JPWO2008087702A1 - Automatic parts assembly apparatus and method - Google Patents

Abstract

The component automatic assembling apparatus of the present invention is a multi-joint type having a holding hand (21) that can move three-dimensionally and can change its posture so as to hold and convey a parent component (H) and position it at a predetermined position. The first handling robot (20), holding and transporting the child parts (CP, SP, W) and holding hands (31, 32, 33) an articulated second handling robot (30), and an assembly unit for assembling a child part carried into a predetermined position by the second handling robot to a parent part held by the first handling robot ( 50, 60). According to this, since the parent part is handled only by the first handling robot and the child part is handled only by the second handling robot, the apparatus can be simplified and reduced in cost, and the installation area of the apparatus can be saved. Space can be made and productivity can be improved.

Description

  The present invention relates to an automatic part assembly apparatus and method for automatically assembling various child parts with respect to a parent part. The present invention relates to a component automatic assembly apparatus and method.

  Conventional parts automatic assembly devices include conveyors that transport cylinder heads (parent parts), jigs that fix cylinder heads at work positions, carry-in / out devices that transfer cylinder heads between conveyors and jigs, and child parts Multiple parts feeders to be carried in, parts placing table for placing child parts carried by multiple parts feeders, a robot for transferring parts from the parts feeder to the parts placing table, and jigs to grasp the parts on the parts placing table There is known one provided with a loading device or the like having a press-fitting ram for transferring the parts onto the cylinder head fixed to the cylinder head and press-fitting the parts into the cylinder head (for example, see Patent Document 1).

  However, in this component automatic assembly device, a conveyor, jigs, and a loading / unloading device are provided for handling the cylinder head, and a parts feeder, a parts placing table, and a robot are provided for handling the child parts. Since a dedicated loading device is provided for assembling the child component to the parent component, a large space is required to install each mechanism and device. In addition, the cylinder head is carried in and the cylinder head is moved to the working position. Dedicated mechanisms (units) or devices for multiple processes such as transfer, cylinder head positioning, child component transfer and assembly (press-fit), cylinder head transfer to conveyor, cylinder head unloading, etc. Therefore, it takes a long time to complete the assembly work, and there is a limit to improving productivity. The head when transporting by the conveyor or the like, there is a risk that scratches into the bonding surface of the other parts such as the cylinder block or head cover.

  In addition, other parts automatic assembly devices include a main line for transporting the cylinder head (parent part), a transport mechanism for transferring and transferring the cylinder head, a transport mechanism such as a loader, a press-fitting machine for performing press-fitting processing, and a cleaning. It is equipped with a cleaning machine that performs processing, a work robot for transferring parts between the transfer mechanism and the press-fitting machine, between the press-fitting machine and the cleaning machine, and between the cleaning machine and the transfer mechanism. A device for delivering parts is known (for example, see Patent Document 2).

  However, in this automatic component assembly apparatus, in order to handle the cylinder head, a large space is required for providing a conveyor, a traverser, a loader, etc. as a transport mechanism. Multiple processes such as transfer to position, cylinder head positioning, assembly work (press-fit, cleaning), transfer of cylinder head to transfer mechanism, and transfer of cylinder head, etc. Since it is performed by the device, as described above, it takes a long time to complete the assembly work, and there is a limit to improving the productivity. When the cylinder head is transported by a conveyor or the like, the cylinder block or There is a risk of scratching the joint surface with other parts such as the head cover.

Furthermore, as a processing device that automatically performs chamfering on parts, a stocker before processing that stocks unprocessed workpieces, a stocker after processing that stocks processed workpieces, an articulated robot with 6 degrees of freedom, 3 A tool station having a degree of freedom, an imaging means for imaging a workpiece, and the like are known (see, for example, Patent Document 3).
This processing apparatus takes out a workpiece from a pre-processing stocker by an articulated robot, conveys and holds the workpiece to a processing position on a tool station, images the workpiece by imaging means, and uses the tool station tool based on the imaging information. Then, the workpiece is chamfered, and after the machining is completed, the workpiece is conveyed to the stocker after machining by an articulated robot.

However, with this processing device, a chamfering process is simply performed on the workpiece itself using a dedicated tool for chamfering in order to chamfer burrs and irregular protrusions that occur on workpieces such as castings and molded products. It does not assemble other child parts to the work.
On the other hand, even if the articulated robot in this processing apparatus is applied to transport and hold the parent part in the aforementioned parts automatic assembly apparatus, the process of transferring the child parts to the parts table, the parts table It is necessary to carry out a series of steps of holding the child parts transferred to the holder and transporting them to the assembling position of the parent parts, and assembling processes of assembling the child parts at the assembling position, using a dedicated mechanism unit or device, respectively. Therefore, it takes a long time to complete the assembly work, and there is a limit to improving the productivity.

JP-A-6-55369 JP-A-8-1973340 JP 2006-113822 A

  The present invention has been made in view of the circumstances of the above-described prior art, and its purpose is to simplify the structure, save installation space, simplify the steps required for assembly work, and assembly work. It is possible to efficiently and accurately assemble the child parts with respect to the parent part while shortening the time required to reduce the equipment cost, etc., and the parent part and child parts are damaged when transported. And an automatic parts assembling apparatus and method capable of handling various parent parts and child parts without reassembling the apparatus and performing assembling work and improving productivity as a whole. Is to provide.

The automatic component assembly apparatus according to the present invention that achieves the above object is an articulated type having a holding hand that can move three-dimensionally and can change its posture in order to hold and convey a parent part and position it at a predetermined position. A first handling robot, a multi-joint type second handling robot having a holding hand that can move in a three-dimensional manner and can change its posture so as to hold and carry a child part and position it at a predetermined position; and a second handling An assembling unit for assembling the child parts carried into the predetermined position by the robot to the parent parts held by the first handling robot is included.
According to this configuration, the multi-joint type first handling robot moves the three-dimensionally while holding the parent part, changes the posture and positions it at a predetermined position, and thus the multi-joint type second handling robot. Thus, the child part can be carried into a predetermined position, and the child part can be assembled to the parent part by the assembly unit.
As described above, since the parent part is handled only by the first handling robot and the child part is handled only by the second handling robot, the dedicated parts for carrying out various operations such as carry-in, carry-out, transfer, positioning and holding are performed. Compared to the case where a mechanism (unit) or device is provided, the device can be simplified and reduced in cost, the installation area of the device can be saved, and the operation required for the assembly work can be simplified. The time required for the assembly work can be shortened and productivity can be improved. Furthermore, since a conventional conveyor or the like is not used to carry the parent part and the child part, the layout of the production system including this apparatus can be freely set.

In the apparatus having the above configuration, the assembly unit may employ a configuration that is arranged between the first handling robot and the second handling robot.
According to this configuration, since the first handling robot and the second handling robot perform the handling operation centering on the assembly unit, the conveyance distance between the parent part and the child part can be shortened, and the conveyance operation is speeded up. In addition, the time required for conveyance can be shortened.

In the apparatus having the above-described configuration, it is possible to adopt a configuration in which a sub-component supply unit that supplies a sub-component to a predetermined take-out position is disposed in an area adjacent to the second handling robot.
According to this configuration, the second handling robot takes out the child component supplied to the predetermined removal position by the child component supply unit disposed at the adjacent position, and conveys (loads) the child component to the predetermined position of the assembly unit. Therefore, a series of flows of supplying the child parts and transporting (carrying in) the child parts to a predetermined position can be performed smoothly and efficiently.

In the apparatus having the above-described configuration, it is possible to employ a configuration that includes an imaging unit that images the child component supplied to the take-out position of the child component supply unit.
According to this configuration, when the second handling robot takes out the child part from the take-out position of the child part supply unit, the second handling robot takes a picture of the state of the child part with the photographing means, and based on this photographing information. Therefore, it is possible to reliably take out a desired correct child part without taking out a wrong child part.

In the apparatus configured as described above, a configuration in which the holding hand of the second handling robot has a plurality of holding hands for holding a plurality of child parts can be employed.
According to this configuration, since a plurality of child parts (for example, of the same type) can be held by a plurality of holding hands, a wasteful reciprocating operation is eliminated, and a predetermined position with respect to the assembly unit or the parent part is achieved. A plurality of child parts can be conveyed (carried in) at the same time, and a more efficient conveying operation can be performed.

In the apparatus configured as described above, in a region adjacent to the second handling robot, a plurality of child component supply units that supply the child components to a predetermined take-out position are arranged corresponding to the plurality of holding hands of the second handling robot. The configuration can be adopted.
According to this configuration, different types of child components can be supplied by the plurality of child component supply units, and different types of child components can be simultaneously held by the plurality of holding hands. By eliminating the operation, a plurality of child parts can be simultaneously conveyed (loaded) to a predetermined position with respect to the assembly unit or the parent part, and a more efficient conveying operation can be performed.

In the apparatus having the above-described configuration, within the movement range of the first handling robot, an upstream stage on which the parent part before assembling the child part is placed, and a downstream where the parent part after assembling the child part is placed. A configuration including a side mounting table can be adopted.
According to this configuration, when the parent part before assembly is carried into the upstream mounting table (for example, by another robot), the first long robot holds the parent part and performs the assembly operation. When the predetermined assembly operation is completed, the master part after the assembly can be transported to the downstream mounting table and transferred.
Thereby, the assembly | attachment operation | work of the child component with respect to several parent components can be performed continuously, and this apparatus can be easily integrated in a part of production system which performs a series of operation | work.

In the apparatus configured as described above, the upstream mounting table and the downstream mounting table are arranged in a direction substantially orthogonal to the arrangement direction of the first handling robot, the assembly unit, and the second handling robot. Can do.
According to this configuration, when the first handling robot holds the parent part and performs the handling operation, the transport operation from the upstream process to the predetermined position where the assembly work is performed and the transport operation from the predetermined position to the downstream process are efficiently performed. It can be carried out well, and the centralization of the apparatus and the space saving can be achieved.

In the apparatus having the above-described configuration, the assembly unit can employ a configuration including a press-fitting unit that press-fits the child part to the parent part and a fastening unit that fastens the child part to the parent part.
According to this structure, the child parts such as the cap plug can be press-fitted into the parent part (the press-fitting hole) by the press-fitting unit, and the child parts such as the screw plug can be pressed into the parent part (the screw hole) by the fastening unit. Can be fastened.

In the apparatus having the above-described configuration, the press-fitting unit may include a contact portion that receives a press-fitting load by bringing a holding hand of the first handling robot or a part of the held parent part into contact.
According to this configuration, when the child part is press-fitted into the parent part by the press-fitting unit while the parent part is held by the first handling robot, the holding hand or a part of the parent part is brought into contact with the contact portion. By receiving the press-fitting load from the opposite side, the displacement of the parent part can be prevented, and the child part can be reliably press-fitted.

In the apparatus having the above-described configuration, the press-fitting unit may employ a configuration including a seal application unit that applies a sealant to a press-fitting location of a parent part prior to press-fitting.
According to this configuration, before the child part is press-fitted, the sealant is applied to the parent part (the press-fitting hole) by the seal application unit, and then the child part is press-fitted into the parent part by the press-fitting unit. Can be firmly press-fitted and fixed to the parent part.

In addition, the automatic component assembly method of the present invention that achieves the above object is to hold the parent component in three dimensions by the multi-joint type first handling robot and to change the posture and position it at a predetermined position. In a state where the multi-joint type second handling robot holds and transfers the child parts in a three-dimensional manner, changes the posture and positions it at a predetermined position, and holds and positions the parent parts by the first handling robot, The assembly unit is configured to assemble the child part to the parent part.
According to this configuration, since the parent part is handled only by the first handling robot and the child part is handled only by the second handling robot, various operations such as carry-in, carry-out, transfer, positioning, and holding are performed. Compared with the case where a dedicated mechanism (unit) or device is provided, the device can be simplified and reduced in cost, the installation area of the device can be saved, and the operation required for assembly work can be simplified. Therefore, the time required for the assembling work can be shortened and the productivity can be improved. Furthermore, since a conventional conveyor or the like is not used to carry the parent part and the child part, the layout of the production system including this apparatus can be freely set.

In the method of the above configuration, the assembly unit performs a plurality of assembly operations, and the first handling robot changes and holds and positions the parent part in a predetermined position according to the plurality of assembly operations. A configuration can be employed.
According to this configuration, by appropriately driving and controlling the first handling robot (the position and orientation of the holding hand), the parent part can be positioned in a predetermined position and orientation corresponding to a plurality of assembly operations. it can. As described above, since a plurality of mechanisms (units) or devices are not used in response to a plurality of assembling operations, the parent part can be freely manipulated by only one first handling robot, thus simplifying the device. Thus, it is possible to achieve downsizing, cost reduction, speeding up of assembly work, improvement of productivity, and the like.

In the method of the above configuration, it is possible to employ a configuration in which the child component is assembled to the parent component by the assembly unit while the child component is held movably by the second handling robot.
According to this configuration, the second handling robot does not carry the child part to a predetermined position and delivers it to the assembly unit, but performs the assembly operation by the assembly unit in a state of being held movably. The operation can be simplified by omitting, and the child parts can be reliably prevented from falling off.

In the method of the above configuration, the plurality of assembling operations can employ a configuration including a press-fitting operation for press-fitting a child part into the parent part and a fastening operation for fastening the part to the parent part.
According to this configuration, a child part such as a cap plug can be press-fitted into the parent part (its press-fitting hole) by press-fitting work, and a child part such as a screw plug can be inserted into the parent part (screw hole) by fastening operation. Can be fastened.

  According to the component automatic assembling apparatus and method having the above configuration, the structure is simplified, the installation area is reduced, the process required for the assembling work is simplified, the time required for assembling work is shortened, and the equipment cost is reduced. While achieving reduction, etc., it is possible to efficiently and accurately assemble the child parts to the parent parts, to prevent the parent parts and child parts from being damaged during transportation, and to change the equipment. It is possible to handle various parent parts and child parts without carrying out the assembly work, and to improve productivity as a whole.

1 is a perspective view showing an embodiment of an automatic component assembly apparatus according to the present invention. It is a top view of the components automatic assembly | attachment apparatus shown in FIG. It is a front view of the component automatic assembly apparatus shown in FIG. It is a disassembled perspective view which shows the cylinder head as a parent part, and the cap plug, screw plug, and washer as a child part. It is a front view of the 1st handling robot which makes a part of component automatic assembly | attachment apparatus shown in FIG. It is the elements on larger scale which show a part of 1st handling robot. It is the elements on larger scale which show a part of 1st handling robot. It is the elements on larger scale which show a part of 1st handling robot. It is a front view of the 2nd handling robot which makes a part of component automatic assembly | attachment apparatus shown in FIG. It is the elements on larger scale which show a part of 2nd handling robot. It is the elements on larger scale which show the holding hand of the 2nd handling robot. It is the elements on larger scale which show the holding hand of the 2nd handling robot. It is the elements on larger scale which show the holding hand of the 2nd handling robot. It is a front view which shows the subcomponent supply unit which makes a part of automatic component assembly | attachment apparatus shown in FIG. It is a top view which shows the subcomponent supply unit which makes a part of component automatic assembly | attachment apparatus shown in FIG. It is a left view which shows the assembly | attachment unit (press-fit unit) which makes a part of component automatic assembly | attachment apparatus shown in FIG. It is a top view which shows the assembly | attachment unit (press-fit unit) which makes a part of component automatic assembly | attachment apparatus shown in FIG. It is a front view which shows the assembly | attachment unit (fastening unit) which makes a part of component automatic assembly | attachment apparatus shown in FIG. It is a right view which shows the assembly | attachment unit (fastening unit) which makes a part of component automatic assembly | attachment apparatus shown in FIG.

Explanation of symbols

H Cylinder head (parent part)
CP cap plug (child parts)
SP Screw plug (child parts)
W washer (child parts)
10 base 20 first handling robot 21 holding hand 21a, 21b holding piece 21c guide 21d drive actuator 30 second handling robot 31, 32, 33 holding hand 31a, 31b, 32a, 32b, 33a, 33b holding piece 31c, 32c, 33c Heads 31d, 32d, 33d Drive actuators 40, 40 ′, 40 ″ Child component supply units 41, 41 ′, 41 ″ Auxiliary hoppers 42, 42 ′, 42 ″ Ball feeders 42a, 42a ′, 42a ″ Guide passages P, P ', P "Extraction position 50 Press-fit unit (assembly unit)
51 Jig frame 51a, 51b Extension part 51b 'Contact part 52 Press-fit rod 52a Reduced diameter part 53 Drive actuator 54 Seal application unit 54a Nozzle 60 Fastening unit (assembly unit)
61 Frame 62 Screw tightening rod 62a Fitting portion 63 Drive actuator 64 Contact plate 65 Anti-rotation rod 70 Upstream mounting table 80 Downstream mounting table 91, 92, 93, 94, 95 Camera (photographing means)
100 Control panel 110 Case

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described with reference to the accompanying drawings.
As shown in FIGS. 1 to 3, this apparatus supplies a base 10, an articulated first handling robot 20 that handles a parent part, an articulated second handling robot 30 that handles a child part, and a child part. Three child component supply units 40, 40 ′, 40 ″, a press-fitting unit 50 as an assembly unit for press-fitting the child component into the parent component, a fastening unit 60 as an assembly unit for fastening the child component to the parent component, and a base 10, the upstream side mounting table 70 and the downstream side mounting table 80 disposed adjacent to each other, a plurality of cameras 91 to 95 as photographing means, a control panel 100 that performs various controls, and a case that covers the whole except for the control panel 100. 110 and the like.

In this apparatus, as shown in FIG. 4, a cylinder head H of an internal combustion engine is applied as a parent part, and a cap plug CP that is press-fitted into a press-fitting hole H1 of the cylinder head H as a child part, and a screw hole of the cylinder head H. Apply washer W and screw plug SP fastened to H2. The number of child parts (cap plug CP, screw plug SP, and washer W) is not limited to that shown in FIG.
In this apparatus, a plurality of different cylinder heads H can be applied as parent parts, and a plurality of different cap plugs CP, washers W and screw plugs SP can be applied as child parts. It has become.

As shown in FIG. 1, the base 10 is formed in a substantially rectangular flat plate shape, and this apparatus is configured as one assembly cell, and the first handling robot 20 is formed on the upper surface thereof in the X direction. The assembly unit (fastening unit 60, press-fitting unit 50), the second handling robot 30, and the three child component supply units 40, 40 ′, 40 ″ are firmly supported in a sequentially arranged state.
A case 110 attached to the base 10 covers a space for performing assembling work and handling operation, as well as an opening for carrying in and out a parent part (cylinder head H), and a child part (cap plug CP, washer W and screw plug). SP) is provided with an opening for carrying in.

As shown in FIGS. 1 to 3 and 5 to 7B, the first handling robot 20 is an articulated handling robot that is provided on the base 10 and can be bent and rotated in six axis directions. , A holding hand 21 provided at the free end 20a, six drive actuators (not shown) for driving the free end 20a (holding hand 21) in the six axial directions, and the like.
Then, the first handling robot 20 moves the holding hand 21 (that is, the cylinder head H) in a three-dimensional manner (X direction, Y direction, Z direction) with the locus of the two-point difference line L1 shown in FIGS. And the posture can be changed.

6 to 7B, the holding hand 21 is capable of reciprocating in a direction in which the pair of gripping pieces 21a and 21b and the gripping piece 21b that sandwich the cylinder head H (parent part) are brought into and out of contact with the cylinder head H. And a guide 21c for engaging the concave and convex portions, a drive actuator 21d for reciprocating the gripping piece 21b so as to approach and separate from the gripping piece 21a, and the like.
The drive actuator 21d drives the gripping piece 21b to be close to the gripping piece 21a, so that the gripping piece 21b cooperates with the gripping piece 21a to firmly grip (hold) the cylinder head H, while driving. The actuator 21d is driven so as to separate the gripping piece 21b from the gripping piece 21a, whereby the gripping piece 21b is detached from the cylinder head H and releases the cylinder head H.

As shown in FIGS. 1 to 3 and 8 to 10C, the second handling robot 30 is an articulated handling robot that is provided on the base 10 and can be bent and rotated in six axial directions. , Three holding hands 31, 32, 33 provided at the free end 30a, and six drive actuators (not shown) for driving the free end 30a (holding hands 31, 32, 33) in six axial directions ) Etc.
The second handling robot 30 moves the holding hands 31, 32, 33 three-dimensionally (X direction, Y direction, Z direction) with the locus of the two-dot difference line L 2 shown in FIGS. 2 and 8 as the maximum movement range. The posture can be changed while being moved.

As shown in FIG. 10A, the holding hand 31 includes a pair of gripping pieces 31a and 31b that sandwich a cap plug CP (child component), and a head that supports the pair of gripping pieces 31a and 31b so as to reciprocate so as to approach and separate from each other. 31c, and a drive actuator 31d that reciprocally drives the pair of gripping pieces 31a and 31b so as to approach and separate from each other.
The drive actuator 31d is driven so as to bring the pair of gripping pieces 31a and 31b close to each other, thereby gripping (holding) the cap plug CP, while the drive actuator 31d separates the pair of gripping pieces 31a and 31b. By driving the cap plug CP, the cap plug CP is released.

As shown in FIG. 10B, the holding hand 32 includes a pair of gripping pieces 32a and 32b that sandwich the screw plug SP (child component), and a head 32c that reciprocally supports the pair of gripping pieces 32a and 32b so as to approach and separate from each other. A drive actuator 32d that reciprocally drives the pair of gripping pieces 32a and 32b so as to approach and separate from each other is provided.
The drive actuator 32d is driven so as to bring the pair of grip pieces 32a and 32b close to each other, thereby gripping (holding) the screw plug SP, while the drive actuator 32d separates the pair of grip pieces 32a and 32b. By driving, the screw plug SP is released.

As shown in FIG. 10C, the holding hand 33 includes a pair of gripping pieces 33a and 33b that sandwich a washer W (child component), and a head 33c that reciprocally supports the pair of gripping pieces 33a and 33b so as to approach and separate from each other. And a drive actuator 33d that reciprocally drives the pair of gripping pieces 33a and 33b so as to approach and separate from each other.
The drive actuator 33d is driven so as to bring the pair of gripping pieces 33a and 33b close to each other so as to grip (hold) the washer W, while the drive actuator 33d separates the pair of gripping pieces 33a and 33b. By driving, the washer W is released.

The sub-component supply unit 40 supplies the cap plug CP, and includes an auxiliary hopper 41, a ball feeder 42, and the like as shown in FIGS.
As shown in FIGS. 11 and 12, the auxiliary hopper 41 has a belt conveyor 41a, and the cap plug CP supplied from the outside onto the belt conveyor 41a is dropped to a substantially central region of the ball feeder 42. Yes.
As shown in FIGS. 11 and 12, the ball feeder 42 caps the guide passage 42a, which is formed so as to gradually increase in a spiral shape from the lowest bottom surface located at the center, and vibrates the entire guide passage 42a. A vibration exciter 42b for sequentially feeding the plug CP is provided.
In the vicinity of the terminal end of the guide passage 42a, an extraction position P is set for gripping and taking out the cap plug CP to which the second handling robot 30 (holding hand 31) has been fed forward.
That is, the sub-component supply unit 40 continuously supplies the cap plug CP into the ball feeder 42 by the auxiliary hopper 41, aligns the cap plug CP by the ball feeder 42 and sequentially feeds it, and reaches the end of the guide passage 42a. The cap plug CP is again returned to the bottom surface of the guide passage 42a.

The sub-component supply unit 40 ′ supplies the screw plug SP and includes an auxiliary hopper 41 ′, a ball feeder 42 ′, and the like as shown in FIGS.
As shown in FIGS. 11 and 12, the auxiliary hopper 41 ′ has a belt conveyor 41 a ′ so that the screw plug SP supplied from the outside onto the belt conveyor 41 a ′ is dropped onto a substantially central region of the ball feeder 42 ′. It has become.
As shown in FIGS. 11 and 12, the ball feeder 42 ′ vibrates the guide passage 42 a ′ and the entire guide passage 42 a ′ formed so as to gradually increase in a spiral shape from the lowest bottom surface located at the center. A vibration portion 42b 'that moves the screw plug SP forward is provided.
In the vicinity of the terminal end of the guide passage 42a ', a take-out position P' for gripping and taking out the screw plug SP to which the second handling robot 30 (holding hand 32) is sequentially fed is set.
That is, the child component supply unit 40 ′ continuously supplies the screw plug SP into the ball feeder 42 ′ by the auxiliary hopper 41 ′, aligns the screw plug SP by the ball feeder 42 ′, and sequentially feeds it, thereby terminating the end of the guide passage 42a ′. The screw plug SP that has reached is again returned to the bottom surface of the guide passage 42a '.

The sub-component supply unit 40 ″ supplies the washer W, and includes an auxiliary hopper 41 ″, a ball feeder 42 ″ and the like as shown in FIGS.
As shown in FIGS. 11 and 12, the auxiliary hopper 41 ″ has a belt conveyor 41 a ″, and the washer W supplied from the outside onto the belt conveyor 41 a ″ is a substantially central region of the ball feeder 42 ″. It is supposed to be dropped.
As shown in FIGS. 11 and 12, the ball feeder 42 ″ includes a guide passage 42 a ″ formed so as to gradually increase in a spiral shape from the lowest bottom surface located at the center, and the entire guide passage 42 a ″. And a vibration generating portion 42b ″ for sequentially feeding the washer W.
In the vicinity of the terminal end of the guide passage 42 a ″, a take-out position P ″ that holds and takes out the washer W that is sequentially fed by the second handling robot 30 (holding hand 33) is set.
That is, the sub-component supply unit 40 ″ continuously supplies the washer W into the ball feeder 42 ″ by the auxiliary hopper 41 ″, aligns the washer W by the ball feeder 42 ″, and sequentially feeds the guide passage. The washer W that has reached the end of 42 a ″ is returned to the bottom surface of the guide passage 42 a ″ again.

In this way, the sub-component supply units 40, 40 ′, 40 ″ are configured by the auxiliary hoppers 41, 41 ′, 41 ″ and the ball feeders 42, 42 ′, 42 ″, By abolishing the escapement, it is possible to achieve centralization and space saving of the installation area.
Further, since the child component supplies 40, 40 ′, 40 ″ are arranged adjacent to each other in the Y direction and are arranged adjacent to the second handling robot 30 in the X direction, the second handling robot is provided. 30 takes out the child components (cap plug CP, screw plug SP, washer W) supplied to the take-out positions P, P ′, P ″ of the child component supply units 40, 40 ′, 40 ″ by a short moving operation. Thus, it can be conveyed (carried in) to a predetermined position of the press-fitting unit 50 or the fastening unit 60, which will be described later, and a series of flows of supplying the child component and conveying the child component to the predetermined position (carrying in) are smoothly and efficiently performed. It can be carried out.

As shown in FIGS. 1 to 3, the press-fitting unit 50 (assembly unit) is provided on the base 10, and is disposed between the first handling robot 20 and the second handling robot 30 in the X direction. ing. As shown in FIGS. 13 and 14, the press-fit unit 50 includes a substantially U-shaped jig frame 51 fixed on the base 10, a press-fit rod 52 held on one end side of the jig frame 51, and a press-fit rod 52. A drive actuator 53 that reciprocates in a direction (press-fit direction) is provided.
As shown in FIG. 13, the jig frame 51 is formed in a substantially U shape in a side view so as to delimit two extending portions 51a and 51b extending upward, and press-fitted in one extending portion 51a. The rod 52 is supported reciprocally and the drive actuator 53 is fixed, and the other extending portion 51a is integrally provided with an abutting portion 51b 'that abuts a part of the cylinder head H toward the front in the Y direction. ing.
The press-fit rod 52 has a reduced diameter portion 52a at its tip, and the concave portion of the cap plug CP is fitted into the reduced diameter portion 52a.
The abutting portion 51b ′ abuts a part of the cylinder head H and receives a press-fitting load by the press-fitting rod 52, thereby restricting the displacement of the cylinder head H caused by the press-fitting load. It has become. Thereby, the cap plug CP can be reliably press-fitted into the predetermined press-fitting hole H1.

Further, as shown in FIGS. 13 and 14, a seal application unit 54 is provided on the jig frame 51 of the press-fitting unit 50. The seal application unit 54 includes a nozzle 54 a that discharges a sealant, and discharges the sealant by the nozzle 54 a and applies it to the press-fitting hole H <b> 1 of the cylinder head H prior to the press-fitting operation by the press-fitting rod 52.
As described above, by providing the seal application unit 54, after the sealing agent is applied to the press-fitting hole H 1 of the cylinder head H, the cap plug CP is press-fitted by the press-fitting rod 52, so that the cap plug CP is inserted into the cylinder head H. On the other hand, it can be firmly press-fitted and fixed.

The fastening unit 60 (assembly unit) is provided on the base 10 as shown in FIGS. 1 to 3 and is press-fitted between the first handling robot 20 and the second handling robot 30 in the X direction. It is arranged adjacent to the unit 50. As shown in FIGS. 15 and 16, the fastening unit 60 rotates the frame 61 fixed on the base 10, the screw tightening rod 62 held in the upper region of the frame 61, the screw tightening rod 62, and the Y direction. The drive actuator 63 that reciprocates in the direction, the contact plate 64 that contacts a part of the cylinder head H, and the contact plate 64 are movable in the Y direction (axial direction of the screw tightening rod 63) and around the axis of the screw tightening rod 63 A rotation stop rod 65 for restricting rotation is provided.
The screw tightening rod 62 has a fitting portion 62a that is non-rotatably fitted to the concave portion of the screw plug SP at the tip, and the concave portion of the screw plug SP is fitted into the fitting portion 62a.
The contact plate 64 is in contact with a part of the cylinder head H, and restricts the rotation of the cylinder head H together with the screw tightening rod 62 during the screw tightening. Thereby, the screw plug SP can be securely fastened to the predetermined screw hole H2. The screw plug SP is fastened to the screw hole H2 in a state where the washer W is assembled in advance.

Here, the press-fitting unit 50 and the fastening unit 60 are disposed between the first handling robot 20 and the second handling robot 30 in the X direction.
Therefore, since the handling operation of the first handling robot 20 and the second handling robot 30 is performed around the assembly unit (the press-fitting unit 50 and the fastening unit 60), the parent part (cylinder head H) and the child part (cap) The transport distance of the plug CP, the screw plug SP, and the washer W) can be shortened, the transport operation can be speeded up, and the time required for transport can be shortened.

As shown in FIGS. 3 and 8, the cameras 91, 92, 93 (photographing means) are located above the respective take-out positions P, P ′, P ′ of the three child component supply units 40, 40 ′, 40 ″. It is provided in the area. The cameras 91, 92, and 93 photograph the cap plug CP, screw plug SP, and washer W on the take-out positions P, P ′, and P ″, respectively, and store the image information on the control unit in the control panel 100. It is used as control information for driving and controlling the second handling robot 30.
Here, the cameras 91, 9, 93 confirm whether or not there is a posture of the child component (whether it is upside down), a size difference, an error of the child component, etc., and sends the recognition information to the control panel 100. , It plays a role in preventing erroneous assembly.
That is, when the second handling robot 30 takes out the child parts (cap plug CP, screw plug SP, washer W) from the take-out positions P, P ′, P ″ of the child parts supply units 40, 40 ′, 40 ″. The cameras 91, 92, and 93 can be used to photograph the state of the child parts, and drive control of the second handling robot 30 can be performed based on the photographing information, and the desired correct child parts can be obtained without taking out the wrong child parts. Can be reliably removed.
The wrong child parts may be taken out by the second handling robot 30 at the take-out positions P, P ′, P ″ and discharged to another exclusion space, or a supervisor is incorporated in the control panel 100. Alternatively, it may be removed manually based on a notification signal for notifying a mistake.

The camera 94 (photographing means) is provided in the upper region of the press-fit unit 50 as shown in FIGS. The camera 94 takes an image of the cap plug CP fitted into the reduced diameter portion 52a of the press-fitting rod 52, sends the image information to the control unit in the control panel 100, and drives the second handling robot 30 and the press-fit unit 50. It is used as control information for control.
In other words, when the cap plug CP is press-fitted by the press-fitting unit 50, it is possible to reliably press-fit into the predetermined press-fitting hole H1 by feeding back the photographing information while photographing the state of the cap plug CP.

The camera 95 (photographing means) is provided in the upper region of the fastening unit 60 as shown in FIGS. Then, the camera 95 and the screw plug SP fitted into the fitting portion 62a of the screw fastening rod 62 are photographed, and the image information is sent to the control unit in the control panel 100, and the second handling robot 30 and the fastening unit 60 are driven and controlled. It is used as control information when doing so.
That is, when the screw plug SP is fastened by the fastening unit 60, the photographing information is fed back while photographing the state of the screw plug SP and the washer W, so that the screw plug SP can be reliably fastened to the predetermined screw hole H2.

As shown in FIGS. 1 and 2, the upstream mounting table 70 is disposed on the front left side of the base 10 within the moving range of the first handling robot 20, and incorporates the child parts carried in from the upstream process. The front cylinder head H is placed.
As shown in FIGS. 1 and 2, the downstream mounting table 80 is disposed on the rear left side of the base 10 within the movement range of the first handling robot 20, and the cylinder head H into which the child parts are incorporated by this device. Is placed to be carried out to the downstream process.
Then, when the cylinder head H before assembly is carried into the upstream stage 70 (for example, by another robot), the first handling robot 20 grasps (holds) the cylinder head H and installs it. When the predetermined assembly work is completed in a state where the work is transported to a predetermined position where the work is held and held, the cylinder head H after the assembly is transported to the downstream mounting table 80 and transferred. As a result, the assembly work of the child parts (cap plug CP, screw plug SP, washer W) to the plurality of cylinder heads H can be continuously performed, and this apparatus can be easily used as a part of a production system for performing a series of operations. Can be incorporated into.

Here, as shown in FIGS. 1 and 2, the upstream mounting table 70 and the downstream mounting table 80 are arranged so as to be arranged on a substantially straight line in the Y direction with the first handling robot 20 interposed therebetween. That is, the upstream mounting table 70 and the downstream mounting table 80 are substantially orthogonal to the arrangement direction (X direction) of the first handling robot 20, the assembly unit (fastening unit 60, press-fit unit 50), and the second handling robot 30. Are arranged in the Y direction.
According to this arrangement, when the first handling robot 20 performs the handling operation while holding the cylinder head H, the transport operation from the upstream process to the predetermined position where the assembling work is performed and the transport operation from the predetermined position to the downstream process are performed. In addition, when such devices are connected continuously as an assembly cell, space saving of the installation area can be achieved.

The control panel 100 is provided on the base 10 outside the case 110, and includes a control unit that controls various devices by processing various information, a monitor for confirming the assembly operation, and other control devices. Yes.
That is, the control panel 100 drives and controls the first handling robot 20, the second handling robot 30, the sub component supply units 40, 40 ′, 40 ″, the press-fit unit 50, and the fastening unit 60 at a predetermined timing. As a whole, the assembly work is smooth and efficient.

According to the above-described apparatus, the multi-joint type first handling robot 20 conveys three-dimensionally while holding the parent part (cylinder head H), changes its posture, and positions it at a predetermined position. The child parts (cap plug CP, screw plug SP, washer W) are carried into a predetermined position by the second handling robot 30 of the mold, and the child parts are assembled to the parent part by the assembly unit (press-fit unit 50, fastening unit 60). be able to.
That is, since the parent part is handled only by the first handling robot 20 and the child part is handled only by the second handling robot 30, the dedicated parts for carrying out various operations such as loading, unloading, transfer, positioning and holding are performed. Compared to the case where a mechanism (unit) or device is provided, the device can be simplified and reduced in cost, the installation area of the device can be saved, and the operation required for the assembly work can be simplified. The time required for the assembly work can be shortened and productivity can be improved. Furthermore, since a conventional conveyor or the like is not used to carry the parent part and the child part, the layout of the production system including this apparatus can be freely set.

Next, the assembly operation of this apparatus will be briefly described.
First, the cylinder head H before assembling the child parts conveyed by the robot (not shown) from the upstream process is placed on the upstream stage 70.
The second handling robot 30 removes the child parts (cap plug CP, screw plug SP, washer W) necessary for assembly from the take-out positions P, P ′, P ″ of the child part supply units 40, 40 ′, 40 ″. The threaded portion or the non-threaded portion of the screw plug SP that is taken out and gripped and is fitted and held in a predetermined position (the reduced diameter portion 52a, the fitting portion 62a, and the fitting portion 62a) of the assembly unit (press-fit unit 50 or fastening unit 60). ) And deliver it.
The handling operation by the second handling robot 30 is performed before the start of the handling operation in which the first handling robot 20 conveys and positions the cylinder head H to a predetermined position of the assembly unit, or during the handling operation (conveyance operation). Done.

Then, the first handling robot 20 grips the cylinder head H on the upstream mounting table 70, conveys it to a predetermined position of the assembly unit (press-fit unit 50 or fastening unit 60), and positions it.
Here, when applying the sealant, the first handling robot 20 carries the cylinder head H to a predetermined position corresponding to the seal application unit 54 and the seal application unit 54 performs the application of the sealant.

  When performing the fastening operation, the first handling robot 20 moves the cylinder head H three-dimensionally and changes the posture, and carries the cylinder head H into a predetermined position corresponding to the fastening unit 60 and holds it. Perform positioning in the Subsequently, the fastening unit 60 (screw fastening rod 62) fastens the screw plug SP in which the washer W is previously assembled into the predetermined screw hole H.

  Further, when performing the press-fitting work, the first handling robot 20 moves the cylinder head H three-dimensionally and changes the posture to carry the cylinder head H into a predetermined position corresponding to the press-fitting unit 50 and hold it. Perform positioning in the Here, the positioning is performed by bringing a part of the cylinder head H into contact with the contact portion 52b ′ of the jig frame 51. Subsequently, the press-fit unit 50 (press-fit rod 52) press-fits the cap plug CP into a predetermined press-fit hole H1.

In the above press-fitting operation and fastening operation, the second handling robot 30 is assembled in a state where all the child parts (cap plug CP, screw plug SP, washer W) have been delivered to the assembly unit (press-fit unit 50 and fastening unit 60) side. Although the case where the work is performed has been described, the present invention is not limited to this, and the assembly unit (the press-fit unit 50, the fastening unit 60) in a state where the second handling robot 30 holds the child parts (cap plug CP, screw plug SP) movably. Thus, the child component (cap plug CP, screw plug SP incorporating the washer W) may be assembled to the cylinder head H.
According to this, the delivery operation can be omitted to simplify the operation, and the child parts can be reliably prevented from falling off.

When it is necessary to perform a plurality of fastening operations and press-fitting operations for one cylinder head H, the first handling robot 20 changes the posture of the cylinder head H as appropriate so that a series of fastening operations and press-fitting operations can be performed smoothly. Drive controlled as is done.
When the assembly of all the child parts to the cylinder head H is completed, the first handling robot 20 conveys the cylinder head H that has been assembled to the downstream mounting table 80 and transfers it onto it.
Thereafter, the cylinder head H on the downstream mounting table 80 is carried out to a downstream process by a robot (not shown).

Thereafter, as described above, the first handling robot 20 again grips the cylinder head H placed on the upstream placement table 70, conveys the cylinder head H to a predetermined position of the assembly unit, and positions the second handling robot 30. Takes out and holds the child parts (cap plug CP, screw plug SP, washer W) necessary for assembly from the take-out positions P, P ′, P ″ of the child parts supply units 40, 40 ′, 40 ″, It is delivered to a predetermined position of the assembly unit (press-fit unit 50 or fastening unit 60) and delivered. In this way, the assembly operation of the cylinder head H can be performed automatically and continuously.
In addition, even if the model of the cylinder head H is changed and the type of the child component is also changed correspondingly, different types of cylinder heads H can be assembled with the same device (equipment).

In the above embodiment, three child component supply units 40, 40 ', 40''are shown as child component supply units. However, one, two, or four or more child component supply units may be arranged. Good.
In the above-described embodiment, the press-fitting unit 50 that performs press-fitting work and the fastening unit 60 that performs fastening work are shown as the assembly unit. However, the present invention is not limited to this, and one of the press-fitting unit 50 or the fastening unit 60 is used. A plurality of units may be arranged, and a unit for performing other assembly work (insertion other than press-fitting, dropping, etc.) may be employed.
In the said embodiment, although the horizontal direction (Y direction) was shown as the press-fit direction and fastening direction of the press-fit unit 50 and the fastening unit 60, it is not limited to this, An inclination direction or an up-down direction may be sufficient. .
In the above embodiment, the case where the second handling robot 30 has the three holding hands 31, 32, 33 has been described. However, the present invention is not limited to this, and one, two, or four or more holding hands are used. In addition, although a mechanism for gripping with a pair of gripping pieces as a holding hand has been shown, a holding method by suction or magnetic attachment other than gripping may be employed.
In the above-described embodiment, when performing the press-fitting work, the case where the part of the cylinder head H is positioned by being brought into contact with the contact part 51b ′ has been described. However, the present invention is not limited to this. A part of the holding hand 21 of the robot 20 may be brought into contact with the contact portion 51b ′.
In the above-described embodiment, various drive systems such as a motor, an air cylinder, a hydraulic cylinder, an air-hydro system, a ball screw system, and a chain drive system can be adopted as a drive actuator that generates a driving force.

As described above, the parts automatic assembling apparatus and method of the present invention can simplify the structure, save the installation area, simplify the process required for assembling work, shorten the time required for assembling work, While achieving reductions in equipment costs, etc., it is possible to efficiently and accurately assemble the child parts to the parent parts, and to prevent the parent parts and child parts from being damaged during transportation, Since various assembly parts can be handled and assembled without changing the equipment, it can be applied to engine production systems as well as ordinary mechanical parts, electrical equipment or electronic parts. It is also useful in production systems such as

Claims (15)

A multi-joint type first handling robot having a holding hand that is capable of holding and transporting a parent part and positioning it at a predetermined position in a three-dimensional manner;
A multi-joint type second handling robot having a holding hand that can move in a three-dimensional manner and can change its posture in order to hold and convey a child part and position it at a predetermined position;
An assembly unit for assembling a child part carried into a predetermined position by the second handling robot with respect to a parent part held by the first handling robot;
Including automatic parts assembly equipment. The assembly unit is disposed between the first handling robot and the second handling robot.
The component automatic assembly apparatus according to claim 1, wherein the component automatic assembly apparatus is provided. In a region adjacent to the second handling robot, a child component supply unit that supplies the child component to a predetermined take-out position is disposed.
The component automatic assembly apparatus according to claim 1, wherein the component automatic assembly apparatus is provided. Including photographing means for photographing the child component supplied to the take-out position of the child component supply unit;
4. The component automatic assembling apparatus according to claim 3, wherein: The holding hand of the second handling robot has a plurality of holding hands for holding a plurality of child parts, respectively.
The component automatic assembly apparatus according to claim 1, wherein the component automatic assembly apparatus is provided. In a region adjacent to the second handling robot, a plurality of child component supply units that supply child components to predetermined take-out positions corresponding to the plurality of holding hands of the second handling robot are arranged.
6. The component automatic assembling apparatus according to claim 5, wherein: Within the movement range of the first handling robot, an upstream mounting table for mounting the parent part before assembling the child part, and a downstream mounting table for mounting the parent part after assembling the child part; including,
The component automatic assembly apparatus according to claim 1, wherein the component automatic assembly apparatus is provided. The upstream mounting table and the downstream mounting table are arranged in a direction substantially orthogonal to the arrangement direction of the first handling robot, the assembly unit, and the second handling robot,
The component automatic assembling apparatus according to claim 7, wherein: The assembly unit includes a press-fitting unit that press-fits a child part into the parent part, and a fastening unit that fastens the child part to the parent part.
The component automatic assembly apparatus according to claim 1, wherein the component automatic assembly apparatus is provided. The press-fitting unit includes a contact portion that receives a press-fitting load by bringing a part of a holding hand of the first handling robot or a held parent part into contact.
10. The component automatic assembling apparatus according to claim 9, wherein The press-fitting unit includes a seal application unit that applies a sealant to a press-fitting location of a parent part prior to press-fitting,
10. The component automatic assembling apparatus according to claim 9, wherein The multi-joint type first handling robot holds the parent part and conveys it three-dimensionally, changes the posture and positions it at a predetermined position,
With the multi-joint type second handling robot, the child parts are held and transported three-dimensionally, and the posture is changed and positioned at a predetermined position,
With the parent part held and positioned by the first handling robot, the child part is assembled to the parent part by the assembly unit.
Automatic part assembly method. The assembly unit performs a plurality of assembly operations,
The first handling robot changes the posture of the parent part according to the plurality of assembly operations, and holds and positions it at a predetermined position.
The method for automatically assembling parts according to claim 12, wherein: The child part is assembled to the parent part by the assembly unit while the child part is held movably by the second handling robot.
The method for automatically assembling parts according to claim 12, wherein: The plurality of assembly operations include a press-fitting operation for press-fitting the child component into the parent component and a fastening operation for fastening the child component to the parent component.
The method for automatically assembling a part according to claim 13, wherein:

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