JPH0785853B2 - Method and apparatus for simultaneously assembling a plurality of parts - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a device for assembling a fragile plate-shaped component with other components integrally with an object to be assembled.

(Prior Art) Assembly of a plurality of parts will be described below by taking as an example the assembly of a muffler for a general-purpose engine. The muffler consists of a gasket, muffler body and protector.To assemble the muffler consisting of these gasket, muffler body and protector into the engine, pass each part one by one through the engine stud bolts and then tighten with the nut runner. I have to.

(Problems to be Solved by the Invention) As described above, in the conventional case, an assembling body is configured to attach an assembling body including a plurality of parts such as a muffler to an assembling body such as an engine. Since a plurality of parts are inserted one by one into the stud bolts of the assembly target object, there is a disadvantage that the number of parts increases as the number of parts increases.

Therefore, it is possible to set a plurality of parts on a pallet in advance and simultaneously assemble a plurality of parts. However, in order to assemble a plurality of parts to the assembly body at the same time, the positional relationship of each part is apt to shift during the receiving from the pallet and the delivery to the assembly body. When one is a fragile plate-like component such as a gasket, there is a problem that the component is easily damaged when it is delivered.

(Means for Solving Problems) In order to solve the above problems, the present invention relates to a stud of an object to be assembled with respect to a positional relationship between a set pin of a pallet in which a plurality of parts are stacked and set and a guide pin of an assembly robot. Corresponding to the bolts, the robot receives the multiple parts on the pallet with the guide pins and set pins abutting against each other, and the multiple parts from the robot to the assembly side with the guide pins and stud bolts abutting against each other. At the same time, the plate-shaped component among the plurality of components is sandwiched between the spacer and the grip claws during the delivery.

(Operation) When mounting multiple parts on the pallet to the assembly target, by inserting the set pin, guide pin and stud bolt into the common holes of the multiple parts, it is possible to transfer the parts. There is no displacement between a plurality of parts, and since the plate-like body such as the gasket is delivered while holding both sides thereof, it is not damaged.

(Example) Below, the Example of this invention is described based on an accompanying drawing.

Here, FIG. 1 is a schematic configuration diagram of an assembling apparatus according to the present invention,
2 is a view showing a state where the jig frame of the assembly robot faces downward, FIG. 3 is a view showing a state where the jig frame is facing forward from the state of FIG. 1, and FIG. FIG. 5 is a perspective view as seen from the direction IV in FIG. 5, FIG. 5 is a view in the direction VV of FIG. 4, and FIG.
6 is a view similar to FIG. 6 with the nut runner moved to the tightening position, and FIG.
VIII direction arrow view of the figure, FIG. 9 is a view seen from the same direction as FIG. 3 showing the tightening state by the nut runner, and FIGS. 10 (A) to (C) are sectional views showing the action of the nut runner. is there.

First, the outline of the assembling apparatus will be described with reference to FIG.

The assembling device 1 is arranged between the conveyors 2 and 3, the general-purpose engine 4 is placed on the conveyor 2, and the muffler device 5 is installed on the conveyor 3 by the assembling device 1 to the general-purpose engine 4. Are placed on the pallet 6. The muffler device 5 is composed of a gasket 5a, a muffler body 5b, and a protector 5c. The muffler device 5 is provided with a set pin 7 planted in the pallet 6 through a common hole 8 formed in each component. Set by stacking on top.

Further, the assembling device 1 slidably mounts the assembling unit 10 on the annular rails 9 which are vertically separated from each other, receives the muffler device 5 on the pallet 6 by the assembling unit 10, moves along the rail 9, and moves the engine. The muffler device 5 is attached to the engine 4 by moving forward in four directions.

Next, the structure of the assembly unit 10 will be described with reference to FIG.

In the assembly unit 10, a bracket 12 is provided on a support plate 11, and a jig frame 14 is attached to the bracket 12 via a shaft 13 so as to be vertically rotatable.
The center of rotation is a position that faces downward (Fig. 1) and a position that faces forward (Fig. 2). The rotation limit of the jig frame 14 is regulated by the engagement member 16 attached to the jig frame 14 contacting a stopper 17 provided on the support plate 11.

The jig frame 14 is provided with a chucking mechanism for the muffler device 5. In this chucking mechanism, as shown in FIG. 3 and the like, a guide 18 is attached to a jig frame 14, a rod 20 fixed to an intermediate plate 19 is inserted through this guide 18, and a cylinder unit 21 provided on the jig frame 14 is inserted. The intermediate plate 19 is made movable in the X direction in FIG. 4 by the operation, and the guide 19a is attached to the intermediate plate 19, and the rod 23 fixed to the chucking plate 22 is inserted into the guide 19a. The chucking plate 22 is made movable in the Y direction in FIG. 4 by the operation of the cylinder unit 24 provided in 19. Further, the chucking plate 22 is provided with a clamp cylinder 25 and a predetermined distance from the clamp cylinder 25. A spacer 26 and a grip claw 27 are provided at the position. The spacer 26 is urged by the spring 28 in the direction away from the grip claw 27, that is, in the direction of the clamp cylinder 25.

On the other hand, as shown in FIGS. 6 to 8, a guide rod 29 is attached to the jig frame 14, a shift plate 30 is engaged with the guide rod 29, and the cylinder unit is attached to the jig frame 14.
The operation of 31 shifts the shift plate 30 along the guide rod 29. The shift plate 30 is provided with two guide pins 32. These guide pins 32 are held in the cylindrical body 33 via the spring 34, and when a force is applied to the tip of the guide pin 32, the guide pin 32 is structured to be retracted into the cylindrical body 33 against the spring 34. . And the distance between the guide pins 32, 32 is the set pins 7, 7
Intervals and stud bolts 4a, 4a planted in the engine 4
Is equal to the interval.

Further, a nut runner 35 and a guide rod 36 are attached to the shift plate 30 at positions apart from the guide pins 32. A bracket 38, which is biased forward by a spring 37, is attached to the guide rod 36.
The receiving pipe 41 for receiving the nut 40 from the nut supply pipe 39, the catcher 42 for receiving the nut 40 dropped from the receiving pipe 41, and the stopper 43 protruding forward, the catcher 42 is closed by the spring 44. As shown in FIG. 10, recesses 46, 46 into which the nut 40 is inserted are formed on the upper surfaces of the pair of biased pieces 45, 45, and
The bracket 38 on the back side of the catcher 42 is formed with an opening 47 into which the tip of the nut runner 35 is inserted.

A method of assembling the muffler device 5 to the engine 4 using the assembling device 1 having the above-described configuration will be described below.

First, the gasket 5a, the muffler body 5b, and the protector 5c, which form the muffler device 5, are set on the pallet 6 on the conveyor 3. As a setting method, gasket
The common holes 8 formed in the muffler body 5b and the protector 5c are passed through the set pins 7, 7 standing on the pallet 6.

After the muffler device 5 is set on the pallet 6 as described above, the muffler device 5 together with the pallet is transported by the transport conveyor 3 to the delivery position to the assembling device 1.

Then, the cylinder unit 15 of the assembling apparatus 1 is actuated to rotate the jig frame 14 so as to face downward as shown in FIG. 2, and further the cylinder unit 21 attached to the jig frame 21 is actuated to operate the clamp cylinder. 25, the spacer 26 and the grip claw 27 are lowered. At this time, the cylinder unit 24 is caused to project so that the spacer 26 and the grip claw 27 are located at the side of the muffler device 5, that is, at the position (a) shown in FIG.

After this, the cylinder unit 24 is retracted,
The clamp cylinder 25, the spacer 26, and the grip claw 27 are moved toward the muffler device 5. Then, as shown by the solid line in FIG. 2, the spacer 26 includes the gasket 5a and the muffler body 5b.
The spring 28 is compressed into the gap between the
Enters the lower surface of the gasket 5a. Thus, the upper and lower surfaces of the gasket 5a are held by the spacer 26 and the grip claws 27, and the bottom surface of the muffler body 5b is supported by the spacer 26.
Also, after this, the muffler device 5 is activated by the operation of the cylinder unit 21.
And move the muffler device 5 to the guide pin 32 side, and then activate the clamp cylinder 25 to protect the protector.
5c Hold the upper surface with the clamp cylinder 25.

When the muffler device 5 is lifted and clamped as described above, the shift plate is held with the jig frame 14 facing downward.
The tip of the guide pins 32, 32 attached to 30 is a set pin.
Since they are in contact with the tips of the muffler devices 5, the guide pins 32, 3 are inserted in the common hole 8 of the muffler device 5 when they are raised.
2 is inserted, and the muffler device 5 is held by the clamp cylinder 25, the spacer 26 and the gripping claw 27 as shown in (b) of FIG.
Handed over to the side.

After the muffler device 5 is delivered to the assembly unit 10 side, the muffler device 5 is clamped by the clamp cylinder 25 and then retracted to the cylinder unit 15. At this time, the shift plate 30 is at the position shown in FIG. 6, and the nut receiving pipe 41 is located below the nut supply pipe 39. Therefore, the nut 40 from the nut supply pipe 39 is dropped into the recess 46 of the catcher 42 via the nut receiving pipe 41. Then, the cylinder unit 15 is actuated to raise the jig frame 14 as shown in FIG. 3, and then the assembly unit 10 is moved along the annular rail 9 to be held by the assembly unit 10. Is made to face the engine 4 on the transport conveyor 2, and then the assembly unit 10 is moved forward in the direction of the engine 4. Then, the tips of the assembly unit 10 come into contact with the tips of the stud bolts 4a, 4b of the engine 4.

After that, the cylinder unit 21 is again made to project,
The muffler device 5 is moved toward the engine 4 while being held by the clamp cylinder 25, the spacer 26 and the grip claw 27. Then, the stud bolts 4a, 4a enter into the common hole 8 of the muffler device 5, and the muffler device 5 receives the stud bolt 4
a, that is, delivered to the engine 4 side. After that, the clamped state by the clamp cylinder 25 is released, the cylinder unit 24 is caused to project, the spacer 26 and the grip claw 27 are pulled out from the position of the muffler device 5, and then the cylinder unit 21 is retracted. Clamp cylinder 25, spacer 26 and gripping claw as shown
Move back 27.

After that, the shift plate 30 is activated by the operation of the cylinder unit 31.
Is moved from the position shown in FIG. 6 to the position shown in FIG. At this time, the nut runner 35 moves the stud bolts 4a, 4b.
Come to the position that matches. Therefore, the entire assembly unit 10 is advanced toward the engine 4. Then, first 10
As shown in FIG. (A), the nut runner 35 and the catcher 42 move forward integrally, but when the stopper 43 provided on the bracket 38 contacts the engine 4, only the nut runner 35 moves forward and the pin of the nut runner 35 moves. When 35a enters the hole of the nut 40 and the nut runner 35 advances further, the 10th
As shown in Fig. (B), push the pieces 45, 45 of the catcher 42 open at the tip of the nut runner 35, and then fit the nut 40 into the tip of the stud bolt 4a and the tip of the nut runner 35 as shown in Fig. 10 (C). Hold the nut 40 in the socket. After that, the muffler device 5 is attached to the engine 4 by driving the nut runner 35 to tighten the nut 40 to the stud bolt 4a.

In addition, in the embodiment, the gasket is shown as the plate-shaped component, but the present invention is not limited to this, and the assembly is not limited to the muffler device.

(Effect of the invention) As described above, according to the present invention, the assembling body composed of a plurality of parts can be assembled to the assembling body at the same time and without any positional deviation. It is greatly simplified and working time is shortened. Also, even if a plate-like fragile object such as a gasket is included in a plurality of parts,
Since the assembling is performed while holding both sides of the plate-shaped component, there is no disadvantage that the plate-shaped component is damaged.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an assembling apparatus according to the present invention, FIG. 2 is a view showing a state in which a jig frame of an assembling robot faces downward, and FIG. 3 is a diagram showing the jig frame in the state of FIG. FIG. 4 is a perspective view showing a state in which the front is facing forward, FIG. 4 is a perspective view seen from the IV direction in FIG. 3,
5 is a view taken in the direction of the arrows V-V in FIG. 4, and FIG. 6 is a view in FIG.
VI direction arrow view, FIG. 7 is a view similar to FIG. 6 with the nut runner moved to the tightening position, and FIG. 8 is a view of FIG.
VIII direction arrow view, FIG. 9 is a view seen from the same direction as FIG. 3 showing the tightened state by the nut runner, and FIGS. 10 (A) to (C) are sectional views showing the action of the nut runner. In the drawings, 1 is an assembly device, 4 is an engine, 4a is a stud bolt, 5 is a muffler device, 6 is a pallet, 7 is a set pin, 10 is an assembly unit, 14 is a jig frame, and 25 is a clamp cylinder. , 26 is a spacer, 27 is a gripping claw, 30 is a shift plate, 32 is a guide pin, 35 is a nut runner, 40 is a nut, and 42 is a catcher.

Claims (2)

[Claims] 1. A plurality of parts are positioned and set on the pallet by passing a set pin of the pallet through a common hole formed in the plurality of parts, and then a tip of a guide pin of an assembling device is abutted against the tip of the set pin. Hold both sides of the plate-shaped component of the multiple components, lift the multiple components in this state, pass the guide pin through the common hole of the multiple components, move the multiple components to the guide pin side, and then To face the assembly body and move forward, abut the guide pin tip on the tip of the stud bolt of the assembly body, and further advance the multiple parts to pass the stud bolts through the common holes of the multiple parts A method for simultaneously assembling a plurality of parts, characterized in that the holding state of the plate-like parts is released at the same time as moving to the stud bolt side, and then the nuts are tightened to the stud bolts. 2. An assembling apparatus for receiving a plurality of parts including plate-like parts from a pallet and assembling them to an object to be assembled, wherein the assembling device includes a jig frame, a guide pin, a clamp mechanism for a plurality of parts, and a plate. It is equipped with a holding mechanism for nut-shaped parts and a nut runner. The guide pins come into contact with the set pins of the pallet when the jig frame descends, and come into contact with the stud bolts of the assembly object when the jig frame advances. The holding mechanism for the plate-shaped component, which is mounted at a position, includes a spacer that is inserted between the plate-shaped component and the component, and a holding claw that clamps the plate-shaped component together with the spacer. Simultaneous assembly device.