JP2012071359A - Assembling device and assembling method - Google Patents

Abstract

An assembling apparatus and an assembling device capable of assembling a plurality of types of assembling parts to a workpiece with a compact and inexpensive configuration and easily changing the assembling position of the assembling parts. Provide a method.
An assembling apparatus includes a work feeding unit, an assembling unit, and a control means. The work feeding unit and the assembling unit are transmitted from the control means. The workpiece feeding slider 22 and the assembly slider 33 are slid based on the positional information, and the assembly portion 35 grips the assembly component P when the assembly slider 33 is positioned on the base portion 31 side. When the attached slider 33 is positioned on the workpiece W side, the assembly component P is assembled to the workpiece W.
[Selection] Figure 1

Description

  The present invention relates to an assembling apparatus and an assembling method, and more particularly to a technique for assembling an assembling part to a work.

  2. Description of the Related Art Conventionally, an assembling apparatus (pick and place apparatus) that takes out an assembling part from an assembling part supply unit and assembles it to a workpiece is known. As such an assembling apparatus, for example, there is an apparatus for assembling a valve or the like to an engine cylinder head sub.

As the assembling apparatus, there is a horizontal articulated robot configured such that a plurality of arms are connected to each other so as to be capable of mutual rotation, and the arms move horizontally (see, for example, Patent Document 1).
On the other hand, as the assembly device, there is a mechanical pick and place device in which a cam, a ball screw, an actuator, or the like is combined (see, for example, Patent Document 2).

JP 7-328869 A JP 2001-347427 A

According to the horizontal articulated robot described in Patent Document 1, in principle, it is necessary to assemble one type of assembly component to a work with one facility. For this reason, when there are many types of parts to be assembled to the workpiece, a horizontal articulated robot is required for each type of assembled parts, leading to an increase in equipment costs.
Moreover, since it is necessary to increase the equipment space in order to ensure the movable range of the arm, it is difficult to make the equipment compact. In addition, even when the arm or the like is deformed due to a temperature change, there is no means for correcting the assembly position, so it is difficult to prevent a decrease in the assembly accuracy.
On the other hand, it is possible to increase the number of assembly parts that can be assembled with one horizontal articulated robot, for example, by exchanging assembly tools, and to reduce the number of horizontal articulated robots. However, in this case, there is a problem that the operation time for replacing the assembly tool increases and the program becomes complicated.

  On the other hand, according to the mechanical pick-and-place device described in Patent Document 2, when changing the assembly position of the assembly parts, it is necessary to change the internal components, which increases the cost. It was.

  In view of the above, the present invention can assemble a plurality of types of assembly parts to a work with a compact and inexpensive configuration, and can easily change the assembly position of the assembly parts. An assembling apparatus and an assembling method are provided.

  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 of the present invention, in the XYZ coordinate system including the X axis, the Y axis, and the Z axis that are orthogonal to each other, the workpiece feeding slider configured to be slidable in the X axis direction in a state where the workpiece is positioned and placed. A workpiece feeding unit; a base erected in the vicinity of the workpiece feeding unit; and an assembly slider disposed in the base so as to extend in the Y-axis direction so as to be slidable in the Y-axis direction and the Z-axis direction; An assembly unit provided at an end portion of the assembly slider on the workpiece feed unit side, an assembly unit stored in advance, positional information of the workpiece feed slider in the X-axis direction, Control means for transmitting position information in the Y-axis direction and position information in the Z-axis direction of the assembly slider to the workpiece feeding unit and the assembly unit, respectively. In the assembling apparatus, the work feeding unit and the assembling unit slide the work feeding slider and the assembling slider based on position information transmitted from the control means, and the assembling unit The assembly component is gripped when the assembly slider is located on the base side, and the assembly component is assembled to the workpiece when the assembly slider is located on the workpiece side.

  According to a second aspect of the present invention, a plurality of the assembling units are provided, and the assembling timings of the assembling parts by the assembling parts provided in each assembling unit are different.

  According to a third aspect of the present invention, at least one of the workpiece feeding unit and the assembly unit includes a temperature detection unit, and the control unit corrects the position information based on temperature information detected by the temperature detection unit. To do.

  According to a fourth aspect of the present invention, the control means transmits rotation information about the X axis of the work feed slider stored in advance to the work feed unit, and the work feed unit transmits the work feed slider to the X A rotation mechanism for rotating around the axis is provided, and the workpiece feed slider is rotated based on rotation information transmitted from the control means.

  According to a fifth aspect of the present invention, in the XYZ coordinate system composed of the X axis, the Y axis, and the Z axis that are orthogonal to each other, the workpiece feeding slider is configured to be slidable in the X axis direction in a state where the workpiece is positioned and placed. A workpiece feed unit, a base erected in the vicinity of the workpiece feed unit, an assembly slider disposed in the base so as to extend in the Y-axis direction so as to be slidable in the Y-axis direction and the Z-axis direction, An assembly unit including an assembly portion disposed at an end of the assembly slider on the workpiece feed unit side, pre-stored positional information in the X-axis direction of the workpiece feed slider, and the assembly Control means for transmitting position information in the Y-axis direction and position information in the Z-axis direction of the slider to the workpiece feeding unit and the assembling unit, respectively. The workpiece feeding unit and the assembly unit slide the workpiece feeding slider and the assembly slider based on position information transmitted from the control means, and The attachment portion grips an assembly component when the assembly slider is located on the base side, and attaches the assembly component to the workpiece when the assembly slider is located on the workpiece side.

  According to a sixth aspect of the present invention, the assembling apparatus includes a plurality of the assembling units, and the assembling timings of the assembling parts by the assembling parts provided in the assembling units are different.

  According to a seventh aspect of the present invention, at least one of the workpiece feeding unit and the assembly unit includes a temperature detection unit, and the control unit corrects the position information based on temperature information detected by the temperature detection unit. To do.

  The control means transmits the rotation information about the X axis of the workpiece feeding slider stored in advance to the workpiece feeding unit, and the workpiece feeding unit transmits the workpiece feeding slider to the X A rotation mechanism for rotating around the axis is provided, and the workpiece feed slider is rotated based on rotation information transmitted from the control means.

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

  According to the present invention, in the assembling apparatus and the assembling method, it is possible to assemble a plurality of types of assembling parts to a work and easily change the assembling position of the assembling parts with a compact and inexpensive configuration.

The perspective view which showed the assembly | attachment apparatus which concerns on 1st embodiment. (A) to (d) is a perspective view showing the operation of the assembly unit. (A) to (d) is a perspective view showing the operation of the assembling apparatus according to the second embodiment. The figure which showed the operation | movement process of the assembly | attachment apparatus which concerns on 2nd embodiment. The perspective view which showed the assembly | attachment apparatus which concerns on 3rd embodiment. The perspective view which showed the assembly | attachment apparatus which concerns on 4th embodiment.

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.

[First embodiment]
First, the configuration of the assembling apparatus 10 according to the first embodiment of the present invention will be described with reference to FIGS. 1 and 2. In this specification, for convenience of explanation, it is assumed that the assembling apparatus is arranged in an XYZ coordinate system composed of an X axis, a Y axis, and a Z axis that are orthogonal to each other, as indicated by arrows in each drawing. Specifically, the positive direction is defined as the X-axis direction, the lower-left direction as the Y-axis direction, the upward direction as the Z-axis direction, and the negative direction as the opposite direction. In this specification, for example, an X-axis direction means a positive direction in the X-axis direction.

  The assembling apparatus 10 according to the present embodiment is a so-called pick-and-place apparatus, and is configured for the purpose of taking out the assembling part P supplied by the part supplying unit 51 and assembling it on the workpiece W. The assembling apparatus 10 includes a workpiece feeding unit 20, an assembling unit 30, and a control means 41 as main components. Hereinafter, each component will be specifically described.

  The workpiece feeding unit 20 includes a workpiece feeding slider 22 configured to be slidable in the X-axis direction in a state where the workpiece W is positioned and placed. Specifically, as shown in FIG. 1, a base 21 which is a plate-like member whose longitudinal direction is in the X-axis direction is arranged, and a rail 21a is formed on the upper surface of the base 21 so as to protrude upward along the longitudinal direction. ing. A workpiece feed slider 22 is disposed on the upper surface of the base 21 and the rail 21a is inserted into a groove formed on the lower surface of the slider 22, so that the workpiece feed slider 22 slides on the base 21 in the longitudinal direction. It is configured to be movable, that is, slidable in the X-axis direction.

  As shown in FIG. 1, the workpiece feed slider 22 can place and place the workpiece W on the upper surface 22a thereof. That is, by sliding the work feed slider 22 in the X-axis direction, the work W is also slid in the X-axis direction. An actuator (not shown) is connected to the work feed slider 22 and is configured to slide on the rail 21a when the actuator is driven. In addition, as an actuator described in this specification, it is possible to adopt any object that can linearly or rotationally move an object, such as an air cylinder, a hydraulic cylinder, or an electric motor. The embodiment is not limited.

The assembly unit 30 includes a base 31, an assembly slider 33, and an assembly unit 35 as main components.
The base 31 is a plate-like member erected in the vicinity of the work feeding unit 20. Specifically, the base portion 31 is disposed in the vicinity of a substantially midway portion in the longitudinal direction of the base 21 on the negative direction side in the Y-axis direction with the longitudinal direction directed in the Z-axis direction. A rail 31a is formed on the side surface of the base 31 on the X axis direction side so as to protrude in the X axis direction along the longitudinal direction. Further, a connecting slider 32 is disposed on the X axis direction side of the base portion 31. The rail 31a is inserted into the groove formed in the connecting slider 32, so that the connecting slider 32 is slidable in the vertical direction, that is, in the Z-axis direction.

  An assembly slider 33, which is a plate-like member extending in the Y-axis direction, is disposed on the connecting slider 32 so as to be slidable in the Y-axis direction. Specifically, an engagement portion (not shown) is formed on the surface of the connecting slider 32 on the X-axis direction side, and this engagement portion and an engagement groove 33 a formed along the longitudinal direction of the assembly slider 33. As a result of the engagement, the assembly slider 33 slides in the Y-axis direction. That is, the assembly slider 33 is slidably disposed in the Y-axis direction and the Z-axis direction by being connected to the base portion 31 via the connection slider 32.

  An actuator (not shown) is connected to each of the coupling slider 32 and the assembly slider 33, and the assembly slider 33 is configured to slide in the Y-axis direction and the Z-axis direction by driving the actuator. Specifically, when the actuator connected to the coupling slider 32 is driven, the coupling slider 32 is slid in the Z-axis direction with the assembly slider 33 and moves up and down (FIGS. 2A and 2C). (See arrows α1 and α2 in the middle). Further, when the actuator connected to the assembly slider 33 is driven, the assembly slider 33 is slid in the Y-axis direction (see arrows β1 and β2 in FIGS. 2B and 2D). .

  An assembly portion 35 is disposed on the workpiece feeding unit 20 side of the assembly slider 33, that is, on the tip end portion on the Y-axis direction side. The assembling unit 35 includes an assembling pitch switching means 36, a first clip 37, and a second clip 38. Each of the first clip 37 and the second clip 38 is configured to be able to sandwich the assembly part P. FIG. 1 shows a state in which the first clip 37 sandwiches the assembly component P11 and the second clip 38 sandwiches the assembly component P12. That is, in the present embodiment, the assembling unit 35 can assemble two assembling parts P to the work W at the same time.

  The assembly pitch switching means 36 can adjust the distance between the first clip 37 and the second clip 38. That is, by adjusting the assembling pitch switching means 36, it is possible to change the interval when assembling the assembling part P with respect to the work W. For example, when the workpiece W is a head sub of the engine and the interval between the valves is different, the assembly pitch switching means 36 is adjusted before the valve is assembled as the assembly part P. As a result, it is possible to assemble the valve with the pitch of the assembly parts P and P sandwiched between the first clip 37 and the second clip 38 as the pitch corresponding to the interval between the assembly positions of the valve in the head sub. It becomes.

  A component supply unit 51 for supplying the assembly component P is disposed below the assembly unit 30. Specifically, the tip of the component supply unit 51 is located at a position where the assembly unit 35 is located in a state where the assembly slider 33 slides in the negative direction of the Y-axis direction and descends in the negative direction of the Z-axis direction. The component supply unit 51 is arranged so that is positioned.

  In this embodiment, it is set as the structure by which the assembly | attachment component P is supplied from the X-axis direction side to the direction shown to the arrow A in FIG. In the present embodiment, as described above, since the two assembly parts P are assembled to the workpiece W at the same time, the assembly part P to be assembled by the first clip 37 and the second clip 38 in the part supply unit 51. Are alternately supplied. Specifically, as shown in FIG. 1, assembly parts P21, P31,... Assembled by the first clip 37 and assembly parts P22, P32,. It is. As the component supply unit 51, it is possible to use a conveying means such as a component supply conveyor or a combination of a plurality of conveying means.

  The procedure for assembling the assembly part P to the workpiece W in the assembly unit 30 configured as described above will be described with reference to FIG. First, the assembly slider 33 is slid in the negative direction in the Y-axis direction and simultaneously lowered in the negative direction (downward) in the Z-axis direction. 2 (a), with the assembly part P sandwiched by the assembly part 35, that is, with the assembly parts P and P sandwiched by the first clip 37 and the second clip 38 of the assembly part 35. As indicated by the arrow α1 in the middle, the assembly slider 33 is raised. Then, the assembly slider 33 is slid in the Y-axis direction as shown by an arrow β1 in FIG. 2B, and then the assembly slider 33 is lowered as shown by an arrow α2 in FIG. 2C. The assembly parts P and P sandwiched between the first clip 37 and the second clip 38 are assembled to the workpiece W at the same time. Further, as shown by an arrow β2 in FIG. 2D, the assembly slider 33 is slid in the negative direction of the Y-axis direction to sandwich the next assembly component P. Thereafter, by repeating the above procedure, the assembling unit 30 sequentially assembles the assembling parts P onto the workpiece W.

The control means 41 is a control device that includes an input unit, a display unit, a storage unit, a communication unit, various arithmetic units, and the like, and is configured mainly with a microcomputer such as a CPU, RAM, ROM, or interface. The storage unit stores the type and shape of the workpiece W and the assembly part P, position information to be described later, and the like. The control means 41 is electrically connected to the respective actuators disposed in the workpiece feeding unit 20 and the assembly unit 30 and is configured to transmit position information to the workpiece feeding unit 20 and the assembly unit 30. ing.
Specifically, in the storage unit, position information in the X-axis direction of the work feed slider 22, position information in the Y-axis direction of the assembly slider 33, and Z stored in advance as a program for each type of assembly part P The position information in the axial direction is transmitted to each actuator disposed in the work feeding unit 20 and the assembly unit 30.

  The actuators that have received the position information from the control means 41, based on the respective position information, for each type of assembly part P, the position of the workpiece feed slider 22 in the X-axis direction and the direction of the assembly slider 33 in the Y-axis direction. -Determine the position in the Z-axis direction and drive. In other words, the workpiece feeding unit 20 and the assembly unit 30 slide the workpiece feeding slider 22 and the assembly slider 33 based on the respective position information transmitted from the control means 41. Then, the work feed slider 22 and the assembly slider 33 are arranged so that the assembly part 35 at the time of assembly (state of FIG. 2D) is positioned at the position where the assembly part P is assembled in the workpiece W. It is done.

That is, the workpiece feeding unit 20 is configured such that the position in the X-axis direction at the assembly location where the assembly component P is assembled to the workpiece W is the X-axis direction position of the assembly unit 35 based on the position information from the control means 41. The work feed slider 22 is moved so as to match. Further, the assembly unit 30 moves the assembly part 35 in the Y-axis direction and the Z-axis direction based on the position information from the control means 41 and assembles the assembly part P in the workpiece W at the assembly location. The assembly part 35 is positioned at a position where the component P can be assembled. In other words, the Y-axis direction position and the Z-axis direction position of the assembly part P gripped by the assembly part 35 are the Y-axis direction position and the Z-axis direction position of the assembly part of the assembly part P in the workpiece W. The assembly part 35 is moved in the Y-axis direction and the Z-axis direction so as to match.
Further, as described above, the assembling part 35 holds the assembling part P when the assembling slider 33 is located on the base 31 side, and the assembling part when the assembling slider 33 is located on the work W side. P is assembled at a predetermined position of the workpiece W for each type.

  As described above, according to the assembling apparatus 10 according to the present embodiment, the driving direction of the assembling slider 33 in the assembling unit 30 is limited to the Y-axis direction and the Z-axis direction, and the driving direction is set to the X-axis direction. The position of the workpiece W is adjusted by the limited workpiece feed slider 22. For this reason, since the movable range becomes compact by shortening the movable width in the X-axis direction of the assembly slider 33, the equipment space can be reduced as compared with the case of using a horizontal articulated robot.

  Further, the position information in the X-axis direction of the work feed slider 22, the position information in the Y-axis direction and the position information in the Z-axis direction of the assembling slider 33 are stored as programs in the storage unit for each type of assembling part P. The configuration is to let Thereby, even if the types of the assembly parts P are different, it is only necessary to create a program corresponding to each of the assembly parts P, so that the assembly apparatus 10 can assemble them. For this reason, even when the number of parts P to be assembled to the workpiece W is large, it is not necessary to arrange the assembling device 10 for each type of the assembled part P, and the equipment cost can be suppressed. .

  Furthermore, by changing the program that records the position information in the X-axis direction of the work feed slider 22 and the position information in the Y-axis direction and the position information in the Z-axis direction of the assembly slider 33 to be stored in the storage unit, The assembly position of the assembly component P in the workpiece W can be changed. For this reason, in order to change the assembly position of the assembly | attachment component P, it is not necessary to change an internal component, and cost does not increase.

  That is, according to the assembling apparatus 10 according to the present embodiment, it is possible to assemble a plurality of types of assembling parts P to the work W with a compact and inexpensive configuration, and the assembling positions of the assembling parts P can be determined. It can be easily changed.

[Second Embodiment]
Next, the structure of the assembly | attachment apparatus 210 which concerns on 2nd embodiment of this invention is demonstrated using FIG.3 and FIG.4.
In the assembling apparatus described below in the present embodiment, the description of the parts common to the assembling apparatus 10 according to the first embodiment described above is omitted.

  The assembling apparatus 210 according to the present embodiment includes a first assembling unit 130 and a second assembling unit 230. Specifically, as shown in FIG. 3A, the first assembly unit 130 and the second assembly unit, which are substantially the same as the assembly unit 30 in the assembly apparatus 10 according to the first embodiment described above, respectively. 230 are arranged side by side in the X-axis direction and are shifted by a width D. In the present embodiment, the components substantially the same as those in the first embodiment, such as the control unit 41 and the component supply unit 51, are not shown.

  At this time, the shift width D between the first assembly unit 130 and the second assembly unit 230 can be made as small as possible, and the first assembly unit 130 and the second assembly unit 230 can be arranged close to each other. That is, similar to the first embodiment, the first assembly unit 130 and the second assembly unit 230 are close to each other because the movable width in the X-axis direction of the first assembly slider 133 and the second assembly slider 233 is short. Even if driven in the arranged state, the first assembly slider 133 and the second assembly slider 233 do not interfere with each other. Thus, in the assembling apparatus 210 according to the present embodiment, a plurality of assembling parts are efficiently assembled at one assembling station by arranging a plurality of assembling units in parallel. is there.

  In the assembling apparatus 210 according to the present embodiment, assembling parts are assembled by the first assembling unit 135 and the second assembling unit 235 included in the first assembling unit 130 and the second assembling unit 230, respectively. The timing is different. Hereinafter, the assembly procedure of the assembly parts will be specifically described.

  In the present embodiment, description will be given using a head sub H applied to a four-cylinder engine as a work for assembling the assembly parts. As shown in FIG. 3A, the head sub H is formed with four bore portions in the order of the first bore portion b1, the second bore portion b2,. The assembling apparatus 210 sequentially assembles assembling parts into these bore portions. In the present embodiment, the width d between the bore portions is configured to be smaller than the deviation width D between the first assembly unit 130 and the second assembly unit 230.

  First, as shown in FIG. 3A, in the first assembling unit 130, the first assembling part 133 descends with the first assembling part 135 sandwiching the assembling parts, so that the first bore part Assemble parts to b1. At this time, the head sub H is arranged by the work feeding unit 20 so that the first bore part b1 is located at a position where the first assembling part 135 descends during assembling. On the other hand, in the second assembly unit 230, the assembly part is taken out when the second assembly slider 233 rises with the second assembly part 235 sandwiching the assembly part (in FIG. 4). (A)).

  Next, as shown in FIG. 3B, in the first assembly unit 130, the first assembly slider 133 moves backward in the negative direction of the Y-axis direction. At that time, in the second assembly unit 230, the second assembly slider 233 moves forward in the Y-axis direction. Further, in the workpiece feeding unit 20, the workpiece feeding slider 22 advances by a width D in the X-axis direction as indicated by an arrow γ1 in FIG. Thereby, the head sub H is arranged so that the first bore part b1 is located at a position where the second assembling part 235 at the time of assembling descends ((b) in FIG. 4).

  Next, as shown in FIG. 3C, in the first assembling unit 130, the first assembling slider 133 ascends with the first assembling part 135 sandwiching the next assembling part, thereby assembling. Take out the attached parts. On the other hand, in the second assembling unit 230, the second assembling part 235 descends while the second assembling part 235 sandwiches the assembling part, so that the assembling part is attached to the first bore part b1. It is assembled ((c) in FIG. 4).

Next, as shown in FIG. 3D, in the first assembly unit 130, the first assembly slider 133 moves forward in the Y-axis direction. At that time, in the second assembly unit 230, the second assembly slider 233 moves backward in the negative direction of the Y-axis direction. Further, in the workpiece feeding unit 20, the workpiece feeding slider 22 moves backward by a width (D−d) in the negative direction of the X-axis direction as indicated by an arrow γ2 in FIG. As a result, the head sub H is arranged so that the second bore part b2 is located at the position where the first assembling part 135 descends during assembling ((d) in FIG. 4).
Hereinafter, as shown in FIG. 4, by repeating the steps (a) to (d), the assembling apparatus 210 sequentially assembles the assembling parts into the respective bore portions.
In the present embodiment, the assembly of the assembly parts by the first assembly unit 135 of the first assembly unit 130 and the second assembly unit 230 of the first assembly unit 130 are performed on the bores b1, b2,. The assembly of the assembly parts by the two assembly parts 235 is configured to be performed once, but it is also possible to configure the assembly to each of the bore parts b1, b2,. It is.

  As described above, according to the assembling apparatus 210 according to the present embodiment, the first assembling unit 135 and the second assembling unit 235 included in each of the first assembling unit 130 and the second assembling unit 230 are assembled. The parts are assembled at different timings. That is, the timing for taking out and assembling the assembly parts is shifted between one assembly unit and the other assembly unit. As a result, the time loss can be reduced by performing assembly with the other assembly unit during the time required for taking out the assembly parts with one assembly unit, thereby reducing the work time. It becomes possible.

[Third embodiment]
Next, the structure of the assembly | attachment apparatus 310 which concerns on 3rd embodiment of this invention is demonstrated using FIG.
In the assembling apparatus 310 according to the present embodiment, the work feeding unit 20 and the assembling unit 30 include temperature sensors 61, 62, and 63 that are temperature detecting means. Specifically, a temperature sensor 61 that detects the temperature of an actuator (not shown) connected to the work feed slider 22 is disposed in the work feed unit 20. A temperature sensor 62 that detects the outside air temperature is disposed at the upper end of the base 31 of the assembly unit 30, and a temperature sensor 63 that detects the temperature of an actuator (not shown) connected to the assembly slider 33. It is arranged.
And each temperature sensor 61 * 62 * 63 is electrically connected with the control means 41, and it is comprised so that the temperature information detected with respect to the control means 41 can be transmitted.

  In the assembling apparatus 310 according to the present embodiment, the control means 41 is detected by the temperature sensors 61, 62, and 63, and based on the transmitted temperature information, the position information in the X-axis direction of the work feed slider 22, and the assembly The position information of the attached slider 33 in the Y-axis direction and the position information in the Z-axis direction are corrected. Specifically, since each member such as the assembly slider 33 expands and contracts due to temperature rise of each member due to heat generation of the actuator or the like and fluctuations in the outside air temperature, a value considering the displacement amount of each member due to the expansion and contraction. The position information of the workpiece feed slider 22 and the assembly slider 33 is corrected by the calculation unit in the control means 41.

  Then, the position information in the X-axis direction of the work feed slider 22, the position information in the Y-axis direction and the position information in the Z-axis direction of the assembly slider 33 corrected by the calculation unit are used as the work feed unit 20 and the assembly. This is transmitted to each actuator arranged in the unit 30. Further, each actuator that has received the position information from the control means 41, based on the respective position information, determines the position of the work feed slider 22 in the X-axis direction and the Y of the assembly slider 33 for each type of assembly part P. The position is driven in the axial direction and the Z-axis direction.

  As described above, according to the assembling apparatus 310 according to the present embodiment, even when each member such as the assembling slider 33 expands and contracts due to a temperature rise of each member due to heat generated by the actuator or a change in the outside air temperature. Since the assembly position can be corrected, it is possible to prevent a decrease in assembly accuracy.

[Fourth embodiment]
Next, the structure of the assembly | attachment apparatus 410 which concerns on 4th embodiment of this invention is demonstrated using FIG.
In the assembling apparatus 410 according to the present embodiment, the workpiece feeding unit 420 includes a workpiece feeding slider 425 configured to be slidable in the X-axis direction in a state where the workpiece W is positioned and placed. Specifically, as shown in FIG. 6, a base 421 that is a plate-like member with the longitudinal direction oriented in the X-axis direction is disposed, and a rail 421a is formed on the upper surface of the base 421 so as to protrude upward along the longitudinal direction. ing. A sliding base 422 that is a plate-like member is disposed on the upper surface of the base 421, and the rail 421a is inserted into a groove formed on the lower surface of the sliding base 422, so that the sliding base 422 becomes the base 421. Is slidable in the longitudinal direction, that is, slidable in the X-axis direction.

  The workpiece feeding unit 420 includes a rotation mechanism that rotates the workpiece feeding slider 425 about the X axis as a so-called tilt mechanism. Specifically, on the upper surface of the sliding base 422, rotation support portions 423a and 423b are erected on both ends in the X-axis direction. A rotation shaft 424 is installed between the rotation support portions 423a and 423b, and a work feed slider 425 is disposed so as to be rotatable about the rotation shaft 424. Then, as shown in FIG. 6, the work feed slider 425 can position and place the work W on the upper surface thereof. That is, by sliding the work feed slider 425 in the X-axis direction, the work W is also slid in the X-axis direction. Further, by rotating the workpiece feed slider 425 around the X axis, the workpiece W also rotates around the X axis (in the directions of arrows δ1 and δ2 shown in FIG. 6).

  Actuators (not shown) are connected to the slide base 422 and the rotation support portion 423a, respectively. When the actuators are driven, the slide base 422 slides on the rail 421a, and the work feed slider 425 rotates. Is configured to do.

  On the other hand, in addition to the configuration described in the first embodiment, the control means 41 is electrically connected to an actuator disposed on the rotation support portion 423a. The rotation information about the X axis of the workpiece feeding slider 425 stored in advance can be transmitted to the rotation support portion 423a of the workpiece feeding unit 420. That is, the rotation support portion 423a in the workpiece feeding unit 420 adjusts the angle of the workpiece W by rotating the workpiece feeding slider 425 based on the rotation information of the workpiece feeding slider 425 transmitted from the control means 41. .

  As described above, according to the assembling apparatus 410 according to the present embodiment, the work W is also rotated around the X axis by rotating the work feed slider 425 around the X axis. Thereby, even if it is an assembly part from which the assembly angle at the time of the assembly | attachment with respect to the workpiece | work W differs, assembly | attachment is attained. For example, when the workpiece W is a head sub, an angle around the X axis with respect to the workpiece W is different between an intake side and an exhaust side of a valve or the like as an assembly part. Even in such a case, it is possible to assemble with the assembling apparatus 410 by rotating the workpiece W around the X axis.

10 Assembly Device 20 Work Feed Unit 22 Work Feed Slider 30 Assembly Unit 33 Assembly Slider 41 Control Means P Assembly Parts W Workpiece

Claims (8)

In an XYZ coordinate system consisting of an X axis, a Y axis, and a Z axis that are orthogonal to each other,
A workpiece feed unit comprising a workpiece feed slider configured to be slidable in the X-axis direction with the workpiece positioned and placed;
A base erected in the vicinity of the workpiece feed unit; an assembly slider disposed extending in the Y-axis direction so as to be slidable in the Y-axis direction and the Z-axis direction at the base; and the assembly slider An assembling unit provided with an assembling part disposed at an end on the work feeding unit side, and
Pre-stored position information in the X-axis direction of the work feed slider, position information in the Y-axis direction and position information in the Z-axis direction of the assembly slider are stored in the work feed unit and the assembly unit. An assembling device comprising a control means for transmitting each of them,
The workpiece feeding unit and the assembly unit slide the workpiece feeding slider and the assembly slider based on position information transmitted from the control means,
The assembly portion grips an assembly component when the assembly slider is positioned on the base side, and the assembly component is assembled to the workpiece when the assembly slider is positioned on the workpiece side.
An assembling apparatus characterized by that. Comprising a plurality of the assembly units;
The assembly timing of the assembly parts by the assembly part provided in each assembly unit is different.
The assembling apparatus according to claim 1, wherein At least one of the workpiece feeding unit and the assembly unit includes a temperature detection means,
The control means corrects the position information based on temperature information detected by the temperature detection means.
The assembling apparatus according to claim 1 or 2, characterized in that The control means transmits the rotation information about the X axis of the work feed slider stored in advance to the work feed unit,
The workpiece feeding unit includes a rotation mechanism that rotates the workpiece feeding slider around the X axis, and rotates the workpiece feeding slider based on rotation information transmitted from the control unit.
The assembling apparatus according to any one of claims 1 to 3, characterized in that: In an XYZ coordinate system consisting of an X axis, a Y axis, and a Z axis that are orthogonal to each other,
A workpiece feed unit comprising a workpiece feed slider configured to be slidable in the X-axis direction with the workpiece positioned and placed;
A base erected in the vicinity of the workpiece feed unit; an assembly slider disposed extending in the Y-axis direction so as to be slidable in the Y-axis direction and the Z-axis direction at the base; and the assembly slider An assembling unit provided with an assembling part disposed at an end on the work feeding unit side, and
Pre-stored position information in the X-axis direction of the work feed slider, position information in the Y-axis direction and position information in the Z-axis direction of the assembly slider are stored in the work feed unit and the assembly unit. An assembling method performed by an assembling apparatus, each comprising a control means for transmitting,
The workpiece feeding unit and the assembly unit slide the workpiece feeding slider and the assembly slider based on position information transmitted from the control means,
The assembly portion grips an assembly component when the assembly slider is positioned on the base side, and the assembly component is assembled to the workpiece when the assembly slider is positioned on the workpiece side.
An assembling method characterized by that. The assembly apparatus includes a plurality of the assembly units,
The assembly timing of the assembly parts by the assembly part provided in each assembly unit is different.
The assembling method according to claim 5, wherein: At least one of the workpiece feeding unit and the assembly unit includes a temperature detection means,
The control means corrects the position information based on temperature information detected by the temperature detection means.
The assembling method according to claim 5 or 6, characterized by the above. The control means transmits the rotation information about the X axis of the work feed slider stored in advance to the work feed unit,
The workpiece feeding unit includes a rotation mechanism that rotates the workpiece feeding slider around the X axis, and rotates the workpiece feeding slider based on rotation information transmitted from the control unit.
The assembling method according to any one of claims 5 to 7, wherein the assembling method is characterized in that:

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