JPH03149143A - Tension pulley assembly device - Google Patents

Abstract

PURPOSE:To simplify the device structure by moving an assembly hand, in which a tension pulley and a spring are positioned, to approach a workpiece, and engaging a swivel center hole and a spring end with the workpiece to be swiveled against the spring and fixed. CONSTITUTION:In a hand supporting frame 23, an assembly hand 40, in which a pulley holder 50 is positioned in the firs position, is received from a stocker, moved to the upper of a pallet 91 and lowered to hold a tension pulley T and a spring, and the assembly hand 40 is fed to a hand supporting bed 30 and supported to the upper of an engine W. Approaching the engine W, in the tension pulley T and the spring, after a swivel center hole of a swivel arm part and a spring end part are engaged with an engaging pin and a protrusion of the engine W, the pulley holder 50 is turned and positioned in the second position, and the swivel arm part is turned against the spring. An actuating head 31 is lowered with a bolt screwed in a screw hole of the engine W by a bolt tightening device 90, and by lifting the hand supporting bed 30, the assembly hand 40 is returned to the stocker by a supporting frame 35.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an assembly device for a tension pulley attached to the front part of an automobile engine, etc.

(Prior art) This type of tension pulley consists of a pulley part and a swinging arm part, and after the swinging arm part is engaged with an engagement pin on the engine side and a spring is attached, it is easy to hook the belt in the next process. In order to achieve this, the swing arm is temporarily fixed in a state where it swings against the spring. Therefore, assembling the tension pulley requires extremely complex movements, making it difficult to automate, and even after other parts of the assembly line have become self-exciting, this part is still often done manually. . Also, when trying to automate this tension pulley assembly work.

The robot is equipped with two human-like arms and is able to perform extremely complex movements.

(Problems to be Solved by the Invention) As described above, the process of assembling the tension pulley becomes a bottleneck process when automating the assembly line. In addition, the method of using a robot with two arms as described above to solve this problem increases the equipment cost and makes the control program and handling configuration extremely complicated, which reduces the reliability of assembly. There is.

It is an object of the present invention to provide a belt assembling device with low equipment cost and high reliability by solving each of these problems.

(Means for Solving the Problems) For this purpose, the tension pulley assembly device according to the present invention detaches the pulley portion Ta of the tension pulley T from the base plate 41° in the axial direction, as illustrated in FIGS. 1 to 811. The swinging arm part Tb of the tension pulley is removably locked in the axial direction at a position where the swinging center hole Tbl is in a predetermined direction, and coaxially with the swinging center hole Tbl. A pulley holder 50 rotatably supported by the base plate 41 about a swing shaft 52 provided therein; a swing arm portion T provided on the pulley holder;
a spring holder 60 for holding a spring S whose one end sb is locked at a predetermined position and removable in the axial direction; An assembly consisting of an actuator 70 which rotates around the swing wheel 52 between the bolt holders 80 and a bolt holder 80 which is provided on the base plate 41 parallel to the axial direction and holds the tightening bolt B so as to be removable in the direction of the pulley portion Ta. With hand 40.

With the base plate 41 of the assembly hand 40 supported and the pulley holder 50 positioned at the first position, the assembly hand is brought close to the workpiece W, and the swing center hole Tb1 of the swing arm portion Tb is aligned. an actuating device 20 that engages the other end Sc of the spring S with an engagement pin Wa and an engagement protrusion wb provided on the workpiece W; and a swing center hole Tbl of the swing arm Tb and the spring S. The other end Sc is engaged as described above, and the pulley holder 50 is moved by the actuator 70 to the second
When the tightening bolt B is in the position
by engaging the head of.

The present invention includes a bolt tightening device for tightening and fixing the swing arm portion Tb to the workpiece W using the same tightening bolt.

(Function) The actuating device 20 holds the tension pulley T, the spring S, and the tightening bolt B, and also holds the actuator 70.
When the pulley holder 50 is positioned at the first position, the assembly hand 40 is brought closer to the workpiece W, and the swinging center hole Tb1 of the swinging arm part Tb is engaged with the engagement pin Wa of the workpiece W, and the spring The other end Sc of S is engaged with the engagement protrusion wb of the workpiece W. Next, the actuator 70 is actuated to rotate the pulley holder 50 about the swing shaft 52 and position it at the second position. As a result, the swinging arm part T
b rotates against the spring S around the swing center hole Tbl. In this state, the bolt tightening device 90 operates, and the swing arm portion Tb is tightened and fixed to the workpiece W by the tightening bolt B.

(Effects of the Invention) As described above, according to the tension pulley assembling device of the present invention, the tension pulley is assembled to the workpiece by extremely simple operations of each part, and the swinging arm is swung against the spring. Since the parts can be tightened and fixed, the structure of the device is simplified, equipment costs are reduced, and operational reliability is improved.

(Example) The present invention will be explained below using examples shown in the accompanying drawings.

First, the overall structure of the tension pulley assembling device will be explained with reference to FIG. 1. A predetermined assembly process is carried out on a conveyor 15 that conveys an automobile engine (workpiece) W with the mounting surface of the tension pulley T facing upward. A bed 10 of a tension pulley assembly device is provided on one side of the station.

A pair of horizontal support rails 12.13 are fixed on both sides of the column 11 erected on the bed 10 at right angles to the conveyor 15, and each support rail 12.13 is provided with a loading side and an unloading side moving platform 21. 34 are guided and supported and are respectively moved by servo motors 27 and 38. A lifting member 22 is connected to the loading side moving table 21 by a servo motor 2.
6 is provided to be movable up and down in the vertical direction, and a carry-in side hand support frame 23 is fixed to the lower end of this elevating member 22.
Further, on the lower side of the unloading side moving table 34, an unloading side hand support frame 3 is provided.
5 is fixed. Column 11 on the conveyor 15 side
In front of the holder, an operating head 31 and a hand support stand 30 are arranged vertically, and are movable up and down by servo motors 32 and 33, respectively. As shown by the two-dot chain line in FIG.
A bolt tightening device (bolt launch) 90 that tightens and fixes the tension pulley T to the engine W by engaging with the head of the tightening bolt B held by the bolt holder 80 is provided.

A pair of U-shaped support rails 23a, 35a, and 30a are fixed to opposite sides of the carry-in side and carry-in side hand support frames 23, 35, and the lower sides of the hand support stand 30, respectively, and support the assembly hand described later. 40 substrates 41,
In FIG. 1, it is guided and supported so as to be movable in the left and right direction. A feed nut 25a supported by a guide bar 24 and a feed screw 25 is provided on the carry-in side hand support frame 23, and when the feed screw 25 is rotated by a servo motor 29, the feed nut 25°a moves and moves to the carry-in side. support rail 2
The assembled hand 40 supported by 3a is attached to the hand support stand 30.
It is designed to be fed into the support rail 30a of. The carry-out side hand support frame 35 is provided with a similar guide bar 36.in order to draw the assembled hand 40 supported by the support rail 30a of the hand support base 30 into the carry-out side support rail 35a. A feed dog 37, a feed nut 37a, and a servo motor 39 are provided. A hand stocker (not shown) that accommodates a plurality of assembly hands 40 is installed behind the column 11, and a servo motor 27. 29. 38. 39
As a result of the operation of the assembly hand 40, the hand stocker,
The carry-in side hand support frame 23, the hand support stand 30, and the carry-out side hand support frame 35 can be circulated in this order. Bolts are force-fed to the assembly hand 40 by the hand stocker through a pipe (not shown).

As described above, the actuation wave N20 that supports the assembly hand 40, causes it to approach the engine W, and causes it to depart from the engine W is formed.

A pallet conveyor 92 for circulating pallets 91 is installed on the side of the bed 10, and a tension pulley T and a spring S are placed on the pallet 9. - As shown in FIGS. 2 to 6, the assembly hand 40 is composed of a base plate 41, a pulley holder 50, a spring holder 60, an actuator 70, a bolt holder 80, etc. attached to the base plate 41. The board 41 has support parts 41a fixed on both sides of the board 41, so that each of the support rails 23a,
It is guided and supported by 30a and 35a.

The tension pulley T held by the pulley holder 50 is
As shown by the two-dot chain line in FIGS. 3 and 4, it is composed of a swing arm part Tb, a bone part T formed protruding from the swing arm part Tb, and a pulley part Ta supported by b3 via a bearing. A swing center hole Tbl that engages with an engagement pin Wa fixed to the engine W is provided at one end of the swing arm portion Tb, and a locking portion Tb that locks one end portion sb of the spring S is provided at the other end.
2 is provided. The boss portion Tb3 has a swing center hole Tb.
An arc-shaped elongated hole Tb4 centered at l is formed to penetrate through the hole Tb4.

As shown in FIGS. 3 to 5, the pulley holder 50 has a substantially cylindrical main body 51 having a vertical axis perpendicular to the base plate 41, and has a main body 51 erected and fixed on one side upper surface thereof in parallel with the axis. The swing shaft 52 is supported via a bearing in a support cylinder 42 fixed to the base plate 41 at right angles to the main body 5.
1 is supported by the base plate 41 so as to be rotatable about a swing shaft 52 . A gripping lever 53 is pivotally supported by a horizontal support pin 54 in each of two U-shaped groove-shaped notches 51a formed on the outer circumference of the main body 51 in parallel with the axial direction of the main body 51. The lower end of the formed grip lever 53 is urged inward by a compression spring 55 interposed between the grip lever 53 and the main body 51 . The pulley portion Ta of the tension pulley T is inserted into the lower inner diameter of the main body 51 from below, and is held by the inclined surface 53a at the lower end of the grip lever 53 so as to be removable downward. The main body 51 has a pulley part T.
A contact portion 56 for axial positioning of a is integrally formed.

Further, as mainly shown in FIG.
is provided. The sliding bin 57 is urged downward by a compression spring 58 interposed between the lower end surface of the swinging shaft 52 and
The narrow diameter portion 57a at the lower end that protrudes downward in a free state engages with the swing center hole Tbl to hold the swing arm portion Tb at a predetermined angle.

The spring holder 60 is shown in Figs.
It is attached to one side of the pulley holder 50. A support body 61 is fixed to the lower side of the tip of a mounting plate 69 that is fixed to the surface of the main body 5 of the pulley holder 50 and extends to one side. Two pairs of support levers 62 a, 62 b and 6 facing each other are supported by support pins 64 .
3, 63 are pivotally supported, and each support lever 62a, 62b, 8
3.63 is a compression spring 65 provided between the support body 61
a, 65 b, 66. 66, the lower ends are biased inwardly toward each other. Swing arm part Tb
Spring S whose one end portion sb is locked to the locking portion Tb2 of
The outer periphery of the middle man's coil portion Sa is the support lever 62a,
The lower end portion of the support lever 62b is positioned and held so as to be removable downward, and both end portions are positioned in the axial direction by the lower end portions of the support levers 63 and 63.

The actuator 70 mainly includes, as shown in FIG.
It has a movable member 72 guided by a guide bar 74.75 supported in parallel by a support plate 45° 46.47 erected and fixed on the side of the board 4, and this movable member 72 is moved by an air cylinder 71 to a stopper 77a. It moves forward and backward between a retracted position where it abuts the stopper 77b and a forward position where it abuts the stopper 77b.

The tip of the operating lever 73, which is fixed to the upper end of the swing shaft 52 by a key and nut 79, is engaged between a pair of clamping plates 72a formed on the movable member 72, and is moved in response to the forward and backward movement of the movable member 72. The pulley holder 5o is rotated between a first position shown in FIG. 4 and a second position shown in FIG. A return spring 76 is provided between the movable member 72 and the support plate 47. An air hose is connected to an unillustrated supply port of the air cylinder 71 by an unillustrated cylinder device provided on the hand support base 30, so that the air cylinder 71 can be operated.

The bolt holder 80, as shown in FIGS. 2 and 3,
It is supported by a substrate 41. A sliding rod 86 is supported by a pusher 85 fixed at right angles through the substrate 41 so as to be able to move only axially.One end of a movable plate 87 and a retaining member 86a are fixed to the upper and lower ends of the sliding rod 86, respectively. It is urged upward by a compression spring 88 interposed between the movable plates 87, and normally the retaining member 86a is in contact with the lower end surface of the pusher 85. A support cylinder part 81 is fixed to the lower side of the other end of the movable plate 87, and a pair of groove-shaped notches 81a (see figure W2) are formed on the outer surface of the support cylinder part 81 along the axial direction. . , the pair of holding members 82 consists of a lower half-cylindrical portion 82a that faces each other and has a cylindrical shape, and an upper base end portion 82, each having a base end.

The portion 82b is located within the groove-shaped notch 81a and is pivotally fixed by a horizontal support pin 83, and the lower end portions of the half-cylindrical portions 82a are moved inside each other by a compression spring 8.4 interposed between the support tube portion 81 and the support tube portion 81. It is biased in the direction. The lower end of each half-cylindrical portion 82a is tapered into a halved conical shell shape.

At its tip, there is a notch 82c through which the shaft of the tightening bolt B is passed.
is provided. A hole corresponding to the inner diameter of the support cylinder part 81 is formed in the movable plate 87, and the both-hand cylinder part 82 is inserted through this hole.
The tightening bolt B inserted in the inside a is normally held by the head being locked to the inner surface of the lower end of the half-circular male shell shape, but if pushed from above, it will resist the compression spring 84. Each half cylinder part 82a
The lower end of the bolt is opened so that the head of the tightening bolt B can be removed downward.

Next, the operation of the above embodiment will be explained.

The carry-in side hand support frame 23 of the actuating device 20 is connected to the column 11
The pulley holder 50 is attached to the actuator 70 from the rear stocker while holding the tightening bolt B as described above.
The receiver picks up the assembly hand 40 positioned at the first position. Next, the servo motor 27 is activated to move the carry-in side hand support frame 23 to a position directly above the pallet 91 located at the parts delivery position, and the servo motor 26 lowers it.

At the lowered position, the tension pulley T and spring S are held by the pulley holder 50 and spring holder 60, and the carry-in side hand support frame 23 is raised.

Further, the carry-in side hand support frame 23 moves to just above the conveyor 15, and the servo motor 29 is activated to assemble the hand 4.
0 is sent to the support rail 30a of the hand support stand 30 and supported directly above the engine W on the conveyor 15.

Then, the servo motor 32 is operated and the hand support stand 30 approaches the engine W, as shown in FIGS. 3 and 5.
The swing arm portion Tb descends to a position where it contacts the top surface of the engine W.

The tension pulley T and spring S held by the assembly hand 40 are connected to the swing center hole Tbl of the swing arm portion Tb.
Since the other end portion Sc of the spring S and the other end portion Sc of the spring S are positioned at positions exactly corresponding to the engagement pin Wa and the engagement protrusion wb of the engine W, this lowering causes the sliding pin 57 to move to the lower end as shown in FIG. The tip of the narrow diameter portion 57a contacts the engagement pin Wa and retreats, so that the swing center hole Tbl contacts the engagement pin W.
a, and as shown in FIG. 315, the other end Sc of the spring S is engaged with the engagement protrusion wb.

In this state, when the cylinder device of the circuit provided on the hand support stand 30 is operated, the air hose is connected to the supply port of the circuit of the air cylinder 71, the air cylinder 71 and the actuator 70 are operated, and the pulley holder 50 is rotated. and position it at the second position shown in FIG. As a result, the swinging arm portion Tb also rotates about the swinging center hole Tbl against the spring S whose other end portion Sc is engaged with the engagement protrusion wb of the engine W.

The actuating head 31 is lowered together with the hand support base 30 by the servo motor 33 and once stopped, and the actuator 7
After the pulley holder 50 is positioned at the W2 position by the operation of 0, the pulley holder 50 is lowered again by a predetermined distance. Due to this lowering, the rod 31a of the actuating head 31 comes into contact with the movable plate 87 and pushes it down against the compression spring 88 to the position where it touches the stopper 89, and the bolt holder 80 is moved so that the lower end of the holding member 82 touches the pulley part Ta. Descend to the approaching position.

The tip of the bolt tightening device 90 is the tightening bolt B.
The boss part T of the swing arm part Tb rotates by engaging with the head of the swing arm part Tb.
Insert the tightening bolt B into the engine W through the elongated hole Tb4 in b3.
As the tightening bolt B is screwed into the screw hole We, the lower end of the holding member 82 expands against the compression spring 84, and the head of the tightening bolt B moves downward. Then, tighten and fix the boss portion Tb3 to the engine W.

Next, at 0, the hand support stand 30 and the operating head 31 of the actuating device 20 rise to the state shown in FIG. 1, but the tension pulley T and spring S attached to the engine W are released downward as they are.

Then, the servo motor 39 is activated, and the assembly hand 40 is pulled from the hand support stand 30 into the carry-out hand support frame 35, and the carry-out side moving table 34 returns the assembly hand 40 to the stocker on the rear side of the column 11.

As described above, according to the tension pulley assembly device of this embodiment, the tension pulley and spring S held by the assembly hand 40 are engaged with the engine W in that state, and the pulley holder 50 is rotated by the actuator 70. Since the swing arm part Tb is only tightened to the engine W by the rear bolt tightening device 90, the operation of each part becomes extremely simple. Therefore, the structure of the device is simplified, equipment costs are reduced, and operational reliability is improved.

In this embodiment, the boss portion Tb3 is provided with a long hole Tb4 through which the tightening bolt B is passed, but it is also possible to provide a long hole or a round hole in other parts of the swing arm portion Tb.

Further, according to the actuating device 20 of the above embodiment, since the assembly hand 40 is circulated and used each time, different assembly hands can be used alternately. It is also possible to assemble the pulley P and attach the belt in the same assembly station. However, the present invention is not limited to such embodiments, and can also be implemented by attaching the assembly hand 40 to the wrist of a robot, for example.

Furthermore, the present invention is not limited to automobile engines as in the embodiment, but can be widely applied to cases in which this type of tension pulley is attached and temporarily tightened and fixed against a spring.

[Brief explanation of the drawing]

1 to 8 show an embodiment of the tension pulley assembly device according to the present invention, in which FIG. 1 is an overall front view and FIG. 2 is an enlarged plan view of only the assembly hand. Fig. 3 is a new view from ■-■ in Fig. 2, Fig. 4 is a cross-sectional view taken along IV-IV in Fig. 3 at the first position, and Fig. 5 is a side view of the pulley holder 50 and spring holder 60 with the - part destroyed. figure,
FIG. 6 is a sectional view taken along line VI-VI in FIG. FIG. 7 is a new view of FIG. 6 taken from ■--■, and FIG. 8 is a view corresponding to FIG. 4 at the second position. Explanation of symbols 20... Actuating device, 40... Assembly hand, 41...
... Board, 50... Pulley holder, 52... Swing shaft, 60... Spring holder, 70... Actuator, 80... Bolt holder, 90... Bolt tightening device, B... Tightening bolt, S... Spooling, sb... One end, Sc... Other end, T... Tension pulley, Ta... Pulley part, Tb... Swinging arm part - Tbl. ... Swing center hole, Tb2 ... Locking part, W ... Workpiece (engine), Wa ... Engagement pin,
Wb...engaging protrusion.

Claims (1)

[Scope of Claims] A substrate, which supports a pulley portion of a tension pulley in a removable manner in the axial direction thereof, and supports a swinging arm portion of the tension pulley in the axial direction at a position where its swinging center hole is in a predetermined direction. a pulley holder that is removably locked and supported by the base plate so as to be rotatable about a swing axis provided coaxially with the swing center hole; a spring holder that holds a locked spring in a predetermined position and removable in the axial direction; an assembly hand comprising a moving actuator, and a bolt holder provided on the substrate parallel to the axial direction and holding a tightening bolt removably in the direction of the pulley portion; is positioned at the first position, the assembling hand is brought close to the workpiece, and the swinging center hole of the swinging arm portion and the other end of the spring are respectively connected to an engagement pin and an engagement pin provided on the workpiece. an actuating device for engaging the engagement protrusion; and the swing center hole of the swing arm and the other end of the spring are engaged as described above, and the pulley holder is positioned at the second position by the actuator. A tension pulley assembling device comprising: a bolt tightening device that engages with the head of the tightening bolt in a state where the tightening bolt tightens and fixes the swinging arm portion to the workpiece.