JPS62203728A - Work tool exchanger - Google Patents

Abstract

PURPOSE:To enhance work efficiency and to improve productivity, by constituting a work tool exchanger such that a tool exchange for two sets of work units can be performed by one set of work unit when automatic assembly is performed by using the work unit for a robot or the like. CONSTITUTION:A stock unit 171, which holds plural work tools 31..., is provided in a work tool exchanger for plural work units 21, 161 exchangeably equipped with the work tools 31.... One set of work unit 21 of the work units 21, 161 is movably constituted between the stock unit 171 and the other work unit 161 in a work position 5. And the one set of work unit 21 provides a mounting and removing device of work tools 165 for the other work unit 161. Accordingly, the one set of work unit 21 enables its own work tools and the work tools 165... for the other work unit 161 to be exchanged. That is, a tool exchange for at least two sets of work units can be performed by one set of work unit.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a work tool changing device.

(Prior Art and Problems) When performing automatic assembly using a plurality of working devices such as robots, it is known that only the working tools are replaceable in consideration of model compatibility.

Conventionally, in this type of replacement work, individual working devices each move by themselves to the replacement location, and after replacing the work tool, return to the working position and perform the work. As a result, there have been problems such as increased loss time, reduced productivity, increased need for dedicated stockers and other devices corresponding to each work device, and increased costs.

(Means for solving the problem) In order to solve the problem, the present invention provides a working tool (31).
A plurality of work devices (21) that are replaceably equipped with...

(181), the stock device (181) holds a plurality of work tools (31)...
71), and the plurality of working devices (21), (18) are provided.
1), one of the working devices t (21) is connected to the stator 2 lifting device (171), the working position (5), and the other working device (113).
1), and the one work device (21) is configured to be movable between the other work bag Wi (11111
) work tools (1135)... detachable bag! 1
(27) and (2B).

(Function) One working device (21) can control itself and other working devices (
lfllll) work tools (185)... can be replaced,
In other words, one machine can replace tools for at least two machines.
Work efficiency is increased, productivity is improved, and since only one stocking device (171) is provided, costs can be reduced.

(Example) Examples will be described in detail below based on the accompanying drawings.

Fig. 1 is a schematic plan view of the entire apparatus for press-fitting a cam holder onto a cylinder head, and Figs. 2 and 3 are views in the direction of arrows A and B. ) is the working position, (17) is the parts stocker, (21) is the parts transfer device, (101) is the bolt feeder, (10B) is the auxiliary hopper, (111) is the bolt transfer device, (1 [11) is the tightening The unit lifting device (171) is a tool stock device.

In the example, a cylinder head (W) for a DOHC engine
The transport pallet (2), on which is placed and fixed as shown in Fig. 4, flows on the transport path (1), and above the working position (5), a pair of left and right arms (8), (6) and a locate pin (7) , (7)
The transfer bar guide roller (
8) and (8) are provided. Furthermore, a press-fitting device (11) is installed in the working position (5), and the press-fitting device (11) is installed on the left and right sides.
Consisting of a pair of press-fit arms (12), (12) and a vertical cylinder head (15), the left and right press-fit arms (15)
2), the upper part of (12) protrudes above the working position (5),
Opposing suppressing portions (13) are provided inside the upper end.

(13), the continuous part (14) between the lower part and the working position 1i
(5) Cylinder head) (15) is installed.

On the tray (18) of the parts stocker (17), as shown in Fig. 25, a large number of cam holders (P)... are placed at high density in the longitudinal and width directions of the engine.
For use with HC engines, there are a total of 12 cam holders (P), 6 adjacent to each other in the left and right direction, and 1 pair at the front and rear.
... is for one set, each cam holder (P)... is provided with a knock bottle on the bottom surface as is known, and the parts stocker (17) is connected to the conveyance path (1) in front of the working position (5).
(along the conveyance direction).

The parts transfer device (21) runs on a pair of left and right rails (22), (22) arranged above the parts stocker (17) and the tool stock device (171) and extending in the front and back direction. A slider (23) and a second slider (20) that runs on the first slider (23) extending in the left-right direction.
It consists of a third slider (25) that runs vertically on the second slider (24), and an arm (26) that protrudes forward and is fixed to the bottom of the third slider (25). A component alignment device (31) is detachably attached to (2B).

The parts/alignment device (31) is as shown in FIGS.
Connect the left and right side plates (35), (37), etc., and
A pair of grooved locating pins (281), (2B) provided on the arm (28) of the component transfer device (21) are fitted into the sleeves (3B), (38) for removing and removing books, and the lock ball ( 39)... Also, on the left and right sides of the board (32) are the press-fit arms (12), (12).
Pressing part (13).

(13) is provided with seats (33), (33) that abut. Here, the actuation arm (382) is engaged with the lock sleeve (381) of the detachable sleeve (38), and the actuation arm (382) is activated by a clamp release device (185) provided in the tool stock device (171), which will be described later. ) to attach and detach the lock sleeve (381) while pushing it down.

And between the left and right side plates (35) and (37) there is a board (
32) A pair of front and rear left and right slides located at the front and rear of
< + (40), (40) are installed, and the slide bars (40), (40) support the first to sixth sliding plates (41)...(4B) from the right side. 1 sliding plate (41) is fixed under the substrate (32). Furthermore, the first
A pair of front and rear stopper bolts (51) are provided between the second sliding plates (41) and (42).

(51) is inserted, and the expansion pitch of both tank moving plates (41), (42) is regulated by this stopper plate (51), (51). Similarly, second and third sliding plates (42),
(43) between the third and fourth sliding plates (43), (44
), between the fourth and fifth sliding plates (44) and (45),
Fifth and sixth sliding plates (45).

(48) There are also pairs of stoppers in between) (52
).

(53), (54), (55)... are inserted.

Furthermore, a rodless cylinder (56) is installed between the left and right side plates (35) and (37), and a locking claw is provided at the bottom of the movable tube (58) that runs on the cylinder tube (57) in the left and right direction. (58) is provided, and this locking claw (59)
is locked in the locking recess (48) on the sixth sliding plate (4B).

Also, a cylinder unit (l) is installed in the front-rear direction on the center of the board (32).
A left and right joint bar (62) is fixed to the joint bar (61), and at both ends of the joint bar (62) there are left and right swing arms (83), and the upper part of (133) is connected to the elongated hole (11).
14) and (84).

The left and right swing arms (83), (83) both have side plates (
35).

A pin (89) is located in the middle of the bracket (E18) and (8B) located inside the bracket (37) and fixed on the board (32).

(68), this swinging arm (83),
Between the bottoms of (83) are elongated holes (85) and (85), respectively.
A second camshaft (72) is installed via the second camshaft (72). An elongated portion (36) that allows the second camshaft (72) to move back and forth is formed on the left side plate (35), and both brackets (H) and (8B) are formed on the left side plate (35).
) are also formed with long lengths (87) and (Ei7) that allow the joint bar (82) to move forward and backward. Further, a first camshaft (71) parallel to the second camshaft (72) is installed between the left and right side plates (35) and (37).

A pair of front and rear holders (81), (82) are provided below each of the sliding plates (41), and the first holder (81) on the front side is a sliding plate. (41)...
, and the first camshaft (71) is inserted therethrough. A longitudinal guide bar (83) is installed between the first holder (81) and the rear of each sliding plate (41)...(46). is supported by second holders (82) on the rear side, and these second holders (82)... have the second camshaft (72).
is inserted. Furthermore, each holder (al), (82)...
is equipped with a clamping device (84), that is, the first
A guide pin (85), which is inserted into one of the bolt holes of the cam holder (P), is vertically provided on the lower surface of the second holder (81), (82), and the like.
Each of these guide pins (85)... and each
A pair of clamp claws (86) are provided. In particular, both holders (81) and (82) of the sixth sliding plate (46) each have two pairs of guide pins (85)... and clamp claws (
86)... is provided.

Each clamp claw (86)... has a bell crank shape,
Bin (88) in the middle part... and holder (81),
(82)...It is pivoted on the side and the cam holder (
The lever part (87) at the end opposite to the claw part inserted into the other bolt hole of P)... and the holder (81), (82
)... A tension coil spring (89)... is tensioned between them. In addition, bushing rods (76) are fitted and held below the camshafts (71), (72) of each holder (81), (82), and both camshafts (71), (
72) and Butsch rod (76)... there is a steel ball (7
7) ... are interposed, and these bushing rods (7B)
... faces the upper surface of the lever part (87).

Furthermore, the protruding ends of both camshafts (71) and (72) from the right side plate (37) are formed into square parts (73) and (74),
Each square part (73), (74) has a link play) (9
1) and (92) are mated respectively, and both link play)
At the front ends of (91) and (92), there are offset engagement pins (
93) and (94) are provided in a protruding manner. Also, the board (
At the right end of 32) is a vertical cylinder unit (
95) is installed, and the front and rear long grooves (97) and (9B) formed in the bottom of the cylinder unit (95) are connected to the front and rear joint plates (9E and joint plates) (H). Inside are the engagement pins (93), (
94) are engaged, respectively, and (99).

(θ9) is a guide rod.

On the other hand, the bolt feeder (101) is located at the working position (
5), and in the embodiment has five supply paths (102), each of which has a supply port (103) at its tip that allows the bolt to drop under its own weight. ,
At least two types of bolts having different lengths are supplied from the bolt feeder (101).

And the bolt transfer device (111) is located at the working position (5).
A first slider (112) running on a pair of left and right rails (112), (112) extending in the front and back direction, which are arranged above and opposite the bolt feeder (101) in front of the bolt feeder (101).
113) and a first slider (113) extending in the left-right direction.
13) A second slider (114) running above the second slider (114), a third slider (115) running vertically above the second slider (114), and a rear slider fixedly installed at the bottom of the third slider (115). It consists of a protruding arm (11B),
A bolt set device (121) is detachably attached to this arm (11B).

The bolt set device (121) is as shown in Figs. 13 to 18, and connects a rectangular base (122) and a base (125) long in the left and right direction with a pole (12B) etc. A pair of grooved locating pins (not shown) provided on the arm (118) of the bolt transfer device (111) are fitted into the detachable sleeve (127), (127),
It is locked with the lock pole (129)... In addition, the upper stand (125) has a total of 28 bolt head guide holes (12B), 4 in the front-rear direction and 7 rows in the left-right direction.
... are provided, and similar guide holes (123) ... are provided in the base (122) below the same.

Inside the base (122) are front and rear 1 extending in the left and right direction.
A pair of joint plates (131) and (132) are arranged, and both joint plates (131) and (132) are arranged.
are pins (134) at both ends of the link (133).
, (135), and the link (133) is pivotally supported at the intermediate portion by a pin (13B) raised from approximately the center of the bottom plate (124) of the base (122). This link (133) is provided with a lever (137) at right angles, and the lever (137) is further provided with a pin (138) that connects the link (133).
39) is pivotally connected, and this link (139) is connected to the base (12
2) is pivotally attached to the tip of the front-rear cylinder unit (141) installed on the bottom plate (120) with a pin (142).

Further, seven holder plates (143)..., (145)... extending in the front and rear direction are fixedly attached to both joint plates (131) and (132), respectively, and the joint plates (131) and (132) are fixedly attached to each other. 131), (132) 7 pairs of adjacent holder plays) (143),
There are four semi-cylindrical parts (144) at the front and rear of each mating part of (145).

(14B)... are vertically installed, each semi-cylindrical part (144),
(14B)... form the bolt shaft guide hole (147)... when put together, this guide hole (147)...
... is the bolt receiving part.

Further, above the base (122), there is a protrusion (15) that can freely retract into the lower end of each guide hole (t2e) of the base (125).
2) Grid-like shielding members each with a river (151)
The shielding member (151) is a left-right cylinder unit installed on the left side of the cylinder head (141) of the bottom plate (124) of the base (122).
) (153).

On the other hand, the tightening unit lifting device (181) is mounted on a vertical rail (192) disposed above the working position (5).
It consists of a slider (183) that can be raised and lowered along this rail (182), and an arm (1B4) that projects rearward from this slider (183) and faces above the press-fit arms (12) and (12). (1B5) (1B5
) is removably attached in the same way as above. This tightening unit) (1135) is the arm (180) that hangs downward.
It has 8 lunches (18B)... each lunch (18B)...
B)... is movable via the rotating shaft (1B?)... as shown in Fig. 19, and has a pattern corresponding to each bolt hole of the cylinder head (W) positioned on the working position (5). It is arranged with.

Next, the tool stock equipment M (171) is shown in FIG.
As shown in Figure 4, the machine stand (172) is disposed on the left side of the conveyance path (1), facing the parts stocker (17), and a bearing boss (173) is installed on the machine stand (172). ) A vertical axis of rotation (174) is rotatably supported within the body, and a force (175) is fixed to the axis of rotation (174). The space plate (17B) at the bottom of this stocker (175) is provided with four locate holes (17?) whose phases differ by 90° in the rotational direction. Further, a swinging arm (181) is rotatably fitted and supported on the outer periphery of the bearing post (173), and the tip of this swinging arm (181) has a vertical hole that engages with the locating hole (17?)... A locating pin (1B2) in the direction is provided, and the locating pin (182) is freely retractable by a cylinder unit (183).

On the other hand, a vertical pivot pin (18) is placed on the machine base (172).
A horizontal cylinder unit (184) is installed on this pivot pin (185).
6) is swingably supported at the middle part, and the tip of this cylinder unit (186) is connected to the middle part of the swing arm (181) by a pivot pin (1B?). Furthermore, the machine (17
2) A boss) (191) is installed on the top, and a post (1
91) is provided with a vertical locating pin (1112) that engages with the locating hole (177), and this locating pin (192) is also retractable by the cylinder unit (193).

Such a tool stock! (171) Stocker (17
5), four types of parts aligning devices (31) and the tightening unit (185) corresponding to the cylinder head model are installed on the four faces whose phases differ by 90 degrees in the rotational direction.
... are held in pairs above and below. That is, the component alignment device (31) is connected to the left and right locate pins (17) installed on the base plate (17B) of the stocker (175).
8), (178) with sleeves (38), (38) for removing and removing them.
The mounting pins (179) that fit into the lower part of the
...It is held by placing the side plates (35) and (37) on top, and the tightening unit (185) is held by the upper and lower locking claws (188).
).

(189) to the hanger (18) on the top of the stocker (175).
8).

(189) is engaged and held on top.

On the other hand, above the arm (26) of the parts transfer device (21) is a tightening unit (18) above the stocker (175).
5) upper and lower hangers (27) for attaching and detaching the
(2B) is provided.

The above tool stock device (171) has a swing arm (1
81) Activate the cylinder unit (183) at the tip,
When the locating pin (182) is engaged with the locating hole (177) of the base plate (17B) and the cylinder head (18B) is moved forward in the horizontal direction, the swing arm (18
1), the base plate (17B) rotates, the stocker (175) rotates 90 degrees, and indexing is performed. Then, operate the cylinder unit (193) on the machine base (172) and move the locate pin (192) to the other locate hole (
17? ), the stocker (175) moves to the machine base (1
72) to ensure that the indexed position is maintained.

Next is parts transfer equipment! (21) arm (2B) and hanger (
27) Move (28) to the tool stocking device (171) side, and align parts from the stocker (175)! ! (3
1) by the arm (2B), and the tightening unit (165) by the hanger (27). an arm (19B) that swings, and a cylinder unit (19B) that swings this arm (19B).
7).

Button lever (198) pivoted on arm (19θ)
) and a cylinder unit (199) that swings this bushing lever (19B).
! 35) is equipped. And Bushlever (1
98) allows the locking sleeve (381) to be pushed down via the operating lever (382), the grooved locating pin (281) to be inserted into the detachable sleeve (38), and the bushing lever (198) to be pushed down. When raised, the locking sleeve (381) engages the spring (383).
It rises under the force of , and is locked by the lock pole (39).

After that, the arm (28) and hanger (27), (28
) to the tightening unit and elevating device (tet) side, and attach the tightening unit (185) held by hangers (27) and (28) to the arm (1134) of the tightening unit elevating device (1θ1). Pass the uke.

In the above, the press-fit arm (1
2) , (12) and tightening unit lifting device (181)
The arm (11114) is kept in the raised position.

The arm (26) of the parts transfer device (21) is located above the parts stocker (17), and the first to sixth sliding plates (4) of the parts alignment device (31) held by the arm (26)
1)...(4B) overlap and are in a closed state, and the first and second holders (81), (82)... are also in a close state. And each holder (81), (82)...
The clamping devices (84), (114)... have one set of cam holders (P), (P) as shown in FIGS. 7 and 9.
) are held in the left and right bolt holes, respectively.

Furthermore, the arm (11B) of the bolt transfer device (111) is located on the bolt feeder (101) side.
The bolt set device (121) held in B) is located below the supply port (103)..., and the seven pairs of holder brakes (143), (145)... are in a combined state, Also, each protrusion (152) of the shielding member (151)
... is in a retreating state from the guide hole (12B). Then, by moving the arm (11B) below each supply port (103)..., each guide hole (12B) of the upper stand (125) has a hole as shown in Figs. 14 and 15. different types of poles with different lengths) (Q)..., (Q
)... are respectively inserted.

The operating procedure of the above-mentioned overall device will be explained below.

First, transport pallet (2) on which the cylinder head (W) is placed.
) is transported on the transport path (1) and positioned and fixed above the working position (5) by arms (8), (e) and locate pins (7), (7).

Next, the arm (26) of the parts transfer device (21) moves above the working position (5) and moves from the sixth sliding plate (4B) by the operation of the rodless cylinder (5B) on the parts alignment device (31). The sliding plates (41) are sequentially separated and expanded in the left-right direction at a predetermined pitch by the respective stopper bolts (51)...(55). In addition, the front and rear cylinders (22) (Elf) are operated to move the diagonal bar (62) forward, which causes the left and right swinging arms (83), (1
33) is the bottle (E19).

(B8) as a fulcrum, the arm ('83), (8
3) The second camshaft (72) between the lower parts is the first camshaft (71)
Move backward parallel to the object. Then the first holder (81)
. . , the second holder (82) .

As a result of the above, each cam holder (P)... which is held by the clamping device (84), (84)... of each holder (81), (82)...
) will be automatically unfolded and placed in the predetermined position above.

After that, the arm (2B) descends and the cylinder head (W
) are placed and set at predetermined positions on each cam holder (P) through knock bottles.

Then, the press-fitting arms (12), (12) are lowered by the operation of the vertical cylinder unit (15) inside the working position (5), and the pressing parts (13), (13) at the upper ends of the press-fitting arms (12), (13) are pressed against the parts aligning device (31). ) board (32) left and right catch seats (33),
(33), further press-fit arms (12), (1
2), the board (32) also descends, and the sliding plate (4)
1) Press down each cam holder CP) through the holder (el) and (82)-, and press the dowel pin of each cam holder (P) onto the cylinder head (W). do.

After that, the joint plate (9B) is moved by the operation of the vertical cylinder unit (95) on the parts alignment device (31).
descends and engages the long grooves (97) and (98) of this geoin play) (9G) with the pins (93) and (94).
The link plates (91) and (112) that are engaged with each other swing around their respective camshafts (71) and (72) as fulcrums. In contrast to this link play) (91) and (92), the camshafts (71) and (72) are both square parts (73).
, (74), so the link plate (91)
), (+2), both camshafts (71) with swinging.

(72) rotates, and each bushing rod (7B)... is pushed down. As a result, each clamp claw (8B)...
・ indicates each guide bin (
85)..., the grip of each cam holder (P)... is released all at once, and the arm (2B) then rises and returns above the parts stocker (17). In addition, when clamping, perform the operation opposite to the above.

Next, the arm (118) of the bolt transfer device (111) moves above the working position (5) and lowers, and the cylinder head (
11) Each cam holder (P) press-fitted onto the top...
Bolt setting device on the bolt hole! (121)
each holder play) (143), (145)... each bolt (Q), (Q), which is in a gripping state between them.
・The bottom edge of the button is pressed against the bottom edge.

Then, actuate the left and right cylinder heads (153) on the bolt set device (121) to
Simultaneously advance each protrusion (152) in 1) into the bolt head guide hole (12B). If even one bolt is set incorrectly in the bolt hole of the tightening part, or if a bolt longer than specified is set, the protrusion (152) will hit the bolt head, etc., and no further movement will be possible. As a result, a defective bolt set is detected and the bolt must be set again.

When the bolt is set correctly in this way, the cylinder unit (
141), the link (138) and lever (13) are activated.
7) and links (133), both joint plates (131) and (132) move synchronously in different left and right directions, and each of the seven pairs of holder plates (143), (1
45) ... are separated at the same time. As a result, each bolt shaft guide hole (14?) opens, and each bolt (Q),
The grip of (Q)... is released all at once, and from then on the arm (
11B) rises and returns to the bolt feeder (101) side.

After that, the arm (16t4) of the lifting device (181) of the tightening unit (185) is lowered, and each launch (188) of the tightening unit (185) causes the lift unit (Q), (Q)
Tighten... and complete the assembly work.

After completion, the conveying pallet (2) is sent to a processing machine for the next process, where the camshaft hole is machined.

Incidentally, the above-described apparatus can also be applied to the assembly of a bearing cap to a cylinder block and other fastening parts.

(Effects of the Invention) As described above, according to the present invention, it is possible to replace tools for two machines with one working machine, thereby increasing work efficiency, achieving improvement in productivity, and reducing costs. can also be achieved.

[Brief explanation of drawings]

The if diagram is a schematic plan view of the entire device, and Figures 2 and 3 are the first
4 is a front view of the working position, FIG. 5 is a sectional view taken along line C-C in FIG. 4, and FIG. 6 is a schematic plan view of the parts alignment device. Figure 7 is a front view showing the main part longitudinally, Figure 8 is a cutaway plan view of the sliding plate part, Figures 9 to 12 are lines DD and E-E in Figure 7, and arrow views. Each view in the F direction and the arrow X direction, FIG. 13 is a schematic plan view of the bolt set device, and FIGS. 14 to 18 are the views shown in FIG. - Each figure of the J line and the ni-ni line,
Figure 19 is a side view of the inside of the tightening unit, Figures 20 and 21
The figures are a side view and a plan view of the tool stock device, Fig. 22 is a view taken along line N-N in Fig. 22, Fig. 23 is a view taken along line N-N in Fig. 22, and Fig. 24 is a view taken along line M-M in Fig. 21. The line drawing, FIG. 25, is a schematic plan view of the parts on the stocker. In the drawing, (1) is the conveyance path, (5) is the working position, and (1) is the conveyance path.
1) is a press-fitting device, (12) is a press-fitting arm, (13) is a pressing part, (17) is a parts stocker, (21) is a parts transfer device, (27), (28) is an attachment/detachment device, and (31) is a Component alignment device, (32) is the board, (33) is the catch, (41)
...(4B) is a sliding plate, (51)...(55) is a stopper bolt, (5fl) is a rodless cylinder, (B
3) is the swing arm, (71) and (72) are the camshafts, (
81) and (82) are holders, and (84) is a clamp device. (91), (92) are link plates, (101) is a bolt feeder, (103) is a supply port, (111) is a bolt transfer device, (121) is a bolt set device, (12
61) is the bolt head guide hole, (131), (132)
(141) is the cylinder unit, (143), (145) are the holder plate, (14) is the joint plate, (141) is the cylinder unit, (143) and (145) are the holder plate,
7) is a bolt receiving part, (151) is a shielding member, (152) is a
) is the protrusion, (181) is the tightening unit lifting device, (1
85) is the tightening unit, (171) is the tool stock device, (172) is the machine base, (174) is the rotating shaft, (175) is the
) is the stocker, (17B) is the pace, (17?) is the locate large, (181) is the swing arm, (182) is the locate pin, (185) is the pivot pin, (18B) is the cylinder unit, (1B?) is the ) is the pivot pin, (192) is the locate pin, (185) is the clamp release device, (Ill)
is the cylinder head, (P) is the cam holder, and (Q) is the bolt. Patent applicant: Honda Motor Co., Ltd. Agent
Person Patent Attorney Part 2 1) Patent Attorney Kuni Ohashi Souma Patent Attorney
Yuki Koyama Patent Attorney No 1)
Shigeru 17th figure 1jl IJl 19th figure 21

Claims (1)

[Scope of Claims] A work tool exchange device for a plurality of work devices that are equipped with work tools that can be exchanged, comprising: a stock device that holds a plurality of work tools; The stock device is configured to be movable between the working position and another working device, and the one working device is provided with an attachment/detachment device for a working tool for the other working device. Work tool changing device.