JPS60118438A - Automatic assembly system for chasis of copying machine body - Google Patents

Abstract

PURPOSE:To make it possible to automatize the assembly of the chasis of a copying machine body, by attaching parts onto to front and rear side plates which are conveyed by first and second part attaching devices and onto a base plate which is conveyed by a third part attaching device, and then feeding them to an assembly device. CONSTITUTION:Front and rear side plates 5, 6 which are fed along a guide rail 11 onto a positioning table 7 with spacers being thrown away into a pool section 12, are shifted onto a conveyor 1 by a loader 8 and are attached with parts from a part feeder 9, by means of a first part attaching device 2. Then, they are conveyed to a second part attaching device 3 where they are attached with parts from a part feeder 17, and are then fed to an assembly device 18. Meanwhile a base plate 19 which is transferred to a positioning table 23 through a guide rail 24, is shifted onto a conveyor 20 by means of a loader 27 and is conveyed after being attached with bed rubbers, etc. from a part feeder 21 by means of a third part attaching device 22, and is incorporated with both side plates 5, 6 in the assembly device 18. The assembled chasis is reversed by a chasis reversing device 32, and is then transferred to the next step.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic assembly system for a main body chassis for a copying machine. In general, electrostatic copying machines have a paper feeding process, an electrostatic latent image forming process, a developing process, a transfer process, a fixing process,
It has a paper ejecting process, etc., and these processes require a group of rollers such as a photoreceptor, developing roller, fixing roller, and other rollers such as a paper feed roller, timing roller, etc. for feeding the axial copy paper. An essential component is a horizontal board to which vertical side plates are attached to horizontally support these roller groups.

In addition, it is necessary to attach a large number of rollers, etc., as described above, and a large number of parts for centering to the main body chassis, which is made up of both side plates and the board, and it is necessary to rationalize the assembly process from an economic point of view. is important.

The present invention relates to a system for completely automating the assembly process of the main body chassis as described above.

First, the schematic structure of the present invention will be explained using FIGS. 1 and 2.

Here, FIG. 1 is a flow chart showing an outline of the manufacturing process of the main body chassis for the copying machine, and FIG. 2 is a plan view showing an outline of the entire automatic assembly line for the chassis.

In FIG. 2, ``■'' is a conveyor for the side plates 5, 6, along which a first parts mounting device 2 and a second parts mounting device 3 are arranged. Reference numeral 4 denotes a conveyance device for conveying the front side plate 5 and the rear side plate 6 shown by two-dot chain lines to the positioning table 7.

Here, as shown in FIG. 1, the front side plate 5 and the rear side plate 6 are a group of front side plates 5' in a stacked state, in which spacers 10 shown by broken lines, which are a type of cushioning material made of styrene foam, etc. are alternately sandwiched between them.
and a rear side plate group 6', which are disposed along a guide rail 11 that constitutes a part of the conveying device 4. The work holding bag W12, which is omitted in the figure, consists of the front plate 5 or the rear plate 6 stacked on the top of each front plate group 5' or rear plate group 6', and the spacer 10 placed on the top. After being taken out at the same time, these works (5 or 6) and spacers 10 are carried to the positioning table 7 while being guided by the guide rails 11. In the positioning table 7, after placing only the front side plate 5 or the rear side plate 6 in the center of the positioning table 7, it goes back along the original route and returns to the position of the front side plate group 6' or the rear side plate group 5'. In the middle, spacer 10
is dumped into the spacer storage section 12a or 12to.

Accurate positioning of the supplied front side plates 5 or rear side plates 6 is performed sequentially on the positioning table 7, and each side plate (5 or 6) positioned in this way is transferred to the side plate conveyor 1 by a loader 8. It is transported to a side plate pallet (not shown) that is stopped on the entire surface of the first parts mounting device 2.

The first parts mounting device 2 moves the various parts supplied from the parts feeder 9 in the direction shown by the arrow X in FIG. 2 or the arrow Y perpendicular thereto. The parts feeder 9 is installed in each side plate pallet.
A pin 13 as shown in FIG. and 13
I, is first supplied to a predetermined position on the side plate pallet before the work W arrives on the pallet by the loader 8. The pin 13 thus set on the side plate pallet
As described above for A and 13, the accurately positioned front plate 5 or rear plate 6 is carried by the loader 8 and the pins 13. and 13 threaded portions are inserted.

In this way, the front side plate 5 or the rear side plate 6 (hereinafter referred to as the side plate 5 or 6) and the pin 13. and 131. When the engagement with the pins 13a and 13 is completed, the loader 8 returns to its original position, and a nut runner (not shown) tightens the nuts 14 to the threaded portions of the pins 13a and 13. and 14I, and tighten pin 1.
Complete the attachment of 3□ and 13I to the workpiece W.

In this way, side plate 5 has pins 13° and 1 on one side of 6.
When the installation of the side plate 3 is completed, the side plate 5 or 6 is sent by the side plate conveyor 1 to the operating area of the reversing device 15 provided on the front side of the second parts attaching device 3, where it is lifted by the reversing device 15, Meanwhile, other pins 163 and 16b as shown in FIG.
, and 16 to be installed.

Both pins 16. When the mounting on the pallet for the side plates 5 and 16 is completed, the reversing device 15 rotates to turn the side plates 5 or 6 upside down, and then pins 16a and 16 are inserted into holes drilled at predetermined positions in the side plates 5 or 6. 16t.

The side plate 5 or 6 is placed on the side plate pallet so that the folded portion is fitted. Here too, similarly to the first parts mounting device, a nut runner (not shown) is used to attach nuts 178 and 17.
Pin 16. and 161. and fix the pins 161 and 16I to (the side plate 5 or 6).

The side plate 5 or 6 with the four pins fixed in this way is
It is conveyed to the side plate conveyor 1 and sent in the direction of the assembly device 18.

A substrate conveyor 20 for conveying the substrate 19 is arranged parallel to the side plate conveyor 1, and a third parts mounting device 22 connected to a parts feeder 21 is arranged at its starting point. There is. Across the substrate conveyor 20,
A board 19 is located at a position facing the third parts mounting device W22.
A positioning table 23 for use is provided. A guide rail 24 parallel to the board conveyor 20 is connected to the positioning table 23.
A work holding device 25 for the substrate 19 runs along the guide rail 24, and a group of loaded substrates 1 is disposed along the guide rail 24.
9' (see Figure 1) and a spacer 10° for partitioning it are simultaneously held, then transported along the guide rail 24, and only the board 19 is supplied to the center of the positioning table 23. After that, the spacer 10a is further reversed and thrown into the spacer storage section 26 on the way back to the workpiece group 19'. The guide rail 24 for taking out and transporting the substrate 19 from the substrate group 19' as described above, the work holding device 25, etc. constitute the work conveying device 4'.

Substrate 19 accurately positioned by positioning table 23
A loader 27 traveling in a direction perpendicular to the substrate conveyor 20 loads a predetermined portion on a substrate pallet (not shown) of the substrate conveyor 20-H which is stopped in front of the third parts mounting device 22. cent in the position, followed by the first
Parts such as the handle rubber 28 and base rubber 29 shown in the figure are sequentially supplied to the board 19 by the parts feeder 21 and the third parts mounting device 22, and these parts (28, 29) are supplied by a bolt tightening device (not shown). is fixed to the substrate 190.

The board 19, on which the parts have been set in this manner, is transferred by the board conveyor 20 in the direction of the above-mentioned assembly W18.

The assembly device 18 assembles the front plate 5, the rear plate 6, and the board 19, each of which has the parts shown in FIG. After completing the process, the main body chassis 31 is further inverted by a chassis inverting device 32 and then transferred to the next process.

What follows is an outline of the entire assembly line for the main body chassis for a copying machine according to the present invention.

Therefore, the gist of the present invention is to provide an automatic silk system for a main body chassis of a copying machine in which a front side plate and a rear side plate are attached perpendicularly to the front and rear ends of a base plate forming the bottom of the copying machine. , a first stage in which the front side plate or the rear side plate is placed on a plurality of side plate pallets positioned on the conveyor and transported.
a first board transport step in which the board is placed on a board pallet with the determined number of legs on the conveyor and transported, and after positioning the loaded front or rear board, the side board is a second side plate conveyance process in which loaded boards are positioned and then conveyed onto the board pallet, and parts are supplied to the side plate on the side plate pallet. a side plate parts mounting process, a board parts mounting process in which parts are supplied and attached to the board on the board pallet, and after the side board that has been placed on the side board pallet is turned over, The process of transporting the side plates is to place them on the pallet for the side plates, and the front and rear side plates with the parts attached are transported to the assembly position and are stood up vertically at regular intervals, after which the board is placed on top of them. This method includes an assembly step of fixing both side plates to the substrate.

In the above configuration, the conveyor can be a chain conveyor, belt conveyor, etc., and the pallet includes pallets of all shapes that can be placed with the board and side plate positioned, and parts for the side board and board. The means for attaching parts in the attachment process is not limited to the screw tightening machine shown in the examples described later, but it is also possible to use attachment devices using spot welding, rivets, etc. Furthermore, the means for fixing the board and the device are described later. In addition to the screw fastening method shown in the embodiment, fixing means such as the above-mentioned bed, spot welding, and others are also included.

Next, specific embodiments of the automatic assembly system constituting the assembly line will be described with reference to the attached drawings from FIG. 3 onwards, to provide an understanding of the present invention.

Here, Fig. 3 is a front view of a workpiece conveyance device that can be used in the above-mentioned automatic assembly system (arrow A in Fig. 2).
(or equivalent to the view seen from A'), Fig. 4 is a view in the direction of arrow B in Fig. 3, Fig. 5 is an enlarged view of the part in the direction of arrow C in Fig. 4,
Figure 6 is a side view of the workpiece holding device shown in Figure 5;
The figure is an enlarged view of the section viewed from arrow D in Figure 4, Figure 8 is a view viewed from arrow E in Figures 4 and 7, and Figure 9 is an enlarged view of the area viewed from arrow D in Figure 6.
The arrow view, FIG. 10, and FIG. 11 respectively show an example of how the guide roller is attached to the chain that can be used in the above embodiment, in which (a) is a plan view thereof, and (b) is a side view thereof. , Fig. 12 is a side view of a parts feeder (9, 17 in Fig. 2) that can be used in the above assembly system, Fig. 13 is a side view of the same type, and Fig. 14 shows a separation device used in the parts feeder. Figure 15 (a) is a side view, Figures (b) to (d) are plan views showing the operating state of the separation device, and Figure 15 is a part attachment end W that can be used in the assembly system. A plan view of (22 in FIG. 2).

Fig. 16 is a view in the direction of arrow G in Fig. 15, Fig. 17 is a side view of the parts mounting device, Figs. 18 and 19 are front and side views of the parts mounting device, and Figs. )～(C)
Fig. 21 is a front view showing the operation of the platform rubber conveying device, and Fig. 21 (
a) is a view taken in the direction of arrow H in FIG. 20, and FIG. (corresponding to 97 in Fig. 2), Fig. 23 is a sectional view taken along the l-0-I arrow in Fig. 22,
4(a) is an enlarged plan view of the release device, FIG. 4(b) is a side view of the section viewed from arrow J in FIG. 4(a), and FIG. (corresponding to 15 of 2 and 1) overall side view of
FIGS. 26(a) and 26(b) are side views showing the operation of the workpiece gripping mechanism that can be used in the reversing device, FIG. 27 is a side view showing the drive part of the gripping mechanism, and FIG. 28(a) is a side view showing the details of the tip of the gripping mechanism, and the same figure (b) is the 25th
A flowchart showing the operating procedure of the reversing device shown in the figure,
The same figure (C) is a partial sectional view taken along the line nn, FIG. 29 is a plan view of the entire assembly device used in the above assembly system, FIG. 30 is a side view of the same type, and FIG. A plan view showing the screw tightening adjustment mechanism, FIG. 32 is a central vertical sectional view in FIG. 31, FIG. 33 is a sectional view taken in the direction of the arrow in FIG. 31, and FIG. 34 is used in the above assembly device. FIG. 3 is a side view of the substrate positioning mechanism.

FIG. 35 is a plan view of a side plate gripping device that can be used in the assembly mechanism, and FIGS. 36(a) and 36(b) are side views showing the operation of the drive unit of the side plate gripping device, c), (
d) is a 2 side sectional view showing a modified example of the lever connection mechanism that can be used in the drive unit, FIG. 37 is a plan view showing the structure of a side plate gripping device having another structure, and FIG. a) and (b) are the third
Fig. 7 is a plan view and side view showing the structure of the drive unit in the side plate gripping device, Fig. 39 is a front view of the workpiece transport device used in the above assembly device, and Fig. 40 is a main part of the workpiece transport device. FIG. 41 is a front view showing the travel drive section of the workpiece conveyance device. FIG. 42 is a front view of the chassis reversing device (corresponding to 32 in FIG. 2) used in the assembly system. 43 is a plan view of the same, and FIGS. 44(a) and 44(b) are a side sectional view and a plan view showing the structure of the attachment part of the running chain to the machine base used in the chassis reversing device. , FIG. 45 is a schematic side view showing the operating state of the chassis reversing device, FIG. 46 is a side view showing the structure of a shock absorber that exerts a buffering effect when the chassis reversing device is reversed, and FIG. 47 is a side view showing the structure of the shock absorber used in the above assembly system. 48(a) is a plan view of the positioning table shown in FIG. 47, and FIG.
b) is an enlarged view of the N arrow view in Fig. 48, and Fig. 49 (a)
) is a view in the direction of the P arrow in FIG. 47 (showing the state in which the pressing member is in contact with the substrate), and the same figure (b) is a view in the direction of the Q- arrow in FIG.
50 is a plan view showing a modified example of the same positioning table, FIG. 51 is a plan view showing still another modified example of the same positioning table, and FIG. 52 is a cross-sectional view of R in FIG. 51.
-R arrow sectional views and FIGS. 53(a) to 53(C) are flowcharts showing the operating procedure of the tying device W (18 in FIG. 2).

First, using FIGS. 3 and 4, the front plate 5 in the loaded state. A conveyance device for conveying the rear side plate 6 or the substrate 19 to the positioning table 7 or 23 will be explained. The following explanation is about the board, but the front plate 5. The same applies to the conveyance device 4 that conveys the rear side plate 6, so a description thereof will be omitted here.

In these figures, reference numeral 40 denotes a frame on which a guide rail 41 is laid, and on the front surface of the frame 40 is placed a stacked board group 19' as shown in FIG. 1 or 2. 42
1 is a main body of the transport device which can be guided by the guide rails 41 and run along the frame 40, and has a substrate holding bag W43 at its tip. 44 is a chain that is reciprocated by a motor M, which is an example of a chain drive device;
A portion thereof has a guide roller 45, which will be described later, which engages with a portion of the conveying device main body 42 and causes the conveying device main body 42 to run along the guide rail 41 (see FIGS. 7 and 8). . Therefore, due to the forward and reverse rotation of the motor M, the chain 44
The main body 42 of the conveying device, which is connected to the chain 44 via the guide roller 45, travels along the guide rail 41, and the substrate is lifted and conveyed by the holding device 43.

Next, the mechanism of the substrate holding device 43 will be explained in detail.

As shown in FIGS. 5 and 6, the substrate holding device 43 is attached to the tip of a cantilevered arm 46, which is a component of the transfer device main body 42, and is connected to a vertical hydraulic cylinder 47.
The main components include a substrate suction section 48 which is moved up and down by the hydraulic cylinder 47, and the like.

That is, a hydraulic cylinder 47 is fixed vertically to the tip of the arm 46, and a plate 5o is horizontally fixed to the lower end of the telescopic rod 49 of the hydraulic cylinder 457. Each of the four rods 51 fixed vertically to the lower surface of the player 50 has a horizontal rod 52 fixedly attached near its lower end.
An electromagnet 53, which is a main component of the substrate suction device 48, is slidably attached to the rod 52 in the axial direction. 5
4 is a set bolt for fixing the electromagnet 53 to the rod 52, and by loosening it, the electromagnet 53
The position can be adjusted. . Note that the direction of the rod 52 is set so as to be parallel to the running direction of the conveying device main body, that is, the axial direction of the guide rail 41.

The electromagnet 53 described above is a preferable attraction means when the substrate 19 is made of a magnetic material such as iron, but the electromagnet 53
When 9 is a non-magnetic material such as a plastic resin or a ceramic product, it is desirable to employ an air suction means or a mechanical holding means such as a mechanical claw operated by a solenoid or cylinder.

6 Also, a bracket 55 fixed to the lower surface of the plate 50
, a pneumatic cylinder 56 in a direction perpendicular to the rod 52;
．． 56 are fixed as shown in FIG. 9, and connecting plates 59 perpendicular to the axis of the pneumatic cylinders 56 to which gripping plates 58 are fixed are fixed to the ends of the telescopic rods 57, respectively. A guide rod 60 parallel to the pneumatic cylinder 56 is further fixed to each of the connecting plates 59, and the guide rod 60 is slidably supported by a bearing 61 attached to the bracket 55. prevent tilting.

Note that the two guide rods 62 fixed symmetrically and perpendicularly to the plate 50 with the hydraulic cylinder 47 in between are as follows:
It is slidably mounted on a bearing 63 provided on the arm 46, and its upper end is connected by a connecting plate 64.

However, a notch 65 is formed in the connecting plate 64 to avoid interference with the hydraulic cylinder 47, and the connecting plate 64 is prevented from interfering with the hydraulic cylinder 47 due to the expansion and contraction movement of the guide rod 62.

Therefore, when the substrate holding device 43 reaches directly above the substrate group 19' by the drive of the chain 44, or when it grips the substrate 19 and reaches the next step, for example, the positioning table 23', the hydraulic cylinder 47 is extended, and the electromagnet 53 and grip plate 58 attached to the plate 50 via the irons 51, 52, brackets 55, etc. are lowered together, and the electromagnet 53 hits the top board 19 of the board group W19'. When the substrate 19 and the electromagnet 53 come into contact (this state of contact is detected by a glue mint switch (not shown) attached to the rod 52, etc.), the state of contact between the substrate 19 and the electromagnet 53 is ensured by stopping the operation of the hydraulic cylinder 47. In this state, the electromagnet 53 is energized to attract the substrate 19, and the pneumatic cylinders 56 and 56 are operated to move the grip plate 58 at the position indicated by the two-dot chain line in FIG. By pulling in the direction of , the spacer S on the substrate 19 is gripped by the four gripping plates 58 . When the holding of the spacer S and the substrate 19 is completed in this way, the hydraulic cylinder 47 is retracted and the substrate 19 is lifted together with the spacer S.

Further, the conveyance device main body 42 may be connected to the positioning table 23, for example.
etc., the hydraulic cylinder 47 is pressed until the substrate 19 comes into contact with or approaches the positioning table 23 (this position is detected by another limit switch (not shown) attached to the rod 52, etc.). Stretch the board 19
After lowering the spacer S and releasing the adsorption force of the electromagnet 53 when the substrate 19 contacts or approaches the positioning table 23, the hydraulic cylinder 47 is pulled in while holding the spacer S, and the entire substrate holding part 48 is moved. By raising the substrate holding device 43 and driving the chain 44, the entire substrate holding device 43 is returned to its original position. By extending the pneumatic cylinder 56 at a predetermined position on the return path, the grip plate 58 is opened and the spacer S is dumped into a predetermined reservoir.

The electromagnet 54 used to attract the substrate 19 is
In order to prevent the board from falling during power outages, it is desirable to use a type that releases the adhesion force when electricity is applied.

9 Next, a mechanism for transporting the substrate holding device 43 as described above will be explained in detail. As shown in FIGS. 3 and 8, the chain 44 includes a driving sprocket SP directly driven by a motor M, and a starting sprocket SP2.
The hook is endlessly passed to the end point side sprocket SP3 and the tension adjustment sprocket SP4, and is driven back and forth by rotating the motor M in the forward and reverse directions.

Such a chain 44 has a shape shown in FIG. 10 or 11 in its middle part.
As shown in the figure, it has a vertical guide roller 45 made of a bearing or the like so as to be rotatable, and as described above, the conveyor main body 42 moves according to the running of the chain 44 due to interference with this guide roller 45. do. That is, a sliding block 66 that is slidably engaged with the guide rail 41 provided on the frame 40 is fixed to the rear end of the arm 46, and the entire conveying device main body 42 represented by the arm 46 is placed on the guide rail 41. It supports the guide rail 41 in a slidable manner, and normally a ball 67 is provided between an axial groove bored in the side surface of the guide rail 41 and an axial groove bored in the inner surface of the sliding block 66 facing the guide rail 41. The ball 67 and the valley groove interfere with each other to eliminate play between the sliding block 66 and the guide rail 41, thereby achieving an accurate guiding function. The conveyor main body 42 has a guide rail 41 at one end as described above.
Since it is supported in a cantilevered manner on the frame 40 due to the interference between the substrate 40 and the guide block 66, it is necessary to prevent the transport device main body 42 from tilting due to the weight of the transport device main body 42, the substrate holding device 43, etc.

7th P! The pressure roller 68 shown in a is designed for this purpose, and a slidable threaded rod 70 is attached to a block 69 attached to the lower surface of the arm 46.
A nut 71 is screwed into the middle of the threaded rod 70 in order to horizontally attach the pressure roller 68 to the tip of the frame 40 and press the pressure roller 68 against the side surface 40a of the frame 40.
A compression spring 72 is tightened between the frame 40 and the block 69, and the force of this compression spring causes the threaded rod 70 and the pressure roller 68 provided integrally therewith to be pressed against the frame 40.
Aspect 40. The elastic force of the compression spring 72 lifts the transport device main body 42 and prevents it from tilting.

Further, as shown in FIG. 7, a pneumatic cylinder 74 installed horizontally on the side surface of a channel member 73 that connects the arm 46 has a positioning function to stop the transport device main body 42 at a strictly specified position. , the telescopic rod 7
5 has a horizontal roller 76 rotatably at its tip. Further, a positioning block 78 in which a vertical groove 77 is carved is attached to the side surface of the frame 40 at the correct stop position of the transport device main body 42.

Therefore, when the conveyance device main body 42 reaches the approximate stop position, the pneumatic cylinder 74 is activated, and the roller 76 projects in the direction of the positioning block 78 and engages with the groove 77. ■The wedge action of the groove 77 causes the conveyance The main body 42 of the device is ■Groove 7
It is precisely positioned at the center position of 7. A guide hole 80 for a holder 79 attached to the tip of the telescopic rod 75 for holding the roller 76 is horizontally cut in the positioning block 78 to prevent the roller 76 from wobbling in the horizontal direction.

As is clear from FIG. 8, two sliding blocks 66 are arranged side by side in the axial direction of the guide rail 41, and both sliding blocks 66 are located at the tip end 46 of the arm 46. are fixed at regular intervals to the bottom surface of the The tip portion 46
A guide block 82 having two parallel vertical guide holes 81 is fixed to the upper surface of a, and the upper end portion of a guide rod 83.83 is slidably inserted into the guide holes 81.81. are connected by a connecting plate 84. Also, the end portion 84 of the connecting plate 84. Tension springs 86, 86 are attached between the guide rods 83, 83 and the port 85 installed on the side surface of the guide block 82, so that the guide rods 83, 83 are always urged downward. . However, 8 and 7 are stoppers fixed to the connecting plate 84, and their lower ends abut against the upper surface of the guide block 82, thereby preventing further downward sliding of the guide rod 83.

3. As shown in FIG. 7, a guide member 89 having a trifurcated portion 88, 88 is fixed to the lower end of the two guide rods 83, and a guide member 89 having a trifurcated portion 88, 88 is fixed to the lower end of the trifurcated portion 88, respectively. A long groove 90 (8th
(see figure) is formed, and the guide rail 41 of this long groove 90 is formed.
The width in the longitudinal direction is approximately equal to the outer diameter of the guide roller 45, and is set to a width that allows the guide roller 45 to be fitted therein.

The guide member 89 further has a vertical support roller 91 rotatably provided on the side surface of the frame 40 thereof. This support roller 91 is for resisting the downward force exerted on the guide member 89 by the tension spring 86, and for example, as shown in FIG.
When the chain 44 is rotated and the chain 44 runs in the direction of the arrow 92, the guide roller 45 also moves the chain 44 accordingly.
Pushed by the guide roller 45, the guide member 89 rises along the guide rod 83 and moves in the direction of the arrow 92, and the support roller 91 moves along the trajectory 93. And then,
Before the guide roller 45 separates from the sprocket SP3 and begins to move along the straight portion 97 of the chain 44, the support roller 91 transfers to the upper surface 40I of the frame 40, and thus the support roller 91 is moved to the guide member 89 by the tension spring 86. This supports all of the downward biasing force of the chain 44, and is intended to prevent problems such as the chain 44 loosening downward at its straight portion 97.

As described above, the support roller 91 is attached to the upper surface 40 of the frame 40.
In order to run the support roller 91 along the frame 40, the movement locus of the support roller 91 must not interfere with the frame 40.
A cutout 94 as shown in FIG. 7 and FIG. It is desirable that the end of the notch 94 be formed into a slope 95.

Note that the center line of the guide roller 45 shown in FIG. 10 is aligned with the center line 44 of the chain 44. FIG. 11 shows a guide roller in which the center line of the guide roller 45 is eccentric from the center line 44a of the chain 44.

Next, the moving operation of the transport device main body 42 will be explained.

First, a description will be given of the state in which the conveying device main body 42 is located at the end point position shown in FIG. In this state, the chain 44 is already running in the opposite direction to the arrow 92, and the guide roller 45 is at the position where it is out of the long groove 90 (i.e., at the position indicated by the solid line 45).
' position), and the engagement between the long groove 90 and the guide roller 45 is released, so the conveying device main body 42 is released from the restraint caused by the engagement with the guide roller 45.
Instead, due to the action of the pneumatic cylinder 74 shown in FIG. It is not possible to move in any direction while being positioned at this position.

With the conveyor main body 42 accurately positioned and fixed at the end position, the hydraulic cylinder 47 is extended and the electromagnet 53 is released as described above, and the substrate 19 is moved to a predetermined position for the next process, for example, It is transferred to the center of the deciding table 23. After that, the hydraulic cylinder 4
7 is performed, the substrate suction unit 48 rises while gripping the separator S, and when the substrate suction unit 48 reaches the uppermost position shown in FIGS. 5 and 6, the hydraulic cylinder 47 is closed. Movement stops.

Subsequently, the motor M shown in FIG. 3 is driven, and the chain 4
4 starts traveling in the direction indicated by arrow 92, the pneumatic cylinder 74 is actuated, the roller 76 is removed from the groove 77, and the restraint on the transporting device main body 42 in the traveling direction is released.

As the chain 44 moves in the direction of the arrow 92, the guide roller 45 moves from the position 45' along the pinch circle of the sprocket SP3, and eventually enters the long groove 90. As the guide member 89 moves, the guide member 89 is slightly pushed in the direction of the arrow 92, and the guide member 89 and the guide rod 83. The entire transport device main body 42 connected via the guide plotter 82 and the like moves slightly in the direction of the arrow 92. Eventually, the guide roller 45 moves to the upper end of the long groove 90.
0. However, since the guide roller 45 further moves along the arcuate portion 96 of the sprocket SP3, the guide member 89 is lifted upward and moves in the direction of the arrow 92, and this movement of the guide block 89 Accordingly, the transport device main body 42 moves in the direction of the arrow 92.

The moving speed of the conveyor main body 42 at this time is the guide roller 4
5, the speed is 0 when the guide roller 45 starts engaging with the long groove 90, and then the speed is gradually increased, and the guide roller 45 moves toward the chain 44. After reaching the straight line portion of , it moves at a constant speed at that speed, and the acceleration acting on the transport device main body 42 at startup is small, making it possible to obtain a startup state with little shock. Such a buffering effect occurs when the chain 44 runs in the direction opposite to the arrow 92 and the conveyor body 42 stops at the end position, and when the chain 44 travels in the direction of the arrow 92 and the conveyor body 42 stops at the end position. This occurs when the motor reaches its starting point and stops, and when it starts again from its starting point toward its ending position.

As described above, the guide roller 45 is connected to the sprocket) SF
The support roller 91 moves along the trajectory 93 while passing through the arcuate portion 96 of the chain 44, and when the guide roller 45 approaches the straight portion 97 of the chain 44, the support roller 91 moves along the upper surface 40I of the frame 40. The robot moves along the upper surface 40 and moves along the upper surface 40. Therefore, the downward urging force of the tension spring 86 always acts on the guide member 89 via the guide rod 83, and this force pushes the guide roller 45 downward. From the time when the chain 44 is transferred to the chain 44, most of the downward biasing force is borne by the support roller 91, and does not act on the guide roller 45 moving on the straight section 97, so that the chain 44 is bent downward. No harmful forces act on it.

In this way, while the support roller 91 absorbs the downward force exerted by the tension spring 86, the traveling device main body 42 moves toward the arrow 92.
While the substrate is moving in the direction of
By opening 8, the spacer S is released and allowed to fall into the storage section below.

When the conveyor main body 42 reaches the starting point on the opposite side, the operation is completely opposite to the starting state at the ending point, and the guide roller 45 moves along the pitch arc of the sprocket SP2 on the starting point side shown in FIG. However, when the guide roller 45 is finally removed from the long groove 90, the conveyor main body 42 stops and moves upward, and the pneumatic cylinder 74 acts again to move the positioning block provided at a predetermined position on the starting point side. The roller 76 is inserted into Vi (not shown), and the conveyor main body 42 is accurately positioned at the starting point position.
Here, a new board 19 is added from the loaded board group 19'.
and the spacer S placed on top of it is held by the substrate holding device 4
By the action of step 3, the material is removed and conveyed again towards the end point.

The board mentioned above +1! The feeding device can automatically transport boards of any shape along the guide rails.
In addition, since it has a spacer gripping device that grips the spacer for partitioning the loaded substrates, the spacer is also used when a horizontal suction surface cannot be obtained when the substrates are loaded asymmetrically. This makes it possible to hold the substrate in a horizontal state and ensure the adsorption of the substrate, thereby reducing malfunctions when lifting the substrate. Further, the spacers prevent collisions between the substrates when they are loaded, thereby preventing the substrates from being damaged, and such spacers can be transported at the same time.

1 The structure of the side plate conveyance device 4 shown in FIG. The positioning table 1 alternately positions the front side plate 5 and the rear side plate 6 of the
7 is different from the transport device 4'.

Next, the fourth positioning table 23 is used for accurate positioning when the substrate 19 carried in the substrate carrying bag W4' is transferred to the substrate conveyor 20 (FIG. 2).
This will be explained with reference to FIGS. 7 to 52. The structure of the side plate positioning table 7 shown in FIG. 2 is also similar to that described below.

The positioning table 23 is a stand 9 shown in FIG. 48(a).
A guide rail 100 arranged in a substantially cross shape on the upper surface of a horizontal mounting plate 99 fixed on the top of the guide rail 100. .

100b, 100c, 100a (Fig. 48),
Pressing member 101 that slides while being guided by this guide rail
, , 10 lb, 101c, 101a, a drive mechanism 102a, 102h, 102c, 102a2 that slides this pressing member along each guide rail, and a drive mechanism disposed at the center of the four guide rails 101a to 101J. The main elements are a rotary table 103 and the like.

In the following description of FIGS. 47 to 52, all components described with subscripts a+ b+ Q+ J are guide rails 100a and 100b.

This is an element corresponding to 100c and 100.1.

That is, as shown in FIG. 49(b), the rotary table 103 is horizontally attached to the upper end of a vertical drive shaft 105 of a rotary cylinder 104 attached to the center of the mounting plate 99. Four ball bearings 107 (balls 107a) support the rotary table 103 placed on top of it so that it cannot move vertically but can rotate horizontally in any direction. ) is rotatably supported in a horizontal plane,
Further, it is rotationally driven in a horizontal plane by a rotary cylinder 104.

As shown in FIGS. 47 and 48(b), the guide rails 100a to 100J are each fixed horizontally via a support 108, and the guide rails 100a and Loot are coaxial, and the guide rails 100c and 100a are also coaxial. , the axes of guide rails 100a and 1001, and 100c and 100a.
The axes of are orthogonal in plan view.

The pressing members 101a to 101J attached to these guide rails 100a to 100a so as to be slidable in the axial direction, respectively, have the same structure except for 101J.
As shown in Figure (b), the guide rail 100. Two vertical guide roller mounting plates 110 disposed on the sides are attached to a horizontal support plate 111 in the shape of geta teeth, and two or more pairs of upper and lower guide rollers 1 are installed inside each roller mounting plate 110.
09 with the guide rails 100a sandwiched between the upper and lower sides, the support plate 111 is supported in the vertical direction by the guide rails ioo, and guided by the horizontal guide rollers 112 provided on each of the roller mounting plates 110. By gripping the rail 100a horizontally, the support plate 111 is attached to the guide rail 100. It is supported so that it can slide freely along. Moreover, the press plate 11 is placed on the support plate 111 through a gap 114 having a thickness of 1 in the vertical direction.
5a is fixed. The drive mechanism 1 is provided in the gap 114.
02. A horizontal drive lever 116a forming a part of the
A vertical pin 1131 for holding the gap 114 is slidably inserted into an elongated hole 117a formed at the tip of the drive lever 116a. Therefore, by operating each of the drive mechanisms 102a to 102J and swinging the respective drive levers 116a to 116J in the direction of the arrow shown on each drive mechanism, the pressing members 111a and 111 are placed in a state where they are opposed to each other. , also 1
11o and 111a facing each other can be slid in the direction of the central rotary table 103 or in the opposite direction at any timing.

Since all of the drive mechanisms 102a have the same structure, only the drive mechanism 102b shown in FIG.
This will be explained with reference to the 4th FyI. The drive mechanism 102 having the drive lever 116b has a vertical connecting shaft 119t supported by a bearing 11B fixed to the mounting plate 99, and a horizontal connecting shaft 119t fixed to the upper end of the connecting shaft 119. Drive lever 116I, and connection shaft 1191. Interlocking lever 12 (h,
and the interlocking lever 120).

and a hydraulic cylinder 122b, which has one end pivotably attached to the support shaft 121b and the other end pivotably attached to a support shaft 121b fixed to the mounting plate 99, and the air cylinder 122
t, the interlocking lever 120b and the connecting shaft 1
19b and the drive lever 116 rotate together in the direction of the arrow 123, and the drive lever 116I swings from the solid line position to the position shown by the two-dot chain line, so that the pressing member 101 moves from the solid line position to the position shown by the two-dot chain line. Indicated by a dotted chain line (101b'
position), and presses the substrate 19 placed on the rotary table 103'' toward the center of the rotary table 103.

Note that there are certain rules regarding the magnitude of the biasing force of the pressing members 101 to 101d, which face each other and press the board 19, against the board 19. For example, when pressing the guide rails 100b and 100a shown in FIG. Part 1
011. and a stopper 124i that restricts the sliding movement of 101a toward the rotary table 103.

and 124J, the urging force by the pressing member 101b is larger than the urging force by the pressing member 101a,
In addition, each air cylinder 1
22a to 122. The biasing force of J and the drive lever 116a
Determine the length of the interlocking levers 120a to 116a or 120a to 120a.

It is the pressing member 101a that first presses the substrate 19 in the direction of the rotary table 103, as will be described later, and the width e1 of the pressing member 101a is set so that the substrate 19 reliably follows the pressing surface of the pressing member 101a. , the other pressing member 1
01. 〜101c and wider. This width Il
Only for +, the pressing member 101a is the other pressing member 101.
The shape is different from a to 101°.

Furthermore, if the loading direction of the substrate 19 in the loading state shown in FIG. 2 is incorrect due to a mistake (in the case of a substrate with a rectangular planar shape, the orientation of the substrate may be stacked 180 degrees incorrectly), Although it is necessary to correct this before reaching the substrate conveyor 20, the pressing member 10 shown in FIG.
Sensors 125a and 12 attached to 1a and 101a
5J serves this purpose.

That is, since it is necessary to attach various parts to the board 19 according to the functions of the copying machine, holes for these attachments are generally provided with asymmetric holes. The sensors 125a and 125d are capacitance type, eddy current type, or magnetic detection type proximity switches for detecting the positions of these asymmetric holes, and when the board 19 is positioned at the normal position, It is mounted so as to align with a predetermined asymmetric hole on the substrate. Therefore, if the substrate 19 is placed in the wrong direction by 180 degrees, the sensor 125a or 125a detects that there is no hole directly below it and sends an abnormal signal to the control device.
The control device includes pressing members 101a to 1. After releasing the grip of the substrate 19 by the OIJ, the rotary cylinder 104
is driven to rotate the rotary table 103 and the substrate 19 placed thereon by 180 degrees, and at that position, the pressing member 101. The substrate 19 is positioned by the points 101a to 101a.

Next, the positioning operation of the substrate 19 by the positioning table 23 will be explained.

As described above, when the substrate 19 is placed approximately at the center of the positioning table 23 by the transport device 4', the coloring mint switch (not shown in FIG. 1) is activated, and after a certain period of time, the air cylinders 122a and 122. is activated, and the drive levers 116a and 116c each swing from the solid line position to the two-dot chain line position. Along with this, each drive lever 116J and 116o has long holes 117, J and 117c, and bins 113a and 11.
3 degrees, the pressing members 101a and 101c move from the solid line position to positions 101a' and 101c' shown by two-dot chain lines, and the substrate 19 is held between the two pressing members. At this time, since the urging force 9 by the pressing member 111a is larger than the urging force by the pressing member 101c, the pressing member 1
The substrate 19 is fixed at the position where the stopper 124d contacts the stopper 124d.

When the positioning of the guide rail 100 in one direction with respect to the board 19 is completed in this way, the air cylinders 122a and 1
22o operates in opposite directions, or both air cylinders 1
22. The pressure on J and 122c is released, and the pressing member 1
The substrate 19 is released from the grip by 01J and 101c.

Next, air cylinder 122. and 122b are actuated to move the pressing members 1018 and 101 from the position shown by the solid line to the position shown by the two-dot chain line, and the substrate 19 is moved from the position shown by the two-dot chain line to the pressing member 1.
Positioning is performed in a direction perpendicular to the positioning direction by 01J and 101c.

Since the urging force by the pressing member 101 is set larger than the urging force by the pressing member 101a, the substrate 19
1 is fixed at the position where it abuts against the stopper 124+.

After that, the air cylinders 1228 and 122b operate again, and the pressing members 101J and 101o move from the position shown by the solid line to the position shown by the two-dot chain line, respectively, and the four pressing members 101+, 101. , .

101o and 101J completely position the substrate 19 at the position indicated by the two-dot chain line.

When the positioning is completed in this way, the sensor 125. or substrate 1 by 125d
9 is confirmed, and if the direction is wrong, the pressing member 101.9 is pressed against the substrate 19 as described above. to 10
After releasing the gripping force of 1a, the substrate 19 is reversed 180 degrees and repositioned to prepare for the firing operation.

In the positioning table shown in FIG. 47, the substrate 19 is held directly by pressing plates 115a, 115b, 115c, and 115a, or by a buffer plate 115, such as a plastic resin plate, attached thereto. For example, in order to press the substrate 19 via the pressing member 101. ．．
101t, while holding the substrate 19, when attempting to position it using the pressing members 101c and 101a from a direction perpendicular to this, the pressing plate 115. 115a to 115a (or buffer plates 115.' to 115a') and the substrate 19 do not easily slip. Therefore, as described above, once the gripping force by the pressing plates 101J and 101c is released, the pressing plates 101a and 101b are removed. As shown in FIG. 50, the pressing plate 11
Rollers 126 for reducing frictional force are interposed at the portions 5o and 115d facing the side surfaces of the substrate 19, respectively, and the substrate 19 is moved to the guide rail 1 via these rollers 126.
If it is gripped in a direction parallel to 00, tooa, the pressing member 101 in the device as shown in FIG.
The troublesome work of gripping, releasing, and gripping 101a and 101a can be omitted. However, in this case, the pressing members 101o and 10I
When a gripping operation is performed using J, gripping is performed using the suppressing members 101a and 101. Also, the pressing plate 11
5a and 115+, also a roller 116 as shown in -1-
If this is provided, it is possible to grip the object from either direction first.

Note that in the examples shown in FIGS. 47 to 50, it is possible to position a board of a certain shape, but when boards of different sizes are mounted, it is necessary to correctly position each board at its center position. can't do it.

The examples shown in FIGS. 51 and 52 are intended to eliminate such drawbacks, and in this case, large substrates 19. and a small-sized board 19I. This device differs from the device shown in FIG. 47 in that the pressure i115. Furthermore, two auxiliary cylinders 127' are installed on the guide rail 100a at regular intervals.
When the small substrate 19b is pressed to the normal position, the pressing member 101. In addition, the urging force of the air cylinder 122c and the auxiliary cylinder 127 is adjusted so that the urging force of the pressing member 101c is greater than the urging force of the auxiliary cylinder 127.

Therefore, when a large substrate 19a3 is first placed on the center shaft of this device, the substrate 196 is held by the pressing members 101a and 101, and the pressing members 101c and 101 are held.
The gripping by J is similar to the device shown in FIG. 47, and the urging force by the auxiliary cylinder 127 is
Since it is smaller than the biasing force caused by the force, it does not contribute to the positioning action.

On the other hand, a small board 19. If the is installed,
Guide rail 10 by pressing members 101a and 101t
0. After the positioning in the direction parallel to is completed, the pressing member 1
The substrate 19I is urged toward the center by 01C and 101a, but the pressing member 101c abuts the stopper 124c and cannot press the substrate 19 any further, and the pressing member 101a abuts the stopper 124a. Therefore, it is not possible to press the substrate 19 in the direction of the rotary table 103, but instead of this, the auxiliary cylinder 1
27 presses the substrate 19 to the position shown by the two-dot chain line, and presses the substrate 19 between the pressing member 101c and the auxiliary cylinder 127.
I, can be grasped and accurately positioned.

4 When the positioning of the substrate 19 by the positioning table 23 is completed, the substrate 1 is moved by the loader 27 (FIG. 2).
The transport operation to the substrate conveyor 20 of No. 9 is performed. Since the structure of this loader 27 is exactly the same as that of the transport device 4, the explanation thereof will be omitted here.

The structure of the positioning table 7 for the front side plate 5 and the rear side plate 6, and the structure of the loader 8 that conveys the side plate positioned by the positioning table 7 to the side plate conveyor 1 are completely different from the structure of the positioning table 23 and the loader 27. The same is true.

Next, an example of a parts feeder that can be used in this assembly system and a separation device used in the parts feeder will be explained with reference to FIGS. 12 to 14. Such a parts feeder is the parts feeder 9, 1 in FIG.
7, the separation device described later can be used not only for such parts feeders 9 and 17 but also for vibrating parts feeders 21 and the like.

As shown in FIG. 13, the parts feeder 128 takes out parts separately from a plurality of hoppers H, H2... (in the case of FIG. 13, five parts feeders are shown), and feeds the parts to the rails shown in FIG. 12. 129 and taken out at an appropriate time through a separation bag W150 provided in the middle of the rail 129, one or a specified number of parts P are fed from the discharge section 131 to the parts feeder 128 at right angles to the parts supply direction. The second
The parts are transported to the parts delivery section to the parts mounting device 2 or 3 shown in the figure.

That is, in FIG. 12, reference numeral 135 denotes a plurality of hoppers arranged in a direction perpendicular to the plane of the drawing, each accommodating a different type of parts. Each of the hoppers 135 has a notch (136) with a constant width at its bottom, and a vertical parts scoop 137 is fitted into the notch 136 so as to be vertically slidable. The motor 140. A crank mechanism 145 constituted by a connecting rod 144 connects a fulcrum 141 on a rotary disk 140 that is actively rotationally driven by a fulcrum 143 on a lever 142 fixed to the rotating shaft 139, and a crank mechanism 145 is operated as shown by a solid line. 137 indicated by a dashed line from the position
It swings back and forth at a constant cycle up to the position .

Furthermore, the rail 129 is connected to the parts scoop 137 and has a groove having a certain inclination angle and a groove on which the part P1 can slide in the center thereof, and is formed on the upper end surface 146 of the parts scoop 137. The part P1 that has been scooped up by being stuck in the V-shaped or arc-shaped groove in cross section is lifted up by the upper end surface 146 when the part scoop 137 swings to the uppermost position shown by the solid line.
It slides down toward the rail 129 along the groove of the twelfth
It slides downward while being stuck in the groove of the rail 129 shown in the figure.

The following explanation will be based on a head 147 as shown in FIG. 14(a), a body 148 having a smaller diameter than the head 147, and
A part P1, which consists of a threaded part 147 projecting upward from 8 and 9 and which slides down with the body part 14 fitted into the groove in the longitudinal direction of the rail 129, will be described as one specific example of the part.

Separating devices 150 are provided at the intermediate portions of the rails 129, respectively, and supply a fixed amount of parts PI at appropriate times.

Such a separation device 150 is shown in detail in FIG. That is, the separation device 150 is attached to a bracket 152 that is attached to one side of the rail 129 and has a square cross section. This bracket 152 includes a vertical wall portion 153 that is directly attached to the rail 129, and a vertical wall portion 153 that is directly attached to the rail 129.
The horizontal wall portion 154 is bent 90 degrees from the upper end toward the rail 129.

A pin 15 is attached to the tip of the armature 155 of the solenoid SQL attached to the outer surface of the vertical wall portion 153.
A lever 157 is engaged via 6. Two elongated holes 158 are formed in this lever 157, and two L-shaped brackets 1 attached to the vertical wall portion 153 are formed in the lever 157.
Since the guide pins 160 fixedly attached to the respective holes 8 are slidably fitted in the elongated holes 158, the lever 157 can be slid only in the direction of the elongated holes 158 using the guide pins 160 as a guide. It is.

Further, two pressing pins 161a and 1611 are implanted in the lever 157 at a certain distance apart from each other in the middle thereof, and one of the guide pins 160 and the pressing pin 161. The lever 157 is always biased in the direction of separating the armature 155 from the solenoid SOL by a tension spring 162 stretched between the lever 157 and the solenoid SOL.

Two fulcrum pins 163a are provided on the lower surface of the horizontal wall portion 154.
and 163i are implanted, and the fulcrum pins 163 and 1
63, parts stop levers 164a and 164b are swingably attached.
65I, arrows 166a and 1 in FIG. 14(b)
It is urged to rotate in the direction shown at 66L.

The parts stop lever 164a is connected to an end 167a of a helical spring 165a as shown in FIGS. 14(a) and 14(b).
and a contact portion 169 that is bent 90 degrees from the horizontal portion 168a in plan view and abuts against the pressing pin 161a by the biasing force of the helical spring 165a.
a, and an interference type 170. which is bent vertically downward from the tip of the horizontal portion 168a and is located at a position where it can interfere with the threaded portion 149 of the part P1. and interference type 170. and horizontal part 168
A bolt attachment part 171a is bent vertically from one end of the horizontal part 168a at right angles to both of a, and an adjustment bolt 172a is screwed onto the bolt attachment part 171a.
When the parts stop lever 164a rotates to the maximum extent in the direction of arrow 166, the adjustment bolt 172a contacts the vertical wall 153 and stops the parts stop lever 164. This is a stopper for determining the position of .

In addition, the parts stopper 164b attached to the fulcrum pin 163 is formed completely symmetrically with respect to the parts stop lever 164, and the part stop lever 164b is completely symmetrical to the parts stop lever 164.
The horizontal part 168t corresponds to the horizontal part 168t.

It has a contact portion 169t, an interference type 170b, a bolt attachment portion 171b, and an adjustment bolt 172, and the helical spring 165b for rotating this also includes the helical spring 165. The end portion 167 is engaged with the horizontal portion 168b of the parts stop lever 164 to constantly urge it to rotate in the direction of the arrow 166t. Note that the helical spring 165 and the other end 173a of the helical spring 165
and 173b are long holes 174 bored in the horizontal wall portion 154, respectively.
Adjustment bolt 1 attached to a and 174-b
75a and 175t, and the adjustment bolt 1
The mounting positions of 75a and r75 are set to elongated holes 170a and 17.
0b, the helical spring 16
The biasing forces of 5a and 165b can be adjusted. The contact portions 169a and 169b pass through a long hole 169' formed in the vertical wall portion 153 and protrude toward the lever 157.

Further, the separation device 150 is attached to the rail 129 by bolts installed in vertical elongated holes 176 provided in the vertical wall portion 153.
6, the mounting position in the vertical direction can be freely adjusted, and the mounting height can be freely adjusted according to the height of the part PI to be worked on.

Further, the lever 157 is provided with a number of holes 177 for installing the pressing pins 161a, and in parallel with these holes, on the horizontal wall portion 154 side, a fulcrum pin 163a can be installed by changing the position. A large number of holes 178 are bored in a straight line. For this purpose, the press pin 161a and the fulcrum pin 163. By changing the mounting positions of the holes 177 and 178 according to the positions of the holes 177 and 178, it is possible to deal with parts of different sizes and change the number of parts to be separated for each operation.

Next, the operation of the above separation device 150 will be explained using FIGS. 14(b) to 14(d). FIG. 14(b) shows a state in which solenoid SQL is energized, armature 155 is drawn into solenoid SQL, and lever 157 is most biased toward solenoid SQL.

In this position, the parts stop lever 164I is biased by the helical spring 165b to the maximum clockwise rotation position, that is, the position where the stopper adjustment bolt 172 abuts against the vertical wall 153. Therefore, in this state, the tip of the parts stop lever 164 is not held and the interference type 170 is rotated.
t has rotated clockwise to a position where it interferes with the threaded portion 149 of the part P fitted into the groove 151 of the rail 129, and thus the interference mold 170 is more securely attached to the part than the interference mold 170b. A large number of perms are dammed on the upstream side in the conveyance direction.

In addition, in this state, the parts stop lever 164a on the downstream side, which swings around the fulcrum pin 163a, has its abutting portion 169a pressed by the pressing pin 161a and rotates most clockwise, so the parts stop lever 1641I Since the interference mold 170a comes off from the upper part of the groove 151 of the rail 129 and does not function to dam the parts, the part Pl that was in the groove 151 on the downstream side of the interference mold 170b on the upstream side is removed from the groove 151. , and is dropped into the holder 134 through the discharge section 131 shown in FIG.

In this state, when the solenoid SQL is released from the excited state by a signal from the control device, the lever 157 is pulled by the tension spring 162, and the stopper 179 attached to the end of the armature 155 causes the solenoid SQL to
It is pulled toward the guide bin 160 until it comes into contact with the guide bin 160, resulting in the state shown in FIG. 14(C). This state is the 14th
Contrary to the state shown in Figure (b), the parts stop lever 164 on the downstream side. The adjustment bolt 172. rotates the most in the counterclockwise direction, and the stopper is the adjustment bolt 172. comes into contact with the vertical wall portion 153, and the interference type 170. has bitten into a position where it can interfere with the threaded portion 149 of the part P sliding down the groove 151, and the abutting portion 169 of the part stop lever 164 on the upstream side is pushed by the guide pin 16lb. Part P is rotated the most in the counterclockwise direction shown in Fig. 14 against the force of the helical spring 165.
I, the interference type 170 which interfered with the threaded part 149 and blocked the parts upstream from it is part P.
1, and the parts that were dammed up until then slide down to a position where they come into contact with the interference mold 170a on the downstream side.

In this way, the most downstream part PL is the downstream interference type 17.
FIG. 14(C) shows a state in which it is in contact with 0a. The separating device 150 waits for the next parts sending signal in this state.

The next part sending signal from the control device is sent to solenoid SQL,
At that moment, the solenoid SQL+ is energized, the armature 155 is pulled into the solenoid SQL+ as shown in FIG. 14(d), and the lever 157 is activated as shown in FIG. 14(b). It is drawn to the position closest to L. Therefore, in this state, the parts stop lever 164 is the same as described in FIG. 14(b). and 164I are stopped at the position where they have rotated the most in the clockwise direction, and the part P, /15 which is one position upstream of the most downstream part PI' that had been blocked by the interference type 170a until then. The upstream interference mold 170b interferes with the threaded portion 149, and the part P1'' and all parts PI on the upstream side
is dammed, and the downstream interference type 170. are removed from the interference position with the parts, so the parts p, /, which had been placed on the most downstream side until then, are supplied to the holder 134 through the discharge section (FIG. 12) 131.

The holder 134 to which the parts P1 are supplied in this way is connected to the chain 13 disposed along the parts feeder 128.
3, the chain 133 is attached to a pair of sprockets 180 attached to the front and rear ends of a support frame 182 provided along the parts feeder 128, as shown in FIG.
A and 180 motor 18 with a brake
1 periodically runs every pitch of the holder 134.

All the holders 134 have a five-shaped sensing layer 183 attached to the right side as shown in FIG.
Proximity sensor 6 pair 184 attached to the rear end detects that this detection layer 183 has reached a predetermined position, and stops energizing the motor 181 and applies braking to the motor 181, thereby moving the chain 133 to the first position. Let it run bit by bit.

The proximity sensor pair 184 is constructed by arranging an upstream sensor 184a and a downstream sensor 184i at a constant interval when viewed in the running direction of the chain 133 (indicated by arrow X). The sensor is also a magnetic sensor,
It can be configured with a capacitive sensor, an optical sensor, or any other highly accurate proximity sensor. The upstream sensor 184a is used to gently stop the chain 133. That is, this upstream sensor 1
When the approach of the sensing layer 183 is detected at 84a, the control device stops energizing the motor 181, and the chain 133 then coasts and its speed gradually decreases. When the speed of the chain 133 is reduced to a certain extent in this manner, the detection layer 183 eventually reaches the downstream sensor 184b, and the control device that receives the signal from the downstream sensor 184 sends a brake signal to the motor 181. By sending out the brake, the brake is applied to the motor 181, and the chain 133 is completely stopped.

Furthermore, parts are supplied from the parts feeder 128 to each holder 134 based on a certain sequence, and therefore a specific It is necessary to judge whether parts can be supplied or not, but this can be done by detecting the number of holders in a particular holder, starting from the first holder. Therefore, the holder that supplies parts at the beginning of the sequence is
31, the holder that stopped at the position of the downstream sensor 1841 is set as the first holder, and furthermore, at the end of one sequence, the downstream sensor 185b of the proximity sensor pair 185 provided at the front end of the support frame 182 is set. The holder stopped at the position is detected as the boulder at the rear end. Therefore, as shown in FIG. 12, the leading holder 134a is provided with a sensing blade 186 similar to the aforementioned sensing blade on its left side, and the proximity sensor pair 184 and 185 is used to distinguish between the leading holder and the rear end holder. detection. However, the left sensing blade 186 shown in FIG. 12 is not provided on the holder 134 located between the front end and the rear end.

Regarding the proximity sensor pair 185, the sensor 185a on the downstream side determines when the motor 181 is de-energized.
The downstream sensor 185b determines when the motor 181 at the rear end is completely stopped.

In addition, part 187 (Fig. 12) is a part P that has slipped down the rail 129 so that it does not turn upside down when it falls.
, and the mounting position and mounting angle with respect to the discharge part 131 can be adjusted using the bolt 18B according to the shape of the part P1. Further, as shown in FIG. 12, the hopper 135 is configured to be able to swing in the vertical direction about a horizontal support shaft 189 provided at the rear of the upper part of the frame 138. This makes it easy to replace.

9 Furthermore, a photoelectric switch (not shown) or the like is provided behind the separating section 150 indicated by the arrow 190 to stop the movement of the parts scoop 137 when the parts are dammed upstream beyond this point. This prevents excessive supply of parts P to the rail 129. Furthermore, as shown in FIG. 12, below the discharge section 131, parts P are supplied to a holder 134 which is stopped directly below it.

A parts detector 191 consisting of a photoelectric switch or the like is provided to confirm the presence of the separator 1.
After confirming that the part P1 has been supplied from the chain 13 to the boulder 134, the motor 181 is driven.
3 starts running.

From the above explanation, the structure and operation of the parts feeders 9 and 17 that feed parts of the first and second parts mounting devices 2 and 3 in FIG. 2 have been understood.

The parts thus supplied are placed on the pallet 2 on the side plate conveyor 1 by the first and second parts mounting devices 2 and 3.
Supplied on top.

0 Replacement of these first and second parts W2 and 3 and the nut tightener or bolt tightener (screw tightener) used therefor
Since this is the same as a third parts attaching device 22 and a screw tightening machine used therewith, which will be described later, the rest will be omitted by explaining the third parts attaching device 22 later.

In the assembly system shown in FIG. 2, parts are first supplied to a pallet on a conveyor by the parts supply device described above, and by placing the side plate 5 or 6 on top of the pallet, the threaded parts of the parts are inserted into the holes in the side plate 5 or 6. Parts are attached by screwing a nut into the threaded part, but when tightening nuts in this way, it is necessary to hold the parts so that they do not rotate together with the rotation of the nut. In this example, a one-way clutch, which will be described later, is used to hold such parts, thereby reducing the size and simplicity of the device.

In this embodiment, such a one-way clutch is mounted on the pallet mentioned above, and when tightening the nuts of the parts, this one-way clutch holds the parts and prevents them from spinning idly. However, when NAND tightening is finished, the one-way clutch will fix the parts to the pallet 7, and the front side plate 5 or the rear side plate 6 will be lifted to be reversed by the reversing device 15, which will be described later. At this time, it is necessary to release the part and pallet from being stuck together by the one-way clutch. What is shown in FIG. 22 to FIG. 24 is a mechanism for preventing idle rotation of such parts and a mechanism for releasing the same.This release mechanism 97 is different from the reversing device W15 as shown in FIG. It is desirable to provide it on the side of the side plate conveyor 1 on the opposite side.

That is, in FIG. 23(a), 192 is a pallet, and a parts support member 193 is supported on the pallet 192 so as to be rotatable around a vertical axis. These parts support members 1
A roller 194 is installed at the part where part P1 of 93 is inserted.
A one-way clutch 195 is installed. As shown in FIGS. 23(b) and 23(c), this one-way clutch 195 includes the roller 194 and a holder 194 that holds the roller 194.
a, and a housing 196 that surrounds one or more rollers 194 arranged in an arc and has a circumferentially tapered surface 194t. Further, a bearing pedestal 197 and a spring 198 for pushing the bearing pedestal 197 upward are built into the lower part of the one-way clutch 195, and a gear 199 is formed at the lower end. As shown in the figure, the mounting portion 200 of the part PI inserted into the one-way clutch 195 has its shaft peripheral surface in contact with the roller 194 .

The bearing stand 197 and the push spring 198 push up the inserted part P, and after the part P1 is inserted, it is guided by the horizontal positioning member 201 and is placed in contact with the height direction positioning member 202. This is for bringing the large diameter portion of the part P1 into close contact with the lower surface of the front side plate 5 or the rear side plate 6. At this time, the relationship between the insertion portion 200 of the part PL and the one-way clutch 195 is such that the roller 194 and the shaft circumferential surface of the insertion portion 200 of the part P1 are simply in contact with each other, and therefore the part PL can be freely moved. It is in a state where it can go up and down.

3 Brake equipment having a large diameter gear 203 that meshes with the gear 199 provided at the lower part of the parts support member 193.$2
04 is held by a shaft 205 vertically fixed to the pallet 192, the horizontal gear 203 rotatably supported by the shaft 205 via a bearing 205, and the gear 203,
Brake shoe 207 slidingly contacts the top surface of table 192
and an adjustment screw 208 for adjusting the braking force by adjusting the pressing force of the brake shoe 207, and - has a gear 199 that meshes with the gear 203 by the frictional force of the brake shoe 207 against the pallet 192. Resistance is applied to the rotation of the parts support member 193 to prevent the part P1 attached to the parts support member 193 via the one-way clutch 195 from spinning idly.

Therefore, the parts P are
When a nut is screwed into the threaded portion 149 of L, the part P1 attempts to idle in the direction of rotation of the screw tightener due to the frictional force between the nut and the threaded portion 149, but when the part PL idles in this way, Accordingly, the roller 194 rotates in the same direction along the tapered surface 194I of the housing 196, and the roller 194 bites into the tapered surface 194b on the inner surface of the housing 196 in a wedge shape, so that the part PI and the part supporting member 193 are moved in one direction. They are integrated via a clutch 195. Then, as the part P1 idles, the part support member 1
93 also tries to rotate in the same direction, but this part supporting member 193 has the brake shoe 20 as described above.
7 is acting, so the part support member 1
93 and the part P integrated with it cannot rotate in the direction of rotation of the screw tightening machine, and as the nut is tightened, the frictional force between the part PI and the side plate 5 or 6 increases. As a result, the part P1 stops rotating more and more, and eventually the nut is completely tightened, and the work of fixing the part P to the side plate 5 or 6 is completed.

Therefore, when the NAND is hung diagonally, the frictional force between part P1 and the nut increases significantly, so that the driving torque due to the screw tightening is applied to part P1. Brake device 20 via part support member 193 and gear 199
4, the gear 203 rotates due to this rotational torque despite the braking force from the brake shoe 207, and the drive current characteristics of the screw tightening machine motor depend on the normality of the NAND. By detecting the drive current on the screw tightening machine side, it is possible to detect a poor NAND attachment. Even if the nut or threaded portion 149 is damaged due to excessive tightening of the nut, the change in the drive current on the screw tightening machine side becomes abnormal, making it possible to detect poor nut tightening, as described above.

The part supporting member 193 as described above is the 23rd Im (
Another parts support member 193a as shown in a) has a gear 199, inside which is a push-up spring 198, a bearing stand 197 that is urged upward by this, and a one-way clutch 195 at its tip. Clutch mounting part 209 with
It is also possible to configure it by a holder cylinder 210 that is screwed onto the upper end of this clutch mounting portion 209 and mainly supports the part PI. In this case, the holder cylinder 210
By adjusting the length and inner diameter to the appropriate length, the part P
It is possible to provide a parts supporting member that can accommodate changes in shape and dimensions such as the length and external shape of I.

When the NAND tightening is completed by the screw tightening machine as described above, the part P1 is engaged with the part support member 193 by the imitation action of the roller 194, and by simply pulling the part P upward, the part P1 is not supported by the part support member 193. It cannot be removed from member 193. In order to release the fixing force of the part P caused by the one-way clutch 195, the wedge action of the roller 194 must be released by rotating the part support member 193 in the same direction as the rotation direction of the screw tightening machine. No. Such a release mechanism 9
As shown in FIG. 22, 7 is disposed at a position where the side plate 5 or 6 that has been screwed passes by the side plate conveyor 1, and a frame 2 is attached to the frame 211 of the side plate conveyor 1.
12 (FIG. 24).

That is, the release mechanism 97 includes a motor 213 attached to the pedestal 212, a drive gear 214 attached to the motor, and a shaft 215 rotatably mounted on the pedestal 212 and meshed with the drive gear 214. and,
a link 217 pivotally connected to the shaft 215;
A gear 219 is rotatably connected to a shaft 218 implanted at one end of the link 217 and meshes with the gear 216, and a pin 220 is implanted at the end of the link 217 opposite to the shaft 218. Pin 221 planted on pedestal 212
The rotation direction of the motor 213 is set in the same clockwise direction as the rotation direction of the screw driver when the part support member 193 is rotated in the plan view shown in FIG. 24(a). It is also set clockwise so that it rotates in the same direction.

In the standby state, the link 217 of the release mechanism 97 swings as much as possible in the counterclockwise direction in FIG.
When the gear 203 on the pallet 198 2, which has been conveyed in the direction shown by the arrow J on the side plate conveyor l, is in the operating position, the gear 209
It is configured to interfere with and cause meshing.

That is, in FIG. 22, when the pallet 192 that has finished tightening the screws of the parts advances in the direction of the arrow, the gear 203 of the brake side plate 204 moves to the gear 219 of the release device 97.
As the gears 203 and 219 mesh with each other and move further in the direction of the arrow, the link 217 is rotated clockwise as shown in the figure against the tension spring 222. Gear 219 by the force of 222
The meshing between and 203 is ensured. Thus link 2
17 swings to the position shown by the solid line in FIG. Accordingly, the gears 214, 216, 219, and 203 rotate in the directions of the arrows, and the gear 199 meshes with this gear 203, and the part support member 193 meshes with it.
However, by rotating clockwise as shown by the arrow,
The one-way clutch 195 and the part P1 are disengaged, and the side plate 5 or 6 and the par 72 attached thereto can be removed from the part support member 193.

As the pallet 192 is further conveyed by the side plate conveyor 1 in the direction of the arrow shown in FIG.
19 rolls around the gear 203, the engagement between the two gears is released, and the link 217 returns to the position shown by the two-dot chain line in FIG. 24(a) and enters a standby state.

After being released from being fixed to the pallet 192 by the one-way clutch 195, the side plate 5 or 6 is turned over by the reversing device 15, and parts are attached to the back side using the second parts attaching bag w3. .

Next, a reversing bag R is used to perform such reversing work of the side plate 5 or 6.
15 will be explained with reference to FIGS. 25 to 28.

In FIGS. 25 and 28(C), the frame 223 has a horizontal bearing mount 224 at its upper end, and a pair of throat low bearings 225 are attached to the ends of the bearing mount 224. A shaft 226 rotatably supported by this pillow bearing 225 has a pair of flanges 227 fixedly spaced apart from each other in a direction perpendicular to the plane of the drawing. A channel member 228 having a U-shaped cross section extending perpendicularly to the plane of the paper is fixed. The channel member 228 has a pair of rails 229 on its left and right sides, which are equal in length to the channel member 228 and parallel to its longitudinal axis.

Further, as shown in FIG. 28(C), the substantially square rotating frame 230 is configured to surround the channel member 228 and the rail 229 and is disposed in a direction perpendicular to the plane of the paper. 231 each has two or more pairs of rotatable guide rollers 232 which vertically sandwich the rails 229, and the rotating frame 230 is guided by the guide rollers 232 to the rails 229, and the axis of the channel member 228 is guided by the guide rollers 232. It can be slid in the direction of the core.

1. An arm 233 is fixed to the upper surface of the rotating frame 230 in a direction perpendicular to the side plate conveyor 1, and the tip of this arm 233 has a shape for gripping the side plate 5 or 6. A gripping mechanism 234 is attached. Furthermore, the arm 23 is attached to the channel member 228.
A pair of connecting plates 235 parallel to the frame 223 are fixed, and an air cylinder 238 is connected between a rod 236 attached to the tip of the connecting plate 235 and a horizontal pin 237 attached to the end of the frame 223. In addition, a balance spring is provided between the rod 236 and an eye bolt 239 attached to the lower end of the frame 223, in line with the air cylinder 238, for canceling the rotational moment about the axis 226 caused by the gravity of the gripping mechanism 234. 240 is attached.

2. The rod 24 attached vertically to the middle part of the arm 233
1 is a fixed wall 2 that projects horizontally from the frame 223 when the arm 233 is rotated to the horizontal position shown in the figure.
42 has a roller 243 which is a contact for positioning the arm 233. This is to enable movement.

Next, the gripping mechanism 234 will be explained. In the standby state shown in FIG. 25, a pair of air cylinders 244 equipped with a hydro check device that expands and contracts in the vertical direction are fixed to the upper surface of the tip of the arm 233 at regular intervals in a direction perpendicular to the plane of the paper. has been done. A bracket 245 is attached to the lower end of the piston rod of each air cylinder 244.
As shown in FIGS. 26(a) and 26(b), rotary cylinders 246a and 246b are fixedly installed in opposing directions via the rotary cylinders 246a and 246b. These rotary cylinders 246a and 24
Each of the six drive shafts is provided with a detent air cylinder 248 (a) and 248 (b) facing each other via a bracket 247 as shown in FIGS. 26(a) and (b).
are fixed coaxially.

Furthermore, gripping hands 249a and 249 of the same shape for gripping the side plate 5 or 6 are attached to each piston rod of the air cylinders 248a and 248.

Next, the structure of the gripping hands 249a and 249b will be explained with reference to FIGS. 27 and 28(a).

The following explanation is only about the gripping hand 249, and the explanation about 249a is omitted because it is the same. The cylindrical body 251 screwed onto the tip of the piston rod 250 of the air cylinder 248b has a coaxial hollow part 252 as shown in FIG. A piston 254 having a head 253 having a diameter larger than the inner diameter of the hollow portion 252 is mounted so as to be slidable in the axial direction. At the distal end of this piston 254, there is a
) A bottle 255 is installed perpendicularly to the plane of the paper, and this bottle 255 has a long hole 2 bored in the cylindrical body 251 in the axial direction.
56 and protrudes to the outside, and between the protruding portion and a bottle 257 implanted on the outer peripheral surface of the cylindrical body 251, the bottle 255 and the piston 254 are always held in the direction of the opposing gripping hand 249B. A tension spring 25 biasing the
8 is attached.

Further, the holder 25 is fixed to the outer peripheral surface of the cylindrical body 251.
9, a pair of upper and lower bottles 260 are installed in a direction perpendicular to the paper surface of FIG.
A lever 261 that is swingable about the center is attached to each of the levers 261.

Furthermore, a bottle 262 is installed at the rear end of this lever 261.
and the tip of the bottle 255 which is slidable in the long groove 256 are connected by a swingable link 263 as shown in FIG. 27, and the head 25 of the lever 261
Upper-shaped gripping claws 264 are fixed to the ends of the third side, respectively. In addition, the tip of each gripping claw 264 and the head 2
53-5 The tip is made of polyurethane (a type of elastic material) 2
65 and 266 are fixed.

The limit switch 267 (FIG. 25) attached to the end of the arm 233 is used to detect the upper limit position of the bracket 245 by coming into contact with it when the bracket 245 rises due to the expansion and contraction movement of the air cylinder 244. Also, it can be attached to the tip of the arm 233 or the Mitsutswitch 2.
68 is the detection rod 26 attached to the bracket 245.
This is for detecting the lower end position of the bracket 245 by interfering with the tip of the bracket 9. Also rotary cylinder 246I
, these rotary cylinders 246 are installed at the end of the drive shaft.
It can be attached to the back of a and 246
A cam 271 that interferes with 708 and 270b and detects the rotation limit position of each rotary cylinder is fixed.

Reference numeral 272 denotes a hydro check device equipped with the hydro check pulp of the Nier cylinder 244 described above, and the left and right side walls 231 . Bolts 2731 and 273 screwed into the holes 273 and 231 are lock bolts that are pressed against the side surface of the rail 229 in order to fix the rotating frame 230 to the channel member 228.

Therefore, by loosening the lock bolts 273a and 273b, the rotating frame 230 can be moved to the channel member 22.
25 along the rail 229 provided in FIG. Due to the presence of the roller 243, the arm 233
The rotating frame 230 and the arm 233 fixed to it can be moved in the direction along the side plate conveyor (the rotary frame 230 and the arm 233 fixed thereto can be moved smoothly in the direction perpendicular to the plane of the paper while supporting the own weight of the loft). The gripping mechanism 234 can be positioned by following changes in the dimensions of the side plate 5 or 6 at the time of switching or the like.

Next, the operation of the reversing device w15 will be explained with reference to the flowchart shown in FIG. 28(b).

First, in step SAI, a one-way clutch release process (preprocess) is performed by the release device W97. Subsequently, at SA2, the side plate conveyor 1 is stopped at a fixed position to stop the pallet at a fixed position, and the air cylinder 244 is extended to release the gripping hand 249a.
and 249 descend and stop when the tip of the detection rod 269 contacts the limit switch 268 (SA3,
5A4). In this way, when the bracket 245 supporting the gripping hands 249a and 249b descends to the position w (245a) shown by the two-dot chain line in FIG.
As shown in b), the air cylinder 248. attached to the bracket 245. .

Gripping hand 2 with 248 piston rods facing each other
The gripping hands 249a and 249I provided at the tips of the gripping hands 249a and 249I advance in the direction of the pallet 192 and 249a.
(Fig. 22) Advance toward the upper side plate 5 or 6. The air cylinders 248a and 248 are driven at a time T set by a timer (not shown). This is performed continuously for a certain amount of time (SA5, 5A6). As the gripping hands 249a and 249b advance, the head 253 of the piston 254 provided on each gripping hand comes into contact with the side surface of the side plate 5 or 6 via the polyurethane sheet 266, and further, as the air cylinders 248a and 248b advance, ,
Piston 254 is forced into hollow part 252 of cylinder 251 against the force of tension spring 258 . The movement of the piston 254 pushes the pin 255 fixed to the piston 254, causing the pin 262 to rotate outward through the link 263 around the pin 262, and the rotation of the pin 262 causes the lever 261 to move. Since it swings in the direction indicated by the arrow in FIG. 27, a gripping claw 264 attached to the tip of the lever 261 grips the side plate 5 or 6 from above and below via a polyurethane sheet 265 fixed to the tip. This gripping of the side plate 5 or 6 is as described above. Completed after hours.

Subsequently, the piston rods of the pair of air cylinders 244 are retracted to the limit set by the limit switch 267, and the bracket 245 is raised to the solid line position shown in FIG.
Side plate 5 or 6 held by a and 249b
rises together with the gripping hands 249a and 249b (
SAT, 5A8).

Next, the air cylinder 238 is contracted to 238' shown by the two-dot chain line in FIG.
33 is a rotating frame 230 . Guide roller 232. Rail 229, channel member 22
8 etc., in the direction shown by the arrow 274, and the gripping mechanism 2
34 and the side plates 5 and 6 gripped by it are lifted to one side (SA9), allowing the subsequent mounting of parts onto the pallet 192 by the second parts mounting device 3 (SAIO). Along with this, the low cylinder cylinder 26
4a is driven, air cylinder 248a, gripping hand 249 . , the gripping hand 249I, which is connected to the gripping hand 249a by the side plate 5 or 6, and the hydraulic cylinder 248 are reversely reversed by 180 degrees. The reversal angle at this time is determined by the position where the cam 271 contacts the limit switch 270 (SAI 1.SAI 2). Further, at this time, the rotary cylinder 264& is in a free state.

Furthermore, if it is determined in 5A13 that the mounting of the parts is completed, the hydraulic cylinder 238 is operated,
The piston rod is retracted, and the arm 233, the gripping mechanism 234 attached to the tip thereof, and the side plate 5 or 6 gripped thereby are rotated in the direction opposite to the arrow 274.

This rotation continues until the roller 243 at the lower end of the rod 241 provided in the middle of the arm 233 comes into contact with the upper surface of the fixed wall 242 attached to the frame 223 (SA14).
. Next, at 5A15, the air cylinder 244 is activated, and the side plate 5 or 6 is lowered together with the gripping hands 249a and 249b until the limit switch 268 is turned on by the detection rod 269 (SA16), and then the air cylinder 248a and 248t are both shortened, thereby the force of the piston 254 pushing the side plate 5 or 6 is released, and as the piston 254 protrudes from the cylindrical body 251, the pin 255 fixed to the piston 254 The lever 261 and the gripping claw 264 attached thereto move toward the head 253 of the lever 254.
is opened vertically, and the side plate 5 or 6 is the gripping hand 249a.
and 2491, is released from the grasping state (SAI
7). The retraction operation of the air cylinders 248a and 248 is T as described above. It is carried out for the same amount of time (SA18
), then rotary cylinders 264a and 2411z,
is reversed until the limit switch 270a is detected by the cam 271 (SA19, 5A20),
After the gripping hands 249a and 249b return to their original states, the air cylinder 244 is retracted and the gripping hands 249
a and 249 rise, and the gripping mechanism 234 completely returns to its original standby state (SA21, 5A22).

When the gripping mechanism 234 returns to its original position, 5A23
In this step, the side plate conveyor 1 is driven, and the side plate 5 or 6 is conveyed to the supply section 231 to the assembly device 18 shown in FIG.

The above explanation relates to the procedure for attaching parts to the front side plate 5 or the rear side plate 6. Next, the procedure for attaching parts to the board 19 will be explained with reference to FIGS. 15 to 21. The third parts mounting device 22 used in this case includes a hopper 276 for storing parts as shown in FIGS. 15 to 17, and a parts scoop (parts scoop 13 in FIG.
7) 277, a drive mechanism (not shown) that swings this parts scoop 277 up and down, a rail 279 that feeds the bolts supplied by the parts scoop 277 to the screw tightening part 278 below, and a screw tightening machine 275 that screws the parts into the workpiece 19, a lifting cylinder 280 that lifts and lowers the entire screw tightening machine 275, its guide rod 281, and a drive mechanism 278a that drives the screw tightening part 278.
etc., and the screw tightening machine 275
As shown in FIG. 17, the frame 275t is attached to the base 275 via a bracket 275a, and the frame 275t is attached to the base 275e via a guide block 275a that slidably fits into a guide rail 275c3 attached to the lower surface of the frame 275t. It is supported, and furthermore,” - pedestal 275
e is attached to the pedestal 275L via a guide block 275f attached to its lower surface and a guide rail 275g slidably fitted to the guide block 275f, and includes the guide rail 275o and a guide rail 275g perpendicular thereto. A screw tightening machine 275 is slidable in each direction, and a servo motor 281 fixed to the pedestal 275L
′ rotates and the threaded rod 282 is driven, the female threaded portion 275□ (base 275
The base 275e connects to the guide rail 275 via the
When the threaded rod 283 slides in the direction of g and rotates as the servo motor 281'' fixed to the pedestal 275 rotates, the pedestal 275b advances in the direction of the threaded rod 275J and has this female threaded portion 275. Frame 275b
And the screw tightener 275 attached to the pedestal slides in the direction of the guide rail 275c or 275g. Therefore, by adjusting the rotation amount 4 of the servo motors 281' and 281'', the screw driver can be positioned at any desired position.The detailed mechanism of the screw driver 275 as described above is already known. Therefore, its explanation will be omitted here.

The cover 284 (15th
An air cylinder 287 that is parallel to the board conveyor 20 and inclined toward the working point 286 of the screw tightening part 278 is attached to the mounting plate 285 on the L-shaped bracket 285 attached to the mounting plate (see FIG. 16). 288, and the piston rod 289 of the air cylinder 287 is fixed at the tip of the piston rod 289 of the air cylinder 287.
A gripping mechanism 291 is attached that has a pawl 290 that opens when 89 is retracted and closes when it is fully advanced.

As shown in FIG. 16, when the piston rod 289 of the air cylinder 287 is retracted, the gripping mechanism 291
The air cylinder 28 is tilted as described above so as to wait at a position away from the vertical locus 292 of the screw tightening part 278.
For example, the handle rubber 28 shown in FIG. 1 is attached to the bolt 28.7. When tightening the bolt 28a to the board 19, if you do not hold the handle rubber 28, it will rotate and the mounting position will not be accurate. This is for holding and fixing it in a fixed position on the base rubber 2 shown in FIG.
Since it is completely unnecessary when attaching a part such as 9, it is preferable to evacuate it to a position out of the working range of the screw tightening machine 275. Therefore, as described above, the gripping mechanism 291 is placed in a standby state at a position away from the elevator track VIF 292 of the screw tightening section 278, as shown in FIG. By attaching the gripping mechanism 291 diagonally toward the point 286, the gripping mechanism 291 is configured to project toward the work point 286 at appropriate times to grip parts such as the handle rubber 28.

Next, the parts supplied to the third parts mounting device 22 by the vibrating parts feeder 21 etc. are transferred to the substrate conveyor 2.
A device for transferring the substrate 19 onto the substrate 19 placed at a fixed position on the substrate 1 will be explained with reference to FIGS. 18 to 21. In FIG. 18, the parts P2 such as the base rubber taken out from the vibrating parts feeder 21 are moved in the direction of the arrow 294 in FIG. and arrives at the front of the screw tightening machine 275. Guide walls 295 are provided on the left and right sides of the conveyance guide 293 to prevent the part P2 from falling from the conveyance guide 293, and the tip of the conveyance guide 293 is connected to the part P2 as shown in FIG.
It has a substantially rectangular protruding surface 296 on which half of the object can be placed.

Furthermore, below the projecting surface 296, a vertical air cylinder 297 is attached to the pedestal 298 of the screw tightening machine 275 by a bracket 299. A flat plate-shaped parts receiver 301 is horizontally attached to the upper end of the piston rod 300 of the air cylinder 297, and the parts receiver 7 301 is in a standby position, that is, the piston rod 300 of the air cylinder 297 is at its most retracted position. The height position of the parts receiver 301 is set such that its upper surface is flush with the upper surface of the conveyance guide 293.

The parts receiver 301 has a rectangular notch 302 that accommodates the protruding surface 296 provided at the tip of the conveyance guide 293, as shown in FIG. 21(a). is inserted as shown. Further, the stopper plate 303 attached perpendicularly to the parts receiver 301 forms a contact surface for the moving direction of the parts p, / that have been transferred from the protruding surface 296 to the parts receiver 301. Furthermore, the parts receiver 301 is
A guide plate 30 that is perpendicular to the lower surface of the wall portion 304 of the notch 302 that is perpendicular to the conveyance guide 293
5 (FIG. 20) and is attached parallel to the piston rod 300, when the parts receiver 301 is raised and lowered by the air cylinder 297,
This is to guide the parts receiver 3801 so that it does not rotate.

Frame 307 attached to the side of the screw tightening machine 275
(FIG. 19), a horizontal air cylinder 308 is attached, and a vertical air cylinder 311 is fixed to the tip of the piston rod 309 via an L-shaped bracket 310. Air cylinder 3 above
As shown in FIG. 20, a gripping hand 314 for the part P2 is horizontally attached to the No. 11 piston rod 312 via an L-shaped bracket 313.

315 is a small air cylinder for driving the gripping hand 314. The gripping hand 314 has a second shape.
Although the configuration of such a gripping hand is shown in FIG. 2, since it is already well known, a description thereof will be omitted here. When the gripping hand grips the part P2, the center position 316 of the part is determined by the screw tightening machine 275 as shown in FIG.
This position is different from the elevation locus 292 of .

Note that a threaded portion 317 carved at the rear end of the piston rod 309 of the air cylinder 308 has a
A stopper 318 that determines the forward limit position of 09 is screwed on, and its mounting position is determined by the nut 3 screwed onto the threaded portion 317.
19. In addition, the screw tightening machine 275
is fixed as a whole to a cylindrical column 321 held by a clamp device 320 attached to the top surface of the pedestal 298, and this 321 is attached to a rack 3 provided at the bottom of the column 321.
By rotating the pinion 323 that meshes with the pinion 22, it is possible to move in the left-right direction in FIG. 19, thereby making it possible to position the screw tightening machine. Also the 20th
In the figure, 324 indicates a bracket when the air cylinder 311 is operated.
This is a guide rod for guiding Sol-313 so that it does not rotate, and 325 in Fig. 18 is a guide rod for preventing rotation of bracket 310 when the air cylinder 3.8 is extended and retracted. It is.

Next, referring to the flowchart shown in FIG. 21(b), the procedure for transporting the part P2 by the gripping hand 314 will be explained. As shown in FIG. 20(a), the part P2 placed thereon by the vibration of the conveyance guide 293
When an optical sensor (not shown) detects that the leading part P2' has completely transferred to the parts receiver 301 and notifies the control device, the control device moves the air cylinder 31
5 to open the gripping hand 314 (step 5
Bl), then operate the air cylinder 297 to advance the piston rod 300 and raise the parts receiver 301 (SB2). Then, as shown in FIG. 20(b), one part P placed on the parts receiver 301
2' rises and comes directly under the open gripping hand 314. At this time, the subsequent part P2'' is transferred to the conveyance guide 293.
The transport guide 2 is prevented from moving upward by a shielding plate 326 provided on the upper part of the transport guide 2.
93 causes the advancing part P" to come into contact with 1 and restrict its advancement. At this point, the air cylinder 311 is activated, and the gripping hand 314 attached to the bracket 313 fixed to the piston rod 312 is held in place by the air cylinder. 315 (5B3), and the part P2' in the standby state fits into this gripping hand 314. Next, the gripping hand 314 is closed by the operation of the air cylinder 315 to grip the part P2' (S
After B4), the air cylinder 297 is operated to lower the piston rod 300, and the parts receiver 301 is lowered to its original position (SB5). In this way, the grasping hand 314
grips part P2', then air cylinder 31
1, the gripping hand 314 is raised (SB6), and by further operating the air cylinder 308, the entire gripping hand 314 attached to the tip of the piston rod 309 is moved perpendicular to the paper plane of FIG. 20(c). Move it forward in the direction of (towards you). This forward movement is caused by stopper 3.
18 is carried out until it collides with the rear end of the air cylinder 308 (SB7), and at this position, the piston rod 312 is lowered by the operation of the air cylinder 311, lowering the gripping hand 314, and the air cylinder 31
1 has fully advanced (at this time, adjust the amount of expansion and contraction of the air cylinders 30B and 311 so that part P2' comes into contact with a predetermined position on the board 19 as shown in FIG. 19).
(SB8), then the screw tightening machine 275
2' and perform bolting work. Next, by opening the gripping hand 314, the part P is removed from the part P' (SB9), and by further operating the air cylinder 311, the gripping hand 314 is raised one level (SB9).
IO), actuate the air cylinder 308 to move the piston rod 309 to the right in FIG.
Retract the gripping hand 314 to its original position (SBII
). By the above operations, part P2' is placed in a predetermined position on the upper surface of substrate 19.

As shown in FIG. 20(C), when the parts receiver 301 returns to its original position, a new part P2'' is moved onto the parts receiver 301 by the vibration of the conveyance guide 293.

The board 19 to which the necessary parts are attached is the second
As shown in the figure, IM is sent by the substrate conveyor 20,
The substrate is transported to the substrate supply section 332 (FIG. 2) of the assembly device 18.

Next, as described above, the front side plate 5 and the rear side plate 6, which have been completely assembled, are carried by the side plate conveyor 1,
The assembly of the parts carried by the board conveyor 20 and the subsequent assembly with the board 19 by the assembly device 18 will be described with reference to FIGS. 29 to 41 and 53.

First, the schematic structure of the assembly device N18 will be explained with reference to FIG.
Both conveyors 1 and 2 extend from the substrate conveyor 20 to the board conveyor 20.
Two concave rails 330 arranged in a direction perpendicular to 0
And each conveyor 1.20 by sliding on this rail 330
The side plate 5 or 6 and the board 19 supplied to the upper side plate supply position 331 and board supply position 332 are transferred to the rail 330.
The work transport bag W333 is transported to approximately the center of the rail 330, and the side plate 5 or 6 and the board 19, which are provided approximately at the center of the rail 330 and are transported by the work transport device 333, are maintained in the assembled state. Two screw tightening machines 335 for tightening screws between the workpiece gripping device 334, the side plates 5 and 6 held in the assembled state in the workpiece gripping device 334, and the board 19; and an adjustment mechanism 336 for finely adjusting the mounting position.

First, the side plate 5 or 6 or the substrate 19 is transferred from the side plate supply position 331 or the substrate supply position 332 to the workpiece gripping device 33.
The structure of the workpiece conveyance device 333 that conveys up to 4.
This will be explained with reference to FIGS. 9 to 41.

As shown in FIG. 39, the rail 330 is placed in a gate shape on four vertically erected frames 337 (see FIG. 2), and the workpiece transport bag W333 is carried along the rail 330 as shown in FIG. The vehicle travels in a direction perpendicular to the plane of the paper shown in . That is, the 41st
As shown in detail in the figure, a guide bar 338 is placed on the upper surface of one of the pair of rails 330, 330°5, and extends perpendicular to the plane of the paper in FIG. A bearing 34 is mounted on the guide block 339 that is movably fitted into the guide block 339.
0 is fixed.

Further, on the top surface of the other rail 330b, a guide rail 3
41 is fixed over the entire length of the rail 330, and a wheel receiver 343 is supported on the guide rail 341 via a wheel 342 that rolls along the guide rail 341. A pair of wheel receivers 343 are provided at regular intervals in the direction perpendicular to the plane of the paper in FIG. 3
44 is slidably suspended.

A motor 345 with a speed reducer is fixedly installed on the upper surface of the end of the transporting device main body frame 344 on the rail 3303 side, and a gear 346 attached to the output shaft of this motor 345 is connected to the bearing 340 and the transporting device main body frame 334. A shaft 347 rotatably supported by a bearing (not shown) provided on the side.
It meshes with gear 348, which is fixed coaxially with the gear 348. A gear 349 fixed to the shaft 347 coaxially with the float 348 is attached to the carrier body frame 334 via a bracket 351 via an intermediate gear 350 rotatably attached to the carrier body frame 344 via a bearing (not shown). It meshes with a gear 352 rotatably attached to. In addition, the rail 330
A gear 353 attached coaxially with the gear 352 is attached to the rack 353 attached to the rack 353 along its entire length in the longitudinal direction.
54 are engaged.

Therefore, when the motor 345 rotates, the gears 346, 348
, 349, 350, and 352 are sequentially valved to rotate 354, and the meshing position of the rack 353 that meshes with it moves, so that the transporting device main body frame 344 moves in the direction perpendicular to the paper surface of FIG. It moves supported by a guide bar 338 and wheels 342.

As shown in FIG. 40, the main body frame 334 of the conveying device
A horizontal support plate 8 is attached to the lower ends of two support members 355 that hang vertically downward from the horizontal support plate 8.
57 is fixed to the lower end of the piston rod 358 of the air cylinder 357, as shown in detail in FIG.
60 is hanging.

This work rotation device 360 is connected to an upper plate 3 directly attached to the piston rod 358 via the disc spring 359.
61, and a horizontal lower plate 363 attached to the upper plate 361 via a vertical support rod 362, -
1- On the upper surface of the lower plate 363, there is a rotary cylinder 364.
is placed.

Two rods 365 attached vertically to the upper plate 361 and the lower plate 363 are vertically slidably supported by vertical bearings 366 fixed to the support plate 356, and rotate the workpiece. It serves as a guide to prevent tilting and rotation of the entire mounting W360.

Compression springs 367 are provided around the bearings 366, and an abutment plate 368 is placed on the -hi portions of the springs 367.
The rods 365 extend upward through holes bored in the center of the abutment plate 368, respectively. A stopper 369 having an outer diameter larger than the inner diameter of the center hole of the contact plate 368 is provided at one end of each rod 365, so that the air cylinder 357 is driven and the piston rod 358 is When the entire work rotation device W360 moves downward, the stopper 369 closes the compression spring 36 via the abutting plate 368 at its lowest position.
By coming into contact with 7, a buffering effect is performed at its lowest position.

A pair of bearings 370 attached to the lower surface of the lower plate 363 rotate the rotating shaft 3 in a horizontal direction perpendicular to the rail 330.
71 is supported, and a bevel gear 372 coaxially attached to this rotating shaft meshes with a bevel gear 373 attached to the drive shaft 364a of the rotary cylinder 364.

Further, at both ends of the rotating shaft 371, there are rotating levers 37, respectively.
A supporting bar 379 5 parallel to the rotating shaft 371 is fixed horizontally to one end of each rotating lever 374, and a retractable pole 376 is attached to the other end of each rotating lever 374. A pole holder 377 having a pole holder 377 is fixed thereto.

- Vertical guide members 378 are fixed to both ends of the support bar 375, respectively, and the sliding rod 37 is vertically slidably supported by the guide members 378.
An electromagnet 380 is fixed to the tip of each of the magnets 9 . The electromagnet 380 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 381 is a stopper that comes into contact with the guide member 378 at the lowest end position of the sliding rod 379, and is fixed to the rear end of the sliding rod 379.

Small auxiliary cylinders 383 are attached to the electromagnets 380 via brackets 382 in the vertical direction in FIG. 40, respectively. Further, guide members 384 are vertically fixed adjacent to the electromagnets 380, and slidable bush rods 385 are inserted into each of the guide members 384. This bush rod 385
is always elastically biased downward by a compression spring 387 fastened between a body 386 provided in the middle of the 00 and the guide member 384, and its lower end 388 is
In the standby state shown in the figure, the electromagnet 380 protrudes further downward than the lower end thereof.

An indicator 389 on a bar is fixed horizontally to the upper end of the drive shaft 364a of the rotary cylinder 364, and when the indicator 389 rotates due to the rotation of the drive shaft 3643, its position is detected every 90 degrees. Proximity switches 390a, 3901 . , 390c are attached to the upper end of the rotary cylinder 364 (however, a proximity switch 39 for detecting an intermediate position is attached to the upper end of the rotary cylinder 364).
0I, not shown). Furthermore, the lower plate 363
On the lower surface of the rotary lever 374, there is a spherical groove 391 into which the pawls 376 of the ball holder 377 attached to the upper end are fitted, corresponding to each pawl 376 when the rotary lever 374 is in the vertical position shown in FIG. It is engraved.

Therefore, the rotary cylinder 364 is actuated, and the drive shaft 3
64. When rotates, the rotation is caused by the bevel gear 373.372
A support bar 375 attached to this rotation shaft 371 via a rotation lever 374 and electromagnets 380 attached to both ends of the support bar 375 integrally rotate around the rotation shaft 371 in an arrow direction. It rotates as shown at 392.

At this time, the indicator 389 indicates each proximity switch 390,
, 390h, 390c and stops the rotary cylinder 364, the electromagnet 38
0 can be stopped at each of the following positions: one horizontal position, the vertical position i%' (standby position W) shown in FIG. 40, and the opposite vertical position.

Note that the work rotation device 360 has the side plate 5 or 6 attracted by the electromagnet 380, and the electromagnet 38
5 is rotated 90 degrees around the rotating shaft 371 and the side plate 5 or 6 is held vertically. The rotational torque due to the weight of the support bar 375 and the side plate 5 or 6 is applied to the bevel gear 3 via the rotation shaft 371.
72 and 373, so in order to reduce these gravitational moments, joints 393 are attached to both ends of the support bar 375 so as to be rotatable around the support bar 375, and the joints 393 and the transport device main body frame 344 are connected to each other by a wire 395 via a balancer 394.
and pulling the support bar 375 upward by the tensile force of the balancer 394 on the wire 395;
Side plate 5 or 6. Electromagnet 380. The downward rotational torque caused by the support bar 375 and the like is alleviated.

A position detector 396 is attached to the air cylinder 357 to detect its advance or retreat position and speed switching position.

Next, with reference to FIGS. 29, 30, and 34 to 38, the workpiece is grasped for assembling the side plates 5 and 6 transported by the workpiece transporting device 333 and the substrate 19. The structure of the device 334 will be explained.

First, the overall schematic configuration of the workpiece gripping device 334 will be explained using FIGS. 29 and 30.

03 That is, the workpiece gripping device 334 has a clamping mechanism 397 that grips the front side plate 5 and the rear side plate 6 in a vertically erect state (in FIG. 30, the standby state of the clamping mechanism is indicated by a solid line (397)).
The state in which the clamping operation is actually performed is shown by a two-dot chain line (397'), and the clamping mechanism on the right in Fig. 30 is indicated by 397, and the clamping mechanism on the left is indicated by 397'.
a) and a horizontal substrate 19 to be placed over the front side plate 5 and rear side plate 6 gripped by this clamp mechanism 397.
The substrate holding device 398 for holding the board and the clamp mechanism 397 are placed in the solid line position (standby position 397) shown in FIG.
It is comprised of a drive mechanism 399 and the like for moving the actuator from the position to the operating position (position 397' indicated by a two-dot chain line).

First, the structure and operation of the clamp mechanism 397 will be explained with reference to FIGS. 30, 35, and 36.

In FIG. 30, the guide rails 400 are arranged in two horizontal parallels perpendicular to the rails 330 (FIGS. 2 and 29), and are slidably attached to these guide rails 04 and 400. The pedestals 402 and 4-02b are mounted on two pairs of guide blocks 401a and 401 so as to be slidable in mutually opposing directions.

Each of the frames 402a and 402+, -H has a pair of frames 403a and 403I extending in the vertical direction, respectively.
has been erected. These frames 403a and 40
As shown in FIG. 36(a), plates 404a and 404I are provided on the side surface of plate 404.3 along its longitudinal direction, respectively. and a long hole 405 drilled in 404
The mounting position is fixed with a bolt 406 inserted in the bolt 406 so that the mounting position can be adjusted. This play) 404. and 4
In 2004, air cylinders 4.07 are attached to the plates 404 and 404, respectively, so as to be able to swing around pins 40B attached to the lower part of the plates 404 and 404. and pins 412 installed in the frames 403a and 403b via pins 411 installed in the bracket 410.
It is attached to a lever 413 that can swing freely around the center.

Further, the tip 413a of the lever 413 is
It is connected to a lever 415 that is swingable in a vertical plane via a horizontal pin 414 installed in a.

On the other hand, at the upper ends of the frames 4038 and 403,
As shown in FIG. 35, a lever 417 that can swing freely in a horizontal plane is engaged around a vertical pin 416, and
One end 417 of this lever 417 and the tip of the lever 415 are connected to a pin 418 in a direction perpendicular to the lever 415.
are engaged through.

('t) The engagement portion between the lever 417 and the lever 415 using the pin 418 is such that the lever 417 can swing only in the horizontal direction, whereas the lever 415 can swing in the vertical plane. Therefore, the engagement hole 419 drilled in the lever 417 for inserting the pin 418 is the 36th hole.
As shown in Figure (c), the lever 417 has a drum-shaped cross section so that the lever 417 can freely swing relative to the pin 418, and the engagement hole 419 and the pin 418 can be fitted together without any play. It is composed of Various other joint structures can be considered, but for example, as shown in FIG. 36(d), a sphere 420 is fitted onto a pin 418,
The pin 41
/
15 can be swung in a vertical plane, and the engagement portion can be free from rattling or play.

As shown in FIG. 35, the other end 417t of the lever 417 has a pressing roller 4 rotatable about a vertical axis.
21 are respectively attached, and the frame 40
3□ and 4-031. On the top surface of the positioning block 4
22 are fixedly installed, and between the positioning block 402 and the pressing roller 421, the side plate 5 or 6 shown by the two-dot chain line in FIG. 35 is gripped. Furthermore, the levers 417 each have a generally arc-shaped pressing surface 423 extending from the vicinity of the pressing roller 421 to the vicinity of the lever 415, and the radius rl of this eccentric cam-shaped pressing surface 423 in the vicinity of the pressing roller 421 is formed to be larger than the radius r2 near the lever 415.

Therefore, as shown in FIG. 35, press the pressure roller 421 toward the positioning block 422, and while
or 6 is held as shown, the side plate 5 or 6
The large diameter portion of the pressing surface 423 indicated by the radius rl of the lever 417 present at both ends of is pressed against the end of the side plate 5 or 6,
This results in accurate horizontal positioning of the side plate 5 or 6. Furthermore, when the lever 417 is rotated to rotate the pressing roller 421 in the direction in which the side plate 5 or 6 is released, the position of the pressing surface 423 facing the end of the side plate 5 or 6 changes, and the final , the small diameter portion represented by the radius r2 faces the end of the side plate 5 or 6, and the side plate 5 or 6 is released from the horizontal tightening by the pressing surface 423, and the left and right pressing surfaces 423 The distance between becomes wider.

08 Rotation of the pressure roller 421 as described above, that is, the lever 41
The rotational movement about the pin 416 of No. 7 is performed as follows. First, when the air cylinder 407 is operated to move the bin rod 409 backward, the piston rod 40
9 includes a bracket 410 and a pin 41 attached to its tip.
As shown in FIG. 36(b), the lever 413 attached through the lever 413 rotates around the pin 412 as indicated by an arrow 425.
A lever 415 connected to 13 via a pin 414 is
It retreats in the direction of lever 413 as shown by arrow 426.

At this time, since the lever 415 is engaged with the lever 417 via the pin 418 at its tip, the pin 418 is in a slightly inclined state as shown in FIG. 36(b).

Due to this backward movement of the lever 415, the lever 4 connected to the lever 415 via the pin 418
17 rotates around the pin 416 (FIG. 35) in the direction shown by the arrow 424, and the pressing roller 421 separates from the side plate 5 or 6 sandwiched between the positioning block 422 and releases the sandwiched state. . This movement also releases the side plate 5 or 6 from the positioning state by the pressing surface 423 of the lever 417 as described above.

Conversely, when the air cylinder 407 is actuated to advance the piston rod 409, the lever 4 moves in the exact opposite direction to the above movement.
17 rotates in the opposite direction to the arrow 424, and the side plate 5 or 6, which has been attracted to the electromagnet 380 and fed +1 by the workpiece forwarding device 333, is moved between the positioning block 422 and the pressing force 421 in the vertical state. It is held under pressure between the two.

Next, the structure and operation of the substrate holding device 398 will be explained with reference to FIGS. 29, 30, and 34.

Frame 4 installed on pedestal 427-H as shown in FIG.
On 27b (Fig. 34) is a solenoid valve 428.
An air cylinder 429 equipped with
An angle member 431 that is perpendicular to the guide rail 400 is horizontally attached to one end of the guide rail 400 . The piston rod 430 is attached to the lower surface of this angle member 431.
A pair of guide rods 43 installed symmetrically across the
2 is vertically slidably supported by a pair of vertical bearings 433 attached to the frame 427b, whereby the angle member 431 is vertically guided. Therefore, the air cylinder 429
It does not need to be fixed to the frame 427, but is supported swingably in the vertical plane via a horizontal pin 434 (FIG. 34) attached to the frame 427.

The angle member 431 is attached to the rail 33 shown in FIG. 29 in order to accommodate the size of the workpiece as shown in FIG.
It has a sufficient length in the direction perpendicular to 0, and has a long groove 435 in the longitudinal direction at a medium end thereof, and a bolt 436 inserted into this long groove allows the positioning plate 437 to be moved in the direction of the long groove 435. It is installed in such a way that position N'dN adjustment is possible. In addition, Fig. 29 shows the positioning plate 437 attached at the position corresponding to the largest workpiece.
11 Indicated by a two-dot chain line 437'.

Further, on the upper surface of this positioning plate 437, a pair of two silk positioning blocks 438 is fixed.

As shown in FIGS. 34 and 35, this pair of positioning blocks 438 is a 90-degree bent end edge 19 of the substrate 19 placed on the positioning plate 437. sandwich it in the direction of the angle member 431, and the angle member 43
This is for positioning the substrate 19 in the longitudinal direction of the substrate 19, which has been lowered from the upper part by the work transfer device 333.
The tapered surfaces 4 are arranged so that the end edges 198 of the
39 and the edge portion 19 . of the substrate 19 in the positioned state. A positioning block 438. having a vertical surface 440 for sandwiching the positioning block 438. and 438t. The mounting position of one of the above-mentioned positioning blocks 438° and 438I is variable in the longitudinal direction of the angle member 431, and is configured to be able to accommodate changes in the thickness of the substrate 19.

The positioning block pair 438 positions the board 19 in the longitudinal direction of the angle member 431 as described above, and as shown in FIG. Reference numeral 490 is for moving forward during screw tightening to position the board 19 in a direction perpendicular to the longitudinal direction of the angle member 431.

The substrate holding device 398 configured as described above is stopped at the standby position shown in FIG. 30 when the substrate 19 is carried above it by the workpiece transfer device 333, and the substrate 19 is held in a workpiece transfer bag. w333 air cylinder 3
57, the end edge 19.
is sandwiched between two pairs of positioning blocks 438 to position the angle member 431 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 335 to form the main body chassis 31, and the entire main body chassis 31 is further lifted by the air cylinder 429, and the chassis is turned over. Device 3
2 (Figure 2).

The workpiece gripping device 334 described above has a clamping mechanism 337 for clamping the front plate 5 as shown in FIG.
A side and a clamp mechanism 397 for gripping the rear plate 6. As described above, these left and right clamp mechanisms move from the solid line position to the two-dot chain line position 397' as shown in FIG. It is configured to be movable. This is due to the fact that if the pressure roller 421 is only released at the clamp position 397' of each side plate indicated by the two-dot chain line, the lever 4
17 protrudes outward from the side plates 5 and 6 in the assembled state, so use the chassis reversing device 32 (Fig. 2) to move the assembled chassis 31 in a direction perpendicular to the plane of the paper in Fig. 30. When pulling out, the sides @5 and 6 are the levers 41
Lever 417 cannot be pulled out because it interferes with 7.
This is because the clamp device 397 as a whole needs to be moved inside the side plates 5 and 6.

This movement of the lamp devices 397a and 397b is achieved by the drive mechanism 399.

That is, as shown in FIG. 30, each clamp mechanism 397° and 3
97t is attached to the mounts 4028 and 402I, which are slidably attached to the guide rail 341 as described above, respectively, and is installed on the mount 402T via the bracket 441. The tip of the piston rod 444 of the air cylinder 443, which is swingably attached around the pin 442, and the bracket 4
45, and the bracket 44 is fixed to the bottom surface of the frame 402a.
The bracket 445 is swingably attached to a horizontal bin 447 attached via a bracket 447.

Therefore, when the air cylinder 443 is actuated to advance the piston rod 444, the mounts 402a and 402t are pushed and moved in opposite directions, and finally the mounts 402a and 402t move toward the guide rail 341. It moves until it comes into contact with stoppers 448a and 448b provided at both ends. In this way, the frame 402. The positions of the clamping devices 397a and 397t when the clamping devices 397a and 402b are in contact with the respective stoppers 448 and 448t are shown by the two-dot chain line 397' as described above. The positions of the toppers 448a and 448b are as follows:
It is adjusted by the amount of tightening of Pole 1- which forms the contact surface with 402b and 402b.

In addition, the air cylinder 407 etc. are connected to the plate 404a (
The frames 403 and 403t attached via the workpiece transport device 33 have a support plate 449 projecting outward at their lower end portions.
The front side plate 5 and the rear side plate 6 carried by 3 are respectively placed on this support plate 449, and their positions in the vertical direction are determined, and the lower end portions of each side plate 5 or 6 are positioned in the horizontal direction. , the frames 403a and 403b
This is done by bringing the lower end of the side plate 5 or 6 into contact with a positioning bolt 450 that is screwed and protrudes toward the tip of each support plate 449 from the lower end of the support plate 449 .

Next, referring to the flowchart shown in FIG.
, 6 and the board 19 will be explained in terms of work procedures.

Here, SCI, SC2, SC3°, . . . indicate step numbers. First, in step S01, n=o is initialized. Here, n is the number of repetitions of the work procedure of the workpiece 16 conveying device, n=o during the procedure of conveying the front side plate 5, and n=1 when conveying the rear side plate 6.
0,1,0,1. ···repeat. Next, SC
2, it is determined whether the side plate conveyor 1 shown in FIG. 2 has stopped the bullet on which the side plate 5 or 6 is placed at the fixed position of the side plate supply position 331 of the assembling device 18, and the system waits until it stops. At this point, the workpiece conveyance device 333
is already driven by the motor 345 and the side plate supply position 1f3
31, as shown in FIG.

When a detection device such as a limit switch (not shown) provided on the side of the side plate conveyor 1 detects that the pallet has come to a fixed position, the side plate conveyor 1 is stopped and the air cylinder 357 is activated to move the piston. rod 358
descends, and a work rotation device 360 attached to its tip
(See Fig. 39) The electromagnet 380 attached via the support bar 375 etc. descends (503), and eventually the electromagnet 3
80 comes into contact with the front plate 5 on the pallet 192 (Fig. 22). The operating time of this air cylinder 357 is time L
, set by .

(SC4). When the electromagnet 380 contacts the front plate 5 in this manner, the bushing rod 385, which is urged downward by the compression spring 387, urges the front plate 5 downward while retreating.

At this point, the electromagnet 380 is turned on (energized) in step SC5, and the front plate 5 is attracted to the electromagnet 380. When the suction of the front side plate 5 is completed, the cylinder 357 is operated at SC6, the piston rod 358 is retreated, and the front side plate 5 is raised. This rising time, like the falling time, is determined by the set time LI (SC7).

Next, in step SC8, it is determined whether n is 0 or not. If n is 0, that is, if it is determined that the front plate 5 is being transported, the row cylinder 364 is rotated in the normal direction at SC9. Then, the rotation of the rotary cylinder 364 is transmitted to the rotating shaft 371 via the bevel gears 373 and 372, and the rotating lever 3 is connected to the rotating shaft 371.
Support bar 375 attached via 74. and an electromagnet 380 attached to it. Further, the front plate 5 attracted to the electromagnet 3821]9 is rotated, and the front plate 5 approaches a vertical state. As the rotary cylinder 364 rotates, the indicator 389 attached to the upper end of the drive shaft 364a also rotates, and the proximity switch 390 on the left end. The rotary cylinder 364 continues to rotate forward until <
(SCIO). When the proximity switch 390a is turned on in this way, the rotation of the rotation cylinder 364 is stopped, and in this state the driving motor 345 is rotated forward (SCII
).

The rotation of this motor 345 is controlled by the gear group 34 as described above.
6.348, 349, 35, and 0.352, and the rotation of the gear 354 that meshes with the rack 353 causes the entire workpiece conveyance device 333 to move in the direction of the arrow 451 shown in FIG. 2, that is, in the direction of the workpiece gripping device 334. It travels and stops at a position where the dog provided on the frame 337 abuts a sensor provided at an appropriate position on the pedestal (SC12). The forward rotation of the travel motor 345 may be started at the same time as the rotation of the rotation cylinder 364 or in the middle thereof.

When the work transfer device 333 reaches the position where the front plate 5 of the work gripping device 334 should be lowered, the air cylinder 357 is activated and the side plate 5 is lowered for the set time T2 (SC13, 5C14). By lowering the front plate 5 by this fixed amount of time, the lower end of the front plate 5
The front plate descends until it comes into contact with the upper surface of the support plate 449.

In this way, when the front side plate 5 is lowered to the approximate assembly position, the 5
At C15, the clamping air cylinder 407 (Figures 35 and 36) did not operate for T3 hours 5C16)
As the piston rod 409 retreats, the bracket 417 rotates around the bin 416 in the direction opposite to the arrow 424 via the brackets 413 and 415 as described above, and the pressing roller 421 moves against the front plate 5. is pressed against the positioning block 422 and held in that position. In this state, it is sufficient to turn on the electromagnet 380, but since the side plate that is normally attracted by the electromagnet 380 is not positioned very accurately, the side plate is moved by the pressing roller 42.
1, 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 407 for the clamp is to be operated is approximately an appropriate set time T3 at this point (5C16), and while the air cylinder 407 is operated and the electromagnet 380 is turned off (SC17), the clamp By temporarily lowering the pressure of the air cylinder 407 for a minute time of 11 minutes, the pressing force of the pressing roller 421 is released.
019), the holding state by the pressing roller 421 is released for the above-mentioned time T4, and the front side plate 5 is moved to the support plate 44 by its own weight.
9, and its tilt and position are forced to shift. Although not shown in FIG. 53(a),
When the electromagnet 380 is turned off to open the front plate 5, the auxiliary cylinder 383 is activated at the same time to close the front plate 5 to the electromagnet 38.
By biasing in the direction away from 0, the front plate 5 is prevented from being attracted by the residual magnetism of the electromagnet 380. The bushing rod 385 biased by the compression spring 387 (FIG. 40) has a similar effect.

When the above-mentioned pressure release is completed, compressed air is then blown into the clamping air cylinder 407 again at 5C20, and the clamping air cylinder 407 is turned on to grip the front plate 5 between the suppression roller 421 and the positioning block 422.

When the positioning of the front plate is completed in this way, the air cylinder 357 is operated again, and the work rotation device 360 and the electromagnet 380 attached below it are rotated for the predetermined time T.
Increase by 1 (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=o, and the processing proceeds in the direction of 5C24. At 5C24, the traveling motor 345 is reversed, and at the same time, 5C25
At , rotary cylinder 364 is reversed. The movement of the workpiece transport bag W333 due to the rotation of the motor 345 continues until the positioning sensor is turned on at 5C27, and the reverse rotation of the rotary cylinder 364 is caused by interference with the indicator 38239, causing the intermediate proximity switch 390i to move.

This continues until the switch is turned on (SC26). Since the initial state is thus restored, 1 is added to n in 5C28, 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 board 19 is 180 degrees different l6, processing is performed after determining whether n is 0 or not, that is, whether it is the front side plate 5 or the rear side plate 6 at SC8. The process proceeds to step 5C29, and the rotary cylinder 364 is rotated until the proximity switch 390c is turned on by the indicator 389 (sc29a).
). 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 345 is activated to take the substrate to the substrate supply position 332 on the substrate conveyor 20 side. After normal rotation (SC30
), the rotary cylinder 364 is rotated until the proximity switch 390 is turned on (5C31, 5C32), and the travel motor 345 is further rotated until a sensor (not shown) provided at the substrate supply position 332 is turned on. . This process differs from the process regarding the front plate 5 in the above two points and in the point that n is returned to O in 5C34. Strictly speaking, the workpiece conveyance device 333 detected at 5C12
The stopping positions of the front side plate 5 and the rear side plate 6 are different.

When the positioning of the front side plate 5 and the rear side plate 6 is completed in this way, as shown in FIG. stand by. Board 1
9 stops at a predetermined position, the air cylinder 357 is activated in the same way as the front plate, and the electromagnet 380 is activated for a certain period of time (T5
) and descend by (SC36, 5C37), electromagnet 3
When the electromagnet 80 comes into contact with the substrate 19, the electromagnet 380 is subsequently turned off (5038), and the substrate 19 is attracted.

When the substrate 19 is thus attracted to the electromagnet 380, the air cylinder 357 is activated to raise the substrate 19 (
SC39). This -rise time is determined by T6 (SC
40). Subsequently, the substrate 19 is already placed in the workpiece gripping device 334.
In order to transport the workpiece onto the front side plate 5 and rear side plate 6 positioned above, the traveling motor 345 is reversed, and the workpiece conveyance device 333 travels in the direction of the workpiece gripping device 334 (SC
41).

The traveling of this workpiece conveyance device is stopped when a sensor (not shown) provided at an appropriate position interfering with a part of the workpiece conveyance device 333 is turned on (sc42), and at this position, the air cylinder 357 is turned on. , the piston rod 358 is moved forward again, and the substrate 19 is lowered toward the positioned front plate 5 and rear plate 6 (SC43). The descending time of this board 19 is determined by T7 (SC44)
. When the substrate 19 is lowered at the predetermined position, the edge 19 . As described above, positioning block pair 4
38 to position the substrate 19 in the longitudinal direction of the angle member 431, the electromagnet 380
5C45), and further in 5C46, the air cylinder 357 is activated to raise the electromagnet 380, and the travel motor 345 is reversed (SC48) to retreat the workpiece conveyance device 333 to the side plate supply position W331. The stop position of the workpiece conveyance device 333 at this time is determined by the ON operation of a sensor (not shown) provided at the side plate supply position 331 (SC49).

Next, the position adjustment mechanism 336 of the screw tightening machine for manufacturing the main body chassis 31 by tightening the screws between the board 19 and the side plates 5 and 6 set as described above is shown in FIGS. 29 to 33. This will be explained with reference to the figures. In addition, screw tightening machine 335
A total of two screws are provided, one on each side of the front side plate 5 and the rear side plate 6, so that the screw tightening work can be made more efficient. Further, since the structure of each screw tightening machine 335 itself is already well known, a detailed explanation thereof will be omitted here.

That is, as shown in FIG. 30, the screw l3t335 is attached to the angle member 4 parallel to the rails 3, 30 (FIG. 29).
52, and the angle member 452 is supported on vertical frames 453a and 453, which are supported by vertical frames 453a and 453. 453b and the angle member 452 constitute a concave structure 454. The height of this structure 454 is determined by the height of the front plate 5 shown by the two-dot chain line in the set state when the structure 454 runs in a direction perpendicular to the plane of the paper in FIG.
．． These structures 454 and
The front plate 5. It is constructed as a gate-shaped structure having a sufficiently large hollow structure so that a main body chassis 31 consisting of a rear side plate 6 and a substrate 19 placed thereon can pass through. In addition, in FIG. 30, the positions of the screw tightening machine 335 for tightening screws corresponding to the front side plate 5 and the rear side plate 6 indicated by the two-dot chain line, and also the board 19 are shown by the two-dot chain line. The position of these screw tighteners must be horizontally movable depending on the size of the board, side plate, etc., and their positioning requires extremely high precision in correspondence with the screw holes.

Positioning adjustment mechanism 336 of the screw tightening machine 335 as described above
This will be explained next. That is, this positioning adjustment mechanism 33G is attached to the angle member 452, and as shown in FIG. 31, the angle member 452 includes a bearing 455. A handle shaft 445 is rotatably supported through the handle shaft 455, and a handle 456 is fixed to the tip of the handle shaft 455. A gear 457 is fixed to the end of the handle shaft 455 opposite to the handle 456, and an angle member 457 is attached parallel to the handle shaft 455.
A gear 459 coaxially fixed to the tip of a gear shaft 458 rotatably attached to the gear shaft 458 meshes with the gear 457. Further, the gear shaft 458 has a small diameter gear 4 at its intermediate portion.
59' on the same axis, and this gear 459' meshes with a horizontal rack 460 disposed in the axial direction of the angle member 452.

The rack 460 is fixed by bolts 461 to a sliding plate 462 that is slidable in the longitudinal direction of the angle member 452, as shown in FIGS. 32 and 33. That is, as shown in FIG. 33, a guide rail 464 is attached to the center bottom of the angle member 452 by a bolt 463.
This guide rail 464 is fixed in the longitudinal direction of the
A fitting groove 465 slidingly contacts the ends 464a and 464I of
Since the sliding plate 462 having the angle member 452 is attached so as to be slidable in the longitudinal direction thereof, the sliding performance of the sliding plate 462 in the longitudinal direction of the angle member 452 is ensured. The fitting groove 465 is formed between the grip plate 466 attached to the end of the sliding plate 462 and the lower surface of the sliding plate 462, and
4a and 464, but this sliding plate 462 and gripping plate 466
They fit together as if they were being held together.

Therefore, when the handle 456 is rotated, the gears 457 and 459 are also rotated, and this rotation is caused by the rotation of the gear shaft 45.
8, and the gear 459' integrated therewith is rotated, so that the rack 460 engages with this gear 459'.
and a sliding plate 462 to which this rack 460 is integrally fixed.
is moved and positioned in the longitudinal direction of the angle member 452.

Further, on the sliding plate 462, a horizontal guide groove 467 is formed at right angles to the rack 460, as shown in FIG. 32, and a sliding plate 468 is slidably fitted into this guide groove 467. . Further, the degree of freedom of this sliding plate 468 in the vertical and horizontal directions shown in FIG. It is configured to be slidable only in the direction of the guide groove 467.

Note that the above-mentioned parts 649a and 469t are the second sliding plates 46.
8 and the first sliding plate 462.

Further, the sliding plate 462-H has a forked portion 471 at its tip.
A holder 472 having a holder 472 is erected, and a small diameter portion 473a of a screw shaft 473 is fitted into the forked portion 471 of the holder 472, thereby restricting movement of the screw shaft 4 in the axial direction.
A male screw portion 474 carved at the tip of the sliding plate 4
It is threadedly engaged with a female threaded portion 476 of a bracket 475 fixed to 68.

Therefore, when the handle 477 provided at the end of the screw shaft 473 is rotated, the screw portions 474 and 476 are rotated.
Due to the carrying action, the bracket 475 and the sliding plate 468 to which it is fixed are moved by a minute amount in the direction of the guide groove 467, that is, in the direction perpendicular to the longitudinal direction of the angle member 452, and are positioned.

The above-mentioned screw tightening ta335 is
It is installed on 8. Therefore, by rotating the handles 456 and 477 as described above, the sliding plate 468 is moved by an arbitrary amount in the longitudinal direction of the angle member 452 and in a direction perpendicular thereto, and the screw tightening machine attached to the -F section is moved. 335 position can be finely adjusted.

When the fief adjustment is completed as described above, the bolts 469a and 469t are tightened to fix the sliding plate 468 to the sliding plate 462, and the sliding plate 462 to the guide rail 464 fixed to the angle member 452. Perform perfect positioning.

The screw tightening machine 335 is moved by such an adjustment mechanism 336, and the position where both screw tightening machines are brought closest is shown by a solid line in FIG.

32 Next, a mechanism for moving the structure 454 to which the screw tightening machine 335 is attached will be explained with reference to FIGS. 29 and 30. At least one pair of upper and lower wheels 479 are attached to the legs of the frame 453a of the gate-shaped structure 454. Since the wheels 479 grip the rails 481 in the vertical direction, the frame 453a is supported via the upper wheels 479 so as to be freely movable along the rails 481. Furthermore, the frame 453a
A bracket 482 protruding outward from the rail 481 is provided with rotatable horizontal wheels 4 that abut against the side surfaces of the rail 481.
83 is attached, and by this wheel 483 the wheel 47
9 is guided so that it does not come off the rail 481. Further, a female threaded portion 484 in a direction perpendicular to the rail 330 shown in FIG. 29 is attached to the lower end of the other vertical frame 453I.
5 are screwed together. - The threaded rod 485 is rotatably supported at both ends by bearings 486 attached to the pedestal 480 so as not to be able to move in the axial direction, and furthermore, the threaded rod 485 is rotatably supported at both ends by bearings 486 attached to the pedestal 480. A gear 488 that meshes with the gear 488 is fixed.

The wheels 4 are also attached to the lower end of the frame 4.53I.
The frame 453I is attached with wheels similar to those of 79 and guided by rails similar to those of 481 (not shown), and the frame 453I is
It is configured to be able to move in a direction perpendicular to the plane of the figure.

Next, the movement of the concave structure 454 and the screw tightening operation by the screw tightening machine 335 will be explained according to the flowchart shown in FIG. 53(c).

The flowchart below shows a program for controlling the motor 487 and the like by a microcomputer, and the step numbers are indicated by SCI, SC2, . . . .

That is, in SC50, initialization of N=O is performed. The value of β is related to the number of screw tightening operations, that is, the number of screws to be tightened.
It shall be tightened at 5.

Next, at SC51, a motor 487 for driving the recessed structure 454 having the screw tightener 335 is started, and its rotation is transmitted to the threaded rod 485 via the gear 488, and the threaded rod 485 meshes with the female threaded portion 484.
Due to the feeding action, the entire structure 484 moves forward in the direction of the work gripping device 334. A plurality of sensors are provided at predetermined positions on the rail 481 to engage with dogs (not shown) provided on the structure 454 in correspondence with a plurality of screw tightening positions on the board 19. As the dog travels, the dog engages the sensor, and each time the sensor is activated, the motor 487 is stopped (SC52).
), a bracket 489 (second
While the pair of holding cylinders 490 attached via the screws (FIG. 9) move forward and position the board 19 in the longitudinal direction of the rail 330 shown in FIG. 29 (SC53), the two screw tighteners 355 operate. , tighten the screws at the end (SC
54).

When the screw tightening work at one location is completed in this way, in step SC55, the holding cylinder 4 is
90 is retreated, and in 5C56, 1 is added to β, and it is determined whether this l is equal to m (that is, whether all screw tightening is completed or not. 5C57). If β is smaller than m, , step SC5] and repeats the steps SC51 to SC57 to sequentially repeat the screw tightening work for the adjacent screw tightening positions, and when m becomes equal to l, the screw tightening machine 335 is moved forward. Since there is no need to rotate the traveling motor 487 in the reverse direction (S
C58), the entire gate-shaped structure 454 is retreated to its original position. The stopping position of the gate-shaped structure 454 is determined when a sensor (not shown) provided on the pedestal 480 comes into contact with a part of the structure 454.
It is determined by the time at which it is activated (SC59). Subsequently, at SC60, the air cylinder 407 that was pressing the side plates 5 and 6 against the positioning block 422 is operated, the piston rod 409 is moved backward, and the lever 4 is moved back.
17 is rotated approximately 90 degrees in the direction of arrow 424 shown in FIG. The holding force of the side plates 5 and 6 in the direction parallel to the plate surfaces by the surface 423 is also released. As a result, the board 19 and the side plates 5 and 6 are configured as the main body chassis 31 for a copying machine screwed together, and the pair of positioning blocks 438 and the support bolts 491
(FIG. 34) The pressing roller 421 and the lever 417 are placed on the main body chassis 31.
completely detached in the longitudinal direction.

Next, the air cylinder 44 for retracting the clamp mechanism 397
3 is actuated, its piston rod 444 is retracted, and the left and right clamp mechanisms 397° and 397t move from the positions indicated by two-dot chain lines to the positions indicated by solid lines in FIG. 30, respectively. By operating the air cylinder 407 as described above,
The pressing roller 421 and lever 417 are connected to the main body chassis 31
Since the clamp mechanisms 397a and 397b are already disengaged from each other, the pressing roller 421 and the lever 417 are prevented from colliding with the main body chassis 3. Further, as described above, by retracting the clamp mechanisms 397a and 397L to the solid line positions shown in FIG. , side plates 5 and 6 of the main body chassis 31
However, the inconvenience of interference with the clamp mechanisms 397a and 397I is avoided (SC61).

Next, the air cylinder 4 is used to raise the main body chassis 31 to the transfer position to the chassis reversing device 32.
29 is activated, the angle member 431 and the pair of positioning blocks 438 . Support bolt 491
At the same time, the main body chassis 31 rises to a certain position (S
C62).

Furthermore, the chassis reversing device 32 operates, and the main body chassis 3
1 is pulled out from the work gripping device 334 in the direction 492 shown in FIG. 2, reversed, and sent onto the conveyor for the next process (SC63). When the main body chassis 31 is turned over and transferred to the next process, the main body chassis 31 will face in the normal direction with the board 19 as the bottom surface, and will take a posture suitable for the subsequent automatic parts installation work. .

When the main body chassis 31 is taken out from the gripping device 434 in this way, the air cylinder 429 for lifting and lowering operates in the opposite direction, and the angle member 435 provided with the positioning block pair 438 etc. is lowered to its original position (SC64). , the evacuation cylinder 443 that moves the clamp mechanisms 397a and 397 is operated, and its piston rod 444 advances and stops at the position where the frames 402a and 402 abut against stoppers 448a and 448b (
SC65).

The forward position of the concave structure 454 naturally varies depending on the size of the target main body chassis.
Screw tightening machine 3 to work on the largest main body chassis
The most advanced position of 335 is shown in Figure 29 with a two-dot chain line (335
').

In addition, the clamp mechanism 3 shown in FIGS. 35 and 36 above
97a and 397b are provided with an air cylinder 407 in the vertical direction in order to downsize the entire mechanism, but the drive mechanism for the lever 417 does not necessarily require the vertical air cylinder 407 as described above. Instead, it is possible to use a rotary cylinder or a rotary solenoid, or it is also possible to operate with a cylinder arranged laterally as shown in FIGS. 37 and 38.

That is, in FIGS. 37 and 38, 409' is a piston rod of an air cylinder arranged horizontally, and this piston rod 409 has a plate 403 attached to the frame 403'' via a bracket 410' at its tip. It engages with a pin 411' installed vertically at one end of a lever 413' which is swingable in a horizontal plane around a pin 412' installed vertically at the end of the lever 413'.

Further, a vertical pin 416' installed at the other end of the frame 403' has a lever 417 that can swing freely in a horizontal plane.
A vertical pin 418' installed in the lever 417' and a pin 4140 4' installed in the vertical direction at the other end of the lever 413' are connected by a link 415'. Plate 403', levers 413', 417', link 415'
A parallel link is formed. Further, a horizontal pressing roller 421 is provided at the tip of the lever 417'.
A positioning block 402' is attached to a portion of the plate 403' that faces the pressing roller 421'.

Therefore, in this case, when an air cylinder (not shown) is operated and its piston rod 409' advances or retreats horizontally in the direction of arrow 493a or 493I, lever 413' moves around pin 412' in conjunction with this. The lever 417' rotates clockwise or counterclockwise as shown in FIG. 37, and the lever 417' rotates clockwise or counterclockwise around the pin 416' due to the action of the parallel link mechanism. Therefore lever 4
The side plate 5 or 6 installed between the pressure roller 421' provided at the tip of the roller 17' and the positioning block 422' may be pinched between the pressure roller 424' and the positioning block 422', or be released from a pressured state.

In this embodiment as well, similarly to the mechanism shown in FIG. and a small diameter portion indicated by r are connected by a smooth circular arc, and when the side plate 5 or 6 is sandwiched between the pressing roller 421' and the positioning block 422', a radius rl is formed. The large diameter portion shown is configured to press the side plate 5 or 6 in the plane direction thereof. Note that the plate 403' is attached to the plate 403' by bolts installed in the elongated holes 494.
Next, the structure and operation of the chassis reversing device 32 will be explained with reference to FIGS. 42 to 46.

As shown in FIGS. 42 and 43, the chassis reversing device 3
2 runs on two running rails 495 in a direction perpendicular to the rails 330 (FIG. 2) in the direction of the running rails 495, and a bottom surface 497 of a pedestal 496 forming the main body frame of the chassis reversing device 32. Four guide plotters 498 are attached to the traveling rail 495 so as to be slidable, so that the vehicle travels on the traveling rail via the guide plotters 498. The above mount 49
A traveling motor 499 is attached to the lower part of 6,
Sprocket 5 attached to the output shaft of this motor 499
One end of the chain 501, which is wound around 00, passes through an intermediate sprocket 502 that is rotatably attached to the lower surface of the pedestal 496, and is attached to the tip of the base 503, which has the traveling rail 495 on the -L plane, by means described below. The other end of the chain 501 is attached to another 1llil intermediate sprocket 5 attached to the lower surface of the pedestal 496.
04, and is attached to the rear end side of the base 503. Therefore, by rotating the motor 499, the position of the winding between the pulley 500 and the chain 501 is moved.
The entire chassis reversing device 32 runs along running rails 495.

Both ends of the chain 501 are fastened to the base 503 by similar means, so only the front end fastening means will be described here with reference to FIGS. 42 and 44. That is, the front end 501 of the chain 501. A bolt 505 is attached to the base 503, and this bolt 505 passes through a horizontal hole 507 bored in a locking piece 506 welded to the base 503. Two nuts 509 are screwed into the threaded portion 508 formed at the end of the bolt 505, and between the locking piece 506 of the bolt 505 and the nut 509, there is a piece that contacts the locking piece 506. A number of disc springs 510 that are in contact with each other and a spacer 511 that is installed between the disc springs 510 and the nut 509 are attached.

44 Therefore, when a large tensile force is applied to the chain 501 when starting the motor 499, this force is applied to the bolt 505 and the
-509, acts in a direction to compress the disc spring 510 via the spacer 511, and prevents impact force from acting on the locking piece 506 due to compression of the disc spring 510.

Note that two docks 513a and 513 are attached to each side of the front end and rear end of the base 503 via brackets 512.
13b is attached. 51 of these dogs
3a, when the chassis reversing device 32 travels to the front end of the base 503, a low-speed switching sensor (not shown) attached to the bottom surface of the pedestal 496 comes into contact, turning the sensor on, and from this sensor. This signal is used to stop the power supply to the motor 499 for driving.
After the power to the chassis reversing device 32 is stopped, the chassis reversing device 32 further moves forward while decelerating due to inertia, and after traveling a certain distance, a stop sensor (not shown) attached to the lower surface of the pedestal 496 detects that the dog 513t , the motor 499 is turned on and receives a signal from the motor 499.
The chassis reversing device w32 is stopped by being braked by a brake device attached thereto. However, even after the braking action is applied to the motor 499, the chassis reversing device 32 actually continues to move forward slightly due to its large inertial force. The stopper 514 that the pedestal 496 of the device 32 comes into contact with is connected to the pedestal 5.
03 at a predetermined position.

The chassis reversing device 32 has a pair of bearings 515 on the pedestal 496, as shown in FIGS. 42 and 43. A rotating shaft 516 is rotatably supported on this bearing 515, and the rotating shaft 516 has a rotating plate 5 at its center.
17 (Fig. 43) is fixed.

The state shown in FIG. 42 shows the standby state of the chassis reversing device 32, and the rotating plate 517 has two bearings 5.
17a and 517 installed directly below it,
In the standby state shown in FIG.
Each exists on 19. Furthermore, a pair of bearings 518o and 518d having their axes on the vertical line 519 are attached to the rotating plate 517, and the bearing 518c is attached to the bearing 518.
The bearing 518J is attached to the upper part of the bearing 518b, or the bearing 518J is attached to the lower part of the bearing 518b, and the distance between the bearings 518 and 5186 is
The distance is set equal to the distance between the bearings 518b and 518J.

The bearings 518a, 518b, '518c
, 518a each have a horizontal axis 520 . ,520b
, 520o, 520.1 are rotatably supported,
The shafts 5208 and 520b have mutually meshing gears 521. and 5211. A pair of levers 522a and 522i are fixed to each gear 521a and 521b.

Further, the shafts 520c and 520a each have a shaft 520
Lever 522o that can swing around c and 520J
and 522a are attached. Each lever 52 mentioned above
Horizontal bins 52 are provided at the tips of 2a to 522J, respectively.
33 to 523a are planted in a direction perpendicular to the paper surface, and the pins 523o and 523
a is connected to each pin by a swingable link 524, and pins 523I and 523a are connected to each link by a swingable link 524I.

Here, the distance between the shafts 520c and 520a and the distance between the pins 523c and 523a are equal, and the distance between the shaft 520c and the pin 52
3c is equal to the distance between the shaft 520a and the pin 523, that is, the levers 522, . 522. , link 524a and rotating plate 51 between shafts 520c and 520a.
7 are arranged to form parallel links. In addition, the levers 522b, 522a, the link 524 and the shaft 520
The distance between each pin and shaft is determined such that the pivot plate 517 between the pin and the shaft 520a forms a parallel link.

Therefore, the shaft 520. The axes of 520a to 520a are all vertical lines 51
9, the links 524a and 524t always remain vertical no matter how the levers 522a and 522I swing.

48 A link 524 is provided between the pins 523c and 523a.
A tension spring 525 is attached that exerts a force in a direction that constantly tries to shorten the distance between a and 524t. A pair of forks 526□ and 526I, which protrude horizontally from the front end of the running rail 495, are attached to the links 524a and 524, respectively, and the upper and lower forks 526a and 5261. When lifting the main body chassis 31, the board 19 is placed on the opposite surface of the
A gripping piece 527 made of a rubber plate or the like for contacting the end of the
is installed.

Further, the lever 522. An air cylinder 529 is swingably attached to the intermediate portion of the lever 522a via a pin 528, and a joint 531 attached to the piston rod 530 of the air cylinder 529 is connected to a pin 532 horizontally implanted in the lever 522a. It is swingably attached to. Furthermore, a sprocket 53 attached to one end of the rotating shaft 516
3 and a reversing motor 534 fixed to the lower part of the pedestal 496.
A sprocket 535 attached to the output shaft of is connected by a chain 536 so that they rotate at the same time.

Reference numeral 537 denotes a stopper fixed to the rotating plate 517. When the rotating plate 517 rotates 180 degrees from the standby state shown in FIG. This is for stopping the rotation of the moving plate 517. Further, when returning to the standby state shown in Figure 42, the stopper 537a installed on the other end side of the rotating plate 517 comes into contact with the engagement piece 537, stopping the rotation of the rotating plate 517. Let it be.

A stopper 5 is provided approximately at the base of the fork 5268 so that the main body chassis 31 gripped by the forks 526a and 526t can come into contact with the chassis main body 31 to prevent it from shifting further toward the root of the fork 526.
39 is fixed.

Also, a lever 540 attached to the other end of the rotation shaft 516
A horizontal pin 541 is implanted at the tip of the 46th pin.
As shown in the figure, an air cylinder 543 is installed between the pin 541 and the pin 542 horizontally attached to the lower part of the pedestal 496, which assists the rotational force of the reversing motor 534 and acts as a buffer during reversing. It is attached.

Next, the operation of the chassis reversing device 32 will be explained. As described above, when the workpiece conveyance device 333 retreats to the predetermined standby position (side plate supply position 331) and the clamp mechanisms 397a and 397b are retracted inward to enter the standby state, first the standby state shown in FIG. 42 is reached. The air cylinder 529 of a certain chassis reversing device 32 is operated, and its piston rod 530 advances. This action causes the distance between the pins 528 and 532 to increase in the direction in which the levers 522c, 522. , 522b, and 522J swing in the direction of expanding toward the front end of the base 503. At this time, the swing angles of the levers 522a and 5221 are all equal due to the meshing of the gears 521a and 521 and the action of the parallel link.

As mentioned above, the levers 522c and 522J are connected to the lever 52.
2a and 522b, the link 524. , and 5
The forks 526a and 526b move away from each other in both the upward and downward directions while maintaining their vertical postures, and the distance between the forks 526a and 526t increases.

One fork 526 . FIG. 45 shows a state in which the and 526 parts are opened in the vertical direction.

The air cylinder 529 stops at a position where the distance between the forks 526a and 526b is at its maximum. Subsequently, the traveling motor 499 begins to rotate. At this time, motor 49
Even if the rotational speed of motor 9 rapidly increases, the buffering effect of disc spring 510 prevents a harmful large current from flowing through motor 499.

When the motor 499 starts rotating, the chain 501
As mentioned above, the chassis reversing device 32
travels toward the front end of the pedestal 503, and eventually reaches the position shown in FIG. 44 (b).
), a sensor 52 (not shown) on the chassis reversing device side comes into contact with the dog 513 shown in FIG. 513I, a braking force is applied to the motor 499, and the pedestal 496 abuts the stopper 514, completely stopping the movement of the chassis reversing device 32. At this point, the lower fork 526 of the chassis reversing device 32 is placed on the positioning plate 437 on the angle member 431 via the positioning block pair 438 and the support bolt 491 on the base plate 19 of the main body chassis 31.
It enters the lower part of the side as shown in Fig. 30.

In this embodiment, the chassis reversing device is a fixed stopper 5.
14 for complete positioning. However, if the chassis support is only rough enough to allow easy positioning at the pick-up position, simply apply a braking force to the motor 499. stop, stopper 51
4 may be used for emergency stop.

Subsequently, the air cylinder 529 is operated again, and the piston rod 530 is retracted, so that the forks 526a and 526t move toward each other by the opposite operation, and at this time, the lower fork 526'b is moved closer to each other. The main body chassis 31 is lifted up by coming into contact with the lower surface of the side end of the board 19 of the main body chassis 31, and then the upper and lower forks 526
The substrate 19 is gripped by a and 526.

Subsequently, the traveling motor 499 is reversed, and the entire chassis reversing device 32 moves backward along the traveling rail 495, and the main body chassis 31, forks 526a, 526I,
When the reversing motor 534 reaches a position where it does not interfere with the rail 330 shown in FIG.
The chassis 31 held by the rotating plates 5 and 526
Lever 522a to 522d and gear 5 attached to 17
2Ia, 521, and together with links 524a, 524b, etc., rotate around the rotating shaft 516 in the counterclockwise direction shown in FIG. At the same time, compressed air is supplied to the air cylinder 543, and its piston rod 543a is advanced to urge the lever 540 and the rotary shaft 516 integrated therewith to rotate in the direction shown by an arrow 544 in FIG. 46.

When the forks 526a and 526 move beyond the vertical position and further rotate toward the rear of the chassis reversing device 32,
Thereafter, at an appropriate point in time, the power supply to the reversing motor 534 is stopped, and the pulp boat that feeds compressed air into or discharges compressed air from the air cylinder 543 is closed, and from then on, the weight of the rotating body including the chassis 31 is The compressed air in the air cylinder 543 is compressed, and when the internal pressure of the air cylinder 543 reaches the relief valve setting Tanabe-L, the piston rod 543a slowly retreats at a constant speed, and the forks 526a and 52
The main body chassis 31 gripped at 6 is reversed 180 degrees to a position opposite to the standby position G shown in FIG. 42, and is transferred onto a conveyor waiting at that position. As described above, since the body chassis 31 is inverted while compressing the air in the air cylinder 543 due to the weight of the rotating body including the body chassis 31, the air cylinder 54
Due to the damper action of the compressed air in the case 3, the collision between the stopper 537 and the engagement piece 538 at the time of complete inversion occurs without impact.

In this way, when the main body chassis is moved onto the conveyor for the next process (not shown), the air cylinder 522c is activated again and the piston rod 530 is advanced, thereby opening the forks 526a and 526b and gripping the main body chassis 31. Release the condition, and with the main body chassis 31 placed on the fork on the 526a side, remove the main body chassis 3.
1 is lowered, and the main body chassis 3 is transferred to the conveyor for the next process.
Transfer 1. At the same time, the forks 526a and 526b are moved backward by the drive of the motor 534, and the main body chassis 31
completely separate from.

When the conveyor that transferred the main body chassis 31 runs and the main body chassis 31 is carried, the reversing motor 534
starts to reverse, compressed air is supplied to the air cylinder 543, and the rotating plate 517 and the levers 522a to 52
2a etc. are reversed as a whole. At this time too, fork 52
When 6a and 526b are tilted further than the vertical state,
The power supply to the reversing motor 56 is stopped, and the air cylinder 54 is stopped.
The supply and discharge of compressed air to and from the forks 526 . .

The rotation of 526b continues.

In this state, the chassis reversing device W32 returns to the initial state,
The assembly of the next new main body chassis will wait until completion.

As described above, the present invention provides a main body chassis for a copying machine in which a front side plate and a rear side plate are mounted perpendicularly to the front and rear ends of a base plate forming the bottom of the copying machine. , a first side plate conveyance step in which a front side plate or a rear side plate is placed and transported on a plurality of side plate pallets whose positions are determined on a conveyor, and a substrate is placed on a plurality of positioned board pallets on a conveyor. a first board transport step in which the loaded front or rear board is positioned and then transported onto the side plate pallet; and a second board transport step in which the loaded board is positioned and then transported. , a second board transport step for transporting the board onto the board pallet; a side board parts mounting step for supplying and attaching parts to the second side board of the side board pallet; and a side board parts mounting step for supplying the parts to the board on the board pallet. The process of attaching the board parts to be installed, the side plate reversing process of inverting the side plate that has been placed on the side plate pallet and then placing it on the side plate pallet again, and the process before and after the parts are installed. An assembly process for transporting side plates to an assembly position, standing them up vertically at regular intervals, placing a board thereon, and then fixing both side plates to the board. Since it is an assembly system, it is possible to automatically manufacture a copying machine main body chassis consisting of a board and two side plates, making a significant contribution to improving the efficiency of the production line.

[Brief explanation of the drawing]

FIG. 1 is a flow chart showing an outline of the manufacturing process of a main body chassis for a copying machine which is an embodiment of the present invention, FIG. 2 is a plan view showing an outline of the entire automatic assembly process of the chassis, and FIG. A front view of a workpiece conveyance device that can be used in the above automatic assembly system (corresponding to the view seen from arrow A or A' in Fig. 2), Fig. 4 is a view taken from arrow B in Fig. 3, and Fig. 5 is an enlarged view of the part viewed from arrow C in Fig. 4, Fig. 6 is a side view of the workpiece holding device shown in Fig. 5, Fig. 7 is an enlarged view of the part seen from arrow D in Fig. 4, and Fig. 8 is an enlarged view of the part seen from arrow D in Fig. 4. 9 and 7, FIG. 9 is a view along arrow F in FIG. 6, and FIGS. 10 and 11 respectively show an example of how the guide roller is attached to the chain that can be used in the above embodiment. In the figure, (a) is a plan view thereof, (b) is a side view thereof, Fig. 12 is a side view of a parts feeder (9, 17 in Fig. 2) that can be used in the above assembly system, and Fig. 13 is a side view of the parts feeder (9, 17 in Fig. 2). The figure is a side view of the same type, and Figure 14 shows the separation device used in the per feeder.
) to (d) are plan views showing the operating state of the separation device, respectively;
Fig. 15 is a plan view of a parts mounting device (22 in Fig. 2) that can be used in the same assembly system, Fig. 16 is a view taken along arrow G in Fig. 15, and Fig. 17 is a side view of the parts mounting device. Figures 18 and 59 are front and side views of the parts mounting device, Figures 20 (a) to (C) are front views showing the operation of the platform rubber transport IB device, and Figure 21 (a). 20 is a view in the direction of arrow H in FIG. 20, FIG. Corresponding to 97 in the figure), Fig. 23 is a schematic plan view of l-0- in Fig. 22.
24(a) is an enlarged plan view of the release device, FIG. 24(b) is a side view of the portion viewed from arrow J in FIG. 24(a),
Figure 25 is a side view of the entire reversing device (corresponding to 15 in Figure 2) that can be used in the above assembly system;
Figures (a) and (b) are side views showing the operation of the work gripping mechanism that can be used in the reversing device, Figure 27 is a side view showing the drive section of the gripping mechanism, and Figure 28 (a) is the same. 25 is a side view showing details of the tip of the gripping mechanism; FIG. 25B is a flowchart showing the operating procedure of the reversing device shown in FIG. 25; FIG. 29 is a plan view of the entire assembly device used in the above assembly system, FIG. 30 is a pressure surface view of the same, and FIG. 32 is a sectional view of the center of FIG. 31, FIG. 33 is a sectional view taken along the arrow 2 in FIG. 31, and FIG. 34 is a plan view showing the adjustment mechanism of the screw tightening used, FIG. 35 is a side view of the board positioning mechanism used, and FIG. 36 is a plan view of a side plate gripping device that can be used in the same assembly mechanism.
) and (b) are side views showing the operation of the drive section of the gripping device for the same side plate, respectively, and (C) and (d) of the same figure respectively show modified examples of the lever connection mechanism that can be used in the above drive section. 37 is a plan view showing the structure of a side plate gripping device having another structure, and FIGS. 38(a) and (b) are the structure of the drive section in the side plate gripping device shown in FIG. 37. FIG. 39 is a front view of the workpiece conveyance device used in the assembly device described in 1. FIG. The figure is a front view showing the travel drive section of the workpiece conveyance device, and FIG. 42 is a chassis reversing device W used in the assembly system (32 in FIG.
Fig. 43 is a side view of the same (corresponding to
) and (b) are side sectional views and plan views showing the structure of the attachment part of the running chain to the machine base used in the chassis reversing device, and FIG. 45 is a schematic side view showing the operating state of the chassis reversing device. 46 is a side view showing the structure of a shock absorbing device that exerts a shock absorbing effect when the reversing device is inverted, FIG. 47 is a plan view of the positioning table used in the above assembly system, and FIG. I in the figure, arrow view, same figure (b
) is an enlarged view of the N arrow view in Fig. 48, Fig. 49 (a)
is a view in the direction of arrow P in Fig. 47 (showing the state in which the pressing member is in contact with the substrate), and the same figure (b) is a view taken along the line Q-Q in Fig. 47.
Arrow sectional view. FIG. 50 is a plan view showing a modification of the positioning table;
FIG. 51 is a plan view showing still another modification of the positioning table, FIG. 52 is a sectional view taken along the line RR in FIG. 51, and FIGS. 53(a) to (C) are 3 is a flowchart showing the operating step jlff of 18) in FIG. 2; 63 'tnn- Oto°□ ~Collection-; Figure 4/747378 6C) 66 6a 7-' GukoEP 3 3. 19', 7o'M 4'O,, y” JP-A Sho GO-118438 (50) JP-A Sho GO-118438 (52) JP-A Sho GO-118438 (53) JP-A Sho GO-118438 (56) Special Kaisho GO-118438 (57) Fig. 21 (b) Fig. 21 (a) Fig. 24 (a) '＼ 99 Fig. 24 (b) 217 215 216 Japanese Patent Kokai Sho GO-118438 (62) Fig. 28 (b) JP-A-118438 (76) Figure M (a) 44th threshold (b) &) Ija bijD Figure 49 (a) (b) 04 JP-A-118438 (84)

Claims (1)

[Scope of Claims] In an automatic assembly system for a copying machine main body chassis for attaching a front side plate and a rear side plate perpendicularly to the front and rear ends of a base plate forming the bottom of the copying machine, the system comprises: (1) on a conveyor; (2) a first side plate conveyance step in which a front side plate or a rear side plate is placed on a plurality of side plate pallets positioned on a conveyor and transported; (3) After positioning the loaded front side plate or rear side plate,
a second side plate transport step of transporting the board onto the side board pallet; (4) a second board transport process of positioning the loaded board and then transporting it onto the board pallet; (5) A side plate parts mounting step for supplying and attaching parts to the side plate on the pallet; (6) a board parts mounting step for supplying and attaching parts to the board on the board pallet; and (7) mounting on the side plate pallet. (8) The front and rear side panels with parts attached are transported to the assembly position, and the side panels are transported at regular intervals. 1. An automatic assembly system for a main body chassis for a copying machine, comprising the steps of: placing a main body chassis vertically, placing a board thereon, and then fixing both side plates to the board.