JP5531951B2 - Automatic assembly equipment - Google Patents

Description

  The present invention relates to a technique of an automatic assembly apparatus that automatically assembles a part onto a workpiece by a tool.

  Conventionally, automatic assembly apparatuses are known. For example, in an automobile factory, an automatic assembling apparatus that automatically assembles parts into a cylinder head of an engine is operating. Such automatic assembling devices include those that automatically tighten bolts onto the cylinder head with a clamping device, those that automatically press-fit a pipe into the cylinder head with a press-fitting device, or those that are automatically manufactured on the cylinder head with a stamping device. There are things that engrave numbers. Further, Patent Document 1 discloses a tightening and press-fitting device that can automatically perform fastening of a fastening member and press-fitting of a press-fitting member to an engine body with a simple configuration as an automatic assembly device in the same process. .

  However, in the above-described automatic assembly apparatus of an automobile factory, the assembly such as press-fitting, tightening, and engraving is performed by automatic assembly apparatuses having different configurations because the assembly methods are different. For example, in press-fitting and tightening, the reaction force acting on the cylinder head during press-fitting is larger than the reaction force acting on the cylinder head during tightening. Therefore, a support member that supports the reaction force is required at the time of press-fitting. That is, assembly by press fitting, tightening, engraving, etc. requires a process by each automatic assembly apparatus.

  Moreover, in the automatic assembly apparatus disclosed in Patent Document 1, it is not possible to perform fastening of the fastening member and press-fitting of the press-fitting member on the side surface of the engine body. Therefore, in order to perform the fastening of the fastening member and the press-fitting of the press-fitting member on the side surface of the engine body, it is necessary to perform fastening and press-fitting in further steps.

  As described above, performing assembling with an assembling apparatus in a large number of processes has a demerit that an assembling work space cannot be reduced in an automobile factory or the like.

JP 2001-030121 A

  The problem to be solved by the present invention is to provide an automatic assembly apparatus capable of integrating a plurality of processes.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  That is, in claim 1, an automatic assembly apparatus for automatically assembling a part to a workpiece by a tool, a jig for fixing the workpiece, a forward / backward movement apparatus for moving the jig in the front-rear direction, and the jig. A rotary movement device that rotates a tool around the front-rear direction, and supports the jig by bringing a support portion into close contact with the jig, or releases the jig by separating the support portion from the jig. A supporting device; a tool selecting device for arranging a plurality of the tools and selecting one tool to be assembled; a vertical movement device for moving the selected tool in the vertical direction with respect to the workpiece; And a left-right moving device that moves the tool in the up-down direction and the left-right direction perpendicular to the front-rear direction with respect to the workpiece.

  According to the automatic assembly apparatus of the present invention, a plurality of processes can be integrated.

The block diagram which showed the structure of the automatic assembly apparatus which concerns on embodiment of this invention. The schematic diagram which showed an example of the assembly | attachment by an automatic assembly | attachment apparatus similarly.

The automatic assembly apparatus 10 will be described with reference to FIG.
In the automatic assembly apparatus 10, each direction is defined according to a coordinate system including a front-rear direction, a left-right direction, and a vertical direction shown in the upper left of FIG.

  The automatic assembly apparatus 10 is an embodiment of the automatic assembly apparatus of the present invention. The automatic assembling apparatus 10 is an apparatus for automatically assembling a part onto a work by a tool. In the embodiment of the present invention, the tool is a press-fit tool, a tightening tool, or a stamping tool. In the embodiment of the present invention, the workpiece is a cylinder head W of the engine. Furthermore, in the embodiment of the present invention, the parts assembled to the work are bolts, pipes, plugs and the like.

  The automatic assembly apparatus 10 includes a machine base 11, frames 12 and 12, a jig unit 20, and a tool unit 60. The frames 12 and 12 are erected on the machine base 11. The jig unit 20 is disposed on the machine base 11. The tool unit 60 is supported by the frames 12 and 12 and is disposed above the jig unit 20.

  The jig unit 20 is a unit that fixes the cylinder head W so as to be movable in the front-rear direction (in the direction of arrow Y1 in the figure) and to be rotatable around the front-rear direction (in the direction of arrow YR in the figure). is there. The jig unit 20 includes a jig 21, a support device 30, a forward / backward movement device 40, and a rotational movement device 50.

  The jig 21 fixes the cylinder head W. The jig 21 is supported by the columns 22 and 22. The column 22 is erected on the machine base 11.

  The support device 30 is disposed below the jig 21 and between the support column 22 and the support column 22, and is erected on the machine base 11. The support device 30 is configured to move the support portion 31 in the vertical direction (the direction of the arrow Z2 in the drawing) by a servo mechanism. The servo mechanism includes a drive mechanism that moves up and down, a servo amplifier, and a servo motor. The servo amplifier is connected to a controller (not shown). The description of the details of the servo mechanism is omitted.

  The support device 30 is configured to support the bottom surface of the jig 21 from below by bringing the support portion 31 into close contact with the bottom surface of the jig 21 when the support portion 31 is raised. On the other hand, the support device 30 is configured to release the support of the jig 21 by the support portion 31 by separating the support portion 31 from the bottom surface of the jig 21 when the support portion 31 is lowered.

  The back-and-forth moving device 40 is disposed in the vicinity of the jig 21 and outside the support columns 22. The front-rear moving device 40 is configured to move the jig 21 in the front-rear direction (the direction of the arrow Y1 in the figure) by a servo mechanism. The servo mechanism includes a drive mechanism that moves back and forth, a servo amplifier, and a servo motor. The servo amplifier is connected to a controller (not shown).

  The rotary moving device 50 is disposed in the vicinity of the jig 21 and outside the front and rear moving devices 40 and 40. The rotational movement device 50 is configured to move the jig 21 in the rotational direction around the front-rear direction (the direction of the arrow YR in the drawing) by a servo mechanism. The servo mechanism includes a drive mechanism that rotates and moves, a servo amplifier, and a servo motor. The servo amplifier is connected to a controller (not shown).

  With such a configuration, the controller can move the cylinder head W fixed to the jig unit 20 back and forth by the back and forth moving device 40. Further, the controller can move (rotate) the cylinder head W fixed to the jig unit 20 in the rotational direction around the front-rear direction by the rotational movement device 50. Further, the controller can support the cylinder head W fixed to the jig unit 20 from below the jig 21 by the support device 30.

  The tool unit 60 is a unit that selects a tightening tool, a press-fitting tool, or a marking tool used for assembly and moves the selected tool in the vertical direction or the horizontal direction. The tool unit 60 includes a left / right moving device 70, up / down moving devices 80 and 80, and a tool selecting device 90. The left / right moving device 70, the up / down moving devices 80 and 80, and the tool selecting device 90 are integrally supported by the support plate 61.

  The left / right moving device 70 is disposed on the rear side of the center portion of the support plate 61. The left-right moving device 70 is configured to move the support plate 61 in the left-right direction (the direction of the arrow X1 in the drawing) along the rail 71 by a servo mechanism. The servo mechanism includes a drive mechanism that moves left and right, a servo amplifier, and a servo motor. The servo amplifier is connected to a controller (not shown).

  Two vertical movement devices 80 are arranged on the front side of the upper portion of the support plate 61. Each vertical movement device 80 is configured to move the tightening mechanism 81 and the press-fitting mechanism 82 in the vertical direction (the direction of the arrow Z1 in the drawing) by the servo mechanism. The servo mechanism includes a drive mechanism that moves up and down, a servo amplifier, and a servo motor. The servo amplifier is connected to a controller (not shown).

  The tightening tool includes a tightening mechanism 81 and a first socket 91, a second socket 92, or a third socket 93. The tightening mechanism 81 is configured to be tightened with a rotational torque by a motor.

  The press-fit tool is composed of a press-fit mechanism 82, a first press-fit tool 94, and a second press-fit tool 95. The marking tool includes a press-fitting mechanism 82 and a stamping tool 96. The press-fitting mechanism 82 is an electric cylinder that reciprocates by forward / reverse operation of the motor.

  The tool selection device 90 is disposed on the front side below the support plate 61. The tool selection device 90 is configured to move the tool box 99 in the left-right direction (the direction of the arrow X2 in the figure) by a servo mechanism. The servo mechanism includes a drive mechanism that moves up and down, a servo amplifier, and a servo motor. The servo amplifier is connected to a controller (not shown).

  The tool box 99 includes a first socket 91, a second socket 92, a third socket 93, a first press-fit tool 94, a second press-fit tool 95, and a marking tool 96. The tool box 99 supports the first socket 91, the second socket 92, the third socket 93, the first press-fit tool 94, the second press-fit tool 95, and the marking tool 96 at substantially equal intervals.

  The first socket 91, the second socket 92, and the third socket 93 are hexagon sockets for turning bolts having different diameters. Upper portions of the first socket 91, the second socket 92, and the third socket 93 are configured to be able to engage with the tightening mechanism 81.

  The first press-fit tool 94 and the second press-fit tool 95 are tools for pressing different parts. The first press-fitting tool 94, the second press-fitting tool 95, and the marking tool 96 are configured to be able to engage with the press-fitting mechanism 82.

  With this configuration, the controller can move the tool box 99 in the left-right direction by the tool selection device 90 and move the tool to be used directly below the tightening mechanism 81 or the press-fitting mechanism 82. Further, the controller can move the tightening mechanism 81 or the press-fitting mechanism 82 up and down by the vertical movement device 80, engage the tool to be used, and move it to the cylinder head W. Further, the controller can move the tool unit 60 in the left-right direction with respect to the cylinder head W by the left-right moving device 70.

  In the present embodiment, the tool is automatically exchanged by the tool selection device 90 and the vertical movement device 80, but the present invention is not limited to this. For example, a configuration in which the tool is manually replaced without using the tool selection device 90 may be used.

An example of assembly by the automatic assembly apparatus 10 will be described with reference to FIG.
FIG. 2 is a schematic view seen from the direction of arrow A in FIG. Moreover, in FIG. 2, it shows in steps toward FIG. 2 (A)-FIG.2 (D) about an example of the assembly | attachment by the automatic assembly apparatus 10. FIG. Note that, in the upper part of FIG. 2B, the front side and the rear side in the front-rear direction are shown.

  As shown in FIG. 2A, the controller moves the tool box 99 in the left-right direction by the tool selection device 90 and moves the first socket 91 to a position immediately below the tightening mechanism 81. Next, the controller moves the tightening mechanism 81 downward using the vertical movement device 80, engages the first socket 91 with the tightening mechanism 81, and moves it to the cylinder head W. Next, the controller moves the tightening mechanism 81 and the first socket 91 to the target assembly position by the forward / backward moving device 40 and the left / right moving device 70, and the bolt is assembled to the cylinder head W by the first socket 91. At this time, the support of the bottom surface of the jig 21 is released by the support device 30 of the jig 21. Detailed description of the supply of bolts is omitted.

  As shown in FIG. 2B, the controller moves the tightening mechanism 81 upward by using the vertical movement device 80 to support the first socket 91 on the tool box 99, so that the tightening mechanism 81 and the first socket 91 are connected to each other. Release the engagement. Next, the controller moves the jig 21 to the rear side in the front-rear direction by the front-rear moving device 40. Next, the controller rotates the jig 21 by 90 ° in the rotational direction around the front-rear direction so that the rear side surface of the cylinder head W faces the upper surface by the rotational movement device 50.

  As shown in FIG. 2C, the controller causes the support device 30 to bring the support portion 31 into close contact with the bottom surface of the jig 21 and supports the bottom surface of the jig 21 from below.

  As shown in FIG. 2D, the controller moves the tool box 99 in the left-right direction using the tool selection device 90, and moves the first press-fit tool 94 to just below the press-fit mechanism 82. Next, the controller moves the press-fitting mechanism 82 downward by the vertical movement device 80, engages the first press-fitting tool 94 with the press-fitting mechanism 82, and moves it to the cylinder head W. Next, the controller moves the target assembly position to the target assembly position by using the forward / backward movement device 40 and the left / right movement device 70, and the pipe is assembled to the cylinder head W by the first press-fitting tool 94. At this time, the jig 21 is supported by the support device 30 on the bottom surface of the jig 21. Detailed description of the pipe supply will be omitted.

  In addition, although FIG. 2 demonstrated as an example the assembly | attachment of the press-fit and clamping | tightening by the automatic assembly apparatus 10, it is not limited to this. For example, the controller moves the press-fitting mechanism 82 downward by the vertical movement device 80, engages the stamping tool 96 with the press-fitting mechanism 82, moves it to the cylinder head W, and stamps the manufacturing number on the cylinder head W. it can.

The effect of the automatic assembly apparatus 10 will be described.
According to the automatic assembly apparatus 10 of the present embodiment, a plurality of processes can be integrated.
That is, the support device 30 is configured to support the bottom surface of the jig 21 from below or release the support of the jig 21. Therefore, when the automatic assembly device 10 performs press-fitting or stamp assembly, the support device 30 supports the press-fitting or stamping reaction force, and when the automatic assembly device 10 performs tightening assembly, the support device 30 supports the reaction force. Can be canceled.

  Further, the rotational movement device 50 is configured to move the jig 21 in the rotational direction around the front-rear direction by a servo mechanism. Therefore, the side surface of the cylinder head W around the front-rear direction can be assembled by the tool unit 60 disposed on the upper surface.

  Further, the front-rear moving device 40 is configured to move the jig 21 in the front-rear direction by a servo mechanism. The left-right moving device 70 is configured to move the tool unit 60 in the left-right direction. Therefore, the assembly position of the cylinder head W can be freely changed.

DESCRIPTION OF SYMBOLS 10 Automatic assembly apparatus 20 Jig unit 30 Support apparatus 40 Forward / backward movement apparatus 50 Rotation movement apparatus 60 Tool unit 70 Left / right movement apparatus 80 Vertical movement apparatus 90 Tool selection apparatus

Claims (1)

An automatic assembly device that automatically assembles parts onto a workpiece using a tool,
A jig for fixing the workpiece;
A back-and-forth moving device for moving the jig in the front-rear direction;
A rotational movement device for rotating the jig around the front-rear direction;
A support device for supporting the jig by bringing a support portion into close contact with the jig, or releasing the jig by separating the support portion from the jig;
A tool selection device for arranging a plurality of the tools and selecting one tool to be assembled;
A vertical movement device for moving the selected tool in the vertical direction with respect to the workpiece;
A left-right moving device for moving the selected tool in the up-down direction and the left-right direction perpendicular to the front-rear direction with respect to the workpiece;
Comprising
Automatic assembly device.

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