodiment, the push-up linear movement rod 48 of the pressure actuator 50 is configured to move linearly. However, the pressure actuator is provided with a rotatable power output unit, and the power output unit is connected to the lifting base. You may make it the structure pushed up, sliding to a lower surface.

  (2) In the first embodiment, the base table 31 is divided into a plurality of pressure jigs to form a plurality of module tables 31A to 31C. However, the base table is divided into one pressure jig. It may be.

The top view which showed notionally the assembly line equipment which concerns on one Embodiment of this invention Cross section of workpiece Perspective view of pressure jig merging equipment Perspective view of pressure jig merging equipment Exploded front view of pressure jig merging equipment Front view of pressurization jig integration equipment Perspective view of the upper end side of the module table Perspective view of the lower end side of the module table Side view of pressure actuator Side view of pressure actuator Front perspective view of second and third stages Sectional view showing workpiece assembly process in the second stage Schematic diagram showing the control configuration of the pressurizing jig consolidation facility Safety monitoring program flowchart Side sectional view of the pressure actuator of the second embodiment Side view of pressure actuator Side sectional view of the pressure actuator of the third embodiment Side sectional view showing the operation of the pressure actuator

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Assembly line equipment 11 Work table 12-19 Pressurization jig 31 Base table 31A-31C Module table 32 Ceiling wall 32K Vertical through-hole 40 Support | pillar 41 Lifting base (jig raising / lowering part)
67 Jig top (upper wall)
43 Jig bottom plate (bottom wall)
43A Jig hole 48 Push-up linear motion rod 49R Guide rail 50 Pressure actuator 51, 52 Servo motor 54 Rack 55 Pinion 75 Pressure jig integration equipment 90 Workpiece

Claims (6)

A plurality of pressurizing jigs for sequentially performing press-fitting, caulking and other predetermined pressurizing processes on the work, and a ceiling wall extending in the horizontal direction, and the plurality of pressurizing jigs along the longitudinal direction of the upper surface of the ceiling wall. A base table with pressure jigs mounted side by side;
A jig lifting and lowering portion which is provided on the pressure jig so as to be movable up and down, and moves upward to perform a pressure treatment on the workpiece;
A guide rail and a rack which are arranged below the ceiling wall of the base table and extend in the longitudinal direction of the ceiling wall;
A plurality of upper and lower through holes formed through the ceiling wall and facing the jig lifting portion of each pressure jig;
It has a pinion that engages with the guide rail so as to be linearly movable and meshes with the rack, and can be positioned and controlled at a position facing any of the upper and lower through holes below the ceiling wall. A pressure actuator capable of pushing up the jig lifting part of any pressure jig through,
Each of the pressurizing jigs has a unit structure in which a plurality of support columns are passed in parallel between an upper wall and a bottom wall facing each other in the vertical direction, and the jig lifting unit is engaged with the support columns so as to move up and down. A pressurizing jig merging facility characterized by that.   The base table including the ceiling wall, the guide rail, and the rack is divided into a plurality of module tables in the longitudinal direction, and an arbitrary number of the module tables are connected to change the total length of the base table. The pressurization jig integration equipment according to claim 1 characterized by things.   The pressurizing jig integrating facility according to claim 1 or 2, wherein the guide rail and the rack are fixed to a lower surface of the ceiling wall.   The bottom wall of the pressurizing jig has a flat plate shape having a jig hole laid on an upper surface of the ceiling wall and communicated with the upper and lower through holes. The pressurization jig integration equipment described in 1.   Two pressure actuators are provided, and in normal times, when the two pressure actuators share and apply power to the plurality of pressure jigs, and one of the pressure actuators fails, 5. The pressurization jig integrating apparatus according to claim 1, wherein power can be applied to all the pressurization jigs by the other pressurization actuator.   6. The pressurizing actuator includes a servo motor as a power source, and presses the jig lifting unit with a pressing force and / or a pressing stroke set in advance for each pressing jig. The pressurization jig gathering equipment in any one of.