JPH11254255A - Bolt distribution delivery device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To take out a plurality of bolts so that the bolt can be supplied simultaneously to a nut runner, by selecting a prescribed bolt from a plurality of parts feeders by a relatively simple structure. SOLUTION: A prescribed bolt is selected of bolts supplied from a plurality of bolt supply parts 8a to 8c by a bolt selection mechanism 62, to be conveyed one by one to a bolt holder of a bolt receiving mechanism 63 through a bolt conveying hose 623. A bolt distribution mechanism 66 successively distributes a bolt BT one by one by successively opposing the bolt conveying hose 623 to a plurality of the bolt holders of the bolt receiving mechanism 63. After each bolt holder of the bolt receiving mechanism 63 receives the bolt, a moving mechanism 68 makes the bolt receiving mechanism 63 move to a bolt delivery position delivering the bolt to a nut runner 23. In the nut runner 23, a nut runner socket corresponding to each bolt socket simultaneously receives the respective bolt.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bolt distributing and delivering apparatus, and more particularly to a bolt suitable for an automatic assembling apparatus for an engine in which a flywheel or a drive plate is assembled to an engine crankshaft and a plurality of bolts are simultaneously tightened by a nut runner. The present invention relates to a distribution and delivery device.

[0002]

2. Description of the Related Art In an engine assembly line, a flywheel FW is mounted on a crankshaft CS of an engine E as shown in FIGS.
Screw BT) is screwed into the screw hole Hb and temporarily tightened.
On the other hand, as shown in FIGS. 3 and 4, a centering bush BU is mounted on the center positioning hole Ha of the crankshaft CS of the engine E on the engine of the automatic transmission (A / T) vehicle. Then, the drive plate DP and the adapter plate AP are assembled, and a plurality of (five) bolts BT are screwed into the screw holes Hb and temporarily tightened, and are conveyed to the next assembling step. Bolt BT
Is temporarily tightened to such an extent that the flywheel FW and the drive plate DP attached to the crankshaft CS do not fall. Note that some drive plates DP do not use the bush BU.

[0003]

The assembly of the above-mentioned conventional work (flywheel or drive plate) to the crankshaft is performed manually by an operator, and is useful for improving productivity and improving the working environment. Automation is required to respond. When assembling these workpieces automatically, even if they are fitted to the crankshaft due to the nature of the workpiece, they are unstable because the fitting margin is small, and they may fall during transport to the next process. It is necessary to temporarily tighten the bolts.

In order to automate the temporary tightening of the bolts, it is necessary to previously mount a plurality of bolts (for example, five bolts) corresponding to the type of engine on the tip of the nut runner. The means for supplying and mounting the bolt is not technically difficult, but generally has a limitation that it cannot be increased due to the configuration of the equipment. In addition, when the bolt is transferred to the nut runner, the nut runner is rotated to fit the bolt into the socket of the nut runner.
It is desired to have a simple configuration.

[0005] Therefore, an object of the present invention is to provide a bolt distribution / transfer device which can select a predetermined bolt from a plurality of parts feeders and supply it to a nut runner at the same time with a relatively simple structure. And

[0006]

In order to achieve the above object, according to the first aspect of the present invention, a predetermined bolt is selected from a plurality of types of bolts supplied from a plurality of parts feeders by a bolt selecting means. 1 through bolt conveying means
Each one is conveyed to the bolt holder of the bolt receiving means. The bolt distributing means sequentially distributes the bolts one by one by causing the bolt conveying means to sequentially face the plurality of bolt holders of the bolt receiving means. After each bolt holder of the bolt receiving means receives the bolt, the moving means moves the bolt receiving means to a position where the bolt is passed (supplied) to the nut runner.
In the nut runner, each bolt socket and the corresponding nut runner socket simultaneously receive a bolt. In this way, the bolt distribution receiving device selects a predetermined bolt from a plurality of parts feeders and simultaneously supplies a plurality of bolts to the nut runner.

According to the second aspect of the present invention, the bolt receiving means includes:
The rocking ring is rotated to the second rotation position, each locking claw is unlocked, each bolt holder is enabled to receive the bolt, and after each bolt holder receives the bolt, the rocking link is rotated. Is turned to the first turning position to lock the bolts received by each bolt holder, thereby receiving the bolts from the bolt conveying means and passing the received bolts to the nut runner without deviating. Become.

[0008] In the invention according to claim 3, the bolt distributing means includes:
When the two gears rotate due to the rotation of the motor, the link rotates with the rotation of the two gears, and the lower end of the bolt conveying means provided at the tip sequentially faces each bolt holder of the bolt receiving means. The positioning means stops the bolt conveying means at a position where the bolt conveying means faces the bolt holder, and transfers the bolt to the bolt holder. In this way, the bolt distributing means sequentially distributes the bolts delivered to the bolt conveying means to each bolt holder of the bolt receiving means.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be illustratively described in detail below with reference to the drawings. FIG. 5 is a schematic configuration diagram of an automatic engine assembling apparatus as an embodiment of the present invention, and FIG. 6 is a schematic side view of FIG. 5 and 6, in the automatic assembling apparatus 1, a line conveyor 3 for transporting the engine E is disposed on the front side (front side in the figure) of the base 2 and a flywheel FW as a work is provided on the rear side of the base 2. Flywheel supply conveyor 4 for supplying drive plate DP, drive plate supply conveyor 5
Are provided on the right side in the figure, and a bush supply device 6 for supplying the bush BU, an adapter plate supply device 7 for supplying the adapter plate AP, a flywheel FW, and a bolt BT for attaching the drive plate DP to the crankshaft CS of the engine E are supplied. And a control device 9 for controlling the assembling apparatus 1. At the approximate center of the base 2, a multi-axis (6 axes) for assembly
A robot 10 is provided, and a flywheel FW, a drive plate DP, a bush B
U, the adapter AP and the like are received and supplied to the crankshaft CS of the engine E on the line conveyor 3. The engine E is placed on a pallet, placed on the line conveyor 3 with the flywheel or drive plate mounting end face of the crankshaft CS facing the robot 10, and transported in the direction of the arrow.

On the base 2, a flywheel and a drive plate assembling / temporary fastening device (hereinafter referred to as “work assembling / temporary fastening device”) 20 are provided on the line conveyor 3 in front of the robot 10.
, And a flywheel and drive plate rotation direction positioning device (hereinafter referred to as “workpiece rotation direction positioning device”) 30 on the left side of the robot 10 in the drawing.
Is arranged. A crankshaft rotational direction positioning device 40 is disposed in front of the work assembling / temporary tightening device 20 so as to face the line conveyor 3 with a slight gap therebetween. ) Is integrally provided with a guide pin changing device 50. A bolt distribution / transfer device 60 is disposed between the work assembling / temporary tightening device 20 and the guide pin changing device 50.

The flywheel supply conveyor 4 includes a plurality of types (for example, 10 types) of flywheels FW, and the drive plate supply conveyor 5 includes a plurality of types (for example, 7 types).
Type) drive plate DP to the bush feeder 6
Supplies a plurality of (for example, two) bushings BU, and the adapter plate supply device 7 supplies a plurality of (for example, two) adapter plates AP to the robot 10 side. The adapter plate supply device 7 has a front / back inspection unit that determines the front and back of the loaded drive plate DP, and a rotation direction positioning unit that positions the determined drive plate DP in the rotation direction. The adapter plate AP is supplied to the adapter plate supply device 7 with a plurality of plates stacked one on top of the other to form a set, with the front side facing upward.

A bolt feeder 8 as a parts feeder
Are a plurality of types (for example, three types) of bolt supply units 8a to 8a to
8c. Then, the bolt supply unit 8a supplies the long bolt for the flywheel FW to the bolt supply unit 8b.
Supplies a short bolt for the drive plate DP, and the bolt supply section 8c supplies a bolt for preventing loosening. These bolts are supplied to the bolt distribution / transfer device 60 through tubes 8d to 8f for bolt conveyance.

The robot 10 is, for example, a six-axis robot having three hands. When assembling the drive plate DP, the bush BU and the drive plate DP are used.
The three workpieces of the adapter plate AP can be separately gripped and assembled to the crankshaft in a predetermined order. In the case of assembling the flywheel FW, 1
One hand is used.

The work rotation direction positioning device 30 positions the flywheel FW or the drive plate DP as a work in the rotation direction according to the crankshaft CS whose rotation direction is positioned.
Thus, the flywheel FW or the drive plate DP taken out and supplied from the flywheel supply conveyor 4 or the drive plate supply conveyor 5 is rotated and positioned at a predetermined rotation position. The positioned flywheel FW or drive plate DP is taken out by the robot 10 and supplied to the head 22 of the work assembling / temporary fastening device 20.

Crankshaft rotational direction positioning device 4
Numeral 0 is arranged so as to be able to move up and down as shown by arrows A and B in FIG.
The head 22 and the nut runner 23 of the temporary tightening device 20
The lower part of the crankshaft rotation direction positioning device 40 can be moved forward and backward in the direction of the line conveyor 3. Further, the crankshaft rotation direction positioning device 40 faces the flywheel or drive plate mounting end surface of the crankshaft CS of the engine E, which is mounted on the line conveyor 3 at the lowered position (positioning position), conveyed, and stopped. And the crankshaft CS
The knock pin is rotated until a predetermined rotational position, for example, the knock pin is located directly above.

The guide pin changing device 50 has many types and shapes when the flywheel or the drive plate whose rotation direction is positioned is mounted on the head 22 of the work assembling / temporary fastening device 20 in advance. Is complicated,
Since it is extremely difficult to position and support with a common jig or the like, several types of work supporting guide pins are provided, and this is dealt with by replacing and mounting the head 22 according to the type of work.

Since the bolt distribution / delivery device 60 will be described later in detail, a brief description will be given here of the overall configuration of the assembly device 1. The bolt distribution / transfer device 60 is arranged so as to be able to ascend and descend similarly to the crankshaft rotational direction positioning device 40, and the main body 21, the head 22, and the nut runner 2
3 and the like can move forward and backward in the direction of the line conveyor 3 below the bolt distribution / transfer device 60. Then, a plurality of (five) bolts necessary for assembling a flywheel or a drive plate to be assembled to the crankshaft of the engine E at the ascending position are sequentially received one by one from the bolt supply device 8, and at the lowering position. The five bolts are distributed and supplied to the five nut runners 23 of the work assembling / temporary tightening device 20 at one time. The bolt distribution and delivery device 60 rises after supplying the bolt to the nut runner 23, and receives the bolt of the next work from the bolt supply device 8 and waits.

The work assembling / temporary tightening device 20 has a main body 21 capable of moving forward and backward in the front-rear direction and a head 22.
Can also be moved forward and backward with respect to the main body 21.
Further, as shown in FIG. 6, the head 22 is rotatable upward by 90 ° by an arm 24 so that the front surface thereof faces upward from a horizontal position indicated by a solid line. And head 2
Numeral 2 receives and holds the work, that is, the flywheel or the drive plate, which is positioned in the rotational direction from the robot 10 at a position rotated upward by 90 ° as shown by the two-dot chain line. Further, five bolts are distributed and supplied to the five nut runners 23 from the bolt distribution / transfer device 60.

The work assembling / temporary tightening device 20 includes a head 22
Receives the work, and after the nut runner 23 receives the bolt, the arm 24 rotates from the vertical position to the horizontal position and returns to perform the assembling / temporary tightening operation. That is, work assembly
The temporary fastening device 20 prevents the workpiece from dropping in a state where the head 22 is accurately positioned on the flywheel or drive plate mounting end surface of the crankshaft CS of the engine E whose position has been stopped by being moved forward on the line conveyor 3 and positioned. Then, each nut runner 23 is advanced and each bolt is inserted through a bolt hole of the flywheel or the drive plate and screwed into a screw hole on the end face of the crankshaft CS to be temporarily tightened and fixed. .

The control device 9 includes the above devices and the robot 1
0 is controlled in accordance with a predetermined sequence, and the flywheel FW or the drive plate DP is assembled to the crankshaft CS of the engine E and temporarily fixed. Next, the bolt distribution delivery device 60 will be described in detail. FIG. 7 is a schematic block diagram showing the relationship between the bolt supply device 8, the bolt distribution / transfer device 60, and the nut runner 23 of the work assembling / temporary tightening device 20. The mechanism 62 selects one of three types of bolts supplied one by one from the plurality of bolt supply units 8a to 8c of the bolt supply device 8 via the escape units 8a 'to 8c', respectively, according to the work to be temporarily tightened. Select and take out bolts, the number required for temporary tightening of the work, for example,
Five bolt holders 641, 642,... Of a bolt receiving mechanism 63 as bolt receiving means through five bolt transferring hoses 623 as bolt transferring means.
Are sequentially distributed by a bolt distribution mechanism 66 as a bolt distribution means, and then the bolt receiving mechanism 63 is moved by a moving mechanism 68 as a moving means, so that the five bolts BT are transferred to the respective nut runner sockets 23a,
3b,... At a time.

FIG. 8 shows the bolt distribution / delivery device 6 shown in FIG.
9 is a side view of FIG. 8, and FIG. 10 is a plan view of FIG. 8 to 10, a bolt distribution / transfer device 60 includes a frame 61, a bolt selecting mechanism 62 disposed on one side (left side) of the frame 61, and a bolt receiving mechanism disposed substantially in front of the center of the frame 61. 63, a bolt distribution mechanism 66 disposed between the bolt selection mechanism 62 and the bolt receiving mechanism 63, and a moving mechanism 6 for moving the bolt receiving mechanism 63 between a bolt receiving position and a bolt passing (supply) position.
8 and the like.

As shown in FIGS. 9 and 11, the support frame 611 has a substantially inverted L shape, the base end of the vertical portion 611a is fixed to the upper surface of the frame 61, and the upper portion 611b projects horizontally to the front side of the frame 61. Provided, top 6
11b, a bolt supply unit 8a of the bolt supply device 8 (FIG. 5).
8c, the lower ends of tubes 8d to 8f are arranged and fixed in a line in the front-rear direction via hose support fittings 8g to 8i.

As shown in FIG. 11, an LM constituting a bolt selection mechanism 62 is provided on an upper portion 611b of the support frame 611.
A guide 620 is provided horizontally below the hose support fittings 8g to 8i, and the support fitting 622 of the bolt transfer hose is slightly connected to the open ends of the hose support fittings 8g to 8i via the slider 621. It is arranged so as to be movable in the front-rear direction with a small gap therebetween. The upper end of a transfer hose 623 that transfers the selected bolt to the bolt receiving mechanism 63 is fixed to the hose support fitting 622. The driving cylinder 624 includes two cylinders 624.
A and 624B have a back-to-back structure. The rod of the cylinder 624A is fixed horizontally to the vertical portion 611a of the support frame 611.
The rod B is connected to the lower part of the slider 621.

The cylinder 624 includes cylinders 624A, 6
When 24B is shortened as shown in the figure, the hose support fitting 622 is opposed to the hose support fitting 8i to communicate the tube 8f and the bolt transfer hose 623, and when the cylinder 624B is expanded with the cylinder 624A shortened. The hose support fitting 622 faces the hose support fitting 8h so that the tube 8e communicates with the bolt and the transfer hose 623. When the cylinders 624A and 624B both extend, the hose support fitting 622 faces the hose support fitting 8g and the tube 8d and the hose 8b. The bolt transfer hose 623 is communicated. In this way, the bolt selection mechanism 62 selects any one of the three types of bolts supplied from the bolt supply units 8a to 8c of the bolt supply device 8.

As shown in FIG. 8, the support frame 630 of the bolt receiving mechanism 63 has a gate shape, and has both side parts 630a and 630a.
LM guides 631, 631 are fixed to the back surface of 30a, and these LM guides 631, 631 can be vertically moved up and down to fixed blocks 632, 632 fixed to the frame 61 as shown in FIGS. It is supported by. And, both sides 630a of the support frame 630,
A frame 633 is fixed to a lower end of 630a.
As shown in FIGS. 12 and 13, the support plate 634 is disposed above the frame 633 with a slight gap therebetween, and the lower portions 634 a, 634 a on both sides thereof are shown by solid lines in FIG. It is rotatably supported by 90 ° from a horizontal position shown to a vertical position shown by a two-dot chain line on the front side.

The cylinder 636 for rotation has a cylinder bottom rotatably connected to the frame 633 and a rod rotatably connected to a support 634 b formed at the center of the lower surface of the support plate 634. As shown in FIG. 13, a stopper 637 for supporting the support plate 634 at a horizontal position indicated by a solid line and a stopper 638 for supporting the support plate 634 at a vertical position are provided on the upper portion and the front portion of the frame 633. The support plate 634 is supported at a horizontal position indicated by a solid line when the cylinder 636 is shortened,
When extended, it is rotated 90 ° to the front side and is supported at the vertical position indicated by the two-dot chain line. As shown in FIG. 9, the frame 633 is provided with a sensor 690 for detecting that the support plate 634 is at the horizontal position and a sensor 691 for detecting that the support plate 634 has been rotated to the vertical position.

As shown in FIGS. 10, 12 to 14, the swinging ring 639 constituting the locking means is horizontally disposed substantially at the center on the support plate 634, and its outer peripheral portion is the same circle as the support plate 634. It is rotatably supported by three rollers 640 arranged on the circumference at equal intervals along the circumferential direction. The support plate 634 has a small gap inside the swing ring 639 and along the inner peripheral surface, and has a predetermined position corresponding to each of the five bolt holes of the work along the circumferential direction on the same circumference. Are provided with bolt holders 641 to 645 each having a bottomed cylindrical shape.
Each of the bolt holders 641 to 645 has an upper portion protruding above the swing ring 639 and is arranged with its opening facing upward, and each base end is fixed to the support plate 634. As shown in FIGS. 15 and 16, the bolt holder 641 has a notch 6 cut in a slit shape perpendicular to the hole 641 a and slightly smaller than a semicircle along the circumferential direction on the upper outer peripheral wall.
41b is provided. Other bolt holders 642-6
45 is formed similarly to the bolt holder 641.

As shown in FIGS. 12 to 14, bolt locking claws 646 to 650 as bolt locking means are provided on the swing ring 639 in correspondence with the bolt holders 641 to 645. The locking claw 646 has a substantially right-angled triangular shape in a plan view as shown in FIG. Supported, the distal end 64 of one edge 646a
6b is engaged with the notch 641b of the bolt holder 641 so as to be able to enter and exit. One end of the spring 652 has a locking claw 6.
The other end is locked to a pin 653 planted at the other corner at the base end side of the base 45, and the other end is locked to a pin 654 planted to the swing ring 639, and the distal end portion 646b of the locking claw 646 is bolted. The holder 641 is drawn into the notch 641b, and its end face is pressed against the end face of the notch 641b. Accordingly, the locking claw 646 presses the shaft outer peripheral surface of the bolt housed in the hole 641a of the bolt holder 641 in the radial direction, thereby rotating the bolt.
Further, when the support plate 634 is rotated to the vertical position, deviation is prevented. The other locking claws 647 to 650 have the same configuration as the locking claw 646.

As shown in FIG. 14, a cylinder 655 is mounted and fixed at a corner of the support plate 634, and a rod 655 is provided.
The tip of “a” is connected to a swing ring 639 via a joint 656. The cylinder 655 rotates the swing ring 639 to simultaneously position the locking claws 646 to 650 at the locking position or the unlocking position. That is, in FIG. 14, when the cylinder 655 is shortened, the locking claws 646 to 650 are engaged with the notches of the bolt holders 641 to 645 by the spring force of the spring 652 when the cylinder 655 is shortened (FIG. 16). When 655 expands, the swing ring 639
14 rotates counterclockwise by a predetermined angle in the direction indicated by the arrow CC in FIG. 14, and accordingly, as shown in FIG.
6 has an end face 641 on one side of a notch 641b of the bolt holder 641 due to the spring force of the spring 652.
Rotating counterclockwise as indicated by arrow CC in the drawing with the corner of c as a fulcrum, the side portion 646a and the tip portion 646b move outside the hole 641a of the bolt holder 641. As a result, the bolt stored in the hole 641a of the bolt holder 641 can be pulled out. Other bolt holders 642-64
5 and the locking claws 648 to 650. In this manner, the locking or unlocking of the locking claws 646 to 650 with respect to the bolt holders 641 to 645 are simultaneously performed. As shown in FIG. 14, a sensor 692 is provided on the support plate 634 so as to be spaced apart from the tip of the joint 656, and when the cylinder 655 is extended and the swing ring 639 is rotated to the unlocked position. To detect this.

Referring back to FIG. 12, a frame 660 of the bolt distribution mechanism 66 is fixed to the front side of the frame 61 along with the bolt receiving mechanism 63, and a support plate 661 is mounted on the frame 660 as shown in FIG. Both sides are vertically movable via linear guides 662 and 662. As shown in FIG.
Is disposed between two linear guides 662, the cylinder bottom is provided on the frame 660, and the rod end is provided on the support plate 66.
Fixed to 1. Then, the support plate 661 is moved up and down by the expansion and contraction of the cylinder 663. In addition, as shown in FIG.
A stopper 664 is provided on the support plate 661, and a stopper pin 68 is provided on the support plate 661.
1 are provided facing each other, and regulate the lower limit position of the support plate 661.

As shown in FIG. 12 and FIG.
1, a drive motor 66 with a built-in speed reducer near the center front side.
5 is disposed vertically, and the rotation axis is
Through a hole (not shown) of the gear 66 and project downward.
6 is fixed. A gear 66 is provided on the lower surface of the support plate 661.
Gears 667 and 668 having the same shape are rotatably supported on the right and left sides of the gear 6 and in mesh with the gear 666. As shown in FIG. 20, the link 669 has a substantially center and one end rotatably supported by rotating shafts 670 and 671 on lower surfaces of gears 667 and 668, respectively. This link 669
A positioning pin 672 serving as a positioning means protruding downward is provided at a middle position between the rotating shafts 670 and 671 on the lower surface of the rotating shaft 670. A hose support 673 is supported at the other end of the link 669 so as to be able to face the bolt holders 641 to 645 of the bolt receiving mechanism 63. The link 669 is connected to two gears 66 as the motor 665 rotates.
7 and 668 rotate in the same direction in the same direction as indicated by the arrow, and accordingly, the link 669 rotates while moving in parallel in the front-rear direction while keeping the left-right direction shown in FIG. 673 sequentially faces the bolt holders 641 to 645 of the bolt receiving mechanism 63.

[0032] As shown in FIG.
Has a central portion rotatably supported in a hole 669a at the other end of the link 669, and a bolt transfer hose 62 at the upper end.
3 is mounted at the lower end. A notch 6 is formed at the opening end of the lower end of the hose support fitting 673 at a circumferential interval of 180 °.
73a and 673b are provided to face each other. The sensor holder 674 is attached to a lower portion of the hose support fitting 673, and a light projector 694 and a light receiver 695 as optical sensors are attached to both sides facing the notches 673a and 673b. These light emitter 694 and light receiver 695
Detects that the bolt socket has received the bolt.

Referring back to FIGS. 12 and 20, the bolt holders 641 to 6 of the bolt receiving mechanism 63 are provided on the upper surface of the gear 667.
Dogs 675 to 679 are provided at respective positions corresponding to 45. The five dogs 675 to 679 are connected to the link 66.
20, five bolt holders 641 to 645 in FIG. 20 due to the mounting position of the rotation shaft 670 of the gear 667 that supports the shaft 9.
Are arranged in a state in which the support plate 634 in which are arranged is rotated by 180 °. Dog 675 is located above gear 667.
To 679 are provided.
The sensor 696 detects that the hose support fitting 673 faces one of the bolt holders 641 to 645, and that the bolt can be delivered from the bolt transfer hose 623 to the facing bolt holder.

As shown in FIG. 12 and FIG.
A positioning plate 680 as a disc-shaped positioning means is disposed above the reference numeral 0 below the positioning pin 672 of the link 669. The positioning plate 680 is provided with five positioning holes 680a to 680e at positions corresponding to the dogs 675 to 679 of the gear 667, and the positioning pins 672 can be engaged therewith. That is, when the cylinder 663 shown in FIG. 19 is extended, the support plate 661 is raised, and the positioning pin 672 is located above the positioning plate 680.
9 is rotatable, and when the cylinder 663 is shortened, the support plate 661 is lowered and the positioning pins 672 engage with any of the positioning holes 680a to 680e of the positioning plate 680 to stop the positioning of the link 669 at that position. . That is, the hose support 673 is connected to the bolt holder 641.
645 is stopped and held at a position opposed to any one of 645.

Referring back to FIGS. 8 and 9, the upper portion of the frame 61 has a support frame 630 on the side opposite to the bolt selecting mechanism 62.
, A support frame 684 of the moving mechanism 68 is suspended. The cylinder 685 as a moving mechanism is vertically arranged, the cylinder bottom is fixed to the support frame 684, and the tip of the rod 685a is connected to the lower end of the side of the frame 633 supporting the bolt receiving mechanism 63. A stopper pin 686 is provided on the upper end 630 b of the support frame 630, and a fixed block 632 of the frame 61 is provided.
A stopper 687 (FIG. 13) is provided opposite to the upper end on the side. When the cylinder 685 is shortened, the bolt receiving mechanism 63 is moved to the upper limit position, and when the cylinder 685 is extended, the bolt receiving device 63 is moved to the lower limit position. Bolt receiving mechanism 6
In No. 3, the stopper pin 686 contacts the stopper 687 at the lower limit position and is positioned. The cylinder 685
Has a built-in sensor (not shown) for detecting a shortened position (upper limit position) and an extended position (lower limit position). In the bolt receiving mechanism 63, the upper ends of the bolt holders 641 to 645 face the lower ends of the hose support fittings 673 of the bolt transfer hose 623 with a slight gap at the upper limit position (bolt receiving position) shown in FIGS. 24, and can be opposed to the nut runner 23 of the work assembling / temporary tightening device 20 at the lower limit position (bolt transfer position) as shown in FIG. It is possible.

The operation of the bolt distribution / delivery device 60 will be described below. In the initial state, the bolt distribution / delivery device 60 is, for example, in the following state. That is,
As shown in FIGS. 9 and 11, the cylinders 624A and 624B of the bolt selection mechanism 62 are extended, for example, and the hose support 622 is positioned so as to face the hose support 8g (shown by a two-dot chain line in FIG. 11). The bolt of the bolt supply unit 8a (FIG. 5) of the bolt supply device 8 is selected.
Further, as shown in FIG. 8, the cylinder 685 is shortened, the bolt receiving mechanism 63 is at the upper limit position, and the bolt can be received. Further, a cylinder 655 shown in FIG.
Is extended, the swing ring 639 is rotated in the counterclockwise direction CC, the locking claws 646 to 650 are rotated to the release position indicated by the two-dot chain line, and the bolt holders 641 to 645 can receive the bolt. ing. The link 66 shown in FIG.
The positioning pins 672 of FIG. 9 are positioned by fitting into the positioning holes 680a of the positioning plate 680 shown in FIG. 21. As shown by hatching in FIG.
23 hose support fittings 673 face the bolt holder 641. The sensor 696 faces the dog 675 to detect the position.

The bolt BT sent from the bolt supply section 8a shown in FIG. 5 is sent to the support fitting 8g (FIG. 11) through the transfer tube 8d, and the hose support fitting 622,
The bolt is supplied to the bolt holder 641 (FIG. 23) through the bolt transfer hose 623 and the hose support fitting 673. FIG.
When the bolt BT is received and stored in the bolt holder 641, the head BTa is located in the vicinity of the open end of the hose support fitting 673, and light from the projector 694 is blocked as shown in FIG. The light receiver 695 detects the head BTa and the bolt holder 641
To detect that it has been received.

Next, a bolt distribution mechanism 66 shown in FIG.
Cylinder 662 extends and raises the support plate 661,
The positioning pin 672 is inserted into the hole 68 of the positioning plate 680.
0a to enable rotation of the link 669.
Next, the motor 665 shown in FIG. 20 rotates in the arrow direction C to rotate the link 669 by the gears 667 and 668. When the link 669 rotates and the hose support fitting 673 is positioned above the bolt holder 642, the sensor 696 detects the dog 676 and stops the motor 665. Next, the cylinder 662 is shortened and the support plate 661 is lowered, and the positioning pins 672 are engaged with the holes 680b of the positioning plate 680 to position and lock the link 669 at this position. Next, the bolt is delivered from the bolt supply unit 8a, and the bolt holder 6 is moved in the same manner as described above.
42. Such operations are sequentially repeated to supply the bolts BT to the bolt holders 641 to 645, respectively.

When each of the bolt holders 641 to 645 receives the bolt BT, the cylinder 655 shown in FIG. 14 is shortened, the swing ring 669 is rotated clockwise, and the locking claw 646 is generated by the spring force of each spring 652. To 650 are pressed against the outer peripheral surfaces of the bolts BT stored in the corresponding bolt holders 641 to 645 to lock the bolts BT so that they cannot rotate and cannot deviate. Next, the cylinder 685 shown in FIG. 8 is extended to lower the bolt receiving mechanism 63 to the lower limit position as shown in FIG. The bolt receiving mechanism 63 rotates the support plate 634 from the horizontal position to the vertical position indicated by the two-dot chain line when the cylinder 636 expands at this lower limit position. When the support plate 634 is rotated to the vertical position,
, The bolt holders 641 to 645 face the corresponding five nut runner sockets 23a, 23b,... (Only the nut runner sockets 23a, 23b are shown) of the nut runner 23 of the bolt assembling / temporary tightening device 20.

Next, the bolt assembling / temporary tightening device 20 advances in the direction of arrow A while rotating the nut runner 23,
The head B of the bolt BT of the bolt socket 641 to 645 to which each nut runner socket 23a, 23b,.
Fit with Ta. At this time, since the bolt BT is held non-rotatably, the head BTa is fitted into the nut runner socket without rotating together. Each nut runner socket has a built-in magnet, and sucks and holds the head BTa of the bolt BT taken in.

Next, the bolt receiving mechanism 63 shown in FIG.
The cylinder 655 extends to rotate the swing ring 639 to separate the locking claws 646 to 650 from the bolt BT to release the locking. Thereby, each bolt holder 641-
The bolt held at 645 can be pulled out. Next, the nut runner 23 retreats in the direction of arrow B and separates from the bolt receiving mechanism 63. I do. Thus, the five nut runner sockets 23 of the nut runner 23
a, 23b, ..., five bolts BT are simultaneously passed (supplied). Next, the cylinder 636 is shortened and the support plate 6
After returning to the horizontal position shown by the solid line in FIG. 13, the cylinder 685 is shortened and raised to the upper limit position shown in FIG. 8, and waits to receive the bolt of the next work.

[0042]

According to the present invention, according to the first aspect of the present invention,
With a relatively simple structure, it is possible to select a plurality of desired bolts from among the bolts supplied from a plurality of parts feeders and supply them to the nut runner at that time, especially to the flywheel or drive plate on the engine crankshaft. By applying the present invention to an automatic assembling apparatus for an engine, which temporarily attaches a workpiece such as a workpiece, it is possible to improve the productivity of the engine, improve the working environment, and the like.

According to the second aspect of the present invention, the bolts received by the plurality of bolt holders can be simultaneously locked and released simultaneously with a simple structure, and the nut runner can be released without departing from the received bolts. It is possible to pass to. According to the third aspect of the present invention, a plurality of bolts can be sequentially transferred to each bolt holder of the bolt receiving mechanism with a simple structure.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram for assembling a flywheel to a crankshaft of an engine.

FIG. 2 is a sectional view showing a relationship between a crankshaft and a flywheel in FIG.

FIG. 3 is an explanatory view for assembling a drive plate and an adapter plate to a crankshaft of an engine.

FIG. 4 is a sectional view showing a relationship between a crankshaft and a drive plate in FIG. 3;

FIG. 5 is a perspective view showing an embodiment of an automatic engine assembling apparatus provided with the bolt distribution / transfer device according to the present invention.

FIG. 6 is a schematic side view of FIG.

FIG. 7 is an explanatory diagram showing a relationship among a bolt supply device, a bolt distribution / transfer device, and a nut runner of a work assembling / temporary fastening device in FIG. 5;

FIG. 8 is a front view of the bolt distribution / delivery device shown in FIG. 5;

FIG. 9 is a side view of FIG.

FIG. 10 is a partially omitted plan view of FIG. 8;

FIG. 11 is a side view of the bolt selection mechanism shown in FIG. 8;

FIG. 12 is an enlarged view of the bolt receiving mechanism and the bolt distribution mechanism of FIG.

13 is a partially cutaway side view of the bolt receiving mechanism shown in FIG.

FIG. 14 is an enlarged view of the bolt receiving mechanism of FIG. 10;

FIG. 15 is a sectional view of the bolt holder of FIG. 14;

FIG. 16 is an explanatory diagram showing a relationship between the bolt holder and the locking claw in FIG. 15;

FIG. 17 is an explanatory view of unlocking of a locking claw of the bolt holder of FIG. 15;

FIG. 18 is a partial side view of the bolt distribution mechanism of FIG.

FIG. 19 is a sectional view taken along the arrow line XIX-XIX in FIG. 18;

FIG. 20 is a plan view of a main part along an arrow XX-XX in FIG. 12;

FIG. 21 is a plan view of the positioning plate of FIG. 12;

FIG. 22 is a sectional view of the hose support fitting of FIG.

FIG. 23 is an explanatory view showing a state where bolts have been transferred from a hose support fitting of the bolt distribution mechanism of FIG. 12 to a bolt holder of the bolt receiving mechanism.

FIG. 24 is an explanatory diagram when the bolt distribution / transfer device shown in FIG. 8 passes a bolt to a nut runner of the work assembling / temporary tightening device.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 Automatic engine assembly device 3 Line conveyor 4 Flywheel supply conveyor 5 Drive plate supply conveyor 6 Bush supply device 7 Adapter plate supply device 8 Bolt supply device (parts feeder) 9 Controller 10 Robot 20 Work (flywheel and drive plate)
Assembling / temporary fastening device 30 work (flywheel and drive plate)
Rotation direction positioning device 40 Crank shaft rotation direction positioning device 50 Guide pin exchange device 60 Bolt distribution / transfer device 61 Frame 62 Bolt selection mechanism (Bolt selection means) 63 Bolt receiving mechanism (Bolt receiving means) 66 Bolt distribution mechanism (Bolt distribution means) 68 Moving mechanism (moving means) E Engine CS Crankshaft FW Flywheel (Work) BT Bolt

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Ryuji Shiode 5-33-8 Shiba, Minato-ku, Tokyo Inside Mitsubishi Motors Corporation (72) Inventor Yuichi Hazaki 4-2-1-1, Shimomaruko, Ota-ku, Tokyo Mitsubishi Automotive Engineering Co., Ltd.

Claims (3)

[Claims] 1. A bolt distribution and delivery device for supplying a bolt supplied from a parts feeder to a nut runner, comprising: a bolt selecting means for selecting and extracting a predetermined bolt from bolts supplied from a plurality of parts feeders; A plurality of bolt holders disposed at predetermined positions on the support plate for receiving and holding the removed bolts, and locking the bolts held by the respective bolt holders so as not to move and supplying the bolts to the nut runner; A bolt receiving means having a locking mechanism for releasing the locking of the bolt, and a bolt transporter connected to the bolt selecting means and supported so as to be able to face the respective bolt holders and transporting the selected bolt to the respective bolt holders. Means, the bolt conveying means is positioned in such a manner as to be close to each of the bolt holders and sequentially opposed to each other, and the selected bolt is A bolt distributing means for sequentially distributing the bolts to the respective bolt holders; and a bolt passing means for receiving the bolts by the respective bolt holders of the bolt receiving means, and then transferring the bolts to the respective nut runner sockets of the nut runner corresponding to the respective bolt holders. And a moving means for moving the bolt receiving means. 2. The locking mechanism of the bolt receiving means, comprising: a swing ring concentrically and rotatably disposed outside the plurality of bolt holders; A locking claw interposed between the locking members for locking the bolts held by the bolt holders at a first rotation position and releasing the locking at a second rotation position; The bolt distributing and delivering device according to claim 1, further comprising a driving unit configured to rotate to the first and second rotation positions. 3. The bolt distributing means is connected to two identical gears rotatably arranged at a predetermined interval, and to one end face of each of the gears so as to be relatively rotatable. A bolt transfer means is attached, and a link for moving the bolt transfer means on each of the bolt holders sequentially so as to be able to face each other with the rotation of the two gears in the same direction, and turning the link by rotating the two gears. The bolt according to claim 1 or 2, further comprising: a motor to be driven; and positioning means for sequentially positioning and locking the link at a position where the bolt conveying means faces each of the bolt holders. Distribution delivery device.