JP2010234456A - Assembly device and assembly method - Google Patents

Abstract

[PROBLEMS] To improve versatility and changeability of an assembling apparatus without enlarging equipment and deteriorating space productivity. Particularly, the assembling pallet is efficiently changed according to the type of a connecting rod. Provided are an assembling apparatus and an assembling method.
An assembling apparatus according to the present invention determines a type of a connecting rod W formed by a rod Wr and a cap Wc based on information unique to the rod Wr and the cap Wc carried in by a carrying-in unit 21; The type information of the connecting rod W is generated, and the connecting rod W is sequentially assembled according to the type of the connecting rod W according to the command signal generated based on the type information, and the type of the connecting rod W is set according to the command signal. Corresponding to the type of the connecting rod W and supplying the dedicated assembling pallet P of the type corresponding to the type of the connecting rod W and accommodating the assembling pallet P after the connecting rod W is unloaded, Change the type of.
[Selection] Figure 3

Description

  The present invention relates to an assembling apparatus and an assembling method, and more particularly to a technique for improving versatility in assembling work of an assembly such as a connecting rod.

  Conventionally, in an operation of assembling an assembly part to form an assembly product, for example, an operation of forming a connecting rod by assembling a pair of rods and caps, the jig plate is changed according to the type of the connecting rod, A technique for assembling a connecting rod on a turntable is disclosed (for example, Patent Document 1).

JP-A-1-172609

  However, in the prior art, there is no specific description regarding how to replace the jig plate, and it has been difficult to improve the versatility of the assembling apparatus.

On the other hand, in order to increase the versatility in forming the assembly product, it is necessary to configure the assembly device so that a variety of assembly products can be formed. However, there is a problem that the equipment becomes enormous due to the necessity of a parts conveying device, and the space productivity deteriorates and at the same time the cost increases.
In particular, when assembling rods and caps on a dedicated assembly pallet of a type corresponding to the type of connecting rod, such as an operation for forming a connecting rod, the assembly pallet is efficiently used according to the type of connecting rod. It was necessary to change the stage.

  Therefore, in the present invention, in view of the above situation, the versatility and changeability of the assembling apparatus are improved without enlarging the equipment and deteriorating space productivity, and in particular, the assembling pallet according to the type of connecting rod. It is an object of the present invention to provide an assembling apparatus and an assembling method capable of efficiently changing the steps.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  That is, according to the first aspect, a plurality of assembly parts for forming the assembly product are aggregated for each type of the assembly product and are brought into the vicinity of the index table, and are carried in by the delivery unit. A determination unit disposed in the carry-in unit that determines a type of an assembly formed by the assembly component based on information unique to the assembly component and generates type information of the assembly; A command signal is generated based on the assembly type information generated by the determination unit; a control unit connected to the determination unit; and an assembly part carried from the carry-in unit. The index table that circulates and the assembly parts that circulate on the index table are sequentially assembled according to the type of the assembly according to the command signal generated by the control unit. Connected with the control unit to form less Also those comprising a single assembly mechanism, and the attaching portions consisting of a carry-out portion for unloading the assembly part assembled unit formed by the vicinity of the index table.

  In the present invention, the assembly unit is configured such that a dedicated assembly jig of a type corresponding to the type of the assembly product circulates on the index table, and the assembly mechanism is placed on the assembly jig. A dedicated assembly of a type corresponding to the type of the assembly is configured according to the command signal generated by the control unit, and configured to form the assembly by assembling the mounted assembly parts. The assembly jig after the carrying-in part in the index table feeds the assembly part into the assembly part and the carry-out part on the index table carries out the assembly product. It is provided with a changer connected to the controller for changing the type of the assembling jig by accommodating a tool.

  In claim 3, the assembly is a connecting rod, the assembly component is a pair of rods and a cap, the assembly jig is an assembly pallet, and the assembly mechanism is a pin press-fit mechanism. , A cap assembly mechanism, a bolt supply / push-in / tightening mechanism, and a bush press-fitting mechanism.

  In claim 4, a plurality of assembly parts for forming an assembly is aggregated for each type of the assembly, and is carried into an assembly part of the assembly part; A determination step of determining a type of an assembly formed by the assembly component based on information specific to the assembly component carried into the assembly unit, and generating type information of the assembly; and A command signal generation step for generating a command signal for performing an assembly operation corresponding to the type of the assembly product based on the type information of the assembly product generated in the determination step, and the command signal generation step In accordance with the command signal generated in step 1, the assembly parts conveyed to the assembly unit are sequentially assembled to form an assembly, and the assembly formed in the assembly process. And an unloading step of unloading from the assembling unit.

  In claim 5, the dedicated assembly of the type corresponding to the type of the assembly product according to the command signal generated in the command signal generation step between the command signal generation step and the assembly step Supplying a jig to the assembling part and changing the type of the assembling jig, comprising a changing process, wherein the assembling process was supplied to the assembling part in the changing process. The assembly component is placed on a dedicated assembly jig of a type corresponding to the type of the assembly product, and the assembly component placed on the assembly jig is assembled and assembled. Forming a product.

  In claim 6, the assembly is a connecting rod, the assembly component is a pair of rods and a cap, the assembly jig is an assembly pallet, and the assembly part is a pin press-fit mechanism. And an assembly mechanism including a cap assembly mechanism, a bolt supply / push-in / tightening mechanism, and a bush press-fit mechanism.

  As effects of the present invention, the following effects can be obtained.

  According to the present invention, in an assembling apparatus and an assembling method for forming an assembling product, the versatility and changeability of the assembling apparatus are improved without enlarging equipment and deteriorating space productivity. In the assembling apparatus and the assembling method, the assembling pallet can be efficiently changed according to the type of the connecting rod.

The top view which showed the outline | summary of the assembly apparatus which concerns on this invention. The control block diagram in the assembling apparatus which concerns on this invention. The figure which showed the flowchart of the assembly | attachment method which concerns on this invention. The top view which showed the carrying-in part and the index table periphery. The top view which showed the transition part. The enlarged plan view which showed the pin press-fit mechanism. The enlarged plan view which showed the cap assembly | attachment mechanism. The top view which showed the bolt supply / push-in / tightening mechanism. The top view which showed the bush press-fit mechanism and the carrying-out part.

Next, embodiments of the invention will be described.
It should be noted that the technical scope of the present invention is not limited to the following examples, but broadly covers the entire scope of the technical idea that the present invention truly intends, as will be apparent from the matters described in the present specification and drawings. It extends.

[Assembly device 10]
First, an assembling apparatus 10 according to the present invention will be described with reference to FIG.
As shown in FIG. 1, the assembling apparatus 10 includes a carry-in unit 21, a determination unit 23 disposed in the carry-in unit 21, a control unit 31 electrically connected to the determination unit 23, and a changeover unit. 101, an index table 41, a pin press-fit mechanism 51, a cap assembly mechanism 61, a bolt supply / push-in / tightening mechanism 71, and an assembly mechanism composed of a bush press-fit mechanism 81, an unloading unit 91, Is provided. Each part constituting the assembling apparatus 10 is disposed on the base 11, but the control unit 31 can also be disposed at a location away from the base 11 as shown in FIG. 1. is there.

[Carry-in part 21]
As shown in FIGS. 1 and 4, the carry-in portion 21 aggregates a pair of rods Wr and caps Wc, which are assembly parts for forming a connection rod W, which is an assembly, for each type of the connection rod W. Then, it is carried near the index table 41.
Specifically, as shown in FIG. 4, the carry-in unit 21 is configured such that three transport pallets Pc are transported on three lanes 22 by a transport device such as a conveyor. Then, the rod Wr and the cap Wc supplied from the upstream machine are placed on the transport pallet Pc as a pair, transported in the directions of arrows A1 and A2 in FIG. It is done.

[Determining unit 23]
As shown in FIGS. 1 and 4, the determination unit 23 is disposed in the carry-in unit 21, and the rod Wr and the cap Wc such as the shape and size of the rod Wr and the cap Wc carried in the carry-in unit 21 are provided. Based on the unique information, the type of the connecting rod W formed by the rod Wr and the cap Wc is determined, and the type information of the connecting rod W is generated.
Specifically, the determination unit 23 includes a frame 24 that is disposed over the carry-in unit 21 and a recognition camera 25 that is disposed on the frame 24. Then, the rod Wr and the cap Wc that are placed on the transport pallet Pc and pass under the frame 24 are photographed, and the type of the connecting rod W is determined based on the photographed shape and size of the rod Wr and the cap Wc. At the same time, the front and back of the rod Wr and the cap Wc are discriminated and the type information of the connecting rod W is generated.

[Control unit 31]
As shown in FIGS. 1, 2, and 4, the control unit 31 is electrically connected to the determination unit 23 and configured to receive the type information of the connecting rod W generated by the determination unit 23. The command signal is generated based on the type information of the connecting rod W received from the determination unit 23.
Specifically, the control unit 31 is a control device having an input function, a display function, a storage function, a communication function, various arithmetic functions, and the like, and is mainly composed of a microcomputer such as a CPU, a RAM, a ROM, and an interface. Is done. Further, as shown in FIG. 2, the control unit 31 is disposed in the vicinity of the changeover unit 101, the 6-axis multi-axis robot 43 disposed on the index table 41, the bolt supply / push / clamp mechanism 71, and the bush press-fitting mechanism 81. The bolt / bush supply robot 72 and the pin press-fit mechanism 51, the cap assembly mechanism 61, the bolt supply / push / clamp mechanism 71, and the bush press-fit mechanism 81 constituting the assembly mechanism are electrically connected to each other. Has been. And the type information of the connecting rod W produced | generated by the determination part 23 is received, based on the type information of this connecting rod W, the drive of each part and each mechanism is controlled, and the assembly | attachment operation | work corresponding to the type of connecting rod W is performed. A command signal for performing is generated.

[Assembly / Index Table 41]
The assembling unit receives from the control unit 31 an index table 41 on which the rod Wr and cap Wc carried in from the carry-in unit 21 are placed and circulated, and a rod Wr and cap Wc circulated on the index table 41. And a plurality of assembling mechanisms connected to the control unit 31 to form the connecting rod W by sequentially assembling corresponding to the type of the connecting rod W according to the command signal, and each mechanism in the assembling unit is controlled by The command signal generated by the unit 31 can be received.

  Specifically, as shown in FIG. 1, the index table 41 is disposed at a substantially central portion of the base 11 for gripping and transferring the rod Wr, the cap Wc, and the connecting rod W at the central portion. A 6-axis multi-axis robot 43 is arranged as shown in FIG. A turntable 42 is disposed around the 6-axis multi-axis robot 43 and is configured to rotate clockwise around the 6-axis multi-axis robot 43 in plan view. Further, as will be described later, the turntable 42 is configured such that an assembly pallet P, which is a dedicated assembly jig of a type corresponding to the type of the connecting rod W, is placed on the turntable 42 and conveyed. Has been.

  The turntable 42 is configured to stop for a predetermined time each time it rotates 60 degrees. That is, as shown in FIG. 1, the assembly pallet P is configured to stop from stage ST0 to stage ST5 on the turntable 42 every 60 degrees. In the stages ST0 to ST5, work by each part and each mechanism is performed as will be described later.

Specifically, the assembly pallet P is changed in stage ST0, the rod Wr is supplied in stage ST1, the pins p1 and p2 are press-fitted into the rod Wr, and the cap in stage ST3. Wc is assembled, bolts b1 and b2 are supplied, pushed and tightened in stage ST4, and connecting rod W is removed in stage ST5.
In other words, the assembling apparatus 10 press-fits the turn-over section 42 at the position facing the stage ST0, the end portion of the carry-in section 21 at the position facing the stage ST1, and the position facing the stage ST2. The mechanism 51 includes a cap assembly mechanism 61 at a position facing the stage ST3, a bolt supply / pushing / clamping mechanism 71 at a position facing the stage ST4, and a bush press-fitting mechanism 81 and an unloading section 91 at a position facing the stage ST5. Are arranged and configured.

[Transition unit 101]
The changeover unit 101 is disposed at a position facing the stage ST0 on the turntable 42, and is electrically connected to the control unit 31 and receives the command signal generated by the control unit 31 as described above. It is configured to be possible. Then, according to the command signal received from the control unit 31, a dedicated assembly pallet P of a type corresponding to the type of the connecting rod W is supplied to the stage ST0 on the turntable 42, and the unloading on the turntable 42 is carried out. By accommodating the assembly pallet P after the part 91 carries out the connecting rod W, the type of the assembly pallet P is changed.

  Specifically, as shown in FIG. 5, the change-over portion 101 has a pallet chuck 103 configured to be capable of rotating 90 degrees in both directions of arrow α in FIG. The first pallet stocker 104a for storing the second pallet stocker 104b for storing the second assembly pallet P2. Then, according to the command signal received from the control unit 31, an assembly pallet P corresponding to the type of the connecting rod W to be assembled with the rod Wr and the cap Wc to be loaded next is supplied to the stage ST0 on the turntable 42. .

Specifically, the control unit 31 receives a command from the control unit 31 that the assembly pallet P corresponding to the connecting rod W to be assembled by the rod Wr and the cap Wc that is subsequently loaded from the carry-in unit 21 is the first assembly pallet P1. When the assembly pallet P arranged on the stage ST0 on the turntable 42 is the second assembly pallet P2, the pallet chuck 103 turns to the position shown by the broken line in FIG. The second assembly pallet P2 located on the stage ST0 is clamped, and at the same time, the first assembly pallet P1 stocked in the first pallet stocker 104a is clamped. Then, the pallet chuck 103 rotates 90 degrees clockwise in plan view, the first assembly pallet P1 is unclamped at the position of the stage ST0 on the turntable 42, and the second assembly pallet P2 is moved. By unclamping with the second pallet stocker 104b, the type of the assembled pallet P is changed.
In addition, the control unit 31 receives an instruction from the control unit 31 that the assembly pallet P corresponding to the connecting rod W to be assembled by the rod Wr and the cap Wc that is carried in from the carry-in unit 21 is the first assembly pallet P1. When the assembly pallet P arranged on the stage ST0 on the table 42 is the first assembly pallet P1, the changeover unit 101 is not driven and the first assembly pallet P1 is used as it is for the next stage ST1. To send it to.

  Thus, on the turntable 42, the assembly pallet P (first assembly pallet P1 or second assembly pallet P2) changed in level by the changeover unit 101 according to the command signal received from the control unit 31. And a plurality of assembling mechanisms are configured to form the connecting rod W by assembling the rod Wr and the cap Wc placed on the assembling pallet P.

  After changing the type of the assembled pallet P, when the assembled pallet P is conveyed to the position of the stage ST1 by the turntable 42, the 6-axis multi-axis robot 43 follows the command signal received from the control unit 31. The rod Wr carried in by the carry-in part 21 is transferred onto the assembly pallet P located on the stage ST1 on the turntable 42, that is, in the direction of arrow B in FIG. At this time, the assembly pallet P is changed in accordance with the connecting rod W formed as described above, that is, the type of the rod Wr determined by the determination unit 23. It is possible to fix Wr, that is, to restrict the movement of the rod Wr in the horizontal direction. Thereafter, the plurality of assembly mechanisms form the connecting rod W by sequentially assembling the rod Wr and the cap Wc in accordance with the command signal received from the control unit 31.

[Assembly part / Assembly mechanism]
In the present embodiment, the assembly mechanism includes a pin press-fit mechanism 51, a cap assembly mechanism 61, a bolt supply / push-in / clamp mechanism 71, and a bush press-fit mechanism 81 as shown in FIGS. That is, the plurality of assembly mechanisms that are electrically connected to the control unit 31 assemble the rod Wr and the cap Wc that are mounted on the assembly pallet P and circulate according to the command signal received from the control unit 31. is there.

[Pin press-fitting mechanism 51]
The pin press-fitting mechanism 51 is disposed at a position facing the stage ST2 on the turntable 42, and is electrically connected to the control unit 31 as described above and receives the command signal generated by the control unit 31. It is configured to be able to receive. Then, in accordance with the command signal received from the control unit 31, the pins p1 and p2 are press-fitted into the rod Wr corresponding to the type of the connecting rod W.
Specifically, as shown in FIG. 6, the pin press-fitting mechanism 51 is mainly composed of a servo press machine 52, and a press-fitting punch 53 is disposed in the servo press machine 52. Then, the pins p1 and p2 are supplied to the press-fitting punch 53 from a parts feeder (not shown). Thereafter, when the assembly pallet P is transported to the position of the stage ST2 by the turntable 42, the pin shown in the arrow C in FIG. p1 and p2 are press-fitted into the end face of the large end of the rod Wr.

[Cap assembly mechanism 61]
The cap assembly mechanism 61 is disposed at a position facing the stage ST3 on the turntable 42, and is electrically connected to the control unit 31 and generated by the control unit 31 as described above. Is configured to be able to receive. Then, according to the command signal received from the control unit 31, the cap Wc is assembled to the rod Wr corresponding to the type of the connecting rod W.
Specifically, as shown in FIG. 7, the cap assembly mechanism 61 is provided with assembly rods 62 and 62 configured to be slidable in the axial direction by a motor (not shown). Then, when the assembly pallet P is conveyed to the position of the stage ST3 by the turntable 42, the cap Wc carried by the carry-in unit 21 is removed according to the command signal received by the 6-axis multi-axis robot 43 from the control unit 31. It is transferred to the vicinity of the large end side of the rod Wr on the assembly pallet P. Further, when the motor is driven and the assembly rods 62 and 62 press the cap Wc toward the rod Wr in the direction of the arrow D in FIG. 7, the cap Wc is connected to the rod via the pins p1 and p2. It is assembled to Wr.

[Bolt supply / push-in / tightening mechanism 71]
The bolt supply / push-in / tightening mechanism 71 is disposed at a position facing the stage ST4 on the turntable 42, and is electrically connected to the control unit 31 and generated by the control unit 31 as described above. The command signal can be received. Then, according to the command signal received from the control unit 31, the bolts b1 and b2 are tightened to the cap Wc and the rod Wr in accordance with the type of the connecting rod W.
Specifically, as shown in FIG. 8, the bolt supply / push-in / tightening mechanism 71 is integrated with a first bolt supply unit 74a and a second bolt supply unit 74b which are configured to be slidable in the horizontal direction indicated by the arrow γ in FIG. And a first nut runner 71a and a second nut runner 71b that are configured to be movable in the horizontal direction indicated by an arrow δ in FIG.

  Further, in the vicinity of the bolt supply / push-in / tightening mechanism 71, a bolt / bush supply robot 72 is also electrically connected to the control unit 31 and configured to receive the command signal generated by the control unit 31. A bolt parts feeder 73 is provided in the vicinity of the bolt / bush supply robot 72. The bolt parts feeder 73 is divided into a first bolt parts feeder 73a and a second bolt parts feeder 73b for each bolt corresponding to the type of the connecting rod W. The bolt / bush supply robot 72 is electrically connected to the vision cameras 73c and 73c disposed in the bolt parts feeder 73 in order to grasp and transfer the bolts b1 and b2 supplied from the bolt parts feeder 73. . And it is comprised so that the information regarding the shape and attitude | position of the volt | bolt b1 * b2 image | photographed with this vision camera 73c * 73c can be received. That is, the shape and orientation of the bolts b1 and b2 are recognized and gripped based on the information on the shape and orientation of the bolts b1 and b2 photographed by the vision cameras 73c and 73c, and are rotated 360 degrees as indicated by the arrow β in FIG. It is configured to be movable.

When the bolt / bush supply robot 72 receives a command signal regarding the type of the connecting rod W formed by assembling the rod Wr and the cap Wc to be conveyed next from the control unit 31, the bolts b1 and b2 corresponding to the connecting rod W are received. Is selected and gripped from either the first bolt parts feeder 73a or the second bolt parts feeder 73b and transferred to either the corresponding first bolt supply unit 74a or second bolt supply unit 74b. Thereafter, of the first bolt supply unit 74a and the second bolt supply unit 74b, the side to which the bolts b1 and b2 are supplied horizontally moves to a position facing the stage ST4 on the turntable 42. At the same time, of the first nut runner 71a and the second nut runner 71b, the side corresponding to the type of connecting rod W moves horizontally to a position facing the stage ST4.
Then, when the assembly pallet P is conveyed to the position of the stage ST4 by the turntable 42, the side corresponding to the type of the connecting rod W of the first nut runner 71a and the second nut runner 71b rotates, and the bolt b1 -Fasten b2 to the cap Wc and the rod Wr.

[Bush press-fit mechanism 81 and carry-out part 91]
The bush press-fitting mechanism 81 is disposed at a position facing the stage ST5 on the turntable 42, and is electrically connected to the control unit 31 as described above and receives the command signal generated by the control unit 31. It is configured to be able to receive. Then, according to the command signal received from the control unit 31, the bush is press-fitted into the rod Wr corresponding to the type of the connecting rod W.
Specifically, as shown in FIG. 9, the bush press-fitting mechanism 81 can be positioned mainly corresponding to the type of the connecting rod W, and is configured to be slidable in the directions of arrows F1 and F2 in FIG. A press-fitting plate 83 for placing a bush press-fitting portion of the connecting rod W disposed on the upper surface of the press-fitting table 84; and a servo press machine 85 for press-fitting the bush into the connecting rod W.

  Further, the bush press-fitting mechanism 81 is disposed in the vicinity of the bolt / bush supply robot 72, and a bush parts feeder 82 is disposed in the vicinity of the bolt / bush supply robot 72. In the present embodiment, the bush parts feeder 82 is configured integrally with the bolt parts feeder 73. Each bush corresponding to the type of connecting rod W is divided into a first bush parts feeder 82a and a second bush parts feeder 82b. As described above, the bolt / bush supply robot 72 is electrically connected to the vision cameras 82c and 82c disposed in the bush parts feeder 82 in order to grip and transfer the bush supplied from the bush parts feeder 82. Yes. And it is comprised so that the information regarding the shape and attitude | position of a bush image | photographed with this vision camera 82c * 82c can be received. That is, it is configured to recognize and hold the shape and posture of the bush based on the information on the shape and posture of the bush photographed by the vision cameras 82c and 82c, and to be rotated 360 degrees as indicated by an arrow β in FIG. It is.

When the bolt / bush supply robot 72 receives a command signal relating to the type of the connecting rod W to be transported next from the control unit 31, the bush corresponding to the connecting rod W is connected to the first bush parts feeder 82a and the second bush parts feeder 82b. Is selected and gripped.
Then, when the assembly pallet P is transported to the position of the stage ST5 by the turntable 42, the connecting rod W on the assembly pallet P is moved in accordance with the command signal received from the control unit 31 by the 6-axis multi-axis robot 43. It is transferred and positioned on the bush press-fitting table 84. Thereafter, the bolt / bush supply robot 72 places the gripped bush on the bush press-fitting portion of the connecting rod W.

Further, the bush press-fitting table 84 slides in the direction of arrow F1 in FIG. 9 with the connecting rod W and the bush placed thereon, and stops below the servo press machine 85. After that, the servo press machine 85 presses the bush into the connecting rod W to press-fit the bush into the connecting rod W.
After that, the bush press-fitting table 84 slides in the direction of the arrow F2 in FIG. 9 with the connecting rod W placed thereon, and thereby the connecting rod W formed as the carry-out portion 91 is carried out from the vicinity of the index table 41.

[Assembly method]
The assembling method performed in the assembling apparatus 10 configured as described above will be described along the flowchart shown in FIG. In FIG. 3, the flow of the connecting rod W (rod Wr and cap Wc) is indicated by solid arrows, the type information of the connecting rod W or the flow of command signals is indicated by dashed arrows (A) and (B), The flow of the assembly pallet P, the bolts b1 and b2, or the bush is indicated by arrows (a) to (c).

  In the assembling method according to the present invention, the pair of rods Wr and the cap Wc for forming the connecting rod W are collected for each type of the connecting rod W, and the loading unit 21 loads the vicinity of the index table 41. Based on information specific to the rod Wr and cap Wc to be carried in by the carry-in portion 21, the determination unit 23 disposed in the carry-in portion 21 is formed by the rod Wr and cap Wc. A determining step (step S2) for determining the type of the connecting rod W to be generated, and generating the type information of the connecting rod W, and the control unit 31 connected to the determining unit 23 A command signal generating step (step S3) for generating a command signal for performing the assembly work corresponding to the type of the connecting rod W based on the type information. The changeover unit 101 connected to the control unit 31 sets the dedicated assembly pallet P of the type corresponding to the type of the connecting rod W according to the command signal generated by the control unit 31 in the index table. The carry-in part 21 in 41 supplies the rod Wr and the cap Wc to the part carried in, and the assembly pallet P after the carry-out part 91 carries out the connecting rod W on the index table 41 is accommodated. By changing the type of the assembly pallet P, the assembly step (step S4), the assembly pallet P circulates on the index table 41, and the rod Wr carried in from the carry-in portion 21; While the cap Wc is placed on the assembly pallet P and circulates on the index table 41 (step S5), An assembly comprising an index table 41, a pin press-fitting mechanism 51 connected to the control unit 31, a cap assembling mechanism 61, a bolt supply / pushing / clamping mechanism 71, and a bush press-fitting mechanism 81. A command signal generated by the control unit 31 with the rod Wr and the cap Wc placed on the assembly pallet P that the plurality of assembly mechanisms circulate on the index table 41 in the attachment unit. In accordance with the type of the connecting rod W, the connecting rod W is sequentially assembled to form the connecting rod W (steps S6 to S10), and the connecting rod W formed by the assembled portion is carried out from the vicinity of the index table 41. The part 91 carries out, and a carrying out process (step S11) is provided.

The above assembly method will be described in detail for each step.
In the assembling method according to the present invention, first, as shown in FIGS. 3 and 4, a pair of rods Wr and caps Wc for forming the connecting rod W are collected for each type of the connecting rod W, and the carrying-in portion 21 is assembled. Is carried in the vicinity of the index table 41 (carrying-in process / step S1).
Specifically, as described above, the rod Wr and the cap Wc supplied from the upstream machine are respectively placed on the transport pallet Pc as a pair and transported in the directions of arrows A1 and A2 in FIG. It is carried into the vicinity, that is, the assembly part.

Next, the determination unit 23 disposed in the carry-in unit 21 is based on unique information of the rod Wr and the cap Wc such as the shape and size of the rod Wr and the cap Wc carried in the carry-in unit 21. Then, the type of the connecting rod W formed by the rod Wr and the cap Wc is determined, and the type information of the connecting rod W is generated (determination step / step S2).
Specifically, as described above, the rod Wr and the cap Wc that are placed on the conveyance pallet Pc and pass under the frame 24 are photographed, and based on the photographed shape and size of the rod Wr and the cap Wc, The type of the connecting rod W is determined, the front and back of the rod Wr and the cap Wc are discriminated, and the type information of the connecting rod W is generated.

Next, the control unit 31 connected to the determination unit 23 generates a command signal based on the type information of the connecting rod W received from the determination unit 23 as indicated by a broken line arrow (A) in FIG. Generation step / step S3).
Specifically, as described above, the type information of the connecting rod W generated by the determination unit 23 is received, and based on the type information of the connecting rod W, a command signal for controlling the driving of each unit and each mechanism is generated. It is.

Next, the changeover unit 101 connected to the control unit 31 has a type corresponding to the type of the connecting rod W according to a command signal received from the control unit 31 as indicated by a broken line arrow (B) in FIG. A dedicated assembly pallet P is supplied to a portion of the index table 41 where the rod Wr and the cap Wc are loaded, as indicated by a one-dot chain line arrow (a) in FIG. The above-mentioned unloading part 91 accommodates the assembling pallet P after unloading the connecting rod W, thereby changing the type of the assembling pallet P (replacement step / step S4).
Specifically, as described above, the control unit issues a command that the assembly pallet P corresponding to the connecting rod W to be assembled by the rod Wr and the cap Wc to be loaded next from the carry-in unit 21 is the first assembly pallet P1. 31, when the assembly pallet P received on the stage ST0 on the turntable 42 is the second assembly pallet P2, the pallet chuck 103 turns to the position shown by the broken line in FIG. The second assembly pallet P2 located on the stage ST0 on the turntable 42 is clamped, and at the same time, the first assembly pallet P1 stocked in the first pallet stocker 104a is clamped. Then, the pallet chuck 103 rotates 90 degrees clockwise in plan view, the first assembly pallet P1 is unclamped at the position of the stage ST0 on the turntable 42, and the second assembly pallet P2 is moved. Unclamping is performed by the second pallet stocker 104b.

Next, the assembly pallet P circulates on the index table 41, and the rod Wr carried into the vicinity of the index table 41 from the carry-in portion 21 is placed on the assembly pallet P and placed on the index table 41 Is circulated (step S5).
Specifically, as described above, when the assembly pallet P is transported to the position of the stage ST1 by the turntable 42, the 6-axis multi-axis robot 43 receives the command signal received from the control unit 31 from the carry-in unit 21. The rod Wr carried in the vicinity of the index table 41 is transferred onto the assembly pallet P located on the stage ST1 on the turntable 42 in the direction of arrow B in FIG. Then, the rod Wr carried on the assembly pallet P is transported together with the assembly pallet P in the clockwise direction by the turntable 42 in a plan view. In this way, the rod Wr is carried into the assembly part.

  Next, an assembly mechanism comprising the index table 41, a pin press-fit mechanism 51 connected to the control unit 31, a cap assembly mechanism 61, a bolt supply / push / clamp mechanism 71, and a bush press-fit mechanism 81; As shown in FIG. 3, the rod Wr and the cap Wc mounted on the assembly pallet P in which the plurality of assembly mechanisms circulate on the index table 41 are indicated by broken lines in FIG. As shown by the arrow (B), the connecting rod W is sequentially assembled according to the type of the connecting rod W in accordance with the command signal received from the control unit 31 (assembling step, steps S6 to S10). At this time, as shown by alternate long and short dashed arrows (b) and (c) in FIG. 3, bolts b1 and b2 and bushes are supplied to the bolt supply / push / clamp mechanism 71 and the bush press-fit mechanism 81 by the bolt / bush supply robot 72. It is.

Next, the unloading part 91 unloads the connecting rod W formed by the assembly part from the vicinity of the index table 41 (unloading step / step S11).
Specifically, as described above, the bush press-fit table 84 slides in the direction of the arrow F2 in FIG. 9 with the connecting rod W placed thereon, so that the connecting rod W formed as the carry-out portion 91 is moved to the vicinity of the index table 41, That is, it is carried out from the assembly part.

  In the present invention, the configuration as described above improves the versatility and changeability of the assembling apparatus 10 without enlarging the equipment and deteriorating the space productivity, and in particular, depending on the type of the connecting rod W. The assembly pallet P can be changed efficiently.

Specifically, based on information unique to the rod Wr and cap Wc carried in by the carry-in unit 21, type information of the connecting rod W formed by the rod Wr and cap Wc is generated, and generated based on the type information. According to the command signal, the connecting rod W is formed by sequentially assembling corresponding to the type of connecting rod W.
For this reason, even if there are a plurality of types of connecting rods W to be formed, the connecting rods W can be assembled according to the types of rods Wr and caps Wc that are carried in as needed, that is, the types of connecting rods W to be formed. is there. That is, since it is not necessary to provide equipment for each type of connecting rod W, and different kinds of connecting rods W can be assembled using common equipment, the versatility of the assembling apparatus 10 can be reduced without deteriorating space productivity. This makes it possible to improve the changeability.

Further, when assembling the assembly parts on the dedicated assembly pallet of the type corresponding to the type of the assembly product, for example, the connecting rod W is formed on the dedicated assembly pallet P as in this embodiment. Even in such a case, according to the command signal, after supplying the dedicated assembly pallet P of the type corresponding to the type of the connecting rod W corresponding to the type of the connecting rod W and unloading the connecting rod W By accommodating the assembly pallet P, the type of the assembly pallet P can be changed.
For this reason, according to the kind of connecting rod W, the said assembly pallet P can be changed efficiently, and the versatility and changeability of the assembly apparatus 10 can further be improved. Furthermore, since the assembly pallet P is configured to circulate on the index table 41, there is no need for a step of returning to the vicinity of the carry-in portion 21 in order to repeatedly use the assembly pallet P after use. Efficiency can be further increased.

DESCRIPTION OF SYMBOLS 10 Assembling apparatus 21 Carry-in part 23 Judgment part 31 Control part 41 Index table 51 Pin press-fit mechanism 61 Cap assembly mechanism 71 Bolt supply / push-in / tightening mechanism 81 Bush press-fit mechanism 91 Unloading part 101 Changeover part

Claims (6)

A plurality of assembly parts for forming an assembly product, and a carry-in unit that aggregates the assembly components for each type of the assembly product and carries them in the vicinity of the index table;
Based on the information specific to the assembled part carried in by the carrying-in part, the type of the assembled part formed by the assembled part is determined, and the type information of the assembled part is generated. A determination unit provided;
A control unit connected to the determination unit, which generates a command signal based on the type information of the assembly generated by the determination unit;
The index table for placing and circulating the assembly parts carried in from the carry-in section, and the assembly parts that circulate on the index table according to a command signal generated by the control section An assembly unit composed of at least one assembly mechanism connected to the control unit, which forms an assembly product by sequentially assembling corresponding to the type of product,
An unloading unit for unloading the assembly formed by the assembly unit from the vicinity of the index table;
An assembling apparatus characterized by that. The assembly unit is configured so that a dedicated assembly jig of a type corresponding to the type of the assembly product circulates on the index table, and the assembly mechanism is placed on the assembly jig. It is configured to assemble attached parts to form an attached part,
In accordance with a command signal generated by the control unit, a dedicated assembly jig of a type corresponding to the type of the assembly product is supplied to a part of the index table where the assembly unit carries the assembly component. And the control unit for changing the type of the assembly jig by accommodating the assembly jig after the unloading unit has unloaded the assembly product on the index table; With a connected changeover section,
The assembling apparatus according to claim 1, wherein The assembly is a connecting rod,
The assembly parts are a pair of rods and caps,
The assembly jig is an assembly pallet;
The assembly mechanism includes a pin press-fit mechanism, a cap assembly mechanism, a bolt supply / push-in / tightening mechanism, and a bush press-in mechanism.
The assembling apparatus according to claim 2, wherein A plurality of assembly parts for forming an assembly product are aggregated for each type of the assembly product, and carried into an assembly part of the assembly product,
A determination step of determining a type of an assembly formed by the assembly component based on information specific to the assembly component carried into the assembly unit, and generating type information of the assembly;
A command signal generation step for generating a command signal for performing an assembly operation corresponding to the type of the assembly based on the type information of the assembly generated in the determination step;
In accordance with the command signal generated in the command signal generation step, an assembly step is performed by sequentially assembling the assembly parts conveyed to the assembly unit,
An unloading step of unloading the assembly formed in the assembling step from the assembling unit;
An assembling method characterized by that. Between the command signal generation step and the assembly step,
According to the command signal generated in the command signal generating step, a dedicated assembly jig of a type corresponding to the type of the assembly product is supplied to the assembly unit, and the type of the assembly jig is set. A stage changing process is provided,
In the assembly step, the assembly component is placed on a dedicated assembly jig of a type corresponding to the type of the assembly product supplied to the assembly unit in the changing step, Assembling the assembly parts placed on the assembly jig to form an assembly product,
The assembly method according to claim 4, wherein: The assembly is a connecting rod,
The assembly parts are a pair of rods and caps,
The assembly jig is an assembly pallet;
The assembly portion includes an assembly mechanism including a pin press-fit mechanism, a cap assembly mechanism, a bolt supply / push-in / clamp mechanism, and a bush press-fit mechanism.
The assembling method according to claim 5, wherein:

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