JPH0418746Y2 - - Google Patents

Description

[Detailed description of the invention] (Field of industrial application) The present invention relates to a parts assembling device, and particularly relates to an improvement of a parts assembling device that automatically assembles small-shaped parts to an object to be assembled. .

(Prior Art) Conventionally, as such a device, for example, as disclosed in Japanese Patent Application Laid-Open No. 156181/1981, a robot grips an assembly robot to assemble small parts that are conveyed and fed to a predetermined position by a parts feeder. It is generally known that the parts are gripped by a tool and moved to an assembly position, and the assembly robot assembles the parts to the object to be assembled.

By the way, when assembling small-shaped parts to an object to be assembled as described above, the parts are generally unstable, so the conveyance posture of the parts is maintained stably by forming guide grooves on the inner wall of the chute of the parts feeder. It is possible that

However, in this method of transporting and supplying parts using a chute having a guide groove etc., at least the lower half of the part is fitted into the chute, so when the part is gripped by the gripping tool of the assembly robot, it is difficult to grasp the part. , the above-mentioned chute will get in the way, making it impossible to securely grip the component.

Therefore, in order to avoid interference with the chute, the part gripping position of the assembly robot is set at a position away from the chute, and a part moving means is provided to move the parts supplied from the chute to the part gripping position. It is desirable to adopt a method in which the parts supplied from the chute are once delivered to the parts moving means, and then moved by the parts moving means to the grasped position by the robot while maintaining the normal assembly posture.

On the other hand, as a gripping tool for an assembly robot that grips the above-mentioned parts, since the parts are small, it is difficult to grip them by the outer periphery, and the gripping mechanism becomes complicated, leading to an increase in the size of the device, which is undesirable. ,
Further, when the component is a cylinder, it is difficult to use a device equipped with a suction mechanism, and in view of these circumstances, it is preferable to adopt a method in which the component is stored and gripped at the tip of the gripper.

(Problem to be Solved by the Invention) However, as described above, a component moving means is used as a means for moving a component to a grasping position by an assembly robot while holding the component in the normal assembly posture, and also as a means to securely grasp the component. If a type of gripping tool that stores and grips the component at its tip is used, even if the component is moved to the gripping position in the normal assembly position by the component moving means and the component is attempted to be gripped by the gripping tool, the component will not be held this time. The moving means gets in the way and makes it impossible to reliably grip the parts.
In particular, when assembling a rod-shaped object by press-fitting a cylindrical part from above to a predetermined depth, the above-mentioned type of gripping tool will ensure that the part is stored and gripped in the correct storage position. As a result, when press-fitting a part, the press-fitting reference position may be reached before the press-fitting operation is completed. Not only will it not be possible to press-fit the parts, but in some cases, the parts or objects to be assembled may be damaged.

The present invention has been made in view of these points, and its purpose is to employ the above-mentioned component moving means and storage type gripping tool, and in this case, the above-mentioned component moving means can move the gripping position. By taking appropriate interference avoidance means to avoid interference between the two when gripping a moved part with the gripping tool, it is possible to reliably grip the part with the gripping tool while holding the part in the normal assembly posture. As a result, when assembling parts to the object to be assembled, the parts can be reliably press-fitted into the object to be assembled to the intended press-fit depth, so that the parts can be assembled in the normal assembled state. It's about doing.

(Means for Solving the Problems) In order to achieve the above object, the solution of the present invention is to grasp the parts conveyed and supplied by the parts conveying and supplying means with the gripping tool of the assembly robot and move them to the assembly position. The parts assembling device is configured to move the parts and assemble the parts to the object to be assembled by the assembling robot, including a part moving means for moving the parts to a gripping position by the assembling robot. Furthermore, a component support means is provided for supporting the component moved to the gripping position by the component moving means. Further, when the component supported by the component support means is gripped by a gripper of the assembly robot, an interference avoidance means is provided for separating the component moving means and the component support means so that the gripper does not interfere with the component moving means. The configuration is such that In this case, the interference avoidance means is configured to avoid interference between the gripper of the assembly robot and the component moving means by moving the component supporting means upward, or by moving the component moving means downward. By doing so, interference between the gripping tool of the assembly robot and the component moving means is avoided.

(Function) With the above configuration, in the present invention, the parts conveyed and supplied by the parts conveying and supplying means are moved by the parts moving means to the grasping position by the assembly robot, supported by the parts supporting means, and then The parts are gripped by the gripping tools of the assembling robot which is on standby, and moved to the parts assembling position by the operation of the assembling robot, where they are assembled onto the object to be assembled.

In this case, when the component supported by the component support means is gripped by the gripper of the assembly robot,
Interference avoidance means is provided for separating the component moving means and the component supporting means so that the gripping tool does not interfere with the component moving means, and the interference avoiding means moves the component supporting means upward or prevents the component moving means from interfering with the component moving means. By moving the means downward, interference between the gripping tool of the assembly robot and the component moving means is avoided, so that the component can be reliably gripped by the gripping tool while maintaining the normal assembly position. As a result, when assembling parts to the object to be assembled, the parts are reliably press-fitted into the object to the desired press-fit depth, and the parts are assembled in a normal assembled state. .

(First Embodiment) Hereinafter, an embodiment of the present invention will be described based on the drawings.

Figure 7 shows cylinder head A of an automobile engine.
The cylinder head A is pre-installed with valve guides B, B, . A valve seal C as a component is press-fitted into the upper end of B. In the figure, the one on the right side is for the intake valve, and the one on the left side is for the exhaust valve.Although only one of each is shown in the figure, they are arranged corresponding to the intake and exhaust valves. The parts assembling device according to the embodiment of the present invention is a valve seal assembling device for assembling the valve seal C to each of the valve guides B, and the general configuration thereof is described in the fifth section.
As shown in the figure.

In Fig. 5, 1, 1 is a parts feeder as a parts conveying and supplying means for conveying and supplying valve seals C, C, . . . to be assembled to respective valve guides B, B, . Valve seal C transported and supplied by parts feeder 1,
An assembly robot that grasps C, . A conveying means 5 for conveying along the bar 4 to the assembly position by the assembly robot 2 is a pressurizing device disposed above the assembly position.

A gripping tool 6 for gripping the valve seal C is arranged at the tip of the hand 2a of the assembly robot 2,
The gripper 6 also holds one of the parts feeders 1
The valve seal C conveyed and supplied is grasped and placed above the assembly position by the operation of the assembly robot 2, and is then placed on standby at the assembly position by the pressurization operation of the pressure device 5. For example, valve seals C, C, ... are press-fitted into valve guides B, B, ... on the intake valve side of the cylinder head A, and when this is completed, the swing cylinder 7 of the conveying means 3 is operated to extend , the cylinder head A is swung by a predetermined angle as shown by the imaginary line in the figure, and the parts are then transported and fed from the another parts feeder 1 to the valve guides B, B, . . . on the exhaust valve side of the cylinder head A. The valve seals C, C, . . . are press-fitted in the same manner as described above.

Then, the chute 1 of each of the above parts feeders 1
At the downstream end of a, as shown in enlarged detail in FIGS. 1 to 4, a component support stand 8 for transferring the valve seal C to the gripper 6 is fixed to the upper end of the base 12. A first fluid pressure cylinder 9 is arranged on the left side of the support base 8 in FIGS. 1 and 2. As shown in FIG. Further, at the tip of the piston rod 9a extending in the horizontal direction of the first fluid pressure cylinder 9, a plate is provided as a parts moving means for moving the valve seals C conveyed and supplied from the parts feeders 1 to the gripping position of the gripping tool 6. The plate-shaped members 10 are connected via a connecting member 11, and the distal end side of the plate-shaped member 10 is slidably mounted on the upper surface of the support base 8. A U-shaped parts storage part 10a is formed on the tip side of the plate member 10 and opens toward the chute 1a of each parts feeder 1, and when the first fluid pressure cylinder 9 is contracted, As shown by the solid line, the storage portion 10a of the plate member 10 is positioned corresponding to the downstream end of the chute 1a of each parts feeder 1, and one valve seal C, C, . . . is transported and supplied from each parts feeder 1. On the other hand, when the first fluid pressure cylinder 9 is extended, the plate-like member 1
0 storage section 10a of the support stand 8.
The grip position is set to correspond to the gripping position of the gripper.

Further, a second fluid pressure cylinder 13 is disposed below the support stand 8 of the base 12, and a piston rod 13 extending above the second fluid pressure cylinder 13 is disposed below the support stand 8 of the base 12.
A support rod 14 having a blind hole 14a at the tip is fixed to the tip a, which serves as a component support means for supporting the valve seal C moved to the gripping position by the plate member 10. The support rod 14 is movably fitted into a vertically penetrating through hole 8a formed at the gripping position of the support base 8, and when the second fluid pressure cylinder 13 is contracted, As shown by the solid line in FIG. 4, the tip of the support rod 14 is positioned substantially on the same plane as the upper surface of the support base 8, and the valve seal C moved by the plate member 10 is supported at the tip of the support rod 14. When the second fluid pressure cylinder 13 is extended, the support rod 14 is made to protrude upward from the upper surface of the plate member 10 to hold the valve seal C at a predetermined upper position, as shown by the imaginary line in FIG. It is made to be. That is, when the valve seal C supported by the support rod 14 is gripped by the gripper 6, the support rod 14 is moved upward by the expansion operation of the second fluid pressure cylinder 13, and thereby the gripper 6 and the valve seal C are An interference avoidance means 17 is configured to avoid interference with the plate member 10. The operation of the first fluid pressure cylinder 9 is based on the detection signal of the first proximity sensor 15 disposed on the side of the upper surface of the support stand 8 facing the chute 1a of each parts feeder 1. The operation of the pressure cylinders 13 is similarly controlled based on the detection signal of a second proximity sensor 16 arranged on the side of the upper surface of the support base 8 corresponding to the gripping position, that is, the through hole 8a.

On the other hand, the gripping tool 6 is formed with a component storage recess 19 that opens on the lower surface of the gripping tool main body 18, and a guide rod 20 is arranged on the center line of the storage recess 19, so that the valve seal C can be gripped by the gripping tool 6. When the guide rod 20 is connected to the support rod 1
By inserting the valve seal C into the blind hole 14a of No. 4, the valve seal C is guided to be stored in the storage recess 19 in a normal gripping posture. After the valve seals C gripped by the gripper 6 are arranged correspondingly to the valve seals C of the cylinder head A waiting at the assembly position by the operation of the assembly robot 2, the pressure device 5 By pressing the upper end of the gripper 6 with the pressurizing operation, the valve seal C
is press-fitted into the upper end of the valve guide B.

Next, the operation of this embodiment configured as described above will be explained.

(1) First, the valve seals C, C, . When one of the valve seals C, C, . Based on this, the first hydraulic cylinder 9 is activated to extend and move the plate member 10 toward the gripping position, thereby disposing the valve seal C corresponding to the upper end of the support rod 14 in the gripping position.

(2) Then, the valve seal C is attached to the support rod 1.
4, the second proximity sensor 16 detects this, and based on this detection signal, the second fluid pressure cylinder 13 is activated to extend, thereby supporting the valve seal C at the tip of the support rod 14. In this state, the gripping tool 6 is moved upward to the gripping position, and is placed correspondingly below the gripping tool 6 that is waiting above the gripping position.

(3) After that, the valve seal C is housed and held in the housing part 10a of the gripper 6 using the guide rod 20 as a guide, and then the assembly robot 2
By activating the gripping tool 6, the gripping tool 6 is placed in a position corresponding to the intake valve side valve guide B of the cylinder head A that is waiting at the gripping position, and then the pressurizing device 5 is activated and its pressurizing operation causes the above-mentioned By pressing the upper end of the gripper 6, the valve seal C is press-fitted into the upper end of the intake valve side valve guide B.

(4) Then, by repeating the operations (1) to (3) above, the intake valve side valve guides B, B,...
When the press-fitting of the valve seals C, C, ... is completed, the cylinder head A is tilted by a predetermined angle by the extension action of the swing cylinder 7, and then the exhaust valve side valve guides B, B,...
The valve seals C, C, . . . are press-fitted into the respective valve guides B of one cylinder head A.

Therefore, in the above embodiment, when the valve seal C supported by the support rod 14 is gripped by the gripper 6, the gripper 6 and the plate member 10 are separated by moving the support rod 14 upward. Since interference is avoided, the valve seal C can be reliably gripped by the gripping tool 6 while being held in the normal assembly posture, so that when assembling the valve seal C to the valve guide B, The valve seal C can be reliably press-fitted into the tip of the valve guide B to the intended press-fitting depth, and can be assembled in a normal assembled condition.

(Second Embodiment) FIGS. 8 to 10 show a second embodiment of the present invention. In this embodiment, the interference avoidance means 17 is moved downwardly on the plate member 10 side, contrary to the above embodiment. By this, interference between the gripper 6 of the assembly robot 2 and the plate member 10 is avoided.

That is, the support stand 8 in the first embodiment
(Plate-shaped member 10) is supported on a lifting table 21, and the lifting table 21 is fixedly supported on the tip of a piston rod 22a extending upwardly of a lifting cylinder 22 fixed to the base 12 side, and on both sides thereof, the piston rod 22a is fixed to the base 12 side. Guide bushing 2 fixed to
Guide rods 24 and 24 extending downward from the lower surface of the lift table 21 are slidably fitted into the lift cylinders 3 and 23, and the plate member 10 is moved downward by the contraction of the lift cylinder 22.

On the other hand, the support rod 14 is fixed to the base 12 side via a support member 26 that supports its lower end, and protrudes upward from the upper surface of the plate member 10 which is moved downward by the contraction operation of the elevating cylinder 22. By doing so, the valve seal C supported at the upper end thereof is supported at a predetermined height position above the plate-like member 10, so that when the valve seal C is held by the gripping tool 6, the gripping tool 6 and the plate-like member 10 are held together. This is done to avoid interference. A stopper plate 25 is provided upright on the parts feeder 1 side of the plate member 10, and the interference avoidance means 1
7, the stopper plate 25 also stops the supply of subsequent valve seals C being transported and supplied from the parts feeder 1. Therefore, this embodiment also provides the same effects as the first embodiment.

In both of the above embodiments, the valve seal C is press-fitted into the valve guide B attached to the cylinder head A of an automobile engine. Of course, this method can be applied to various cases, and can be particularly effective in assembling small parts.

(Effects of the invention) As explained above, according to the invention, the parts conveyed and supplied by the parts conveyance and supply means are gripped by the gripping tool of the assembly robot and conveyed to the assembly position, and the parts are conveyed to the assembly position by the assembly robot. A parts assembling device for assembling onto an object to be assembled includes a part moving means for moving the part to a grasping position by the assembly robot, and a part for supporting the part moved to the grasping position by the part moving means. Since either one of the support means is moved in the vertical direction, when the gripper of the robot grips a component supported by the component support means, interference between the gripper and the component moving means is prevented. This allows the parts to be reliably gripped by the above-mentioned gripping tool while being held in the normal assembly posture, and therefore, when assembling the parts to the object to be assembled, the parts are placed in the intended position on the object to be assembled. It can be reliably press-fitted to the desired press-fitting depth and assembled in the normal assembled condition.

[Brief explanation of the drawing]

1 to 7 show a first embodiment of the present invention, in which FIG. 1 is a plan view of the parts assembling device, FIG. 2 is a front view thereof, and FIG. 3 is a cross-section taken along the - line in FIG. 1. Figure 4 is a sectional view taken along the - line in Figure 1, Figure 5 is a schematic diagram of the overall configuration of the device, Figure 6 is a longitudinal sectional front view showing the procedure for press-fitting the valve seal into the valve guide, and Figure 7 is the valve This is a cylinder head with a valve seal press-fitted into the guide. 8 to 10 show a second embodiment of the present invention, FIGS. 8 and 9 are views corresponding to FIGS. 1 and 2, and FIG. 10 is a side view. 1...Parts feeder, 2...Assembling robot,
6... Gripping tool, 10... Plate member, 14... Support rod, 17... Interference avoidance means, A... Cylinder head, B... Valve guide, C... Valve seal.

Claims (1)

[Scope of Claim for Utility Model Registration] (1) The parts conveyed and supplied by the parts conveyance and supply means are grasped by the gripping tool of the assembly robot and moved to the assembly position, and the assembly robot moves the parts to the object to be assembled. In a parts assembly device for assembling the above-mentioned parts, there is a part-moving means for moving the above-mentioned parts to a gripping position by an assembly robot, and a parts-supporting means for supporting the parts moved to the gripping position by the parts-moving means. and,
interference avoidance means for separating the component moving means and the component supporting means so that the gripping tool does not interfere with the component moving means when the component supported by the component supporting means is grasped by the grasping tool of the assembly robot; A parts assembling device characterized by: (2) The interference avoidance means is configured to avoid interference between the gripping tool of the assembly robot and the component moving means by moving the component supporting means upward.
The parts assembly device described in (1). (3) The scope of the utility model registration claim, characterized in that the interference avoidance means is configured to avoid interference between the gripping tool of the assembly robot and the part moving means by moving the parts moving means downward. The parts assembly device described in paragraph (1).