JPH0732223A - Workpiece assembling device - Google Patents

Abstract

PURPOSE:To facilitate the grip/release of parts to be built in a workpiece and pitch changeover by changeover-operating a lined-up chuck part, formed of plural chucks, simultaneously into a grip position and a release position by a chuck changeover means. CONSTITUTION:An elevating base is lowered and held into a receiving position and a built-in position in regular succession from a retreat position by a lifter 121. A lined-up chuck part 95 at the lower part of a grip frame supported at the elevating base is changeover-operated simultaneously into a grip position and a release position by a chuck changeover means 96, and a pitch changeover means 97 displaces one side and the other side of a pair of mutually adjacent chucks 98 relatively in the pitch direction through a chuck supporting frame 104 on one side and a chuck supporting frame on the other side so as to changeover-operate them in the pitch direction. A control means then lowers the grip frame so as to grip parts by the lined-up chuck part 95 and to insert the parts fittingly into the parts built-in holes of a workpiece in an assembly position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work assembling apparatus for sequentially assembling a work reaching a predetermined assembling position with parts according to the type of the work, and more particularly to a work assembling means provided near the assembling position. The present invention relates to a work assembling apparatus that grips a plurality of parts with a plurality of chucks and assembles them into a work.

[0002]

2. Description of the Related Art Conventionally, in an assembling work for assembling predetermined parts to a work, the works successively supplied by a conveying means are continuously set at an assembling position for a certain assembling work time. Meanwhile, the assembly work is performed by an assembly robot or the like. In this case, the assembly robot receives the parts sequentially supplied from the part supply device side at the part receiving position near the assembly position and assembles the part to the work at the assembly position. Among the work assembling apparatuses used in this way, an assembling apparatus using a chuck is widely used, in which a plurality of parts are simultaneously gripped by a plurality of chucks at a part receiving position and the work is assembled into a work at the assembling position.

For example, in a valve assembly apparatus in which an intake valve and an exhaust valve are incorporated in a cylinder head, a plurality of intake valves and exhaust valves corresponding to the number of cylinders in the cylinder head are incorporated in the cylinder head at the same time. in this case,
The valve assembly device is equipped with a chuck row consisting of a plurality of chucks corresponding to a plurality of intake valves and exhaust valves, and controls switching of these chuck rows between a gripping position and a releasing position,
At the parts receiving position, a plurality of intake valves and exhaust valves are gripped, and a plurality of intake valve and exhaust valve parts are incorporated into the cylinder head at the assembly position.

[0004]

The chuck row of the valve assembling apparatus comprises a plurality of chucks, and each chuck holds (clamps) a valve which is a part.
It can be switched to the state of and release (unclamp),
The switching drive mechanism and the sensor for confirming the switching operation are mounted on each chuck. Therefore, in a device with a large number of chucks, the number of air pipes and wirings for the switching drive mechanism and the sensor for confirming the switching operation increases, and these pipes and wirings easily interfere with each other. There is also a problem that the layout tends to cause a problem, the device becomes complicated, and the device itself becomes large.

Further, in the chuck row of the valve assembling apparatus, the bases of a plurality of chucks are fixed to the frame portion of the lifting table, and the mutual intervals of the chucks cannot be adjusted, so that a single work piece can be assembled. It could only be used, and it was a problem. An object of the present invention is to provide a work assembling apparatus that can be made compact and can handle various kinds of works.

[0006]

In order to achieve the above-mentioned object, the present invention provides a work table on which a work in which a part-installing hole for accommodating a plurality of parts is formed is placed at an assembly position, and the above-mentioned assembly. A vertically movable base frame near the position, which is slidably supported, is lifted by a lifter from a retracted position to a receiving position and an assembling position, and is held slidably. A gripping frame that is selectively switched between an upper position and a lower position by a gripping lifter and held, and a plurality of chucks that are attached to the lower part of the gripping frame and that can grip the parts, and a pair of chucks adjacent to each other are sequentially arranged. A plurality of row-shaped chucks arranged in a line, chuck switching means for simultaneously switching the chucks of the row-shaped chucks between a gripping position and a releasing position, and a chucking switch mounted on the lower part of the gripping frame. In addition, each of the chucks of the row-shaped chuck section is divided into a pair of adjacent ones of the chucks, one side and the other side, and both groups are supported so as to be relatively displaceable in the pitch direction. A support frame, a pitch switching unit that is attached to the lower portion of the gripping frame, and that switches and operates the one side chuck support frame and the other side chuck support frame in the pitch direction, and holds the lifting platform at the receiving position to lower the gripping frame. When holding the parts, the above-mentioned row chucks hold the parts, and when holding the lifting table at the assembly position and the holding frame at the lower position, the above-mentioned row chucks insert the parts into the assembly position. And a control means for controlling the insertion into the hole.

[0007]

The lifter sequentially lowers and holds the lift table from the retracted position to the receiving position and the assembling position, and the row-shaped chucks below the gripping frame supported by the lifter are simultaneously gripped and released by the chuck switching means. The pitch switching means relatively shifts one side and the other side of a pair of adjacent chucks in the pitch direction through the one side chuck support frame and the other side chuck support frame to perform the switching operation in the pitch direction. Since the control means grips the part by the row-shaped chuck portion and inserts the part into the part mounting hole of the work at the assembling position, it is possible to easily release the grip of the part to be mounted on the work and switch the pitch.

[0008]

FIG. 1 shows a work assembling apparatus as an embodiment of the present invention. This work assembling apparatus is composed of a valve assembling device 2 provided on an assembling line of an engine cylinder head 1 and a work table 130 for mounting the cylinder head 1 at an assembling position W facing the assembling device 2. It
Here, the cylinder head 1 which is the work is conveyed by the conveyor 5 of the cylinder head assembly line and reaches the assembly facing position W1 facing the work area of the valve assembling device 2,
Further, an assembly position W facing the same position and separated from the conveyor 5
Be transported to. The intake valve 3 and the exhaust valve 4 which are parts at the assembly position W are configured to be incorporated by the valve assembling device 2.

First, a parts supply device for supplying parts to the work assembly device at the delivery position F3 will be described. This parts supply device includes a pallet transfer device 7 for sequentially transferring a pallet 6 on which parts (intake valve 3 and exhaust valve 4) are placed to a part supply position F1 near the transfer position F3, and a part supply position F1 Position F3
A temporary placement table 8 provided at a temporary placement position F2, a first part supply means 9 for supplying the parts on the pallet at the parts supply position F1 to the temporary placement table 8, and a temporary placement table 8
Second part supply means 10 for conveying the upper parts to the delivery position F3, and a main controller 26 as a control means
With.

As shown in FIGS. 3 to 6, the pallet transfer device 7 is provided with a conveyor base frame 12, on which upper and lower pallet conveyors 111 and 112 are vertically supported at a predetermined interval. A pallet lifter 13 is supported on the common end side of the. The upper and lower pallet conveyors 111 and 112 are well-known roller conveyors,
On the upper pallet conveyor 111, the pallet 6 accommodating the intake valve 3 and the pallet 6 accommodating the exhaust valve 4 are alternately conveyed from a part carrying-in side (not shown) in a predetermined conveying order. The lower pallet conveyor 112 is arranged in the lower right direction, and allows the empty pallet 6 to be discharged by its own weight.

The pallet lifter 13 connects the pair of left and right vertical rails 14 projecting from the left and right ends (upper and lower ends in FIG. 5) of the base frame 12 and the upper portions of the pair of left and right vertical rails 14 to each other. Left and right horizontal bar 17
And move up and down along each vertical rail 14 and
A movable table 15 on which two pallets 6 are placed side by side, an elevating cylinder 16 connected to the bottom of the movable table 15 and supported by a base frame 12, and a central position and an entrance / exit side (right side in FIG. 6) of the movable table 15, respectively. A central movable stopper 18 and an end movable stopper 19 which are provided to regulate the movement of the front and rear pallets 6, a fixed stopper 20 at the left end of the movable base 15, and a front and rear pallet sensor 21, which detects the presence or absence of the front and rear pallets 6, 22, vertical movable table sensors 23 and 24 supported by one vertical rail 14 and detecting whether or not the movable table 15 is at the upper position H1 and the lower position H2, and a lifter control for vertically controlling the lifting cylinder 16. Means 25 are provided.

As shown in FIG. 5, the movable table 15 includes a frame 1
51, a roller 152 pivotally supported on the peripheral edge of the frame 151 and in roller contact with each vertical rail 14, a pallet roller 153 pivotally supported between the frame 151 and capable of placing a pallet, and a central plate. And 29. The central movable stopper 18 and the end movable stopper 19 can be selectively switched by the rotary actuator 27 between the retracted position S1 and the locking position S2 that regulates the displacement of the front and rear two pallets 6, respectively. Is performed by the lifter control means 25. In FIG. 6, reference numeral 28 denotes a linear shaft whose upper end is coupled to the central plate 29, and the linear shaft is supported by the base frame 12 via a linear bush 30 and regulates the displacement of the movable table 15. .

When the lifter control means 25 receives a lift command from the main controller 26 of the parts supply device, it drives the lift cylinder 16 according to the lift signal to move the movable table to the target upper position H1 or lower target position H2. Can be switched and held. Further, the lifter control means 25 includes a parts sensor (not shown) for detecting the presence or absence of each part of the front and rear pallets, and can output the remaining information of the parts obtained by the output of the sensor to the main controller 26. 7 to 1
The first part supplying means 9 shown at 0 receives the parts at the parts supplying position F1 and supplies the parts to the temporary placing table 8 arranged at the temporary placing position F2.

The first part supplying means 9 has a chuck part 40 capable of gripping and releasing parts, an elevating part 41 for supporting the chuck part 40 up and down, and an elevating part 41 around a vertical rotation center line a. The rotor part 42 to be rotated and the X part to move the rotor part 42 in the XY axis directions along the horizontal plane (the X axis direction is shown in FIG. 2 and the Y axis direction is shown in FIG. 7).
The Y robot 43 and the first part supply control means 44 for driving and controlling each of these parts are provided. XY robot 43 is X
A sliding block 45 which is slidable in the axial direction and the Y-axis direction and in which the rotor portion 42 is supported in a suspended state, and a drive actuator (not shown) that drives the sliding block 45 in the X-axis direction and the Y-axis direction. , And a control unit 46 for controlling a drive actuator (not shown). The control unit 46 can switch and control the sliding block 45 to the target position in the X-axis direction and the Y-axis direction according to the position command signal from the first part supply control means 44.

The rotor portion 42 has a central shaft 47 and a bracket 50 integrally connected to a sliding block 45, and a central shaft 47.
And a knuckle plate 49 integral with the outer cylinder and a cylinder support plate 51 integral with the bracket 50, and a knuckle plate 49.
One rotor end cylinder 52 that is pin-coupled to one rotation end and the cylinder support plate 51, and the vertical plate 5 that is integrally coupled to the other rotation end of the knuckle plate 49.
3 and a first part supply control means 44 for driving and controlling the rotary rotor cylinder 52. When the rotor cylinder 52 is in the protruding position (the position shown by the solid line in FIG. 8), the vertical plate 53 can be held at the reference position B1 (see FIG. 18) as shown in FIG. 6, and the cylinder 52 shrinks. When it is in the position, the vertical plate 53 is moved to the reference position B as shown in FIG.
It is held at the receiving position B2 (see FIG. 18) which is the direction perpendicular to 1.

The elevating part 41 includes a pair of left and right elevating actuators 411 and 412 supported by a vertically oriented plate 53, a pair of elevating frames 54 that are vertically moved by the left and right pair of elevating actuators 411 and 412, and each elevating frame 54. To the upper position h1
(See FIG. 7), a return spring 55, a position sensor 56 that outputs position information of the elevating frame 54, and a first part supply control unit 44 as a control unit that drives and controls the elevating actuators 411 and 412. . Each of the lifting actuators 411 and 412 is composed of an air cylinder, and the lifting / lowering frame 54 is received and discharged at a receiving position h2 below the upper position h1 (see FIG. See)). Here, the elevating frame 54 on the side of one elevating actuator 411 is controlled to elevate when facing the eight intake valves 3, and the elevating frame 54 on the side of the other elevating actuator 412 is controlled.
Are opposed to the eight exhaust valves 4 and are controlled up and down.

Here, both chuck portions 40 have substantially the same structure, and here, only the chuck portion 40 facing one intake valve 3 will be described with reference to FIGS. 9 and 10. Here, three U-shaped brackets 58 are integrally coupled to each elevating frame 54, two chucks 57 adjacent to each other are supported on each bracket 58, and the elevating frames 54 have a total of 6 pieces.
Two chucks 57 are supported. As shown in FIG.
One bracket 58 supports two chucks 57 (one of which is partially omitted), and one compact air cylinder 59 for simultaneously gripping both chucks 57.
And the chuck drive piston 60 is supported. A pair of hollow chuck driving shafts 62 are connected to the lower end of the chuck driving piston 60 via a plate 61, and a pressing shaft 63 is coaxially slidably inserted into the pressing shaft 63. The pressing shaft 63 includes a spring 64. Is urged downward by the chuck drive shaft 62.

A dog 65 is integrally connected to the upper end of the pressing shaft 63. Four (only two are shown in FIG. 10) pivotal support members 66 that are integrally coupled to the bracket 58 are formed to extend downward on the outer peripheral portion of the chuck drive shaft 62 on the lower end side. Are arranged in the radial direction with respect to the chuck center line c. Each pivot member 66 rotatably supports a pawl 68 via a lateral pin 67. Each of the four claws 68 has its own chuck center line c.
Vertical convex portions 681 and 682 are formed on the side surfaces, and a cam 621 at the lower portion of the chuck drive shaft 62 is provided so as to be slidably contacted thereto. The pressing shaft 63 is urged downward by the spring 64 from the chuck drive shaft 62, and when the intake valve 3 comes into contact with the lower end of the pressing shaft 63, wobbling of the valve can be prevented.
Here, reference numeral 69 in FIG. 7 indicates a ring spring, and each claw 6
8 is pressed and urged toward the chuck center line c. Similarly code 7
Reference numeral 0 indicates a chuck sensor including a proximity switch, which obtains switching information of the chuck 57.

It is assumed that the compact air cylinders 59 are switched by the air supply / discharge switching control of the air supply pipe system (not shown) by the first part supply control means 44. In this case, when the cam 621 of the chuck drive shaft is at the upper position d1 shown by the solid line in FIG.
21 is pressed, the claw 68 is held at the gripping position, the intake valve 3 can be gripped, and when the cam 621 is at the lower position d2 indicated by the two-dot chain line, the lower convex portion 681 is pressed by the cam 621,
The pawl 68 is switched so as to be held in the release position.
As shown in FIG. 2, the temporary placing table 8 is the second part supply means 1
It is supported by 0, and thereby the parts on it are transported from the temporary placement position F2 to the vicinity of the assembly position E. The second part supply means 10 includes an air cylinder 72 supported by a base frame 71,
A rail 73 for guiding the temporary placing table 8 and an air cylinder control means 74 connected to the main controller 26. When the air cylinder control means 74 receives the drive command signal, the air cylinder 72 is driven by switching the air supply / discharge of an air supply pipe system (not shown) to move the temporary placing table 8 from the temporary placing position F2 to the receiving position F3. It can be controlled to switch to.

As shown in FIGS. 11 to 12, the temporary placing table 8 is integrally connected to the piston of the air cylinder 72 and is provided with left and right sliding vertical frames 75 and a connecting frame 76 which are slidably supported by the rails 73. A pair of horizontal shafts 77 integrally mounted between the left and right sliding vertical frames 76 and arranged in parallel with each other, and a plurality of valve receivers 78 slidably supported by the pair of horizontal shafts 77.
And a pair of pitch regulating plates 79 locked to the front and rear ends of each of the valve receivers 78. Reference numeral 80 in FIGS. 11 and 12 indicates a left and right vertical bracket integrally connected to the immovable base frame, and the left and right pitch switching actuators 81 and 82 for pitch switching are supported at the same portion.

Eight intake valves 3 and exhaust valves 4 can be mounted in series on the temporary holder 8, and eight valve receivers 78 supported by a pair of horizontal shafts 77 are provided here.
Valve accommodation holes 83 and 84 for the intake valve 3 and the exhaust valve 4 are formed at the left and right ends of the valve receivers 78, respectively. Here, in FIGS. 11 and 12, one of the eight valve receivers 78 on the left end is fixed to the pair of horizontal shafts 77, and the other is supported so as to be relatively slidable. The second, fourth, sixth, and eighth valve receivers 78 from the left are springs 129 between them.
Are urged away from each other by arranging
Of the eight, the third, fifth and seventh from the left are springs 1 between each other.
29 are arranged and they are urged in the directions away from each other. In addition, reference numeral 128 is a pair of valve receivers 78 that sandwich the spring 129.
The through holes formed in the other valve receiver 78 sandwiched between the two are shown, and this prevents interference between each spring 129 and the other valve receiver 78.

The pitch regulating plate 79, as shown in FIG.
An elongated hole 127 into which a pin at the end of the valve receiver 78 is slidably fitted is formed at a portion facing the end of each valve receiver 78. In addition,
In FIG. 11, the fourth valve receiver 78 from the left is joined to the pitch regulating plate 79 without displacement. As shown in FIG. 11, the elongated holes 127 have different widths.
It is possible to lock the valve receivers 78 so that they are held at the large pitch position indicated by the solid line in FIG. 1 and to hold the valve receivers 78 at the small pitch position where they are brought closer to the left end to eliminate the gap between them and join them. And The temporary table 8 holds the large pitch position when the left and right pitch switching actuators 81 and 82 are off, and can switch to the small pitch position when the left and right pitch switching actuators 81 and 82 are on. The control is performed by the main controller 26.

A valve sensor 85 for detecting whether or not the intake valve 3 and the exhaust valve 4 are set in the receiving holes 83 and 84 is provided near the receiving block 77. The valve detection signal of this sensor is It is output to the main controller 26. As shown in FIGS. 1 and 2, the valve incorporating device 2 incorporates the parts (the intake valve 3 and the exhaust valve 4) on the temporary placing table 8 at the receiving position F3 into the work (the cylinder head 1) at the assembling position W.

As shown in FIGS. 13 to 15, the valve assembling device 2 includes an intake valve assembling portion 85 in which eight intake valves 3 are incorporated, an exhaust valve assembling portion 86 in which eight exhaust valves 4 are incorporated, and both of them. Lifting platform 87 for supporting the parts, and lifting platform 8
A lift cylinder 89 as a lifter for moving the 7 up and down with respect to the base 88 and a valve built-in control means 90 for controlling each of these air cylinders are provided. Here, the lift cylinder 89 is drive-controlled by the valve assembling control means 90 in a timely manner, and as shown in FIG. 1, the lift table 87 is moved to the assembling position E, the receiving position E1 above it, and the retreat position E2 above it. Can be switched to and held. Here, both the intake valve built-in portion 85 and the exhaust valve built-in portion 86 are supported so as to be vertically movable with respect to the lift base 87, and here, each pair of rails 91, 91
The intake-side grip frame 92 and the exhaust-side grip frame 93 of the intake valve built-in portion 85 and the exhaust valve built-in portion 86 are slidably supported on the lift table 8 by the grip lifter 121.
7 is selectively switched between the upper position and the lower position and is held.

The intake-side gripping frame 92 and the exhaust-side gripping frame 93 are provided with eight chucks 98 for gripping the intake valve 3 and eight chucks 98 for gripping the exhaust valve 4, respectively. The intake valve incorporating portion 85 and the exhaust valve incorporating portion 86 have the same configuration, and the intake valve incorporating portion 85 will be mainly described here. The suction-side gripping frame 92 has a row-shaped chuck section 95 in which four pairs of chucks 98 adjacent to each other are sequentially arranged in a row, and the chucks of the row-shaped chuck section 95 are simultaneously switched to a gripping position and a releasing position. The chuck driving unit 96 as a chuck switching unit, and the chucks 95 of the row-shaped chuck unit 95 are adjacent to each other on one side (first, third, fifth and seventh from the left side in FIG. 13) and the other side. (From left side in FIG. 13, 2, 4, 6, 8
And the pitch direction (Fig. 1).
One side chuck support frame 104 and the other side chuck support frame 105 that are supported so as to be relatively displaceable in the left-right direction in FIG.
And a pitch switching drive unit 97 as pitch switching means for switching the one side chuck support frame 104 and the other side chuck support frame 105 in the pitch direction.

The row-shaped chuck portion 95 at the lower end of the suction-side gripping frame 92 is provided with chucks 98 for gripping a total of eight intake valves 3 from the end, and each pair of chucks 98 has a distance (pitch p) between them. Is supported so that it can be increased or decreased. That is,
In FIG. 13, a total of four chucks 98 (the first, third, fifth, and seventh from the left side in FIG. 13) arranged at the leftmost chuck and every other chuck are arranged next to the leftmost chuck. And a total of four chucks 98 (every other one from the left side in FIG.
The fourth, sixth, and eighth pieces are supported by the one-side chuck support frame 104 and the other-side chuck support frame 105 so that they can relatively approach and separate. The chuck support frames 104 and 105 can relatively slide in the pitch direction by the pitch switching rail 103 (see FIG. 14), and the upper ends 99 and 100 (see FIG. 13) of both are connected to the pitch switching drive unit 97. Accordingly, the pitch p between each two chucks 98 is adjusted to be increased or decreased.
Here, the pitch switching drive unit 97 includes a pitch switching actuator 101 arranged between the upper end portions 99 and 100, and a pitch regulating unit 1 that regulates the pitch p of the upper end portions 99 and 100.
02, and the pitch switching drive unit 97 is switched and controlled by the valve built-in control means 90.

As shown in FIGS. 13 and 14, each chuck 98 for holding the intake valve 3 has a chuck support frame 10 as shown in FIG.
A chuck base 106 supported by a part of 4, 105;
The pin 1 is attached to the bifurcated lower end 106 ′ of the chuck base 106.
A pair of claws 108 pivotally supported via 07 and a pair of claws 1
A pair of return springs 110 arranged between the upper end of each 08 and the bush 109 integrated with the chuck base 106;
And a pressing shaft 111 capable of preventing the valve from wobbling, which is slidably fitted in the bush 109 and gripped by a pair of claws. The pressing means 112 supported by the intake side grip frame 92 is connected to the upper end of the pressing shaft 111. The pressing means 112 here always applies the elastic force of a spring (not shown) to the upper end of the pressing shaft 111, and even if the pressing shaft 111 side is inclined by a predetermined amount with respect to the pressing means 112, the elastic force of the spring is applied to the pressing shaft 111. It is configured so that it can be added to the upper end.

A chuck drive unit 96 is provided below the chuck support frames 104 and 105 supported by the intake side gripping frame 92. The chuck driving section 96 is provided on the upper ends of the pair of claws 108 of each chuck 98, and is provided on the cam shaft 11 opposite to the upper end.
3, a roller cam 114 that is pivotally supported by the cam shaft 113, faces the upper ends of a pair of claws 108 of each chuck 98, and can press the same, and retracts each roller cam 114 at the same time via the cam plate 113 ( 13 and a release position e2 indicated by a two-dot chain line, the cam shaft moving actuator 115 is composed of an air cylinder. Here each chuck 98
A protrusion (not shown) is formed on the upper ends of the pair of claws 108. When the protrusion is pressed by the roller cam 114, the pair of return springs 110 are compressed together, and the pair of claws 108 rotate around the pin 107. The gripping position shown by the solid line in FIG. 14 is switched to the release position shown by the chain double-dashed line. Switching control of the cam shaft moving actuator 115 and the like is performed by the valve built-in control means 90.

The cylinder head 1 conveyed to the assembly facing position W1 by the conveyor 5 of the cylinder head assembly line comprises four cylinders (not shown). As shown in FIG. 2, the cylinder head 1 is provided with intake valves 3 and exhaust valves 4 each in four cylinders (not shown).
Each of the valve mounting holes V to be incorporated therein is formed in the vertical direction, and the intake valve 3 is inserted into each of the valve mounting holes V.
And 8 exhaust valves 4 at the same time, and valve assembling device 2
Configured to be incorporated by. The cylinder head 1 that has reached the assembly facing position W1 by the conveyor 5
Are mounted by the work table 130 at the assembly position W facing the same position.

As shown in FIGS. 1, 16 and 17, the work table 130 includes a pair of bases 131 fixed to the base.
A swing base 132 pivotally supported by both bases via a pivot 136.
And a rotary shaft 135 pivotally supported at the end of the rocking base 132,
A pinion gear 134 that is integrally coupled to the rotating shaft 135 and that meshes with a rack 133 supported by a guide cylinder 139 on the swing base 132, and a piston 1 that is integral with the rack 133.
A rotation cylinder 137 having a rotation shaft 135 and a rotation shaft 135.
And the assembly facing position W on the conveyor 5 side
The first position Q1 for receiving the cylinder head 1 of No. 1 and the grip arm 140 for gripping the cylinder head 1
8 and a pedestal 141 that pivots to a second position Q2 that abuts
A movable pin 144 which is attached to the end of the pedestal 141 to regulate the displacement of the cylinder head 1 and which is urged by a spring (not shown) in the locking direction; The direction switching cylinder 143 in which the pin is connected to the bracket 142 at the swing end of the swing base 132, and the rotor that is supported by the swing base 132 and that holds the cylinder head 1 on the receiving base 141 that has reached the second position Q2. A clamp 146, a rotation cylinder 137, a direction switching cylinder 143, and a work table control means 145 for driving and controlling the rotor clamp 146 are provided.

As shown in FIG. 17, the cylinder head 1 conveyed by the conveyor 5 is sent between the pedestal 141 at the first position Q1 and the gripping arm 140 and locked by the movable pin 144. When the work control means 145 detects the work, it drives the rotation cylinder 137 to move to the second position Q.
Place the work on the 2nd position, and place the rotor clamp 146
Is driven to clamp the cylinder head 1 which is a work, and the cylinder head 1 is held at the assembly position W. At this time, one valve mounting hole V of the cylinder head 1 (at the position of the chain double-dashed line 1a in FIG. 16) is provided in the valve mounting device 2
Positioned directly below the valve mounting hole V, one valve mounting hole V is held vertically, and during this state, one valve is installed in the valve assembling device 2
Incorporated by. Further, thereafter, the work table control means 145 drives the direction switching cylinder 143 to rock the cylinder head 1 together with the rocking table 132 and the receiving table 141. As a result, the tilted cylinder head 1 (see FIG.
The other valve mounting hole V on the two-dot chain line 1b in FIG. 6) is held vertically, and during this state, the other valve is installed by the valve assembling device 2.

The main controller 26 is composed of a well-known microcomputer, and is provided with a lifter control means 25 of the pallet carrier 7, a first part supply means 44 of a first part supply means 44 and an XY robot 43, and a second part supply means. The air cylinder control means 74 of 10, the valve incorporation control means 90 of the valve incorporation device 2 and the work table control means 145 are connected to each other so that signals can be exchanged. Here, the main controller 26 holds the lifting platform 87 at the receiving position E1, and the pair of grip frames 92,
When holding 93 in the lower position, a pair of row-shaped chuck portions 98
Parts to grip the lifting table 87 at the built-in position E and hold the pair of gripping frames 92, 93 at the lower position by the pair of column-shaped chuck portions 98 for intake / exhaust valves 3, 4.
Has a function of controlling so as to be inserted into the valve mounting hole V at the assembly position W.

The operation of the work assembling apparatus and the parts supply device attached thereto will be described with reference to the parts supply process explanatory diagram of FIG. Main controller 26, lifter control means 25, first part supply control means 44 and X
The Y robot 43, the air cylinder control means 74 of the second part supply means 10, the valve built-in control means 90, and the work platform control means 145 start driving.

As a result, the lifter control means 25 judges the presence / absence of parts in the front / rear pallet 6, and when there is no part, the empty pallet is eliminated, and the front / rear pallet 6 to stand by next.
The replacement control of the palette is performed to replace the. First
Upon receiving the drive output, the parts supply control means 44 and the XY robot 43 judge the mounting positions of the six parts of the front and rear pallets 6, hold the eight intake valves 3 at the same positions, and then operate the eight exhaust valves 4. The gripping is performed, and these are conveyed by using the XY robot 43 and both chuck portions 40, and eight intake valves 3 and eight exhaust valves 4 are placed in the accommodation holes 83 and 84 of the temporary placing table 8. That is, in FIG. 18, the intake valve 3 and the exhaust valve 4 of the m part and the n part are both chuck parts 4
It is grasped by 0 and placed on the temporary placing table 8. The air cylinder control means 74 of the second parts supply means 10 moves the temporary placing table 8 at the temporary placing position F2 to the receiving position F3 in response to a drive command from the main controller 26.
The receiving position F3 is set at a position facing the lift table 87 at the receiving position E1. Main controller 2
6 determines whether or not a work is placed at the assembly position W in response to a signal from the work platform control means 145, waits for the work to be placed, and then issues an incorporation command to the valve incorporation control means 90. It will be. Before the work is placed on the assembly position W, the work table control unit 145 controls as follows.

That is, in the work table control means 145, the cylinder head 1 is conveyed by the conveyor 5, and the first position Q1
When the cylinder head 1 reaches the pedestal 141, the cylinder head 1 is inverted and placed at the second position Q2 by the gripping arm 140, and the cylinder head 1 is clamped by the rotor clamp 146 and held at the assembly position W. After that, an assembling command is issued to the valve assembling control means 90, and here the pitch p according to the type information of the cylinder head 1 at the assembling position W is judged. Next, it is judged whether or not the current pitch state is the pitch p according to the type information of the cylinder head 1, and if they are different, the pitch switching actuator 10 of the pitch switching driving unit 97.
1 is driven and switched to the target pitch p. Next, there is no problem if the pitch of the temporary placing table 8 at the large pitch position matches the pitch p according to the type information of the cylinder head 1, but otherwise, if it is necessary to switch to the small pitch position, the main The controller 26 turns on the left and right pitch switching actuators 81 and 82 to switch from the large pitch position to the small pitch position. As a result, the distance between the adjacent valves of the intake valve 3 and the exhaust valve 4 of the temporary table 8 is narrowed, and the pitch p of the row-shaped chuck portions 95 of the intake valve assembling portion 85 and the exhaust valve assembling portion 86 is reduced.
It will be possible to switch to match with.

After that, the intake valve assembling portion 85 and the exhaust valve assembling portion 86 are lowered from the retracted position E2 to the receiving position E1, and the chuck driving portions 96 of both valve assembling portions release the eight chucks 98. , And then the gripping lifter 121 is driven to lower each of the eight chucks 98 from the upper position to the lower position, and then each of the eight chucks 98 is simultaneously switched to the gripping position, and further, each of the eight chucks 98.
Move up to the upper position. After that, the valve mounting control means 90 detects that the temporary placing table 8 at the receiving position F3 has the temporary placing position F2.
When retracted to, the intake valve assembling portion 85 and the exhaust valve assembling portion 86 are lowered from the receiving position E1 to the assembling position E.

At this time, one valve mounting hole V of the cylinder head 1 (at the position of the chain double-dashed line 1a in FIG. 16) is held vertically, and during this state, the intake valve mounting portion at the mounting position E is installed. 85 is further lowered from the upper position to the lower position by driving the grip lifter 121, and the intake valve 3 is incorporated into the valve mounting hole V. After this, the intake valve built-in part 8
Each of the eight chucks 98 of No. 5 is switched from the gripping position to the release position, and the intake valve assembling portion 85 is moved upward from the lower position by driving the gripping lifter 121 by driving the gripping lifter 121. Next, the work table control means 145 drives the direction switching cylinder 143 to rock the cylinder head 1 together with the rocking table 132 and the receiving table 141 to the position indicated by the chain double-dashed line 1b in FIG. 16, and the other valve mounting hole V is opened. Hold vertically. During this state, the valve assembling control means 90 controls the exhaust valve assembling portion 86 at the assembling position E.
Further falls from the upper position to the lower position, and the exhaust valve 3 is incorporated into the valve mounting hole V. After that, each of the eight chucks 98 of the exhaust valve built-in portion 86 is switched from the gripping position to the release position, and the driving of the grip lifter 121 raises the exhaust valve built-in portion 86 above the lower position.

Thereafter, the valve assembling control means 90 drives the valve assembling device 2 to suck and exhaust the valve assembling parts 85 and 86.
Is returned to the retreat position E2 and switched to the standby state. On the other hand,
The work platform control means 145 drives the direction switching cylinder 143 to return the cylinder head 1 of the rocking base 132 and the receiving base 141 to the position indicated by the chain double-dashed line 1a in FIG. 16, and then rocks the cylinder head 1. Rotor clamp 1
Then, the cylinder head 1 together with the pedestal 141 is reversed from the second position Q2 and returned to the first position Q1. After that, the work platform control means 145 switches the movable pin 144 to the non-locking position by using a release mechanism (not shown), and pushes the cylinder head 1 onto the conveyor 5 by the push cylinder (not shown).

[0039]

As described above, the work assembling apparatus of the present invention receives the parts when the lifting platform reaches the receiving position from the retracted position, and lowers the parts to the assembling position when the elevator descends to the assembling position. Parts are inserted into the insertion holes, and the row-shaped chuck part consisting of a plurality of chucks is simultaneously switched between the gripping position and the releasing position by the chuck switching means. It can be done easily and these pipes and wiring are simplified,
The apparatus can be simplified and downsized, and the pitch switching means relatively displaces one side and the other side of a pair of adjacent chucks in the pitch direction through the one side chuck support frame and the other side chuck support frame. By switching operation in the pitch direction, the distance between a pair of chucks adjacent to each other can be adjusted, pitch switching can be easily performed, and parts can be incorporated into the part mounting holes of various works, which improves workability. .

[Brief description of drawings]

FIG. 1 is an overall schematic configuration diagram of a work assembling apparatus of the present invention.

FIG. 2 is a schematic configuration diagram of a work assembling apparatus of the present invention and a parts supply apparatus connected thereto.

FIG. 3 is an enlarged plan view of the pallet transfer device in FIG.

FIG. 4 is an enlarged side view of the pallet transfer device in FIG.

5 is an enlarged plan view of a part of the pallet transfer device in FIG.

FIG. 6 is an enlarged side view of a part of the pallet transfer device in FIG.

FIG. 7 is an enlarged side view of the first part supply means in FIG.

FIG. 8 is an enlarged front view of the first part supply means in FIG.

FIG. 9 is an enlarged side view of a chuck portion used in the first part supply means in FIG.

FIG. 10 is a partially cutaway enlarged side view of a chuck portion used in the first part supply means in FIG.

FIG. 11 is a side view of a main part of the temporary placing table in FIG.

12 is a plan view of a main part of the temporary placing table in FIG.

FIG. 13 is an enlarged front view of a valve incorporating device in the work assembling device in FIG.

14 is a partially cutaway enlarged side view of the valve assembling device of FIG. 13. FIG.

FIG. 15 is a plan view of the valve assembly device of FIG.

16 is an enlarged side view of a work table in the work assembling apparatus in FIG.

17 is a plan view of the work table of FIG. 16. FIG.

18 is an explanatory diagram of a parts supply process used in the parts supply device of FIG.

[Explanation of symbols]

 1 Cylinder Head 2 Valve Assembling Device 3 Intake Valve 4 Exhaust Valve 5 Conveyor 6 Pallet 7 Pallet Conveying Device 8 Temporary Stand 9 First Part Supplying Means 10 Second Part Supplying Means 25 Lifter Control Means 26 Main Controller 44 First Part Supplying Control means 43 XY robot 74 Air cylinder control means 89 Lift cylinder 90 Valve built-in control means 121 Gripping lifter 130 Work table 145 Work table control means F1 Parts supply position F2 Temporary placement position F3 Reception position E Installation position E1 Reception position E2 Retreat position W Assembly position

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kunihiro Irie 10-3-10 Nakamune, Kurashiki-shi, Okayama, Sanyo Giken Co., Ltd.

Claims (1)

[Claims] 1. A work table on which a work, in which a plurality of parts are to be assembled, is formed, and which is placed at an assembly position.
An elevating table slidably supported by a vertically oriented base frame near the assembling position and sequentially held by a lifter from a retracted position to a receiving position and an assembling position, and slidably with respect to the elevating table. A gripping frame that is supported and selectively switched between an upper position and a lower position by a gripping lifter and held, and a pair of chucks that are attached to the lower part of the gripping frame and that are capable of gripping the parts and that are adjacent to each other are provided. A plurality of row chucks sequentially arranged in a row, chuck switching means for simultaneously switching between the chucks of the row chucks between a gripping position and a releasing position, and a chucking switch mounted on the lower portion of the gripping frame. Each of the chucks of the row-shaped chuck section is divided into one side and the other side of a pair of adjacent chucks, and one side chuck that supports both groups so as to be relatively displaceable in the pitch direction. The rack support frame and the other side chuck support frame, a pitch switching means that is mounted on the lower portion of the gripping frame and that switches the one side chuck support frame and the other side chuck support frame in the pitch direction, and receives the lifting platform. When holding the gripping frame in the lower position and holding the gripping frame in the lower position, the parts are gripped by the row chuck part, and when holding the lifting platform in the assembled position and holding the gripping frame in the lower part, the part is gripped by the row chuck part. A work assembling apparatus, comprising: a control means for controlling the work to be inserted into a part mounting hole of a work at an assembling position.