JPS60118430A - Work rotating device - Google Patents

Abstract

PURPOSE:To provide a work rotating device optimum for automatic assembly, etc., by providing a work attracting means attached to a rotatingly driven horizontal rotary shaft through a horizontal bar, for freely rotating a workpiece in an arbitrary shape. CONSTITUTION:A work rotating device 64 is attached to the lower end of a piston rod 62 in an air cylinder 61 secured, in the vertical direction, to the center section of a horizontal support plate 60 which is secured to the lower ends of two support members 59 suspended from a conveyor device body. A rotary cylinder 68 is set on the top surface of a horizontal lower plate 67 which is attached by means of a support shaft 66 to an upper plate 65 carried by the rod 62. A horizontal support bar 79 is secured to rotary levers 79 at both ends of a rotary shaft 75 which is horizontally journalled to the lower plate 67 by means of bearings 74, and carries at its both ends slidable rods 83 to the front ends of which electromagnets 84 are secured. When the shaft 68a is rotated by driving the cylinder 68, torque is transmitted to the shaft 75 through bevel gears 77, 76, and therefore, the bar 79 and the electromagnets 84 are rotated.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a workpiece rotation device that can be used in a workpiece conveyance device that suspends and conveys a workpiece.

First, embodiments embodying the present invention will be described with reference to the attached drawings to provide an understanding of the present invention.

In this embodiment, the present invention is applied to a side plate conveying device used in an automatic chassis assembly process for fixing two plate-shaped side plates at right angles to a circuit board. It should be noted that this method can be applied to a case where a workpiece having the shape of is rotated, and by adjusting the suction force of the suction means, it can be applied to a wide range of workpieces, from lightweight to heavy.

FIG. 1 is a plan view of the entire chassis assembly device including a work rotation device according to an embodiment of the present invention, FIG. 2 is a closed view, and FIG. 3 is a side view of a substrate positioning mechanism used in the assembly device. , FIG. 4 is a plan view of a workpiece gripping device that can be used in the above embodiment, FIGS. ), (
d) is a side sectional view showing a modified example of the lever connection mechanism that can be used in the above-mentioned drive unit, FIG. 6 is a front view of the workpiece conveyance device used in the above-mentioned assembly device, and FIG. 7 is the same workpiece conveyance device. FIG. 8 is a front view of the workpiece rotation device which forms the main part of the workpiece conveyance device; FIG.
Figures (a) to (C) are flowcharts showing the operating procedure of the assembly device.

First, the schematic structure of the assembly device 18 is shown in FIGS. 1 and 2.

Firstly, referring to FIG. 6, this assembly device 18 consists of two concave rails 34 disposed perpendicularly to both conveyors, extending from a side plate conveyor (not shown) to a substrate conveyor; a workpiece conveying device 37 that slides on the rail 34 and conveys the side plate 5 or 6 and the substrate 19 supplied to the side plate supply position and the substrate supply position on each conveyor to a substantially central portion of the rail 34; a workpiece gripping device 38 provided approximately at the center of the rail 34 and holding the side plate 5 or 6 and the board 19 transported by the workpiece transporting device 37 in the assembled state; and the workpiece gripping device 3
8, the assembly includes two screw tightening machines 39 for screwing the side plates 5 and 6 held in the same state and the board 19.

First, from the side plate supply position or the board supply position,
The structure of the workpiece conveyance device 37 for conveying the substrate 19 to the workpiece gripping device 38 will be described with reference to FIGS. 6 to 8.

As shown in FIG. 6, the rail 34 is placed in a concave manner on four vertically erected frames (not shown)
4, the workpiece transport bag W37 travels in a direction perpendicular to the plane of the paper shown in FIG. That is, as shown in detail in FIG. 8, one of the pair of rails 34. On the top of the
A guide bar 42 is placed in a direction perpendicular to the paper plane of FIG. 8, and a bearing 44 is fixed on a guide block 43 that is slidably fitted to the guide bar 42.

Further, a guide rail 45 is fixed to the "-" surface of the other rail 34I over the entire length of the rail 34, and a wheel receiver 47 is mounted on the guide rail 45 via wheels 46 that roll along the guide rail 45. Supported. A pair of wheel receivers 47 are provided at a constant interval in a direction perpendicular to the paper surface of FIG.
and the guide block 43, the rail 34
A transport device main body frame 48, which is perpendicular to , is slidably suspended.

A motor 49 with a speed reducer is fixedly installed on the upper surface of the end of the main body frame 48 of the conveying device on the rail 34° side.
It meshes with a gear 52 coaxially fixed to a shaft 51 which is rotatably supported by a bearing (not shown) provided on the conveyor body frame 38 side. The gear 52 is attached to the shaft 51.
A gear 53 fixed coaxially with the conveyor body frame 4
It meshes with a gear 56 rotatably attached to a bracket 55 on the carrier main frame 38 via an intermediate gear 54 rotatably attached to 8 via a bearing (not shown). Further, a gear 58 attached coaxially with the gear 56 is meshed with a rack 57 attached to the rail 34° over its entire length in the longitudinal direction.

Therefore, when the motor 49 rotates, the gears 50, 52, 53
. 42 and wheels 46 to move.

As shown in FIG. 7, a horizontal support plate 60 attached to the lower ends of the two support members 59 hanging vertically downward from the transport device main body frame 48 has a vertical air cylinder 61 at its center. A work rotation device, generally designated by 64, is suspended from the lower end of the piston rod 62 of the air cylinder 61 via a disk spring 63, as shown in detail in FIG.

This work rotation bag W64 includes: - an upper plate 65 directly attached to the piston rod 62 via the disc spring 63; and a horizontal support rod 66 attached to the upper plate 65 via a vertical support rod 66; A lower plate 67 is provided, and a row cylinder 68 is placed on the upper surface of the lower plate 67. 2 attached vertically to the surface raising plate 65 and the lower plate 67
The rod 69 is vertically slidably supported by a vertical bearing 70 fixed to the support plate 60, and serves as a guide to prevent the entire work rotation device N64 from tilting and rotating. .

A compression spring 71 is provided around each of the bearings 70, and an abutment plate 72 is placed on top of each compression spring 71. The rods 69 are inserted through a hole bored in the center of the abutment plate 72, respectively. It extends upward. A stopper 73 having an outer diameter larger than the inner diameter of the center hole of the contact plate 72 is provided at the upper end of each rod 69, so that the air cylinder 61 is driven and the piston rod 62 advances. When the entire work rotation device 64 moves downward, the stopper 73 contacts the compression spring 71 via the abutment plate 72 at the lowest end position, so that an impact action is performed at the lowest end position. be exposed.

A horizontal rotating shaft 75 is supported at right angles to the rail 34 by a pair of bearings 74 attached to the lower surface of the lower plate 67, and a bevel gear 7 is attached coaxially to this rotating shaft.
6 meshes with a bevel gear 77 attached to the drive shaft 68a of the rotary cylinder 68.

Furthermore, rotating levers 78 are fixed to both ends of the rotating shaft 75, and one end of each rotating lever 78 is provided with a rotating lever 78.
A support bar 79 parallel to 5 is fixed in the horizontal direction, and a ball holder 81 having a ball 80 that can freely appear and retract is fixed to the other end of each rotating lever 18.

Vertical guide members 82 are fixed to both ends of the support bar 79, respectively, and an electromagnet 84 is fixed to the tip of a sliding rod 83 that is slidably supported in the vertical direction by the guide members 82. ing. The electromagnet 84 is of a type that attracts the electromagnet when it is not energized in order to save energy and prevent the workpiece from falling during a power outage. Note that 85 is a stopper that comes into contact with the guide member 82 at the lowest end position of the sliding rod 83, and is fixed to the rear end of the sliding rod 83.

Small auxiliary cylinders 87 are attached to the electromagnets 84 via brackets 86 in the vertical direction in FIG. 6, respectively. Further, guide members 88 are vertically fixed adjacent to the electromagnets 84, and slidable bush rods 89 are inserted into each of the guide members 88. This bushing rod 89 is always elastically biased downward by a compression spring 91 fastened between a trunk 90 provided in the middle and the guide member 88, and its lower end 92 is shown in FIG. In the standby state shown in FIG. 8, the electromagnet 84 protrudes further downward than the lower end of the electromagnet 84.

The drive shaft 68 of the rotary cylinder 68. At the top of the
An indicator 93 on the bar is fixed horizontally,
A proximity switch 94 detects the position of the indicator 93 every 90 degrees when the indicator 93 rotates due to the rotation of the drive shaft 68a. ．． 94b.

94 are attached to the upper ends of the rotary cylinders 68 (however, the proximity switches 94 for detecting intermediate positions are not shown).

Furthermore, the rotary lever 78 is provided on the lower surface of the lower plate 67.
A spherical groove 95 is formed corresponding to each ball 80 into which the balls 80 of the ball holder 81 attached to the upper end of the ball holder 81 are inserted when the ball holder is in the vertical state shown in FIG.

Therefore, the lower cylinder 68 is actuated, and the drive shaft 68
．． When rotates, the rotation passes through bevel gears 77°76,
The signal is transmitted to the rotating shaft 75, and the rotating lever 7 is connected to the rotating shaft 75.
Support bar 79 attached via 8 and the support bar 79
Electromagnets 84 attached to both ends rotate integrally around the rotating shaft 75 as shown by an arrow 96. At this time, the indicator 93 indicates each proximity switch 394. , 94b, 94o and stops the rotary cylinder 68, the electromagnet 84 is moved from one horizontal position to the vertical position (standby position) shown in FIG. 7 to the opposite vertical position. It can be stopped at each position.

In addition, the above-mentioned work rotation device 64 rotates the electromagnet 84 by 90 degrees around the rotating shaft 75 with the side plate 5 or 6 attracted by the electromagnet 84, and the side plate 5 or 6 is erected vertically. The electromagnet 84. Since the rotational torque due to the weight of the support bar 79 and the side plate 5 or 6 is transmitted to the meshing portion of the bevel gears 76 and 77 via the rotating shaft 75, the support bar 79 is A joint 97 is attached to both ends of the balancer 9 so as to be rotatable around the support bar 79, and the joint 97 and the transport device main frame 48 are connected to the balancer 9.
Connected by a wire 99 through the balancer 9
8 pulls the support bar 79 upward by the tensile force on the wire 99, and the side plate 5 or 6. Electromagnet 84. Support bar 7
The downward rotational torque caused by 9 etc. is alleviated.

A position detector 100 is attached to the air cylinder 61 to detect its advance or retreat position and speed switching position.

Next, with reference to FIGS. 1 to 5, the side plates 5 and 6 transported by the workpiece transport device 37 and the substrate 19
The structure of the workpiece gripping device 38 for assembling the workpiece will be explained.

First, using FIGS. 1 and 2, the workpiece gripping device 3
8 will be explained. That is, the work gripping device 3
8 is a clamp mechanism 101 that grips the front side plate 5 and the rear side plate 6 in a vertical state (in Fig. 2, the standby line of the clamp mechanism is shown by a solid line (101), and the clamp mechanism is The clamping mechanism on the right side in FIG. and a substrate holding device 102 for holding a horizontal substrate 19 placed on the rear side plate 6, and a substrate holding device 102 for moving the clamp mechanism 101 from the solid line position W (standby position 101) shown in FIG.
01') and the like.

First, the structure and operation of the clamp mechanism 101 will be explained with reference to FIGS. 2, 4, and 5.

In FIG. 2, the guide rail 104 is connected to the rail 3.
4 (FIG. 1), and two pairs of guide blocks 105 and 105b, which are slidably attached to these guide rails 104, support frames 106a and 106. , are placed so as to be slidable in mutually opposing directions.

A pair of frames 107a and 1107 extending vertically are erected above each of the frames 106a and 106, respectively. On the sides of these frames 107a and 107b, as shown in FIG.
It is fixed by a bolt 110 inserted in 09 so that the mounting position can be adjusted. For the plates 10B and 108, an air cylinder 111 is connected to a pin 112 attached to the lower part of the plates 108 and 108+, respectively.
The air cylinder 11 is attached to be swingable around the air cylinder 11.
The tip of the piston rod 113 of No. 1 is connected to the bracket 114.
and the pin 1 installed between the frames 107a and 107 via the pin 115 installed on the bracket 114.
It is attached to a lever 117 that can freely swing around the center 16.

Further, the tip 117a of the lever 117 is
It is connected to a lever 119 that is swingable in a vertical plane via a horizontal pin 118 installed in a.

On the other hand, a lever 121 is attached to the upper end 2 of the frames 107a and 107, respectively, as shown in FIG. 4, and is swingable in a horizontal plane about a vertical pin 120. , and said lever 1
19 is engaged with the lever 199 via a pin 122 in a direction perpendicular to the lever 199.

However, the lever 121 and the pin 122 of the lever 119
The lever 121 is swingable only in the horizontal direction, whereas the lever 119 is swingable in the vertical plane, so the lever 122 for inserting the pin 122 is The engagement hole 123 drilled in is shown in Fig. 5(c).
As shown in the figure, the lever 121 has a drum-shaped cross section, and is configured so that the lever 121 can freely swing relative to the pin 122, and the engagement hole 123 and the pin 122 can be fitted together without any play. There is. Various other types of joint structures such as this can be considered, but for example, as shown in FIG. 5(d), pin 1
The sphere 124 is fitted to the lever 22, and the sphere 124 is attached to the lever 1.
21 tip 121. By fitting into an engagement hole 1238 having the same shape as the sphere 124 bored in the hole, the lever 121 is allowed to swing relative to the lever 119 about the pin 122, and the lever 119 is placed in a vertical plane relative to the lever 121. In addition, it is possible to create a state in which there is no rattling or play in the engaging portion.

As shown in FIG. 4, the other end 121b of the lever 121 has a pressing roller 125 rotatable about a vertical axis.
are attached to the frame 107a, respectively, and the frame 107a
A positioning block 126 is fixedly installed on the upper surface of the and 107b, respectively, and between the positioning block 126 and the pressing roller 125, the side plate 5 or 6 shown by the two-dot chain line in FIG.
grasp. Further, each of the levers 121 has a generally arcuate pressing surface 127 extending from the vicinity of the pressing roller 125 to the vicinity of the lever 119, and the radius rl of the eccentric cam-shaped pressing surface 127 in the vicinity of the pressing roller 125 is , is formed to be larger than the radius r2 near the lever.

Therefore, when the pressing roller 125 is pressed toward the positioning block 126 as shown in FIG. Pressure surface 1 indicated by rl
The large diameter portion of 27 is pressed against the end of the side plate 5 or 6 to accurately position the side plate 5 or 6 in the horizontal direction. Further, when the lever 121 is rotated and the pressure roller 125 is rotated in the direction in which the side plate 5 or 6 is released, the pressure surface 1
The position of the surface facing the end of the side plate 5 or 6 of 27 changes, and finally the small diameter portion represented by the radius r2 becomes the side plate 5 or 6.
The side plate 5 or 6 will face the end of the pressing surface 1.
The horizontal tightening by 27 is released from the condition.

The rotation of the pressing roller 125 as described above, that is, the lever 12
The rotation operation about the first bottle 120 is performed as follows. First, when the air cylinder 111 is operated to move the pin rod 113 backward, the piston rod 11
3 has a bracket 114 and a bottle 11 attached to its tip.
As shown in FIG. 5(b), the lever 117 attached via the lever 117 rotates around the pin 116 as indicated by the arrow 129. As the lever 117 moves, the lever 11
The lever 119 connected to the lever 7 via the pin 118 is retracted in the direction of the lever 117 as shown by the arrow 130. At this time, the tip of the lever 119 is engaged with the lever 121 via the pin 122, so that the pin 122 is slightly inclined as shown in FIG. 5(b). Due to the t & exit operation of the lever 119, this lever 1
Lever 12 connected to 19 via pin 122
1 rotates in the direction shown by an arrow 128 around a pin 120 (FIG. 4), and the pressing roller 125 presses against the positioning block 1.
26 to release the sandwiched state. By this movement, as described above, the side plate 5 or 6 is released from the positioning state by the pressing surface 127 of the lever 121, and the distance between the left and right pressing surfaces 127 increases.

Conversely, when the air cylinder 111 is actuated to advance the piston rod 113, the lever 1 moves in the exact opposite direction to the above movement.
21 rotates in the direction opposite to the arrow 128, and the side plate 5 or 6 is attracted to the magnet 84 and transported by the workpiece transport device 37.
Positioning block 126 and pressing 125 in vertical state
It is held under pressure between the

Next, the structure and operation of the substrate holding device 102 will be explained with reference to FIGS. 1, 2, and 3.

As shown in FIG. 2, a pedestal 1311. support frame 130
An air cylinder 13 equipped with a solenoid pulp 132 is mounted on the frame 131b (Fig. 3) provided through the frame 131b.
3 is the frame 1311. An angle member 135 extending perpendicular to the guide rail 104 is horizontally attached to the upper end of the piston rod 134 of the air cylinder 133.

The piston rod 1 is attached to the lower surface of this angle member 135.
A pair of guide rods 136 mounted symmetrically with 34 in between are attached to the frame 1311. The angle member 135 is vertically slidably supported by a pair of vertical bearings 137 attached to the angle member 135, thereby guiding the angle member 135 in the vertical direction. Therefore, the air cylinder 133 does not need to be fixed to the support member 131a of the frame 131c, and the air cylinder 133 does not need to be fixed to the support member 131a of the frame 131c.
(Fig. 3), it is swingably supported in a vertical plane.

The angle member 135 has a sufficient length in the direction perpendicular to the rail 34 shown in FIG. 1 in order to correspond to the size of the workpiece as shown in FIG. It has a long groove 139, and a positioning plate 141 is attached by a bolt 140 inserted into the long groove so as to be adjustable in position in the direction of the long groove 139.

In FIG. 1, the positioning plate 141 attached at a position corresponding to the largest workpiece is indicated by a two-dot chain line 141'.

Furthermore, two pairs of positioning blocks 142 are fixed to the -L surface of this positioning plate 141.

As shown in FIGS. 3 and 4, this positioning block pair 142 is constructed by sandwiching the 90-degree bent end edge 19a of the substrate 19 placed on the positioning plate 141 in the direction of the angle member 135. This is for positioning the member 135 in the longitudinal direction, and tapered surfaces 143 are provided so that the edge 19° of the substrate 19 that has been lowered from above by the workpiece transport bag W37 can be easily inserted.
It is composed of positioning blocks 1428 and 142b having a vertical surface 144 for sandwiching the edge portion 193 of the 21-writing plate 19 in the positioned state.

The mounting position of one of the above-mentioned positioning blocks 142B and 142I is variable in the longitudinal direction of the angle member 135, and is configured to accommodate changes in the thickness of the substrate 19.

The positioning block pair 142 positions the board 19 in the longitudinal direction of the angle member 135 as described above, and as shown in FIG. This is for advancing when tightening screws and positioning the board 19 in a direction perpendicular to the longitudinal direction of the angle member 135.

The substrate holding device 102 configured as described above is stopped at the standby position shown in FIG. When the air cylinder 61 of the conveying device 37 moves downward, the end edge 19a of the conveying device 37
is sandwiched between two pairs of positioning blocks 142 to position the angle member 135 in the longitudinal direction. Thereafter, the front side plate 5 and the rear side plate 6, which are supported in the vertical direction, are connected to the board 19 by the screw tightening machine 39 to form the chassis 31, and the entire chassis 31 is further lifted by the air cylinder 133 to form the chassis. Reversing device (not shown)
in a condition convenient for delivery to.

The workpiece gripping bag ff38 as described above has a clamping mechanism 101 for clamping the front plate 5 as shown in FIG.
Clamp mechanism 1011 for gripping the side and rear side plates 6.
As described above, these left and right clamp mechanisms are configured to be movable from the solid line position to the two-dot chain line position W101' as shown in FIG. This means that if the pressure roller 125 described above is only released at the clamp position 101' of each side plate indicated by the two-dot chain line, the lever 121
When assembled, the side plates 5 and 6 protrude outward, so when the assembled chassis 31 is pulled out in a direction perpendicular to the plane of the paper in FIG. 2 using the chassis reversing device,
This is because the side plates 5 and 6 interfere with the lever 121 and cannot be pulled out, so it is necessary to move the lever 121 as a whole to the inside of the side plates 5 and 6.

The lamp devices 101□ and 101) look like this.

The movement of is achieved by the drive mechanism 103.

That is, as shown in FIG. 2, each clamp mechanism 101a and 10
The brackets 1 and 1 are respectively attached to the mounts 106a and 106 which are slidably attached to the guide rail 104 as described above, and - the bracket 1 is attached to the mount 106L.
45, the pin 14 implanted in the bracket 145
Air cylinder 14 is attached to be able to swing freely around 6.
The tip of the piston rod 148 of No. 7 is connected to the bracket 149.
is fixed to the pedestal 106. The bracket 149 is swingably engaged with a horizontal pin 151 attached via a bracket 150 to the lower surface of the bracket 149 .

Therefore, when the air cylinder 147 is actuated to advance the piston rod 148, the mounts 106a and 106t are pushed and moved in opposite directions, and finally the mounts 106a and 106t move toward the guide rail 45. It moves until it comes into contact with stoppers 152a and 152I provided at both ends. The positions of the clamp devices 101a and 101 when the frames 106a and 106 are in contact with the respective stoppers 152a and 152b are shown by the two-dot chain lines 101' as described above. Furthermore, each stopper 152
The positions of a and 152b are adjusted by the amount of tightening of poles 152b and 152o, which form the abutting surfaces of each frame 106° and 106.

In addition, the air cylinder 111 etc. are connected to the plate 108, (1
08b) attached via the frame 107, and 1
07b has a support plate 153 protruding outward at its lower end portion, and the front side plate 5 and rear side plate 6 carried by the workpiece conveyance device 37 are placed on this support plate 153, respectively. The lower end portion of each side plate 5 or 6 is positioned horizontally in the frame 107. This is done by bringing the lower end of the side plate 5 or 6 into contact with a positioning bolt 154 that is screwed and protrudes from the lower end of the support plate 153 toward the distal end of each support plate 153.

Next, referring to the flowchart shown in FIG. 9, the side plate 5,
6 and the board 19 will be explained in terms of work procedures. Here, SC1, SC2, SC3, . . . indicate step numbers. First, in step SCI, n=o is initialized. Here, n is the number of repetitions of the work procedure of the workpiece conveyance device, and when the procedure of conveying the front side plate 5, n=o, the rear side plate 6
When transporting, n=1, 0, 1, 0, 1 . ...
repeat. Next, at SC2, it is determined whether or not the pallet on which the side plates 5 or 6 are placed has stopped at the fixed position of the side plate supply position of the assembly device 18 by the side plate conveyor, and the process waits until it stops. At this point, the workpiece conveyance device 37 has already been driven by the motor 49 and has stopped directly above the side plate supply position 35.

When a detection device such as a limit switch (not shown) installed on the side of the side plate conveyor detects that the pallet has come to a fixed position, the side plate conveyor is stopped and the air cylinder 61 is activated to move the piston rod 62. descend,
The electromagnet 84 attached to the work rotating device 64 (see FIG. 6) attached to the tip of the workpiece rotating device 64 (see FIG. 6) via the support bar 79 descends (503), and eventually the electromagnet 84 moves to the side plate conveyor 1.
It comes into contact with the front plate 5 on the upper pallet. The operating time of this air cylinder 61 is set by the time interval (S
C4).

4 When the electromagnet 84 comes into contact with the front plate 5, the bushing rod 89, which is urged downward by the compression spring 91, urges the front plate 5 downward while retreating.

At this point, the front plate 5 is attracted by the electromagnet 84 in step SC5. When the suction of the front side plate 5 is completed, S
At C6, the cylinder 61 is actuated to retract the piston rod 62 and raise the front plate 5. This rise time, like the fall time, is determined by the set time (
SC7).

Next, in step SC8, it is determined whether n is O or not. If n is O, that is, if it is determined that the front plate 5 is being transported, the rotary cylinder 68 is rotated in the normal direction at SC9. Then, the rotation of the rotary cylinder 68 is transmitted to the rotating shaft 75 through the bevel gears 77, 76, and the support bar 79. and an electromagnet 8 attached to it
4.Furthermore, the front plate 5 attracted to the electromagnet 86 is rotated, and the front plate 5 approaches a vertical state.

This rotation of the rotary cylinder 68 causes its drive shaft 68. The indicator 93 attached to the end also rotates,
Proximity switch 94 on the left side. The rotary cylinder 68 continues to rotate forward until it turns on (SC10). Thus the proximity switch 94. When l turns on, rotary cylinder 6
8 is stopped, and in this state, the traveling motor 49 is rotated in the forward direction (SC11). The rotation of the motor 49 is transmitted to the gear groups 50, 52, 53, 54, 56 as described above, and the rotation of the gear 58 that meshes with the rack 57 causes the entire workpiece conveyance device 37 to be rotated at the arrow 155 shown in FIG.
, that is, in the direction of the workpiece holding bag w38, and stops at the position where the dog provided on the frame 41 abuts the sensor provided at an appropriate position on the pedestal (SC12). The forward rotation of the travel motor 49 may be started at the same time as the rotation of the rotation cylinder 68 or in the middle thereof.

``In this way, when the workpiece transport bag Wt, 31 reaches the position where the front side plate 5 of the workpiece gripping device 38 is to be lowered, the air cylinder 61 is activated, and the side plate 5 is lowered for a set time T2 (SC13, 5C14). .

By lowering the front side plate 5 by this fixed amount of time, the front side plate 5 is lowered until the lower end of the front side plate 5 comes into contact with the H surface of the support plate 153. When the front plate 5 is lowered to the approximate assembly position, the air cylinder 111 for clamping (Figs. 4 and 5) is activated for 13 hours at 5C15.
6) By retracting the piston rod 113, the bracket 121 moves around the pin 120 via the brackets 117 and 119 as described above with the arrow 128.
Rotating in the opposite direction, the pressing roller 125 presses the front plate 5 against the positioning block 126 and holds it in that position. In this state, it is sufficient to turn on the electromagnet 84, but since the side plate, which is normally attracted by the electromagnet 84, is not positioned very accurately, the pressing roller 12
5, perfect positional accuracy cannot be expected, and the front plate 5 may be slightly to the side or displaced upward. Therefore, the time for which the air cylinder 111 for the clamp is operated should be approximately an appropriate setting time T3 at this point.5C16)
, the pressing force of the pressing roller 125 is released by operating the air cylinder 111 and turning on the electromagnet 84 (SC17), and temporarily lowering the pressure of the clamping air cylinder 111 by a minute time T4.
1B, 5C19), press roller 1 for the above T4 time
25 is released, the front side plate 5 falls onto the support plate 153 due to its own weight, and its inclination and position shift are forced. Although not shown in FIG. 9(a), when the electromagnet 84 is turned on and the front plate 5 is opened,
At the same time, the auxiliary cylinder 87 is actuated to urge the front plate 5 away from the electromagnet 84, thereby preventing the front plate 5 from being attracted by the residual magnetism of the electromagnet 84. The bushing rod 89 biased by the compression spring 91 (FIG. 7) has a similar effect.

When the above-mentioned pressure release is completed, compressed air is then blown into the clamping air cylinder 111 again at 5C20, and the clamping air cylinder 111 is turned on to grip the front plate 5 between the pressing roller 1825 and the positioning block 126.

When the positioning of the front plate 5 is completed in this way, the air cylinder 61 is operated again to raise the work rotation device 64 and the electromagnet 84 attached below it for the predetermined time T (SC21, 5C22). Next, it is necessary to determine whether to carry out the conveyance to the rear side plate 6 or to the substrate 19, so it is determined in 5C23 whether n is 1 or not. At this point, the processing of the front plate 5 has just been completed, so n=Q, and the processing proceeds in the direction of 5C24. At 5C24, the traveling motor 49 is reversed, and at the same time, at 5C25, the mouth cylinder 68 is reversed.

The movement of the workpiece conveyance device 37 due to the rotation of the motor 49 continues until the positioning sensor is turned on at 5C27, and the reverse rotation of the rotary cylinder 68 is caused by interference with the indicator 93, causing the intermediate proximity switch 94 to turn on. This continues until it is turned on (SC26). In this way, the initial state was restored, so at 5C28, 1 was added to n.
is added, and the process returns to step SC2.

Subsequently, the rear side plate 6 is carried out, which is completely the same as the conveyance process for the front side plate 5 except for a part. However, the treatment differs from the treatment for the front side plate 5 in the following points. That is, in the processing of the rear side plate 6, since the mounting direction to the substrate 19 is 180 degrees different l6, processing is performed after determining whether n is O in SC8, that is, whether it is the front side plate 5 or the rear side plate 6. The process proceeds to step 5C29, and the rotary cylinder 68 is rotated until the proximity switch 94c is turned on by the indicator 93 (SC29&). Further, in 5C23, when it is determined that the positioning of the rear side plate 6 is completed, that is, when n=1, the traveling motor 49 is activated in order to take the substrate to the substrate supply position 36 on the substrate conveyor 20 side. After normal rotation (SC30), the low cylinder 68 is rotated until the proximity switch 94 is turned on (5C31, 5C32), and a sensor (not shown) provided with the traveling motor 49 at the substrate supply position 36 is turned on. Rotate until. Above 2 points and further 5 points
This process differs from the process regarding the front plate 5 in that n is returned to 0 at C34. Strictly speaking, 5
The stop position of the workpiece conveyance device 37 detected at C12 is different between the front side plate 5 and the rear side plate 6.

When the positioning of the front side plate 5 and the rear side plate 6 is completed in this way, as shown in FIG. 9(b), at 5C35, similarly to SC2, the pallet carrying the substrate 19 is stopped at a predetermined position of the substrate supply position 36. Wait until. When the board 19 stops at a predetermined position, the air cylinder 61 of the workpiece conveyance device 37 is activated in the same way as the front plate, and the electromagnet 84 is lowered for a certain period of time (Ta) (SC36, 5C37).
), when the electromagnet 84 comes into contact with the substrate 19, the electromagnet 84 is subsequently turned off (5C38), and the substrate 19 is attracted.

When the substrate 19 is thus attracted to the electromagnet 84, the air cylinder 61 is operated to raise the substrate 19 (SC
39). This rise time is determined by T6 (SC40)
. Subsequently, in order to transport the substrate 19 onto the front side plate 5 and the rear side plate 6 which have already been positioned on the workpiece gripping device 38, the traveling motor is reversed, and the workpiece conveyance device 37 moves onto the workpiece gripping device 38. Drive in the direction (
SC41). The movement of the workpiece conveyance device 37 is stopped when a sensor (not shown) provided at an appropriate position interfering with a part of the workpiece conveyance device 37 is turned on (SC
42) At this position, the air cylinder 61 is actuated again, the piston rod 62 advances, and the substrate 19 descends toward the positioned front plate 5 and rear plate 6 (SC).
43). The descending time of this substrate 19 is determined by T7 (
SC44). When the substrate 19 is lowered at the predetermined position, the edge 19 . is inserted between the pair of positioning blocks 142 as described above, and the substrate 19 is positioned in the longitudinal direction of the angle member 135. Therefore, the electromagnet 84 is released at this point (5C45), and the air cylinder 61 is actuated at 5C46. , by raising the electromagnet 84 and reversing the traveling motor 49 (SC4B).
The workpiece conveyance device 37 is moved back two steps to the side plate supply position w35. The stop position of the workpiece transport bag w37 at this time is
It is determined by the ON operation of a sensor (not shown) provided at the side plate supply position 35 (SC49).

Next, a mechanism for moving the structure 158 to which the screw tightening machine 39 is attached will be explained with reference to FIGS. 1 and 2. The legs of the frame 157a of the gate-shaped structure 158 include
At least one pair of upper and lower wheels 183 are attached to the frame 1.
A second frame attached to the end of a pedestal 184 integral with 31
Since the wheels 183 vertically grip the rail 185 that is perpendicular to the plane of the drawing, the upper wheel 183
The frame 157a is supported so as to be freely movable along the rails 185. Note that the bracket 186 protruding outward from the frame 157a includes the rail 185.
A rotatable horizontal wheel 187 is mounted which abuts on the side surface of the rail 185 and guides the wheel 183 so that it does not come off the rail 185. A female threaded portion 188 is attached to the lower end of the other vertical frame 157 in a direction perpendicular to the rail 34 shown in FIG. The threaded rod 189 is rotatably supported at both ends by bearings attached to the frame 184 so as not to be able to move in the axial direction. A gear 192 that meshes with is fixed.

The wheels 183 are also provided at the lower end of the frame 157I.
Wheels similar to those shown in FIG. 2 are attached, and the frame 157 is guided by rails similar to those 185 (not shown) so that the frame 157 can move in a direction perpendicular to the plane of the paper of FIG.

Next, the movement of the recessed structure 158 and the screw tightening operation by the screw tightener 39 will be explained according to the flowchart shown in FIG. 9(C).

That is, 1. in 5C50. = Q is initialized. The value of β is related to the number of screw tightening operations, that is, the number of screws to be tightened, and it is assumed that m-1 screws are tightened by one screw tightening machine 39.

Next, at 3C51, the motor 191 for driving the recessed structure 158 having the screw tightening machine 39 is started.
The rotation is transmitted to the threaded rod 189 via the gear 192, and due to the feeding action of the threaded rod 189 that meshes with the immediately threaded portion 188, the entire structure 188 is transferred to the workpiece gripping device 3.
Move forward in the direction of 8. A plurality of sensors are provided at predetermined positions on the rail 185 to engage with dogs (not shown) provided on the structure 158 in correspondence with a plurality of screw tightening positions on the board 19. As the dog travels, the dog engages with the sensor, and each time the sensor is activated, the motor 191 is stopped (SC52);
A pair of holding cylinders 194 attached to the angle member 156 via brackets 193 (FIG. 1) advance and position the board 19 in the longitudinal direction of the rail 34 shown in FIG. 1 (sc53), 211! The IT screw tightening machine 59 operates and performs the most extreme screw tightening (SC5
4).

When the screw tightening work at one location is completed in this way, in step SC55, the holding cylinder 194 is moved backward, and in step 5C56, 1 is added to 51, and whether or not l is equal to m (that is, all the screws are Determine whether tightening is completed or not 5C57), β
is smaller than m, return to step SC51 and
Repeat the steps 5C51 to 5C57 to tighten the screws at the adjacent screw positions one after another, and when m becomes equal to p, there is no need to advance the screw tightener 39 any further, so the traveling The motor 191 is reversed (SC58), and the entire concave structure 158 is retreated to its original position. The stopping position of the gate-shaped structure 158 is
It is determined by the point in time when a sensor (not shown) provided in No. 4 comes into contact with a part of the structure 158 and is activated (SC59).
. Next, at 5C60, the air cylinder 111 that was pressing the side plates 5 and 6 against the positioning block 126 is activated to move the piston rod 113 backward, and the lever 121 is moved toward the pin 12 in the direction of the arrow 128 shown in FIG.
2 by about 90 degrees to release the holding force of the pressing roller 125 in the direction perpendicular to the side plates 5 and 6, and at the same time, the pressing surface 127 of the lever 121 acts on the surface of the side plates 5 and 6. It also releases the holding force in the parallel direction. As a result, the board 19 and the side plates 5 and 6 are configured as a chassis 31 screwed together and placed on the positioning block pair 14B and support pole 195 (FIG. 3). At the same time, the pressure roller 1
25 and lever 121 are completely removed in the longitudinal direction of this chassis 31.

Next, the air cylinder 14 for retracting the clamp mechanism 101
7 is activated, its piston rod 148 is retracted, and the left and right clamp mechanisms 101a and 101L move from the positions indicated by two-dot chain lines to the positions indicated by solid lines in FIG. 2, respectively. Since the air cylinder is operated as described above, and the pressure roller 125 and lever 121 are already removed from the chassis 31, when the clamp mechanisms 1013 and 101b are retracted, these pressure rollers 125 and lever 121 are removed. This avoids inconveniences such as collision between the vehicle and the chassis 31. Further, as described above, by retracting the clamp mechanisms 101a and 101 to the solid line position shown in FIG.
When the side plates 5 and 6 of the chassis 31 are pulled out in a direction perpendicular to the paper plane of FIG. The inconvenience of interfering with and 1011 is avoided (SC61)
.

Subsequently, the air cylinder 133 is operated to raise the chassis 31 to the delivery position to the chassis reversing device, and the chassis 31 is held constant together with the angle member 135, the positioning block pair 142 attached to the -1 part thereof, and the support bolt 195. Climb up to the position (SC62
).

Furthermore, the chassis reversing device is activated to pull out the main body chassis 31 from the work gripping device 37 in a direction perpendicular to the rail 34, reverse it, and send it onto the conveyor for the next process (SC
63). -1- When the chassis 31 is reversed and transferred to the conveyor for the next process, the chassis 31 faces in the normal direction with the board 19 as the bottom surface, and takes a posture suitable for the subsequent automatic parts mounting work. Become.

When the chassis 31 is taken out from the gripping device 138 in this way, the air cylinder 133 for lifting and lowering operates in the opposite direction, and the angle member 139 provided with the pair of positioning blocks 142 and the like lowers to its original position (SC64).
The clamp mechanisms 017□ and 1011. The retracting cylinder 147 is operated, and its piston rod 148 advances and stops at the position where the frames 106a and 106 abut against the stoppers 152a and 152 (SC65).

The forward position of the horizontal structure 158 naturally differs depending on the size of the target chassis, and the position where the screw tightening machine 39 is most advanced in order to work on the largest chassis is indicated by the two-dot chain line in Fig. 1. (39').

Additionally, the clamp mechanism 101 shown in FIGS. 4 and 5 above
In a and 101, the air cylinder 111 is provided vertically in order to downsize the entire mechanism, but the drive mechanism for the lever 121 is not necessarily attached to the vertical air cylinder 111 as described above. It is not necessary to use a rotary cylinder or a rotary solenoid, and it is also possible to use a horizontally arranged cylinder.

As described above, the present invention includes a rotation actuator attached to a pedestal, a horizontal rotation shaft rotationally driven by the rotation actuator, and a horizontal rotation shaft connected to the rotation shaft via a horizontal support bar. Since this is a workpiece rotation device having an attached workpiece suction means, it is possible to freely rotate a workpiece of any shape, making it ideal for use in automatic assembly processes and the like.

[Brief explanation of drawings]

FIG. 1 is a plan view of the entire chassis assembly device including a work rotation device according to an embodiment of the present invention, FIG. 2 is a pressure side view of the same, and FIG. 3 is a side view of the substrate positioning mechanism used in the assembly device. , FIG. 4 is a plan view of a workpiece gripping device that can be used in the above embodiment, FIGS. ), (
d) is a sectional side view showing a modified example of a lever coupling mechanism that can be used in the drive unit, FIG. 6 is a front view of a work rotation device according to an embodiment of the present invention, and FIG. FIG. 8 is a front view of main parts of the workpiece rotation device, and FIG. 8 is a front view showing a travel drive section of the workpiece rotation device. FIGS. 9(a) to 9(c) are flowcharts showing the operating procedure of the assembly device. (Explanation of symbols) 5... Side plate 19... Board 31... Chassis 37... Workpiece conveyance device 38.
... Work gripping device 39 ... Screw tightening machine 61 ... Air cylinder 64 ... Work rotation device 68 ... Roke cylinder (rotation actuator) 75 ... Rotating shaft 79 ... Support bar 84...Electromagnet (workpiece adsorption means) 102...Substrate holding device Applicant Sanda Kogyo Co., Ltd. (b) Figure 9 JP-A-Sho GO-118430 (20)

Claims (1)

[Scope of Claims] A rotation actuator attached to a frame, a horizontal rotation shaft rotationally driven by the rotation actuator, and a horizontal rotation shaft attached to the rotation shaft via a horizontal support bar. A work rotation device comprising: a work suction means; and a work rotation device.