JPH0631558A - Oil pan assembling device - Google Patents

Abstract

PURPOSE:To provide an oil pan assembling device which possesses the high general purpose performance which permits the easy change and increase of kinds. CONSTITUTION:Two pairs of photoelectric switches 10, nut runner 11, and an oil pan holding hand 12 are installed on the hand part 9 of a three-axis robot 8. The photoelectric switch 10 shifts to a prescribed position and discriminates (confirms) the kind of an oil screen 3. The nut runner 11 successively tightens two installation bolts 4 and fixes the oil screen 3 on a cylinder block. The oil pan holding hand 12 is opened and closed as shown by the arrow 26, and the oil pan 6 is transported and positioned on the cylinder block, and placed. In this case, in order to prevent the interference with the oil screen 3, the complicate movement in the three-axis direction becomes necessary. These movements are carried out by teaching the three-axis robot 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an oil pan assembling apparatus installed in an engine assembly line, and more particularly to an oil pan assembling apparatus which can easily be applied to an assembly line in which a plurality of models are mixed.

[0002]

2. Description of the Related Art Conventionally, various automatic assembling devices have been introduced into an engine assembly line, and an oil pan assembling device is one of them.

In the conventional oil pan assembling device, the oil pan gripping portion is provided at the tip portion (that is, the hand portion) of the triaxial movable portion.
Some have two nutrunners and four proximity switches and can accommodate four types of oil screens and eight types of oil pans. This device uses the oil pan gripping part to hold the oil pan at a predetermined position and conveys it to the vicinity of the cylinder block, the proximity switch detects (checks) the type of oil screen and tightens its mounting bolts. Work to place the oil pan on the cylinder block at the specified position.

The two nut runners simultaneously tighten two mounting bolts for the oil screen to complete the fixing.
The four proximity switches are arranged at positions where four types of oil screens having different shapes can be discriminated from each other, and by detecting the presence or absence of operation of the switches in proximity to only the predetermined type of oil screen, , It is possible to check whether the oil screen of the specified type is in the correct position. Further, in order to place the oil pan at a predetermined position on the cylinder block, it is necessary to pass an oil screen through a hole formed in the partition plate, and thus different complicated movements are required depending on the type of work. In order to respond to such an operation, the oil pan gripping portion is provided with a mechanism that combines an air cylinder and a cam, and realizes as many complicated movements as the types of the work pieces while holding the work pieces.

[0005]

However, it is difficult to increase the number of engine models that can be assembled on the same line or to change the model in the above-described conventional oil pan assembling device, In order to respond flexibly to future market needs, it is necessary to develop highly versatile equipment. That is, in order to increase the number of compatible models, it is necessary to add a complicated type of operation for mounting the oil pan, and there is a limit to the conventional mechanism that combines the air cylinder and the cam. In addition, a proximity switch for detecting the type of oil screen has to be added, which makes it difficult to secure an installation space and a reliable determination position.

Therefore, an object of the present invention is to provide a highly versatile oil pan assembling apparatus capable of easily changing and increasing the models that can be assembled on the same line.

[0007]

SUMMARY OF THE INVENTION The present invention is to solve the above-mentioned problems and is installed in an assembly line where a plurality of types of engines are mixed, and at least an oil screen type determination work and an oil screen mounting bolt tightening work are performed. ,
Also, in the oil pan assembling device that carries the oil pan and places it on the predetermined position of the cylinder block, the hand part of the three-axis robot that moves in the three X-, Y-, and Z-axis directions can be used depending on the model The oil pan with a photoelectric switch that moves to a preset position to identify the model of the oil screen, a nut line for tightening the oil screen mounting bolt equipped with a lifting means, and a claw that opens and closes left and right. An oil pan assembling device, characterized by being equipped with an oil pan gripping hand that grips and conveys.

[0008]

According to the above-mentioned means, since the photoelectric switch, the nut runner, and the oil pan gripping hand are equipped in the hand portion of the three-axis robot, each equipment can operate in the X, Y, Z directions taught to the robot. Become. Therefore, the number of models that can be supported is not limited by the number of switches, cam mechanisms, etc., unlike the conventional device, and it is possible to easily cope with the increase or change of models by changing the teaching. .

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an oil pan assembling apparatus according to the present invention will be described with reference to the drawings.

FIG. 8 is a perspective view showing an outline of a work stage in which the oil pan assembling apparatus according to the present invention is installed. A plurality of types of cylinder blocks 1 mounted on a dedicated table are sequentially conveyed by a line conveyor 2 (mixed flow). ) Is coming. At this work stage, as shown in FIG. 9, with respect to the upper surface side of the cylinder block 1 which is upside down from the completed engine,
After confirming the model of the oil screen 3 that is temporarily attached, tighten the two mounting bolts 4 to fix it in place, and transport the oil pan 6 in the oil pan transport unit 5 Work such as placing it in place is performed.

By the way, the oil pan assembling apparatus for carrying out the above-mentioned work is composed of the line conveyor 2 and the oil pan conveying section 5.
1 and 2 is attached to a hand portion (movable portion) 9 of the robot, which is attached to a frame 7 installed across the robot 7 and is movable in three axial directions of X axis, Y axis, and Z axis. As shown in, two sets of photoelectric switches 10 and one nutrunner 1
1, and an oil pan gripping hand 12 for gripping and transporting the oil pan 6 is provided.

The three-axis robot 8 has an X-axis 13 and a Y-axis 14.
On the XY movable part 15 which can move on the plane along the Z axis 1
A combination of Z-axis movable parts 17 that move up and down along 6
For example, a uniaxial slide unit may be added to the movable part of a biaxial robot called an aero stage to form a direct robot having a total of 3 axes.

A photoelectric switch 10 provided in the hand portion 9
Are attached to the lower ends of four brackets 18 hung on the X axis 13 and the Y axis 14 one by one, and function as a set of a light emitting section and a light receiving section that are coaxially opposed to each other. To do. The photoelectric switch 10 can be moved in three axial directions along with the operation of the hand portion 9, and therefore, different points are set in advance for each model, and the model of the oil screen 3 and It is possible to determine whether the temporary position is normal.

The nut runner 11 has a nut runner lifting unit 22 composed of its own lifting cylinder 19, a guide shaft 20, a guide block 21 and the like. With the operation of the nut runner lifting unit, the nut runner 11 reaches a position indicated by an imaginary line. Can descend. Also, the nutrunner 11 is
Since the hand unit 9 is equipped with the lifting unit 22, it is possible to move in the three axial directions of X, Y, and Z along with the operation of the hand unit 9. Therefore, if one nut runner is equipped. The two mounting bolts 4 can be tightened by sequentially moving. In addition, 11a is a drive part of the nut runner 11, 23 is a balancer cylinder (a rodless cylinder is used) built in the nut runner lifting unit 22.

The four oil pan gripping hands 12 are linked to a drive cylinder 24 by a link mechanism 25 (see FIG. 6).
Equipped with, and two arranged at an appropriate interval
As a group, they are opened and closed in the X-axis direction as shown by arrows 26.
These are all mounted on the hand unit 9, and can move in the three axial directions of X, Y, and Z along with the operation of the hand unit. Further, a hook-shaped claw 12a is provided at the lower end of each oil pan gripping hand 12 so that the oil pan gripping hand 12 can be hooked on the flange portion 6a of the oil pan 6 and conveyed. This nail 1
2a grips the oil pan 6 in the closed state (solid line in FIG. 1), and when the hand portion 9 rises in the Z-axis 16 direction in this state, the oil pan 6 is lifted upward, and the X, Y-axis 1
With the operation in the 3 and 14 directions, the oil is transferred from the oil pan transfer section 5 to a desired position (just above the cylinder block 1). Then, when the claw 12a is opened (imaginary line in FIG. 1), the claw 12a moves to the outside of the flange portion 6a, so that the oil pan 6 is released from being gripped and drops almost directly below. At this time, a positioning pin 27 is required to guide the falling position of the oil pan 6 so as not to shift its position.
Further, in order to ensure automation, the position shift detection sensor 2 that determines the presence or absence of position shift from the state of the positioning pin 27
8 is also required.

The movement of the hand portion 9 having such equipment is faithfully reproduced by teaching the three-axis robot 8 in advance. Therefore, if the movements according to the types of the oil screen 3 and the oil pan 6 are taught, the movements corresponding to the respective models are automatically input by inputting the data of the models conveyed by the line conveyor 2. Select to perform the work.

The operation of the oil pan assembling apparatus having the above-described structure will be described below in the order of the steps.

When the cylinder block 1 to be worked is conveyed to the line conveyor 2 and stopped at a predetermined position of the oil pan assembling apparatus, the oil screen temporarily attached first based on the input model data. The photoelectric switch 10 confirms that the model and position of 3 are correct.
As shown in phantom lines in FIG. 1, the oil screen 3 has different pipe shapes depending on the engine model. Therefore, a unique point is set for each model of the oil screen, and the photoelectric switch detects at this point. The hand unit 9 is moved based on teaching so that it can be performed. The photoelectric switch 10 thus moved to a predetermined point determines the model of the oil screen 3 from both directions of the X axis 13 and the Y axis 14. That is, if the model of the oil screen 3 and the temporary mounting position are normal, the light projected from the light projecting section of the photoelectric sensor 10 is blocked by the oil screen and the light receiving section cannot receive the light.
When neither axis can receive light, it is determined that there is no abnormality. However, when light is received by either one of the X and Y axes, it is determined to be abnormal, and an appropriate action is required by activating an alarm and calling an operator.

When the model discrimination result of the oil screen 3 is normal, then the mounting bolt 4 by the nut runner 11
Perform the tightening work of. In this work, the two mounting bolts 4 are sequentially tightened with one nut runner, and the hand portion 9 is also fixed based on the teaching.
After moving to the upper part, the lifting unit 22 and the driving unit 1
1a is operated to tighten one mounting bolt 4, and then the other mounting bolt 4 in the same procedure,
The fixing of the oil screen 3 to the cylinder block 1 is completed.

Next, the work of transporting the oil pan 6 and placing it on the cylinder block 1 at a predetermined position is started. The outline of this work is to grasp and lift the oil pan 6 from the oil pan transfer unit 5, transfer it to a position just above the cylinder block 1, pass the oil screen 3 through a hole in a partition plate (not shown), and then It is aligned with the block and is dropped, and each is performed by the movement of the hand unit 9 taught for each model.

The oil pans 6 are supplied from the oil pan transfer section 5 in the order corresponding to the model of the cylinder block 1 flowing through the line conveyor 2. In order to receive the supply of the oil pan 6, the hand portion 9 moves to the oil pan transport portion 5 and descends from above the oil pan at the foremost end with the oil pan gripping hand 12 open. When the drive cylinder 24 is actuated and the oil pan gripping hand 12 is closed after the hand portion 9 descends to a predetermined position, the claw 12a enters below the flange portion 6a and grips the oil pan 6.
When the hand portion 9 is lifted in this state, the oil pan 6 is lifted by the pawl 12a being caught by the flange portion 6a,
Furthermore, by moving in the X-axis 13 and Y-axis 14 directions,
It is conveyed to above the cylinder block 1.

The oil pan 6 thus conveyed passes through the hole so that the oil screen 3 fixed to the cylinder block 1 does not interfere with the partition plate, so that the oil pan 6 is lowered while making complicated movements in the three axial directions. . The movement of the hand portion 9 at this time is also taught in advance according to the model of the oil screen 3 and the oil pan 6. After passing the oil screen 3 through the hole, the flange portion 6a of the oil pan and the flange portion 1a of the cylinder block 1 are aligned with each other. This alignment is performed by the flanges 1a, 6
The oil pan gripping hand 12 with the positioning pin 27 hanging from the hand portion 9 inserted into the bolt holes of both flange portions
Open the oil pan 6 released from the grip of the claw 12a.
Is guided to the positioning pin 27 and falls, so that the oil pan 6 is accurately aligned and placed on the cylinder block 1. However, if there is a displacement between the two, the positioning pin 27 cannot be inserted into the bolt hole of the flange portion 1a and is pushed up, so this change is detected by the displacement detection sensor (proximity switch) 28 and an error is detected. Just show it. The position where the oil pan 6 is dropped is preferably lowered to such an extent that the lower end of the oil pan gripping hand 12 that opens and closes does not interfere with the cylinder block 1. The oil pan 6 has a flange coated with a sealant. Since it falls on the portion 1a relatively slowly like a parachute, no inconvenience will occur due to the impact when dropped.

When the placement of the oil pan 6 is completed in this way, the hand portion 9 rises so as to pull out the positioning pin 26, and a series of work is completed. Then, the cylinder block on which the oil screen 3 has been fixed and the oil pan 6 has been placed is conveyed to the next step by the line conveyor 2, and at the same time, the next cylinder block to be worked is the work of the oil pan assembling device. Is brought to the stage,
The above-mentioned work contents are repeated below. However, since the models of the cylinder block 1, the oil screen 3 and the oil pan 6 to be worked are different from each other, the details of the movement of the hand portion 9 are those taught according to each model, and are not always completely complete. Not a match. The models mixed in the line conveyor 2 can be discriminated by a method of inputting the sequence for preliminarily flowing into the control unit or by a proper means (for example, an identification mark is provided on a dedicated stand) before starting the work. For example, the work of the entire line may be taken into consideration, and the work may be appropriately selected or combined.

By the way, in the work stage in which the above-mentioned oil pan assembling device is installed, in order to effectively utilize the device and space, an oil screen type discrimination work,
Needless to say, the work other than the work of tightening the mounting bolts and the work of transporting and placing the oil pan may be performed. For example, bolt tightening of the crankshaft sprocket and oil pump sprocket can be performed.

[0025]

According to the above-described oil pan assembling apparatus of the present invention, since the necessary equipment is provided in the hand portion of the three-axis robot capable of teaching, adaptability and general purpose in an assembly line for mixing a plurality of models. This makes it easier to deal with changes and additions of models, and can reduce capital investment costs in the long run.

Further, there is an effect that the structure is simpler and the maintainability is improved as compared with the conventional device in which a complicated movement is performed by a cam or the like.

Furthermore, since the load on the hand portion is reduced by using a single nut runner or by incorporating a balancer cylinder, the drive source of the robot can be made smaller, and therefore the space and energy can be saved by downsizing the entire device. It is also an effective device.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of an oil pan assembling apparatus according to the present invention.

FIG. 2 is a left side view of FIG.

3 is a cross-sectional view taken along the line AA of FIG.

4 is a cross-sectional view taken along the line BB of FIG.

5 is a cross-sectional view taken along the line CC of FIG.

6 is a cross-sectional view taken along the line DD of FIG.

7 is a cross-sectional view taken along the line EE of FIG.

8 is a perspective view showing an outline of a work stage in which the oil pan assembling apparatus of FIG. 1 is installed.

FIG. 9 is an engine exploded perspective view for explaining an oil pan assembling work.

[Explanation of Codes] 1 Cylinder block 3 Oil screen 4 Mounting bolt 6 Oil pan 8 3-axis robot 9 Hand part 10 Lightning switch 11 Nut runner 12 Oil pan gripping hand 12a Claw 13 X-axis 14 Y-axis 15 XY movable part 16 Z-axis 17 Z-axis movable part 22 Nut runner lifting unit 23 Balancer unit 24 Drive cylinder 25 Link mechanism 27 Positioning pin 28 Position shift detection sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Yuichi Hasaki Yuichi Hasaki, No. 1 Nakashiniri, Hashime-cho, Okazaki City, Aichi Prefecture Mitsubishi Motors Engineering Co., Ltd. Okazaki Plant

Claims (1)

[Claims] 1. An assembly line for mixing a plurality of models of engines, at least an oil screen type determination work, an oil screen mounting bolt tightening work, and an oil pan are transported and placed at a predetermined position on a cylinder block. In the oil pan assembly device that performs the work,
A photoelectric switch that moves to a position preset according to the model and determines the model of the oil screen, in a hand portion of a three-axis robot that moves in three X, Y, and Z directions.
An oil characterized by being equipped with a nut line for tightening the oil screen mounting bolt equipped with a lifting means, and an oil pan gripping hand for gripping and transporting the oil pan with a claw that opens and closes left and right. Bread assembly device.