JPH09183022A - Method and device for part assembly - Google Patents

Abstract

PROBLEM TO BE SOLVED: To increase production efficiency by arranging various types of parts to be assembled in a specified site in a specified order beforehand and taking out and assembling the parts in order onto a body to be assembled. SOLUTION: A magazine 12 on a working unit 1 installed on a robot arm is moved closely to a preparation feeder 20 by the operation of a robot 42 so as to interconnect a groove as a path which is provided in the upper surface of the magazine 12 and feeds parts continuously with a groove 22 which is provided in the upper surface of a preparation feeder main body 21 and in which parts are arranged in a prescribed order. When the parts of a specified number are moved into the magazine 12, the working unit 1 extracts parts from the top end of the magazine 12 while it is separated from the preparation feeder 20 and moved to a body to be assembled by the robot 42.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for assembling a plurality of types of parts to an assembly by a work unit attached to an operating device such as a robot. Used for automatic assembly of parts such as parts.

[0002]

2. Description of the Related Art Conventionally, a method of assembling a plurality of types of parts to an assembly is based on a work unit attached to this actuator by a plurality of actuators for professionally assembling different types of parts. There is a way to assemble. This is suitable for mass production, but has the drawback of large-scale equipment. On the other hand, the clip member mounting device disclosed in Japanese Patent Laid-Open No. 2-124230 is suitable for medium-volume production, and a robot as an operating device is prepared in advance at a predetermined location and a required number of parts are stored for each type of parts. Since the clip member mounting unit including the magazine is replaced to assemble different kinds of parts to the assembly target, there is an advantage that the device can be made smaller than the former.

[0003]

However, the above-mentioned conventional techniques have the following drawbacks. First, even during the process of assembling a plurality of types of parts to be attached to one assembly, each time the type of parts changes, the parts assembly is interrupted and the robot, which is the actuator, operates the clip member mounting unit including the magazine. Since it is necessary to move the clip member mounting unit away from the assembly and approach the positioning base that supports the clip member mounting unit at a predetermined position for replacement, the production efficiency is reduced. That is, the production amount per unit time is small. Furthermore, many clip member mounting units including many magazines and many positioning bases for supporting them at predetermined positions are required. Since these require high precision, the device price becomes expensive. And the like.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and when assembling a plurality of types of parts to an object to be assembled, the production efficiency is high and the device is inexpensive. It is an object to provide a method and an apparatus thereof.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, a method for assembling parts according to the present invention is a work tool mounting portion which is driven by an actuator such as a motor and is movable to an arbitrary position. A method of supplying different types of parts to a work unit attached to the work tool attachment part of a robot or other operating device, and sequentially assembling the parts to an assembly, wherein the different types of parts are A step in which the parts discharged from the parts aligning and supplying device to be accommodated are arranged and supplied in one preparation feeder in a required order and a required number, and the parts in the preparation feeder are moved to a work unit. The operation unit moves the working unit accommodating the parts in the preparation feeder to a predetermined position by the operating device, and the part held by the chuck provided in the working unit causes the working unit to move. By the operation of Tsu DOO or / and actuating device, characterized in that it consists of a stage to be assembled to the desired position of the assembled unit.

Further, the device is an actuator such as a motor.
Actuator such as a robot that has a work tool attachment part that can be moved to an arbitrary position by being driven by a robot, a magazine that can accommodate parts to be assembled to an assembly body in an aligned manner, and a proximity to the magazine. A working unit equipped with a chuck that can freely take out sequentially the components housed in the magazine, and a working unit to be mounted on the working tool mounting portion of the actuating device; A plurality of component aligning / supplying devices arranged so as to be aligned in a predetermined posture and discharged from the discharge ports, and the plurality of component aligning / supplying devices that can be freely moved toward and away from respective discharge ports of the plurality of component aligning and supplying devices. And a parts preparation feeder capable of accommodating the parts discharged from the respective discharge ports in an arbitrary order and having means for supplying the parts to the magazine. The parts inlet of the magazine and the parts outlet of the parts preparation feeder are closely aligned, and the parts moved from the parts preparation feeder to the magazine are sequentially taken out from the magazine and moved to the required position by the operating device. It is characterized in that it is adapted to be assembled at a required position of the assembly by operating the unit or / and the actuating device.

[0007]

According to the present invention described above, when a plurality of publicly-used parts aligning and supplying devices, each of which accommodates different kinds of parts to be assembled in the assembly, are operated, the parts accommodated in the parts aligning and supplying device have a predetermined posture. They are arranged in a line and are sent out from the exit. The delivered parts are engraved on the upper surface of the stock shooter in the vicinity of the outlets of the respective parts aligning and supplying devices, and arranged and accommodated in a groove as a passage for continuously supplying the parts. To be done.

Then, when a start signal is given, the preparation feeder goes to each stock shooter in accordance with a program which has been input in advance, and the stock stockers are sequentially stocked.
When the parts are received in the groove serving as a passage for continuously supplying the parts, the parts of different types are placed in a predetermined posture and arranged and stored in a predetermined order. .

A magazine provided in a work unit attached to a robot arm by a robot as an operating device is brought close to the preparation feeder, and is provided as a passage for continuously supplying parts engraved on the upper surface of the magazine. Groove and preparation field
When communicating with the groove that is engraved on the upper surface of the feeder and is used as a passage for continuously supplying components, the parts in the preparation feeder are fed into the grooves engraved in the magazine in the same manner as in the preparation feeder. Moved in order.

When a predetermined number of parts have been moved into the magazine, the robot moves the working unit away from the preparation feeder to the assembly target and mounts it according to a program input in advance. Assemble different types of parts sequentially to the required parts of the body.

When all the parts are assembled, the robot equips the working unit attached to the robot arm with the magazine close to the preparation feeder, and the parts are placed in the grooves formed in the magazine as described above. To prepare for the next work.

[0012]

The preferred embodiments of the present invention will be described below with reference to the drawings, but the present invention is not limited thereto.

[0013]

Embodiment 1 FIG. 1 is an overall perspective view of a parts assembling apparatus according to the present invention, FIGS. 2 to 5 are principal part views of a working unit 1, and FIGS.
FIG. 7 is a main part view of the preparation feeder 20, and FIG. 8 is a plan view of the stock shooter 30.

In FIG. 1, a robot equipped with a working unit 1 for assembling parts to the assembly object is attached to a floor near an assembly object (not shown) supported at a predetermined position via a support base (not shown). 42, a preparation feeder 20 for supplying the parts to the magazine 12 provided in the working unit 1, and parts for different kinds of components are aligned and stocked and prepared.
A plurality of stock shooters 30 for supplying parts to the da 20
The first base 39 on which 30 'is mounted, and the stock shooter 3 for accommodating different kinds of parts and aligning the parts
0, 30 ', a plurality of parts aligning and supplying devices 37, 3
A second base 38 on which 7'is mounted is installed.

The work unit 1 is attached to the tip of a robot arm, which is a work tool attachment portion of the robot 42, and can be moved to an arbitrary position by the operation of the robot 42, as shown in FIGS. Thus, an inverted L-shaped substrate 2 having a horizontal portion connected to the robot arm, an air cylinder 8 attached to a connector 7 pivotally attached to a shaft 9 attached to the substrate 2, and this air cylinder 8 The tip end of the output shaft extending from the shaft is pivotally attached to the shaft 3 attached to the substrate 2 via the shaft 10, and when the output shaft expands and contracts by the operation of the air cylinder 8, the swing member is swung about the shaft 3. Chuck cylinder 4 attached to the lower surface of 6, a pair of claws 5 and 5 expanded and contracted by the operation of chuck cylinder 4, an arm 11 for integrally connecting magazine 12 and substrate 2, and a tip of arm 11. Mounted at an angle A magazine 12 having a groove 13 as a passage for continuously supplying a component having a wide interior and a narrow opening on its upper surface, and light projecting portions 15a, 16a and a light receiving portion 15b at the upper and lower portions of the side surface of the magazine 12, respectively. 16b and the transmission type photoelectric sensors 15 and 16 facing the passage and attached to the passage so as to detect the components in the passage, the magazine 12
And an escape formed by a pair of leaf springs 14 and 14 attached to the lower end of the.

Further, the preparation feeder 20 is provided with a pair of guide grooves 29, 29 projecting from a pair of guide grooves 23, 23 engraved on the lower surface thereof so as to be horizontal to the upper slope of the first base 39.
Are fitted together with the guide rail 29 and the guide rail 2
An air cylinder 40 which is mounted on the slope of the upper surface of the first base 39 such that the axis of the guide rail 29 is parallel to that of the guide rail 29.
When the output shaft 40a is connected to the output shaft 40a of the above and the output cylinder 40a expands and contracts by the operation of the air cylinder 40, the output shaft 40a is moved back and forth along the guide rail 29. As shown in FIGS. A preparation feeder main body 21 in which a groove 22 is engraved as a passage for continuously supplying a component having a wide interior and a narrow opening, and a preparation cylinder from a escape cylinder 25 attached to the lower surface of the lower end of the preparation feeder main body 21. -Escape cylinder 25 that extends upward through the main body 21
Escaper 26 that moves into and out of the passage by the operation of
Consisting of

The preparation feeder 20 is provided with an inspection means, and the inspection means is attached to a pair of sensor mounting plates 24, 24 removably mounted on the side surface of the preparation feeder main body 21, and the mounting plates 24, 24. The light projecting portion 27a and the light receiving portion 27b are mounted so as to face each other with an appropriate interval, so that it is possible to detect the components aligned in the passage and inspect whether or not different types of components are aligned in a predetermined order. And a transmission type photoelectric sensor as an appropriate number of component detection sensors 27.

In this embodiment, two component detection sensors 27 are provided for each component (FIG. 6) so that the type of component can be specified.
The parts are inspected by arranging them in the axial direction (indicated by the two-dot chain line). That is, when two component detection sensors per component detect a component, it is determined as "long bolt",
When the component detection sensor closer to the inner groove 22 of the two component detection sensors per component detects the component but the component detection sensor farther from the groove 22 does not detect the component, it is determined as "short bolt". Has been

The stock shooter 30 is attached to a horizontal portion of the upper surface of the first base 39 through a base post 33, and as shown in FIG. 8, a part having a wide interior and a narrow opening is continuously provided on a slanted upper surface. A stock shooter main body 31 in which a groove 32 is provided as a passage for supplying the light to the light source, and a light projecting portion 34a and a light receiving portion 34b are attached to face the upper part of the side surface of the stock shooter main body 31 so as to face each other. A transmission type photoelectric sensor as a component detection sensor 34 for detecting the component in the last row, and a front claw 35a and a groove 32 which are attached to the preparation feeder side of the stock shooter main body 31 and are alternately movable back and forth. And the escape unit 35 that discharges a predetermined number of components in the groove 32 (in this embodiment, one component at a time), which includes rear claws 35b that are arranged one pitch apart from each other. Become.

On the upper surface of the second base 38 installed behind the first base 39, different kinds of parts are housed, and the parts are aligned and supplied to the stock shooter 30. The component passage outlets 37, 37 'and the groove 32 as the component passage of the stock shooter main body 31 are in close proximity to and communicate with each other.

In addition, the gutter 41 is attached to the side wall surface of the robot 42 of the first base 39, and when the parts are not arranged in a predetermined order in the preparation feeder 20, the inside of the preparation feeder 20 is discharged. The non-uniform parts are slid out of the parts assembling device.

The operation of the component assembling device constructed as described above will be described. A publicly available component aligning and supplying device 37 for accommodating a long under-neck bolt to be assembled to an assembling body (not shown) and When the official parts aligning and supplying device 37 ′ containing the short bolt is activated, the parts aligning and supplying devices 37, 3 are
The parts accommodated in 7'are arranged in a predetermined posture, aligned, and sent out from the outlet.

The long under-neck bolts sent out are engraved on the upper surface of the stock shooter main body 31, in the groove 32 as a passage for continuously supplying the parts, and the short under-neck bolts are the stock shots. -In a similar groove 32 'engraved on the upper surface of the main body 31', a predetermined posture is made and the pieces are aligned and housed in series.

Next, when the start signal is given, the air cylinder 40 is operated in accordance with the program input in advance.
Is activated and the output shaft 40a is expanded and contracted to prepare the preparation feeder 20.
First, the groove 32 formed in the stock shooter main body 31 and the preparation feeder main body 2 are brought close to the stock shooter 30.
The groove 22 formed in 1 is communicated. When this is detected by a sensor (not shown), the escape unit 35 operates and the rear pawl 35b extends orthogonally to the groove 32, and interrupts the groove 32 as a passage to prevent the parts from sliding down, and then the front pawl 35a.
Shrinks to open the groove 32 as a passage. Then, the back nail 3
One long bolt under the neck below 5b slides down and slides into the groove 22 formed in the preparation feeder main body 21 and abuts on the escaper 26 to stop the slide and the bottom 2 The individual component detection sensors 27, 27 detect this bolt.

When the parts detecting sensors 27, 27 detect this bolt, it is judged as "correct" because it is a "long bolt", and when the driving portion of the escape unit 35 is actuated, the escape unit 35 is activated again and the front claw is actuated. 35
a extends orthogonally to the groove 32, and the groove 32 as a passage is blocked, then the rear pawl 35b is contracted to open the groove 32 as a passage, and the long bolt under the neck slides down to lower the bottom neck. When the long bolt of the above contacts the front claw 35a, the sliding stops. Then, the air cylinder 40 is also operated to extend the output shaft 40a so that the preparation feeder 20 is separated from the stock shooter 30 and is brought close to the stock shooter 30 'to the stock shooter main body 31'. The engraved groove 32 ′ and the groove 22 engraved in the preparation feeder body 21 communicate with each other.

Subsequently, in the same manner as described above, the escape unit 35 'is actuated to extend the rear pawl 35'b to block the groove 32' as a passage, and then the front pawl 35'a is contracted to form the groove 32 as a passage. 'Releasing 4 times is repeated four times, the four short bolts under the neck slide down one after another and slide into the groove 22 formed in the preparation feeder main body 21 and come into contact with the already accommodated bolts. In the four parts detection sensors 27 group (consisting of two parts detection sensors per one position) that stop slipping and detect short bolts under the neck, the parts detection sensor 27 closer to the groove 22 detects parts. Since the component detection sensor 27 farther from the groove 22 does not detect a component, it is determined as "correct" because all four locations are "short bolts".

When the four photoelectric sensor groups 27 detect the four short bolts under the neck, they act on the drive portion of the escape unit 35 'and the escape unit 35' is actuated again so that the front pawl 35'a is grooved. After extending orthogonally to 32 'and blocking the groove 32' as a passage, the rear pawl 35'b contracts to open the groove 32 'as a passage and the short bolt under the neck slides down to lower the neck. When the lower short bolt comes into contact with the front pawl 35'a, the sliding stops. Subsequently, the air cylinder 40 also operates again, the output shaft 40a is contracted, the preparation feeder 20 is separated from the stock shooter 30 ', and the stock shooter 3'is released.
The groove 32 engraved on the stock shooter main body 31 and the groove 22 engraved on the preparation feeder main body 21 are communicated with each other, and the long bolt under the neck is like the previous time. It is determined to be "correct" because it is accommodated in the groove 22 formed in the main body 21 and is the longest bolt detected by the rearmost component detection sensors 27, 27. In this way, the bolts having different neck lengths are placed in the groove 22 formed in the preparation feeder main body 21 in a predetermined posture and arranged and stored in a predetermined order.

At this time, when the component detecting sensors 27, 27 for detecting the longest bolt under the tail of the tail end detect the tailmost bolt, the escape unit 35 is actuated again similarly to the previous time and the leading pawl 35a extends and the passage. After blocking the groove 32 as a groove, the rear claw 35b is contracted to open the groove 32 as a passage and the long bolt under the neck slides down and the bottom longest bolt under the neck abuts the tip claw 35a and slides down. Stops. The front nail 35
After a is extended, the preparation feeder 20 is made to stand by at a predetermined position.

Then, the robot 42 as an actuating device is operated and the magazine 12 provided in the working unit 1 attached to the robot arm is brought close to the preparation feeder 20 and is engraved on the upper surface of the magazine 12. Groove 13 as a passage for continuously supplying the components and a groove 2 formed on the upper surface of the preparation feeder main body 21 so that the components are arranged in a predetermined order.
2 is communicated. When this is detected by a sensor (not shown), the escape cylinder 25 operates and the escaper 26
Are retracted to leave the groove 22 and parts in the groove 22 of the preparation feeder main body 21 slide down and are sequentially fed into the groove 13 formed in the magazine 12 and arranged in the same order as in the preparation feeder 20. Be moved.

A predetermined number of parts are moved into the magazine 12 so that the transmissive photoelectric sensors 15 and 16 are moved to these sensors 15 and 1.
When the bolt facing 6 is detected, the working unit 1 is moved away from the preparation feeder 20 by the robot 42 and moved toward the assembly target, and the air cylinder 8 operates to extend the output shaft. The rocking member 6 is pivoted, and the pair of claws 5 and 5 expanded and contracted by the operation of the chuck cylinder 4 attached to the lower surface of the rocking member 6 approach the parts detected by the sensor 15 and the chuck cylinder 4 moves. By the operation, the interval between the claws 5, 5 is reduced to grip the component, and then the air cylinder 8 is activated again to reduce the output shaft and swing the member 6.
When the lever is pivoted, the component can be pulled out from the tip of the magazine 12 against the elastic force of the escape formed by the pair of leaf springs 14, 14, and the chuck cylinder 4 is returned to the initial posture.

When the tip part is pulled out, the magazine 1
The parts remaining in the groove 13 of No. 2 slide down, and when the leading part comes into contact with the escape formed by the pair of leaf springs 14, 14, the sliding is stopped and the sensor 15 detects the leading part and operates normally. The robot 42 is informed that the operation is continued. After the parts gripped by the pair of claws 5, 5 are assembled to the required parts of the assembly according to the program input in advance, the gap between the claws 5, 5 is widened by the operation of the chuck cylinder 4 to release the parts. , While moving the work unit 1 to the next part assembly site
Take the remaining parts from 2 and assemble them to the required parts sequentially. In this way, different kinds of parts arranged in a predetermined order in the magazine are sequentially taken out and assembled into one assembly.

During assembly of the parts, the air cylinder 40 operates to feed the parts into the groove 22 by moving the preparation feeder 20 through the stock shutters 30 and 30 'in the same manner as described above.

When all the parts are assembled, the robot 4
2, the magazine 12 provided in the work unit 1 attached to the robot arm is brought close to the preparation feeder 20, and the parts are received in the grooves 13 formed in the magazine 12 as described above, and the next work is performed. Prepare for

Although the working unit 1 of this embodiment is provided with the magazine 12, it is not limited to this. That is, if the magazine 12 is omitted, the parts aligned with the preparation feeder 20 may be directly taken out by the pair of claws 5 and 5 which are expanded and contracted by the operation of the chuck cylinder 4. This reduces the production efficiency, but has the effect of making the device inexpensive.

Also, in this embodiment, the escape unit 3
Stock shooter 30 by 5, 35 '
Since the preparation feeder 20 is moved to and from the escape units 35 and 35 'each time one component is discharged, the components can be supplied into the preparation feeder 20 in any order. .

However, the present invention is not limited to this.
That is, as shown in FIG. 9, the tip claw 71a fixed to the stock shooter 30, the air cylinder 71 for advancing the tip claw 71a, and the guide pin 74 whose axis is parallel to the groove 32 are penetrated. A rear pawl 72a advanced by an air cylinder 72 attached to a holder 73 that is movable back and forth in the axial direction of the guide pin 74, and a rotation in which the shaft is parallel to the guide pin 74 and screwed through the holder 73. Flexible box
The escape unit 70 may include a screw 70 and a servo motor 76 that is connected to the ball screw 75 and rotates the ball screw 75.

The operation of the escape unit 70 is such that when the servo motor 76 is actuated based on the escape signal to rotate the ball screw 75, the ball screw 7 is turned on.
5 and the female screw portion of the holder 73 make sliding contact with the holder 7
3 moves along the guide pin 74 to any desired position. Then, the air cylinder 72 is operated to move the rear pawl 72a.
Is extended to block the groove 32 as the passage, and the air cylinder 72 is operated to contract the front pawl 71a to open the groove 32 as the passage, so that the bolts aligned between the front pawl 71a and the rear pawl 72a are released. It slides down at once and is supplied to the preparation feeder 20. Thereby, an arbitrary number of parts can be housed between the front claw 71a and the rear claw 72a. In addition, since the parts can be supplied to the preparation feeder 20 at once, there is an effect that the parts supply time can be shortened.

Further, the escape unit 35 of the present embodiment.
According to the escape unit 70 shown in FIG.
Since there is an effect that different kinds of parts can be supplied in any order in the das 20, even if the parts to be assembled have different numbers of parts, configurations of parts types, etc. When given, the parts can be aligned and supplied in the preparation feeder 20 so that the number of parts and the configuration of the kind of parts are matched in advance. This has the effect of being able to assemble an arbitrary number of parts in an arbitrary order in an arbitrary object to be assembled.

Further, in the present embodiment, the dedicated component aligning / supplying device 37, 37 'is provided for each type of component, but the invention is not limited to this. That is, as shown in FIGS. 10 to 11, one component alignment and supply device 45 in which different types of components are mixedly housed, and the component discharge port of this component alignment and supply device 45 and the components of different types are respectively aligned. A stocker 30, 30 'capable of moving in and out of the stock shooter 30' and a groove 52 as a passage for the component, and a groove 52 serving as a passage for the component that can accommodate one component accommodated in the component aligning and supplying device 45. 51, a stocker 30 for inspecting the type of parts accommodated in the groove 52, and a sorting member 51 for accommodating different kinds of parts and parts discharge ports of the parts alignment supply device 45, respectively. It may also be provided with a sorting device 50 including means for moving to and from the component inlet 30 '.

The operation of the sorting device 50 is normally performed by the component discharge port and the sorting member of the component aligning and feeding device 45 which accommodates two types of components, for example, long bolts under the neck and short bolts under the neck. The sorting member 51 is made to stand by at a position where bolts that are communicated with the groove 52 formed in the 51 and are aligned and discharged from the component discharge port of the component alignment supply device 45 in a predetermined posture can enter the groove 52. When the operation of the alignment supply device 45 is activated, one head bolt that is aligned and discharged from the component discharge port of the component alignment supply device 45 in a predetermined posture enters the groove 52 and the outlet of the groove 52 of the selection member 52. It is held in contact with an escaper (not shown) similar to the escaper 26 shown in FIG. 6, which is attached in the vicinity and can be moved back and forth in the groove 52.

Subsequently, the transmission type photoelectric sensor as the inspection means 55 compares the under neck lengths of the bolts in the same manner as the component detection sensor 27 provided in the preparation feeder 20 of FIG. The long bolt under the neck acts on the air cylinder 56 and contracts the output shaft 56a that expands and contracts by the operation of the air cylinder 56 to bring the sorting member 51 connected to the output shaft 56a close to the stock shooter 30 and the groove 52. And the groove 32 are aligned and communicated with each other, and then the escape (not shown) is withdrawn from the groove 52. Then, the air cylinder 61 is operated to extend the pusher 61a and pusher 6 is pushed.
A bolt is brought into contact with the tip of the la 1a, pushed out from the groove 52, and slid into the groove 32 formed in the stock shooter 30 to be housed.

Similarly, the short bolt under the neck extends the output shaft 56a to bring the sorting member 51 connected to the output shaft 56a close to the stock shooter 30 ', and then activates the air cylinder 61'. As described above, the short bolt under the neck is slid into the groove 32 'formed in the stock shooter 30' to be accommodated therein.

In this way, different kinds of parts discharged from one part aligning and supplying device 45 are selected by the selecting device, and the short bolts under the neck are removed from the stock shooter 3.
0 ', long bolts under the neck are aligned and housed in the stock shooter 30, respectively.

The stock shooter 30 and the component detection sensors 34, 3 attached to the stock shooter 30 '.
If both sensors 4'detect bolts, it is determined that both stock shooters 30, 30 'are "full" and the operation of the parts aligning and supplying device 45 is stopped.

If one of the sensors detects a bolt, it is determined that the bolt which should enter the stock shoot on the side where the sensor detects the bolt has entered the sorting member 51, the sorting member 51. After pushing out to the zone H, the air cylinder 62 is operated to push the pusher 62
a is extended, the tip of the pusher 62a is brought into contact with the bolt, pushed out from the groove 52, and separated from the selection member 51.
The bolts that have been removed are provided with a component aligning and supplying device 45 by appropriate means.
Will be returned within.

On the other hand, when it is determined that the bolt which should enter the stock shooter on the side where the sensor has not detected the bolt has entered the sorting member 51, the sorting member 51 is connected to the stock shooter on the side where the sensor has not detected the bolt. After moving to the stocker, the air cylinder is operated to extend the pusher in the same manner as described above and the bolt in the selection member 51 is supplied to the stock shooter.

If the above-mentioned preparation feeder 20 is provided instead of the stock shooters 30 and 30 'and the sorting device 50 is operated in a pre-programmed sequence, the preparation feeder 50 is operated.
It goes without saying that different kinds of parts can be arranged and supplied in the predetermined order in the duck 20.

The use of this sorter has the effect of reducing the cost of the device because many types of parts can be sorted by a small number of parts aligning and supplying devices.

[0049]

As described above, according to the parts assembling method and the device thereof according to the present invention, different kinds of parts to be assembled on one assembly are arranged in advance in a predetermined order and predetermined. Since it was prepared at the place of, and the parts were sequentially taken out from this place and assembled to the assembly target, especially if the working unit is equipped with a magazinen, the production efficiency becomes high and the device becomes inexpensive. As described above, the effect of the present invention is extremely large.

[Brief description of the drawings]

FIG. 1 is a perspective view of a component assembling apparatus of the present invention.

FIG. 2 is a front view of a work unit of the component assembling apparatus of the present invention.

3 is a cross-sectional view taken along the line AA of FIG.

FIG. 4 is a sectional view taken along line BB of FIG. 2;

5 is a view in the direction of arrow C in FIG.

FIG. 6 is a sectional view of a main part of a preparation feeder of the component assembling apparatus of the present invention.

FIG. 7 is a view on arrow D in FIG.

FIG. 8 is a plan view of a stock shooter including an escape unit of the component assembling apparatus of the present invention.

FIG. 9 is a plan view of a stock shooter having an escape unit showing another embodiment of the component assembling apparatus of the present invention.

FIG. 10 is a plan view showing another embodiment of the component assembling apparatus of the present invention.

11 is an enlarged perspective view of the sorting member shown in FIG.

[Explanation of symbols]

1 work unit 2 substrate
3 axes 4 chuck cylinders 5 claws
6 Swing member 7 Connecting tool 8 Air cylinder
9 axes 10 axes 11 arms
12 magazine 13 groove 14 leaf spring 15 and 16 transmissive photoelectric sensor 20 preparation feeder 21 preparation feeder main body
22 groove 23 guide groove 24 sensor mounting plate 26 escaper 29 guide rail 30, 30 'stock shooter 31, 31'
Stock shooter body 32, 32 'Groove 33
Base 34, 34 'Component detection sensor 35
Escape unit 35a Front claw 35b Rear claw 38 Second base 39 First base 40 Air cylinder 40a Output shaft 41 Gutter 42 Robot 45 Parts alignment supply device 50 Sorting device 51 Sorting member 52 Groove 53 Sensor mounting plate 54 Guide groove 55 Inspection means 56 Air cylinder 57 Guide rail 61,62 Air cylinder 61a, 62a Pusher 70 Escape unit 71,72 Air cylinder 71a Front claw 72a Rear claw 73 Holder 74 Guide pin 75 Ball screw 76 Servo motor H Bounce zone

Claims (2)

[Claims] 1. A work unit attached to the work tool mounting portion of an operating device for a robot or the like having a work tool mounting portion that is driven by an actuator such as a motor and can be moved to an arbitrary position. A method of supplying different parts and sequentially assembling the parts to an assembly, wherein parts to be ejected from a part aligning and supplying device respectively accommodating different kinds of parts are placed in one preparation feeder. The step of supplying a required number of pieces in a predetermined order, the step of moving the parts in the preparation feeder to the working unit, and the working unit accommodating the parts in the preparation feeder by the operating device. A step of moving to a required position, and a step of assembling the component held by a chuck provided in the working unit to a required position of the assembly by the operation of the working unit and / or the operating device. A component assembling method characterized by comprising a floor and 2. An actuating device such as a robot having a work tool attachment part which is driven by an actuator such as a motor and is movable to an arbitrary position, and parts to be assembled to an assembly body are aligned. And a working unit mounted on the working tool mounting portion of the actuating device, which is equipped with a magazine that can be housed in A plurality of component aligning / supplying devices, each of which accommodates a different type of component, aligns the components in a predetermined posture, and discharges the components from a discharge port; Part preparation having means for supplying the parts to the magazine, which are separable and can accommodate the parts discharged from the respective discharge ports of the plurality of parts aligning and supplying devices in an arbitrary order The feeder is equipped with a feeder, and the component inlet of the magazine and the component outlet of the component preparation feeder are closely aligned by the operation of the actuator, and the components moved from the component preparation feeder to the magazine are sequentially taken out from the magazine. Is moved to the required position by the actuator and the work unit or /
And a parts assembling apparatus characterized in that the parts can be assembled at a required position of the assembly by the operation of the actuator.