JPH11208542A - Assembly device of suspension damper - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an assembly device of a strut suspension free to automate assembly of a suspension damper without direct working of a worker. SOLUTION: An assembly device of a strut suspension furnished with a supply conveyor 100 to convey a pair of a damper complex 10A and a strut mount 14, a carry-in robot 200 to carry a part supplied from the supply conveyor 100 in an assembling machine 300, the assembling machine 300 to assemble the carried-in part as a suspension damper 10, a carry-out robot 250 to carry the assembled suspension damper 10 out to a delivery conveyor 500 and the delivery conveyor 500 to deliver the carried-out suspension damper 10 to a following process is constituted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension damper assembling apparatus, and more particularly to a suspension damper assembling apparatus used as a vehicle suspension apparatus.

[0002]

2. Description of the Related Art A suspension device for a vehicle is disposed between an axle and a vehicle body, and connects the two to each other and absorbs an impact from a road surface to improve the riding comfort of the vehicle. A suspension damper, which is a main component of this suspension device, is roughly composed of a damper for sealing oil or the like to reduce the amplitude of shock or vibration and a coil spring.

[0003] In order to assemble such a suspension damper, a device comprising a jig for regulating the movement of the damper and a compression unit for compressing the coil spring is used, and an operator sets each part in the jig and the compression unit. Assembled using a fastening tool.

[0004] This assembling operation requires both a positioning operation under a high load condition such as compression and holding of a coil spring and an accurate operation such as tightening of a nut for fixing each part to each other. Since it is a burdensome operation and productivity decreases, labor saving and labor saving have been desired.

In response to such a demand, for example, Japanese Patent Laid-Open No.
There is a prior art of a "suspension assembly device for a vehicle" disclosed in Japanese Patent No. 41375.

In this prior art, a pallet conveyed by a conveyor line is provided with a driven mechanism for compressing and holding a coil spring and a driven mechanism for raising and holding a shaft of a damper, while the driven line is provided on a conveyor line. And a device for assembling one suspension damper on each pallet. According to this device, the operator can operate the driven mechanisms provided on the pallet to perform the positioning of the suspension damper and the accurate tightening work under a high load condition. As a result, the productivity of the suspension damper is increased.

[0007]

However, the "suspension assembly apparatus for a vehicle" disclosed in the above-mentioned Japanese Patent Application Laid-Open No. 2-141375 discloses a system in which an operator is involved in assembling a conveyor line. The temporary assembly work of the suspension damper must be performed in synchronization with the operation, and the work by the worker is always required during the operation of the assembling apparatus. Therefore, even if some labor saving is achieved, complete labor saving is achieved. Has not been done. Therefore, automation of the suspension damper assembly work has been still required.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a suspension damper assembling apparatus which enables an automatic assembly of a suspension damper without a worker directly working.

[0009]

According to a first aspect of the present invention, there is provided an apparatus for assembling a suspension damper, wherein the upper spring seat fitted to a shaft of the damper and a cylindrical portion of the damper are provided. A damper complex including a coil spring interposed between the lower spring seat and an assembly component supply unit that conveys a strut mount independently of the damper complex;
Assembling means for assembling a suspension damper by fitting a strut mount to the shaft tip of the damper comple supplied by the assembling part supplying means and screwing a nut to a shaft tip protruding from the strut mount. Suspension damper delivery means for carrying out the suspension damper thus provided.

According to the assembling apparatus having such a configuration, it is possible to automate the assembly of the suspension damper, in which the parts supplied by the assembling parts supplying means are assembled as suspension dampers by the assembling means and are carried out by the suspension damper sending means.

According to a second aspect of the present invention, there is provided an assembling apparatus for a suspension damper, wherein a carrying-in means is provided between the assembling means and the assembling means for carrying in the damper comple and the strut mount from the assembling part supplying means to the assembling means. An unloading means for supplying the suspension damper assembled by the assembling means to the suspension damper sending means is provided between the assembling means and the suspension damper sending means.

According to this configuration, it is possible to realize an assembling apparatus in which the parts are reliably carried in from the assembling parts supply means to the assembling means and the suspension damper is carried out from the assembling means to the suspension damper sending means.

Further, in the suspension damper assembling apparatus according to the third aspect, the carrying-in means and the carrying-out means according to the second aspect are configured as one carrying means. The structure of the means for unloading is simplified.

[0014] In the suspension damper assembling apparatus according to the fourth aspect, the assembling means provided in the assembling apparatus according to each of the above-described aspects includes a coil spring compressing means for compressing the coil spring and holding the coil spring in a compression applied state; Shaft lifting means for raising the shaft of the damper from the cylindrical portion by a predetermined amount in the protruding direction, and fastening means for screwing a nut to the tip of the shaft protruding from the cylindrical portion of the damper are provided.

Further, in the suspension damper assembling apparatus according to the fifth aspect, the coil spring compressing means may include an elevating portion which descends from above the coil spring to compress the coil spring, and a damper which grips the cylindrical portion of the damper. And a cover for preventing the coil spring from moving in the horizontal direction. With the device configuration according to each of these claims, the assembling means and the coil spring compressing means can be reliably configured.

In the suspension damper assembling apparatus according to the sixth aspect, the lifting / lowering portion is closed to apply the coil spring via the upper spring seat, and is opened and retracted from the upper spring seat. It has a compression plate.

Further, in the suspension damper assembling apparatus according to the present invention, the coil spring compressing means has a concave portion on the lower surface which is fitted and positioned on the upper surface of the upper spring seat, and each compression plate is arranged in the horizontal direction. Is rotatably mounted on the shaft. With the device configurations according to the sixth and seventh aspects, the elevating unit and the pair of compression plates can be reliably formed.

In the suspension damper assembling apparatus according to the present invention, the shaft pulling means can be brought into contact with a groove formed on the center axis of the tip end of the shaft of the damper, and the guide pin is disposed coaxially with the shaft. And a screw socket for screwing a nut to a screw portion provided at the tip of the shaft of the damper, and these guide pins and the screw socket are coaxially arranged.

Further, in the suspension damper assembling apparatus according to the ninth aspect, the guide pin and the screw socket can be raised and lowered independently of each other. In the suspension damper assembling apparatus according to the tenth aspect, the guide pin and the screw socket have a plurality of guide pins. And the screw socket has a plurality of slits for restricting rotation of the plurality of claw portions provided on the guide pin and enabling axial movement. The guide pins and the screw socket are configured to rotate in synchronization.

According to the apparatus according to the eighth, ninth and tenth aspects, the shaft pulling means, the guide pin and the screw socket can be formed specifically and reliably.

In the suspension damper assembling apparatus according to the eleventh aspect, the suspension damper sending means is constituted by two conveyors.

According to the assembling apparatus having such a configuration, for example, the suspension damper having been assembled can be separately separated and sent in advance for the right front wheel and the left front wheel, for example, and can be transported to both sides of the vehicle being assembled. Become.

According to the apparatus according to the twelfth aspect, by using a carriage provided with a pallet for mounting the suspension as the sending means, the assembled suspension can be easily carried out.

[0024]

Embodiments of the present invention will be described below in detail with reference to the drawings. 1 and 2 show a schematic configuration of an embodiment of an apparatus for assembling a suspension damper according to the present invention.

Suspension damper 1 used for assembly
0 is a nut 12, a strut mount 14, a spacer 16, an upper spring seat 1 as shown in FIG.
8, damper 20, rubber sheet 22, dust cover 2
4. It is composed of a helper 26 and a coil spring 30.

The damper 20 has a cylindrical portion 20a in which oil or the like is sealed and whose lower end is swingably supported by a wheel-side suspension component (not shown) such as a lower arm, and an outer diameter smaller than the inner diameter of the cylindrical portion 20a. And the lower end is a cylindrical portion 2
0a, the upper end of which has a shaft 20b projecting from the cylindrical portion 20a. The upper end of the shaft 20b has a thread formed on the outer peripheral surface as shown in FIG. The upper spring seat 18, the dust cover 24, the helper 26, and the like are provided with shoulders for fitting and locking.

The coil spring 30 has an inner diameter larger than the outer diameter of the cylindrical portion 20a of the damper 20, and a rubber seat 22 between the lower spring seat 20c and the upper spring seat 18 whose lower end is fixed to the cylindrical portion 20a. Interposed through.

The strut mount 14 has a fastening hole 14a at the center thereof into which the upper end of the shaft 20b of the damper 20 is inserted. When the strut mount 14 is incorporated into the strut damper 10, a vehicle body member such as a strut is provided. It becomes a joint with a tower or the like.

The upper spring seat 18 has a tapered surface 18a on its upper surface and a through hole 18b on its top to which the upper end of the shaft 20b of the damper 20 can be inserted, and has an outer diameter larger than the outer diameter of the coil spring 30. As a result, the upper end side of the coil spring 30 can be supported. The spacer 16 has a through hole 16a in the center of which the shaft 20b of the damper 20 is inserted.

The suspension damper assembling apparatus 1 for assembling the suspension damper 10 configured as described above.
Are the supply conveyor 100, the loading robot 200, the unloading robot 250, the assembling machine 300, the nut feeder 400,
The main components are the spacer feeder 410, the sending conveyor 500, the control device 600, and the like.

Supply conveyor 10 as assembly part supply means
Numeral 0 is a slat conveyor in which strip-shaped slats 110 for loading are continuously provided at substantially equal intervals on one or several chains, and the supply conveyor 100 has a single slat as shown in FIG. A damper holder 120 for supporting the damper 20 by standing upright on the slat 110;
And a strut mount holder 130 for positioning and mounting 4 on the upper surface.

The sprocket around which the chain is wound is rotated by an actuator such as a motor, so that the components are continuously fed in the direction of the carry-in robot 200 which will be described in detail later. I have.

The loading robot 200 serving as loading means is disposed downstream of the supply conveyor 100, and has a base 240 and a base end rotatable in a horizontal plane as shown in FIG. A second arm 230 pivotally supported, and a first arm 220 and a first arm 220 having a base end supported at the distal end of the second arm 230 to be vertically swingable.
A handle 210 is rotatably supported by the tip of the arm 220 so as to be rotatable and grips an object to be conveyed. The movable object is driven and positioned by an actuator (not shown) so that the object to be carried can be moved to a three-dimensional position within the movable range.

As shown in FIG. 2, the loading robot 200 takes the supply conveyor 100 and the assembling machine 300 into consideration in consideration of a movable range so that assembly parts can be sent from the supply conveyor 100 to an assembling machine 300 described later. It is interposed between.

The unloading robot 250 serving as unloading means has a base 29 having the same configuration as the above-described loading robot 200.
0, the second arm 280, the first arm 270,
A hand unit 260 is provided, and the object to be unloaded can be arranged at any three-dimensional position within the movable range by driving and positioning each movable part with an actuator (not shown).

As shown in FIG. 2, the unloading robot 250 includes an assembling machine 300 in consideration of a movable range so that the assembled suspension damper 10 can be sent from an assembling machine 300 described later to the delivery conveyor 500. It is arranged between the delivery conveyor 500.

As shown in FIG. 5, the assembling machine 300 includes a coil spring compressing means 310, a shaft pulling means 330, a shaft pulling horizontal slide portion 348,
It comprises a fastening means 350, a fastening means horizontal slide portion 368 and an assembly machine base 370.

The coil spring compressing means 310 includes a compression plate 312 for compressing the coil spring 30 via the upper spring seat 18 and the like, an elevating plate 314 on which the compression plate 312 is rotatably mounted on a shaft, and an assembly machine base 370. The lifting / lowering plate 314 is fixed to the shaft portion, and a vertical thrust is applied to the lifting / lowering plate 314.
And the lifting plate 31 fixed vertically to the assembling machine base 340.
The compression plate 312, the lifting plate 314, the lifting cylinder 316, and the lifting rail 318 constitute a lifting unit.

As shown in FIGS. 7A and 7B, the compression plate 312 has a pair of symmetrical compression plates 312.
a and 312b, each of which is rotatably mounted on a lift plate 314 in a horizontal plane.

Usually, the compression plate cylinder 312c
7 are restrained at positions separated from each other in the horizontal direction by the contraction of the compression plate cylinder 312c.
As shown in (B), the assembling machine 300 is substantially in contact with each other at the center position in the horizontal direction as viewed from the front and engages with each other, thereby engaging the upper surface of the upper spring seat 18 with the concave portions formed on the lower surfaces of the compression plates 312a and 312b. Thus, the horizontal movement of the upper spring seat 18 can be restricted.

That is, the left and right compression plates 312a, 312
b, the recess along the tapered surface 18a provided on the upper surface of the upper spring seat 18 and the holes through which the top of the upper spring seat 18 can project by a predetermined amount from the closed compression plates 312a, 312b have left and right sides. The compression plates 312a and 312b are provided in a substantially half-split state equally divided.

The compression plates 312a and 312b are substantially in contact with and fixed to each other, and generate a large stress so as to have a structural strength that can withstand the reaction force of the coil spring 30 generated when the coil spring 30 is compressed. The portion near the shaft attachment is particularly thick in the vertical direction. Further, the arrangement of the compression plate 312 is adjusted so that the shaft 20b of the damper 20 when standing on the damper seat 372 and the center of the hole of the compression plate 312 are located on the same axis in the vertical direction.

The coil spring compression means 310 is
As shown in FIG. 6, the damper 20 is driven by the clamp cylinder 320a to grip the cylindrical portion 20a of the damper 20 and stand on the damper seat 372 of the assembly machine base 370.
And a cover 325 that has a predetermined length in the vertical direction and has a U-shaped cross section and is driven by a cover cylinder 325a to cover the coil spring 30 and prevent it from popping out.

As shown in FIG. 8, the shaft lifting means 330 includes a guide pin 332, a screw socket 334, a first elevating unit, and a second elevating unit.

As shown in FIG. 9, the guide pin 332 has a conical tip 332b which can be inserted into a concave portion 20d provided at the center of the tip of the shaft 20b of the damper 20, and a tip 332b. And three claw portions 332a having a predetermined length in the axial direction and having an opening angle of 120 degrees with each other.

The screw socket 334 is a cylinder having an outer diameter larger than the outer diameter of the shaft 20b but smaller than the inner diameter of the through hole 18b of the upper spring seat 18 and the inner diameter of the through hole 16a of the spacer 16. A female screw that matches the external thread provided on the surface is machined on the inner surface of the cylindrical surface. Furthermore, this screw socket 33
4, three slits 334a having a width slightly larger than the claw portion 332a are provided at a predetermined length from the tip position so that the claw portion 332a of the guide pin 332 can move in the axial direction. I have.

The guide pin 332 and the screw socket 334 are provided coaxially in the vertical direction.
Are embedded in the cylinder of the screw socket 334, and the three claw portions 332a of the guide pin 332 are inserted into the three slits 334a of the screw socket 334, respectively, so that they can be individually raised and lowered within a predetermined range. I have. An end of the guide pin 332 facing the claw 332a generates a thrust in the vertical direction.
Are coaxially fitted.

The guide pin cylinder 336 includes a rotation actuator 337 fixed to a lifting plate 338 described later.
, So that it can rotate around the axis. Screw socket 3
A flange 334b is provided on the outer periphery of the cylinder 34, and a socket cylinder 335 that generates a thrust in the vertical direction via a clevis 335a that regulates the axial movement of the flange 334b moves its body to an elevating plate 338 described later. It is fixed and provided.

The first elevating unit is provided with the socket cylinder 335, the clevis 335a, and the guide pin cylinder 33.
6 and a rotation actuator 337. When the guide pin cylinder 336 is rotated, the guide pin 332 is rotated accordingly, and the claw portion 332a of the guide pin 332 is turned into the slit 334a of the screw socket 334.
The screw socket 334 is also rotated because the rotational power is transmitted by being pressed against the notched surface of the screw socket 334.

The second elevating unit is fixed to a substrate elevating plate 338 to which the socket cylinder 335, the guide pin cylinder 336, and the rotation actuator 337 are fixed, and a moving plate 348a, which will be described later, and has a shaft. The lifting / lowering plate 338 is locked to provide a vertical thrust to the lifting / lowering plate 338, and a lifting / lowering rail 344 fixed to the moving plate 348a in the vertical direction and guiding the lifting / lowering plate 338 in the vertical direction. I have.

A shaft pulling horizontal slide portion 348 is fixedly provided on the assembling machine base 370 so that the shaft pulling means 330 having such a configuration can be moved in the horizontal direction.
That is, as shown in FIG. 10, the shaft pulling horizontal sliding portion 348 is provided on the movable plate 34 to which the elevating plate 338 is fixed.
8a, a horizontal moving cylinder 348b fixed to the assembling machine base 370 and having a moving plate 348a locked to the shaft to apply a thrust in the horizontal direction to the moving plate 348a;
And a moving rail 348c fixed horizontally to the moving plate 70 to guide the moving plate 348a in the horizontal direction.

Then, the shaft pulling horizontal sliding portion 34
8 so that when the shaft lifting means 330 is moved in the horizontal direction, the shaft lifting means 330 can reach at least immediately above the coil spring compression means 310. Is arranged.

As shown in FIG. 11, the fastening means 350 has a concave shape along the outer shape of the nut 12 in the shape of a cap on the lower surface, and the nut 12 supplied by the nut feeder 400 is provided.
Gripper 352 for gripping the nut 12 so that the central axis of the nut 12 is in the vertical direction, a shaft 354 having a rod-shaped tip coaxially fixed to the nut gripper 352, and coaxially fixed to the other end of the shaft 354. The shaft 354 and the nut gripper 352
Is turned, and then the nut 12 is fastened to the nut 12 with a predetermined torque. The board lifting / lowering plate 358 to which the torque adjusting fastening portion 356 is fixed, and a moving plate 368a to be described later.
The lifting / lowering plate 36 is fixed to the shaft and the lifting / lowering plate 358 is locked to the shaft portion to apply a vertical thrust to the lifting / lowering plate 358.
2 and the vertically movable plate 35 fixed to the moving plate 368a.
8 is provided with an elevating rail 364 for guiding the rod 8 in the vertical direction.

The horizontal sliding portion 368 of the fastening means is so arranged that the fastening means 350 can be moved in the horizontal direction.
70 fixedly provided.

As shown in FIG. 12, the horizontal sliding portion 368 of the fastening means is moved by the moving plate 368a of the substrate to which the fastening means 350 is fixed, and the moving plate 368a is fixed to the base of the assembling machine 370 and is fixed to the shaft portion. It comprises a cylinder 368b for applying a horizontal thrust to the plate 368a, and a moving rail 368c fixed horizontally to the assembling machine base 370 to guide the moving plate 368a in the horizontal direction. The components of the fastening means horizontal slide portion 368 are arranged so that the fastening means 350 can reach at least immediately above the coil spring compression means 310 when the means 350 is moved in the horizontal direction.

The assembling machine 300 includes a limit switch or a magnetic switch (neither is shown) for detecting that each of the movable parts for moving in the horizontal and vertical directions is at the horizontal and vertical moving ends. Is provided in the vicinity of the moving end.

As shown in FIG. 2, one nut feeder 400 and one spacer feeder 410, each of which is an assembly component supply means different from the supply conveyor 100, are provided on both sides of the assembly machine 300.

As shown in FIG. 13, a nut feeder 400 stores a plurality of nuts 12 and can send out one by one using rotation and vibration. A nut supply lane 404 for aligning and sequentially feeding the nuts 12 sent from the storage unit 402
And the cylinder 406 can be selectively moved up and down in the vertical direction, lowered to support only one nut 12 supplied from the nut supply lane 404, and raised to a height at which the fastening means 340 can grip the nut 12. Nut lift section 4
08.

The spacer feeder 410 has the same configuration as the above-described nut feeder. The spacer feeder 410 stores a plurality of spacers 16 and can send them one by one using rotation and vibration. Spacer storage part 4
A spacer supply lane 414 that aligns and sequentially sends out the spacers 16 sent from the spacer 12 and a cylinder 416 that can be selectively raised and lowered in the vertical direction, and supports only one spacer 16 that is lowered and supplied from the spacer supply lane 414. And a spacer lift portion 418 that rises to a height at which the loading robot 200 can grip the spacer 16.

The nut feeder 400 and the spacer feeder 410 are provided with a magnetic switch (not shown) for detecting that the nut lift section 408 and the spacer lift section 418 are at the respective moving ends in the vertical direction.
In addition, it is provided near each moving end of the spacer lift section 418.

A slat conveyor is used for the delivery conveyor 500, which is a suspension damper delivery means, similarly to the supply conveyor 100, and the delivery conveyor 500 is constructed by erecting the suspension damper 50 that has been assembled on one slat 510. One suspension damper receiver 520 formed so as to be mountable is provided on the upper surface thereof.
The sprocket around which the chain is wound is rotated by an actuator such as a motor, so that each slat 510 is continuously fed in the direction of an assembly line (not shown) in a later process.

The supply conveyor 100, the carry-in robot 200, the assembling machine 300, the carry-out robot 250, the nut feeder 400, the spacer feeder 410, and the feed conveyor 500 are controlled by the control device 600 so that the assembling work can be performed without delay.

The control unit 600 includes an input unit 602 to which signals from the limit switch and the magnetic switch shown in FIG. 14 are input, a storage unit 604 for holding and storing a preset logic program, a control result, and the like. An operation unit 60 that executes a program stored in a storage device and performs an operation process
6. A display unit 608 for displaying the progress of the program, the output of control signals, the status of signal input from various switches, etc. to the work monitor, etc., allowing the worker to input program setting values and start assembly work. An operation input unit 610 for performing, for example,
An emergency stop unit 612 for performing an emergency stop operation on the assembly apparatus by a work monitor or the like, and an output unit 614 for outputting a control signal from the arithmetic unit to a cylinder or the like.

With this configuration, the control device 600 can grasp the state of the entire device from signals from various switches, make a decision based on preset initial data and a logic program, and output a control signal to a cylinder or the like. It is possible.

Next, the manner of use of the suspension damper assembling apparatus 1 configured as described above will be described.

First, an operator or the like places the coil spring 30 on the lower spring seat 20c of the damper 20, fits the helper 26 and the dust cover 24 on the upper end of the shaft 20b, and further passes through the through-hole of the upper spring seat 18. A plurality of sets are temporarily assembled in advance as the damper comple 10A by protruding from the 18b and stored in a predetermined place.

Before the operation of the suspension damper assembling apparatus 1, each damper completion 10 A is supplied to the damper receiver 1 provided on the slat 110 of the supply conveyor 100.
20 to be supported upright. The same number of strut mounts 14 as the damper comple 10A are prepared, and the strut mounts 14 are placed on the strut mount holder 130 so as to be paired with the damper comple 10A.

The control device 600 receives the input of the start of the assembling work from the operation input unit 610 by the operator or the like, and stores it in the storage unit 6 in advance.
02 is started by the arithmetic unit 606 and the output unit 614 outputs a signal to execute the program stored in the supply conveyor 10.
0, the loading robot 200, the assembling machine 300, etc., start the assembling work.

After the start of the assembling work, the worker or the like monitors the operation of the suspension damper assembling apparatus 1 of the control device 600 and the display unit 608, and when it is necessary to change the work or stop the work, the operation input unit 610. Alternatively, the emergency stop unit 612 is operated to take measures.

The control device 600 causes the loading robot 200 to grip the damper complex 10A supported by the slat 110 closest to the loading robot 200 among the slats 110 of the supply conveyor 100 by the hand unit 210 thereof.

The carry-in robot 200 conveys the grasped damper comple 10A to the position of the damper seat 372 of the assembling machine 300, and finely adjusts each movable part of the carry-in robot 200.
Position the lower end of the damper comple 10A to the damper seat 3
72, the damper comple 10A is erected on the assembling machine 300.

Next, the clamp 320 provided on the coil spring compressing means 310 of the assembling machine 300 is closed by driving the clamp cylinder 320a as shown by a two-dot chain line in FIG. 6, and the cylindrical portion 20a of the damper 20 is gripped. The position of the damper 20 is fixed, and the cover 325 is fixed to the cover cylinder 32.
5a is driven to close and cover the coil spring 30 as shown by the two-dot chain line in the same figure, and restricts the horizontal movement of the coil spring 30 to prevent it from jumping out.

After the assembling machine 300 grips the damper 20,
The lifting / lowering cylinder 316 is driven to lower the coil spring compression means 310 that has been moved to the rising end in advance.

The compression plates 312a and 312b provided on the lifting plate 314 and opened in advance are connected to the damper components 10A.
Spring seat 18 temporarily assembled at the top of the car
When the cylinder 316 is lowered to the height, the drive of the lifting cylinder 316 is stopped, and the vertical position of the coil spring compression means 310 is fixed.

Subsequently, the compression plate cylinder 312c is driven to close the compression plates 312a and 312b as shown in FIG. 7 (B). By closing the compression plate 312, the upper spring seat 18 is regulated in the horizontal direction, and the assembly machine 3
00 and a through hole 18b at the top of the upper spring seat 18 and the damper 2
The axes of the 0 shaft 20b are arranged on the same axis in the vertical direction.

The control device 600 moves the shaft pulling means 330 previously retracted in the horizontal direction to just above the coil spring compressing means 310 by the operation of the shaft pulling horizontal slide portion 348, 8 and 9, only the guide pin cylinder 336 shown in FIGS.
After projecting the guide pin 332 from the tip of
The elevating plate 338 of the elevating part is lowered to move the guide pin 332 and the screw socket 334 to the upper spring seat 18.
Through the through hole 18b at the top of the damper 20 so that the tip 332b of the guide pin 332 contacts the tip of the shaft 20b of the damper 20.

When the tip portion 332b of the guide pin 332 reaches the concave portion 20d provided at the tip of the shaft 20b, the lowering of the second elevating portion is stopped. By this series of operations, the guide pin 332 and the screw socket 334 and the shaft 20b of the damper 20 are arranged on the same axis in the vertical direction.

Next, only the socket cylinder 335 of the first elevating portion of the shaft lifting means 330 is driven, and the screw socket 334 is brought into contact with the shaft 20b while the guide pin 332 is in contact with the tip of the shaft 20b. The screw socket 334 is rotated by the rotation actuator 337 to start screwing into the shaft 20b. After the screw socket 334 is screwed into the tip of the shaft 20b,
The driving of the rotation actuator 337 is stopped.

Thereafter, the second lifting section is operated while holding the cylinders of the first lifting section by the shaft lifting means 330, and the shaft 20b of the damper 20 is pulled up.
The lifting unit is raised to the rising end and stopped. At this time, the cylindrical portion 20a of the damper 20 does not rise because it is gripped by the clamp 320. By this operation, the shaft 20b passes through the through hole 18b at the top of the upper spring seat 18, and is stopped in a state where it is further pulled up.

In order to release the screw engagement between the screw socket 334 and the shaft 20b, the stopped shaft lifting means 330 is stopped.
In, the screw is loosened by rotating the rotation actuator 337 of the first elevating unit in the direction opposite to the direction in which the screw is inserted. After the screwing of the screw socket 334 is released, the first lifting unit is raised to the rising end, and the shaft lifting unit 330 is moved horizontally by the operation of the shaft lifting horizontal slide unit 348, so that the shaft lifting unit 330 is directly above the coil spring compression unit 310. Evacuate from.

The control device 600 then controls the loading robot 20
The spacers 16 supplied one by one are gripped by the spacer lifter 418 of the spacer feeder 410, and the spacers 16 are transported to the vicinity of the tip of the shaft 20b pulled up and locked by the assembling machine 300. Then, the position of the loading robot 200 is controlled to cause the tip of the shaft 20b to penetrate through the through hole 16a of the spacer 16, and the spacer 16 is lowered to near the top of the upper spring seat 18. Open, and the spacer 16 is placed on the upper spring seat 18.

Subsequently, the loading robot 200 grips one strut mount 14 from the strut mount receiver 130 provided on the slat 110 of the supply conveyor 100, and transports the strut mount 14 to a position near the raised shaft 20b of the assembling machine 300. Further, after the leading end of the shaft 20b passes through the fastening hole 14a of the strut mount 14, the carrying robot 200 releases the grip of the hand section 210, and places the strut mount 14 on the shoulder of the shaft 20b.

Next, the nut 12 is connected to the strut mount 1.
Set on top of 4. That is, the previously retracted fastening means 350 is moved in the horizontal direction to just above the nut lift section 408 of the nut feeder 400 using the fastening means horizontal slide section 368.

Then, the lifting / lowering cylinder 362 of the fastening means 350 is driven to lower the fastening means 350, and one nut 12 supplied by the nut lift section 408 of the nut feeder 400 is held by the nut holding section 352.

After the lifting cylinder 362 is driven while the nut 12 is being gripped to raise the fastening means 350, the fastening means 350 is moved to the horizontal sliding portion 368 of the fastening means.
Is carried to just above the shaft 20b of the damper 20.

Thereafter, the gripped nut 12 and damper 20
The lifting cylinder 362 is driven again until the shaft 20b comes into contact with the shaft 20b to lower the fastening means 350, and then the torque adjustment fastening portion 356 is rotated to attach the nut 12 to the male screw provided at the upper end of the shaft 20b. After being screwed, it is fastened with a predetermined torque. By this operation, the shaft 20
b, the nut 12 screwed into the shaft 20b, and the strut mount 14 sandwiched between the shoulder of the shaft 20b and the nut 12 are integrally fixed.

In order to release the coil spring 30 compressed below the strut mount 14, the compression cylinder 312 is driven to drive the coil spring compression means 3
The 10 left and right compression plates 312a and 312b are opened so as to be separated from each other, and the coil spring compression means 310 is retracted.

As a result, the urging force due to the compression displacement of the coil spring 30 is released, the coil spring 30 is extended, and the upper spring seat 18 is raised.
The extension of the coil spring 30 is suppressed by the upper surface of the spacer 16 placed on the upper spring seat 18 coming into contact with the lower surface of the strut mount 14 so that the bias of the coil spring 30 is received by the damper 20.

Through the steps described above, the assembly of the suspension damper 10 is completed. In order to unload the completed suspension damper 10, the unloading robot 25
The suspension damper 10 is gripped by the hand unit 260 by using “0”. Immediately after this gripping, as shown by the solid lines in FIGS.
a, the clamp 320 is opened, and the cover cylinder 325a is driven to open the cover 325, thereby releasing the suspension damper 10 from the assembly machine 300 side.

The carrying-out robot 250 takes out the suspension damper 10 grasped from the damper seat 372 and carries it onto the delivery conveyor 500. Then, the unloading robot 250 sends the gripped suspension damper 10 to the sending conveyor 50.
The suspension damper 10 is positioned on the suspension damper receiver 520 provided on the
Place it in the upright position. Thereafter, the suspension damper 10 is moved toward the assembly line in the post-process by one of the slats 510.
By sending only the number of sheets, the suspension damper 10 to be completed next can be received.

As described above, according to the present embodiment, the strut damper 10 can be assembled only by monitoring the strut damper assembling apparatus 1 without directly performing the assembly work.

In the second embodiment, the carry-in robot 200 and the carry-out robot 250 are configured as one transfer robot 700.

Transfer robot 700 serving as loading / unloading means
As shown in FIG. 12, the base 740 and the base 740
A second arm portion 730 whose base end is rotatably supported in a horizontal plane and swingable in a vertical direction;
The base end of which is supported at the top end of the “0” so as to be able to swing vertically.
A handle portion 710 that is rotatably supported by the distal ends of the arm portion 720 and the first arm portion 720 and grips an object to be conveyed.
And By driving and positioning each movable part with an actuator (not shown), the object to be carried in can be moved to a three-dimensional position within the movable range.

As shown in FIG. 13, the transfer robot 700 sends assembly parts from the supply conveyor 100 to an assembling machine 300 described below, and sends the assembling parts from the assembling machine 300 to the delivery conveyor 5.
The suspension damper 10 which has been assembled at 00 is arranged at a position in consideration of the movable range so that the suspension damper 10 can be sent.

The transfer robot 700 having such a configuration
Are used in the loading robot 200 and the unloading robot 250
Since the usage modes of are also combined, they are omitted here.

According to the transfer robot 700, the carrying-in means and the carrying-out means are embodied in one device, and the configuration is simplified as compared with the first embodiment. Therefore, there is an advantage that the equipment scale of the suspension damper assembling apparatus 10 can be reduced, and control can be easily performed since the control target related to loading and unloading is united.

In the third embodiment, the sending conveyor 50
0 is constituted by two conveyors of a right line and a left line.

In this case, as shown in the first embodiment, two lines of slat conveyors provided with suspension damper receivers 520 capable of erecting suspension dampers 50 may be provided, or In consideration of the mounting process of the suspension damper 50, a suspension damper receiver 520 capable of standing the suspension damper 50 is provided on one line as shown in FIG.
On the other line, two slat conveyors provided with suspension damper receivers 530 on which the suspension dampers 50 can be placed horizontally may be installed.

According to this configuration, for example, when the assembled suspension damper 10 has different shapes for the right front wheel and the left front wheel of the vehicle, the assembled suspension damper 10 is used in advance for the right front wheel and the left front wheel. It is possible to separate them separately and transport them to both sides of the vehicle being assembled. A worker involved in mounting the suspension damper 10 can immediately mount the suspension damper 10 at hand without selecting the suspension damper on the spot, so that the right front wheel and the left front wheel can be mounted on one line. It is possible to reduce the number of man-hours required for mounting work on a vehicle as compared with a case where the work is mixed and sent out, and the worker sorts, transports and mounts the work.

In the fourth embodiment, as shown in FIGS. 19 and 20, a delivery pallet truck 1500 serving as a suspension damper delivery means travels on a rail provided on the floor or a drawn line 1530. Pallet truck 155 pulled by unmanned transport vehicle 1540 for automatic transport
0 is used.

The pallet truck 1550 is connected to the automatic guided vehicle 15
When it is pulled to a predetermined position by the pallet 40, the positioning is performed by the lateral positioning means 1560 driven by the cylinder and the front-rear positioning means 1570, and the assembled suspension is placed on the upper surface of the pallet 1510 provided on the pallet truck 1550. A plurality of suspension damper receiving portions 1520 are provided so that the dampers 50 can be erected and mounted.

When a predetermined number of suspension dampers 50 are placed, the positioning means is released, and the suspension dampers 50 are towed and conveyed to an assembly line (not shown) in a post-process by an automatic guided vehicle 1540.

After the delivery pallet truck 1500 moves,
Subsequently, the next empty delivery pallet truck 1500 is pulled by the automatic guided vehicle and is again positioned by the lateral positioning means and the front-rear positioning means.

According to this configuration, the degree of freedom in the layout of the means for placing the assembled suspension damper is increased, and the degree of freedom in the arrangement of the suspension damper 10 in the vehicle with respect to the assembly line is increased. It is easy to effectively use the space.

The supply conveyer 100 is not limited to a slat and conveyer type as long as it is a means for supplying a load, which is a component of a suspension damper, to the assembling apparatus in accordance with an assembling cycle of the assembling apparatus. Similarly, the suspension damper delivery means is not limited to the delivery conveyor 500 or the delivery pallet 1500 as long as it is a mechanism capable of delivering the assembled suspension damper. Various modifications are possible without departing from the scope.

[0106]

As described above, according to the suspension damper assembling apparatus of the present invention, the parts temporarily assembled and stored are arranged at predetermined positions, and after the start of the assembling work is input to the control device. Has an excellent effect peculiar to the present invention that a suspension damper can be automatically assembled without a worker directly working, and greatly contributes to the automobile industry.

[Brief description of the drawings]

FIG. 1 is a front view showing a schematic configuration of a suspension damper assembling apparatus according to the present embodiment.

FIG. 2 is a plan view showing a schematic configuration of a suspension damper assembling apparatus according to the present embodiment.

FIG. 3 is a schematic configuration diagram of a suspension damper.

FIG. 4 is a perspective view of the carry-in robot according to the present embodiment.

FIG. 5 is a schematic configuration diagram of an assembling machine according to the present embodiment.

FIG. 6 is an explanatory diagram of functions of a clamp and a cover according to the embodiment.

FIGS. 7A and 7B are explanatory diagrams of a configuration and a function of a compression plate according to the present embodiment.

FIG. 8 is a perspective view of a shaft lifting means according to the embodiment.

FIG. 9 is a configuration explanatory view of a guide pin and a screw socket of the shaft lifting means.

FIG. 10 is a functional explanatory view showing a state in which the shaft pulling means moves in the horizontal direction.

FIG. 11 is a perspective view of a fastening unit according to the embodiment.

FIG. 12 is a functional explanatory view showing a moving state of the fastening means according to the present embodiment in the horizontal direction.

FIG. 13 is a perspective view of a nut feeder according to the present embodiment.

FIG. 14 is a schematic configuration diagram of a control device according to the present embodiment.

FIG. 15 is a schematic configuration diagram of a transfer robot according to a second embodiment.

FIG. 16 is a front view illustrating a schematic configuration of a suspension damper assembling apparatus according to a second embodiment.

FIG. 17 is a plan view showing a schematic configuration of a suspension damper assembling apparatus according to a second embodiment.

FIG. 18 is a plan view showing a schematic configuration of a suspension damper assembling apparatus according to a third embodiment.

FIG. 19 is a front view showing a schematic configuration of a suspension damper assembling apparatus according to a fourth embodiment.

FIG. 20 is a plan view showing a schematic configuration of a suspension damper assembling apparatus according to a fourth embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Suspension damper assembling apparatus 10 Suspension damper 10A Damper completion 12 Nut 14 Strut mount 18 Upper spring seat 18c Lower spring seat 20 Damper 20b Shaft 30 Coil spring 100 Supply conveyor (assembly part supply means) 200 Loading robot (loading means) 250 Loading robot (Unloading means) 300 Assembling machine (Assembling means) 310 Coil spring compression means 312 Compressor plate 319 Elevating part 320 Clamp 325 Cover 330 Shaft lifting means 332 Guide pin 334 Screw socket 350 Fastening means 500 Delivery conveyor (Suspension damper sending means)

Claims (12)

[Claims] 1. A damper having a cylindrical portion and a shaft movably fitted in the cylindrical portion and having an upper end protruding from the cylindrical portion, and is locked via a nut screwed into a shaft tip of the damper. An apparatus for assembling a suspension damper, comprising: an upper spring seat held by a strut mount; and a coil spring elastically mounted between the upper spring seat and a lower spring seat fixed to the cylindrical portion. And a damper comple comprising a coil spring interposed between an upper spring seat and a lower spring seat fitted to a shaft of the damper, assembling component supply means for transporting a strut mount independently of the damper comple, and the assembling component A shaft of the damper complement supplied by a supply means; Assembling means for assembling the suspension damper by fitting the strut mount to the end and screwing a nut to the tip of a shaft protruding from the strut mount; suspension damper sending means for unloading the suspension damper assembled by the assembling means; An assembly device for a suspension damper, comprising: 2. A carrying means for carrying a damper comple- ment and a strut mount from the assembling part supplying means to the assembling means is interposed between the assembling part supplying means and the assembling means. 2. The suspension damper assembling apparatus according to claim 1, wherein an unloading means for supplying the damper sending means is interposed between the assembling means and the suspension damper sending means. 3. The suspension damper assembling apparatus according to claim 2, wherein said carrying-in means and said carrying-out means are configured as one carrying means. 4. The assembling means includes: a coil spring compressing means for compressing the coil spring and holding the coil spring in a compression applied state; a shaft pulling means for lifting a shaft of the damper by a predetermined amount in a projecting direction from the cylindrical portion. The suspension damper assembling device according to any one of claims 1 to 3, further comprising: fastening means for screwing a nut to a tip of a shaft protruding from a cylindrical portion of the damper. 5. The coil spring compressing means includes: an elevating unit that descends from above the coil spring to compress the coil spring; a clamp unit that grips a cylindrical portion of the damper and positions and fixes the damper; The suspension damper assembling apparatus according to claim 4, further comprising: a cover portion that prevents movement of the suspension damper. 6. The lift unit according to claim 5, wherein the lifting unit includes a pair of compression plates that are closed to apply a coil spring via an upper spring seat and open and retract from the upper spring seat. The suspension damper assembling apparatus described in the above. 7. The pair of compression plates have a concave portion on a lower surface which is fitted to and positioned on an upper surface of an upper spring seat, and each compression plate is axially mounted so as to be rotatable in a horizontal direction. The suspension damper assembling apparatus according to claim 6. 8. The shaft pulling means is provided at a tip end of the shaft of the damper, the guide pin being capable of contacting a groove formed on the center axis of the tip of the damper shaft and being arranged coaxially with the shaft. The suspension damper assembling apparatus according to claim 4, further comprising: a screw socket for screwing a nut to the threaded portion, wherein the guide pin and the screw socket are coaxially arranged. 9. The suspension damper assembling apparatus according to claim 8, wherein the guide pin and the screw socket can be moved up and down independently of each other. 10. The guide pin has a plurality of claw portions, and the screw socket has a plurality of slits for restricting rotation of the plurality of claw portions with respect to the screw socket and enabling axial movement. The apparatus of claim 9, wherein the guide pin and the screw socket rotate in synchronization. 11. The apparatus according to claim 1, wherein said suspension damper sending means is constituted by two conveyors.
11. The suspension damper assembling apparatus according to any one of claims to 10. 12. The suspension damper assembling apparatus according to claim 1, wherein the delivery means of the suspension damper is a carriage provided with a pallet for mounting a suspension.