JPS62162432A - Parts assembly device - Google Patents

Abstract

PURPOSE:To make it possible to perform any component insertion by providing a hand vertically slidably means of a clamp so as to be capable of synchronical lowering of the hand with the press lowering process of a press cylinder. CONSTITUTION:A body 1is conveyed by a conveyor 11, and a component 2 is properly positioned in relation to the body 1 on the conveyor 11 by the hand 4 of an assembly robot 3. On the other hand, above the position where the component 2 is to be assembled to the body 1, a frame 8 is provided, and a press cylinder 6 of which end face is flat is also provided to the frame 8. The positioned component 2 is released from the vertical binding made by the robot 3 and the hand 4 by cutting the hydraulic pressure in a clamp 12 off. Then, the robot 3 will not move and only the released hand 4 is pressed and lowered by the cylinder 6 attached to the frame 8 performing insertion or press fitting of the component 2.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a parts assembly device for inserting and press-fitting mechanical parts by an assembly robot.

<Conventional technology> When assembling small mechanical parts such as small agricultural engines and air conditioning compressors, and medium-sized mechanical parts such as construction machine reduction gears and power transmission devices using an assembly robot, the parts to be assembled by the assembly robot and the assembly If the gap between the body and the body is large,
The work force required for inserting the assembly parts is small, and the assembly robot's hand can insert the assembly parts while holding them after positioning them in the hand of the assembly robot. However, in many cases, medium-sized L mud parts have small gaps and require a large amount of work force to insert, and even press-fitting small and medium-sized parts requires a large amount of work force, so the assembly robot's work area is limited to the part to be assembled. After loading and positioning, insertion and press-fitting is performed using a work machine equipped with a pressure cylinder.

That is, as shown in FIGS. 7 and 8.

After carrying in and positioning the assembly part 2 with the hand 4 of the assembly robot 3 for the main body part 1 which has been carried into the work machine 5 by the assembly robot 3 in advance, the first assembly robot 3 temporarily retreats and transfers it to the work machine 5. Attached flat tip pressure cylinder 6 (Figure 7) or pressure cylinder 7 with assembly parts 2 guide (Figure 8)
The assembly part 2 is pressurized and inserted/press-fitted.

<Problems to be solved by the invention> As mentioned above, the assembly robot 3 carries in the assembly parts 2,
After positioning, the pressurizing cylinder 6 or 7 of the separately placed work machine 5
When inserting or press-fitting with pressure, there are the following problems.

(1) As shown in Figure 7, if the pressurizing surface at the tip of the pressurizing cylinder 6 is flat and pressurizing the assembly part 2 without gripping it, the position of the assembly part 2 may be misaligned at the start of pressurization. Assembly parts 2
Insertion and press-fitting may become impossible.

(2) In order to avoid the problem in item (1), a positioning guide for the assembly part 2 is provided at the tip of the pressurizing cylinder 7 as shown in FIG. Different types of positioning guides are required for each type of
In general, one work machine only inserts and press-fits one assembly part, so it lacks versatility, or the pressure cylinder 7
It is necessary to specially provide a positioning and gripping hand with a complicated structure like the hand of the assembly robot 3 at the tip of the robot.

SUMMARY OF THE INVENTION It is an object of the present invention to solve these problems and provide a component assembly device that does not cause positional deviation, has a versatile assembly robot and a frame, and has a simple structure.

Means for Solving the Problems〉 The present invention achieves the above-mentioned objects in a parts assembly device that includes an assembly robot and a separate frame and carries in or press-fits parts to be assembled. The assembly robot is characterized in that the parts are carried into and positioned in the frame, and the hand or the frame is pressurized by a pressure cylinder provided on the upper part of the frame or the hand while the assembled parts are held in the hand of the assembly robot. .

Function> The hand of the assembly robot not only carries in and positions the assembled parts, but also carries in and positions the assembled parts while gripping them with the hand.
In order to perform press fitting, the hand or robot is moved up and down as the pressure cylinder moves up and down.

EMBODIMENTS> The present invention will now be described in detail with reference to FIGS. 1 to 6. In the description of the embodiment, the same parts as in FIGS. 7 and 8 are given the same reference numerals. In FIG. Hand 4 of assembly robot 3
The assembly part 2 is positioned to be carried in. On the other hand, a frame 8 is provided at a position where the assembly part 2 is assembled to the main body part 1.

A flat tip pressure cylinder 6 is provided above it.

In addition, in FIG. 2, the hand 4 of the assembled robot 2 and 3 is
A pressure cylinder 9 attached to the frame 10 is provided so as to be able to apply a reaction force to the frame lO.

In the apparatus shown in FIG. 1, when C≠, the assembly parts 2 carried in and positioned by the hand 4 of the assembly robot 3 as shown in FIG.
The vertical restraint of the hand 4 is released, and only the released hand 4 is lowered under pressure by the flat tip pressure cylinder 6 attached to the frame 8 and inserted or press-fitted without moving the assembly robot 3.

Further, as shown in FIG. 4, without turning off the clamp 12, the displacement sensor 13 detects the amount of descent of the pressure cylinder 6 of the frame 8.
It is also possible to detect this and move the vertical movement motor M of the assembly robot 3 via the controller C to lower the assembly robot 3 and hand 4 in synchronization with the amount of descent of the pressurizing cylinder 6.

In the apparatus shown in FIG. 2, as shown in FIG.
The vertical restraint between the hand 4 and the reaction force pressurizing cylinder 9 is released, and the frame 10 is inserted and press-fitted by applying a reaction force to the frame 10 by the reaction force pressurizing cylinder 9 with the hand.

Further, as shown in FIG. 6, the vertical movement of the reaction force pressurizing cylinder 9 is detected by the displacement sensor 13 without turning off the clamp 12, and the vertical movement motor M of the assembly robot 3 is operated via the controller C. Accordingly, the assembly robot 3 and the /\end can be lowered in synchronization with the amount of rise of the pressurizing cylinder 9.

As a result, the assembly part 2 is pressed while being positioned and gripped by the hand 4 of the assembly robot 3, and is inserted and press-fitted without any misalignment.
Since the hand 4 can be opened and closed with a stroke, it can grip various shapes of assembly parts, so that various assembly parts can be inserted and press-fitted in a versatile manner by the assembly robot 3 and the pressurizing cylinder.

<Effects of the Invention> As explained above, according to the present invention, the hand can be slid up and down with a clamp so that the hand can be lowered in synchronization with the pressure lowering process of the pressure cylinder, or By controlling the position of the assembly robot using the pressure cylinder's downward displacement sensor signal, the insertion and press-fitting of assembly parts can be performed with high precision and versatility, and it is also advantageous in terms of work time. This makes it possible to make the most effective use of assembly robots, including hands.

[Brief explanation of drawings]

Figures 1 to 6 show embodiments of the present invention; Figure 1 is a configuration diagram of one example, Figure 2 is a configuration diagram of another example, and Figures 3 and 4 are two versions of the device shown in Figure 1. FIGS. 5 and 6 are block diagrams explaining two of the devices in FIG. 2 along with their operations. FIGS. FIG. In the figure, 1 is the main body part and 2 is the assembled part. 3 is an assembly robot, 4 is a hand, 6.9 is a pressure cylinder, 8, 1O is a frame. 11 is a conveyor, 12 is a clamp, and 13 is a displacement sensor.

Claims (1)

[Claims] In a parts assembly device that includes an assembly robot and a separate frame and inserts or press-fits parts to be assembled, the assembly robot carries and positions the parts to be assembled into the frame,
A parts assembly device characterized in that the hand or frame of the assembly robot is pressurized by a pressurizing cylinder provided above the frame or the hand while holding the assembly part in the hand of the assembly robot.