JP3516861B2 - Automatic assembly facility for handling cylinders - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure of an automatic assembling facility of a handling cylinder used for a threshing device in a threshing device mounted on an agricultural combine harvester or a harvester and a fixed threshing device.

[0002]

2. Description of the Related Art Generally, a handling cylinder used in a threshing device is constructed by attaching a handling tooth formed by bending a wire into a V-shape to the outer peripheral surface of a cylindrical body. Specifically, a screw is formed on the leg part of the bifurcated handle tooth, the leg part of the handle tooth is inserted into the mounting hole formed in the main body, and the nut is attached to the leg part of the handle tooth from the inside of the main body. Install Tighten and fix. In this case, Japanese Patent Publication No. 1-5
As disclosed in Japanese Patent No. 5934, with the leg of the handle tooth inserted into the mounting hole of the main body, the nut temporarily attached to the leg of the handle tooth is tightened from the inside of the main body to remove the handle tooth. Some have a nut tightening device for fixing.

[0003]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
In an automatic assembling facility for a handle barrel disclosed in Japanese Patent No. 934, a configuration is such that the nut is held and tightened to fix the handle tooth in a state where a nut is temporarily attached to a leg portion of the handle tooth in advance. Has been done. As a result, in the automatic assembling facility of the handling cylinder disclosed in the above publication, the operator inserts the nut into the mounting hole of the main body and temporarily attaches the nut from the inside of the main body. There is room for improvement in terms of improving overall work efficiency because it is necessary to do it. An object of the present invention is to improve the overall work efficiency in an automatic assembly facility for a handling cylinder used in a threshing device.

[0004]

[I] According to the feature of claim 1, the main body of the handling cylinder is supported by the main body supporting device, and the nut mounting device is inserted inside the main body. In this state, the nut is transported from the nut storage portion to the nut mounting device via the transport path, and the nut is held by the holding portion of the nut mounting device. Therefore, while the nut held by the holding portion is rotated by the rotation operating portion, the nut is attached and tightened to the leg portion of the handle tooth inserted into the mounting hole of the main body, and the handle tooth is fixed to the main body.

As described above, according to the feature of claim 1, the nut in the nut storage portion is conveyed to the nut mounting device via the conveyance path only by inserting the nut in the nut storage portion.
It is attached and tightened by the nut attachment device to the leg portion of the handle tooth inserted into the attachment hole of the main body. Therefore, claim 1
According to the feature of (1), it is not necessary to perform a work of temporarily attaching the nut in advance from the inside of the main body to the leg portion of the handle tooth inserted into the mounting hole of the main body.

According to the feature of claim 1, the nut attaching device is located inside the main body supported by the main body supporting device, and the nuts of the nut storing portions arranged apart from each other are connected to the nut via the conveying path. It is transported to the mounting device. In this case, since the nut is small and light, the structure for transporting the nut from the nut storage portion to the nut mounting device does not become complicated, and the nut can be reliably transported to the nut mounting device with a simple configuration. . Furthermore, the above-mentioned Japanese Patent Publication 1-5
As disclosed in Japanese Patent Laid-Open No. 52-9759, which is described as a conventional technique in Japanese Patent No. 5934, the nut mounting device reciprocates between a working position for mounting the nut and the nut storage part. Is not a structure in which the nut is stored in the nut storage portion, and the feature of claim 1 is that the nut mounting device is located inside the main body supported by the main body supporting device and reciprocates as described above. Since it does not exist, the structure of the feature of claim 1 does not become complicated in this respect as well.

[II] According to the feature of claim 1, the main body supporting device includes the main body of the handling cylinder.
Supported, with the nut mounting device inside the body
In this state, the handle teeth are supplied from the handle tooth supply unit to the predetermined position.
The hand device holds the handle teeth in place and removes them.
Then, insert the leg of the handle tooth held in the mounting hole of the main body. This
As a result, the leg of the handle tooth inserted in the mounting hole of the main
Nuts are attached and tightened by the
The handle teeth are fixed to the main body. Thus, according to claim 1,
According to the characteristics, the hand device automatically holds the handling teeth.
Are taken out, and the legs of the handle are automatically inserted into the mounting holes of the main unit.
As it is inserted, the operator manually attaches the leg of the handle tooth to the main unit.
No need to insert into the mounting hole.

[III] In the main body of the handling cylinder, along the circumferential direction and the axial direction of the main body,
A large number of mounting holes are distributed and opened.
It is necessary to fix one handle tooth to each of the above. Claim 1
According to the characteristics of the main body support device,
The nut mounting device located inside the body moves in the axial direction of the main body.
It is configured to move.

Attaching the leg of the handling tooth to the main body with a hand device
When inserting into the hole, on the side of the body opposite to the hand device itself.
Inserting the leg of the handle into the mounting hole
It is difficult for the hand device itself
Inserting the leg of the handle into the mounting hole is not possible with the hand device.
If the hand device itself is on the axis of the body
Even if the mounting holes on the main unit are
The leg of the handle can be inserted into the mounting hole of the main body.
Therefore, adjust the nut mounting device to match the hand device
It is configured to move in the axial direction of. With body support device
It is relatively easy to rotate the supported body.
, The main unit should be moved along the axial direction of the main unit.
Means that it is necessary to move the support part of the main body together.
It has become difficult.

As described above, according to the features of claim 1,
Advantages of the handheld device (if the hand device itself is the
Even if the mounting holes on the main body are
(The point that the part can be easily inserted) and the main body support device
Advantages (relatively easy to rotate the supported body
The points that can be done) and
The holes are distributed along the circumferential direction and the axial direction of the body.
Insert the leg of the handle tooth into the mounting hole of the
Can be attached and tightened.

[IV] According to the characteristics of claim 2, the same as the case of claim 1,
It has the "action" described in [I] to [III],
In addition to this, it has the following "action". When inserting the leg of the handle tooth into the mounting hole of the main unit with the hand device, if the position of the leg of the handle tooth does not match the position of the mounting hole of the main unit, set the leg of the handle tooth into the mounting hole of the main unit. It cannot be inserted and the leg portion of the handle may be caught in the mounting hole of the main body.

According to the second aspect of the invention, as described above, when the leg of the handle tooth is caught in the mounting hole of the main body and the insertion resistance is increased, the main body supporting device rotates the main body by a minute angle. Operated. With this, if the rotation direction of the main body is appropriate, it is possible to eliminate the deviation between the position of the leg portion of the handle tooth and the position of the mounting hole of the body. Can be easily inserted into.

[V] According to the characteristics of claim 3, it is the same as the case of claim 1 or 2.
Is equipped with the “action” described in the above [I] to [IV].
In addition to this, it has the following "action".
As described in the above item [IV] , when the main body supporting device rotates the main body by a minute angle in a predetermined direction such that the leg portions of the handle teeth are caught in the mounting holes of the main body, the main body rotates. If the orientation is not appropriate, the gap between the leg of the handle and the position of the mounting hole of the main body will become even larger.Therefore, try again to insert the leg of the handle into the mounting hole of the main unit using the hand device. However, the leg portion of the handle tooth cannot be inserted into the mounting hole of the main body, and the leg portion of the handle tooth is caught in the mount hole of the main body again.

According to the third aspect of the invention, in the above-described state, the main body supporting device rotates the main body in the direction opposite to the predetermined direction by a minute angle larger than the minute angle. As a result, the above-mentioned state in which the gap between the leg portion of the handle tooth and the position of the mounting hole of the main body is further increased is canceled, and beyond this state, the position of the leg portion of the handle tooth and the position of the mounting hole of the main body are canceled. Since it is possible to reach a state in which there is no gap between them, it is possible to insert the leg portion of the handle tooth into the mounting hole of the main body without difficulty with the hand device.

[VI] According to the feature of claim 4, any one of claims 1 to 3
As in the case of one of the above, the “work” described in the above [I] to [V]
In addition to this, the following "action"
Is equipped with. When the nut mounting device attaches the nut to the leg portion of the handle tooth inserted into the mounting hole of the main body and tightens it, the leg portion of the handle tooth is lifted from the mounting hole of the main body by the reaction force when the nut is attached, It is possible that it comes off from the mounting hole of the main body.

According to the feature of claim 4 , when the hand device inserts the leg portion of the handling tooth into the mounting hole of the main body, the hand device does not immediately separate from the handling tooth, but the hand device holds the handling tooth and mounts the main body. The nut is attached to the leg of the handle tooth inserted into the mounting hole of the main body when the hand posture holding the handle tooth is maintained in the insert position while the hand posture holding the handle tooth is maintained. It is tightened. As a result, even if the leg portion of the handle tooth is lifted from the mounting hole of the main body due to the reaction force at the time of mounting the nut, the handle tooth is held by the hand device. You cannot be lifted from

[VII] According to the characteristics of claim 5, any one of claims 1 to 3
As in the case of one of the above and claim 4, [I] to [V
I] is provided with the “action” described above.
It has the "action" like. The handle teeth are generally bifurcated and have a pair of legs. Thus, according to the feature of claim 5 , as described in the above [VI] , the nut mounting device inserts the nut into the mounting hole of the main body in a state where the hand device holding the handle teeth maintains the insertion posture. When it is attached and tightened on one leg of the treated tooth,
After this, the hand device separates from the handling tooth.

In this case, when the nut mounting device attaches the nut to the other leg of the handle tooth inserted into the mounting hole of the main body and tightens the nut, even if a reaction force at the time of mounting the nut acts on the handle tooth. Since one leg of the handle tooth is fixed to the main body by the nut, the leg portion of the handle tooth is not lifted from the mounting hole of the main body. Therefore, the hand device can go to the next handle tooth while the nut is attached and tightened by the nut attaching device to the other leg of the handle tooth inserted into the attaching hole of the main body.

[VIII] According to the feature of claim 6, any one of claims 1 to 5
As in the case of one of the above, the above-mentioned [I ] to [VII]
In addition to this, the following
It is equipped with. Legs with handle teeth inserted in the mounting holes of the main body
When attaching the nut to the part, the screw hole of the nut and the leg of the handle tooth
If the parts do not match, the nut will rotate even if it is rotated.
The leg part of the handle cannot go into the screw hole of the gutter.

According to the feature of claim 6, in the mounting hole of the main body
Before installing the nut on the leg of the inserted tooth
The nut against the leg of the handle tooth,
Rotate it in the opposite direction to the screwing direction for a set number of times.
Be done. In this way, turn the nut in the direction opposite to the screwing direction.
When rotated, the nut is attached to the leg of the handle and tightened.
Although it will not be kicked, the leg of the handle tooth will be in the screw hole of the nut.
It is possible to obtain a state of lightly fitting. Therefore, this
If you later rotate the nut in the screw-in direction,
The leg of the handle tooth goes into the hole and the nut is properly tightened.
Be kicked.

As mentioned above, what is the direction in which the nut is screwed in?
When it is rotated in the opposite direction, it has the opposite effect of screwing.
Is the leg of the handle tooth inserted in the mounting hole of the main unit.
Try to leave. According to the features of claim 6, in the holding part
While the nut is held, the nut is
Can be rotated in the direction
Even if you try, the nut is held by the holding part.
So that the nut is stable and rotates in the direction opposite to the screwing direction.
To be rolled. According to the features of claim 6, the nut is a screw.
After the nut is rotated in the opposite direction to the
It can be rotated in the jamming direction. In this case, depending on the holding unit
Since the nut is released, it can be disturbed by the holding part.
To the leg of the handle tooth that was inserted into the mounting hole of the main body,
Is normally tightened.

[0022]

BEST MODE FOR CARRYING OUT THE INVENTION [1] FIG. 1 shows the entire automatic assembly facility for a handling cylinder. Figure 1
As shown in FIG. 3, a main body supporting device 1 for rotatably supporting the main body 18 of the handling cylinder, a plate handling tooth supply device 2 for storing and supplying the plate handling teeth 20, and a first aligning tooth 21 for storage and supply. The first supply device 3, the second supply device 4 that stores and supplies the second parallel teeth 22, the third supply device 5 that stores and supplies the third parallel teeth (not shown), the plate handling teeth 20, and the A configuration is provided that includes a tooth-handling combination device 6 that combines the first or second parallel teeth 21 and 22, a robot hand 7, a nut mounting device 8, and a nut supply device 9 that stores the nut 23 and supplies the nut 23 to the nut mounting device 8. Has been done.

With the above-described structure, the plate handling teeth 20 (see FIG. 3) supplied from the plate handling tooth supply device 2 are combined with the first and second parallel teeth 21, 22 in the tooth handling combination device 6. The handle teeth 19 (see FIG. 3) are configured. The handling hand 19 is clamped and taken out by the robot hand 7, and the main body 18
The handle tooth 19 is attached to the leg, and the nut 23 with the flange is attached to the leg portion 21a (22a) of the first parallel tooth 21 (second parallel tooth 22) from the inside of the main body 18 by the nut attaching device 8 and tightened. The handle teeth 19 are fixed to the main body 18 (see FIG. 3). The above operation is repeated to fix a large number of handling teeth 19 to the main body 18, and this is the basic operation flow of the automatic assembly facility for the handling barrel in the present invention.

[2] Next, the main body 18 of the handling cylinder and the main body supporting device 1 will be described. As shown in FIGS. 2 and 3, the main body 18 is formed by rolling a plate member into a cylindrical shape,
(Legs 21a, 22a of the first and second parallel teeth 21, 22)
A large number of mounting holes 18a into which are inserted are opened. A plurality of sets of mounting holes 18a are formed on the same circumference L of the main body 18 as one set of mounting holes 18a.
A large number of circumferences L formed by the holes are set in the axial direction of the main body 18. A lid member (not shown) that closes both ends of the main body 18
A connecting hole 18b for fixing the bolt is formed in the outer peripheral portion of the end portion of the main body 18.

As shown in FIGS. 1, 4, 5 and 7, the main body supporting device 1 includes a supporting base 10, a first supporting portion 11 and a second supporting portion 1.
2 is provided. The support base 10 is formed of an arc-shaped plate material, is disposed between the first and second support portions 11 and 12 , and is supported by the operation cylinder 13 so as to be vertically movable. A ring member 14 having an outer diameter substantially the same as that of the main body 18 is rotatably provided by a bearing to form a second support portion 12, and the pair of guide rails 1
The second support portion 12 is movably supported along the guide rail 5, and an operation cylinder 16 for moving the second support portion 12 along the guide rail 15 is provided.

As shown in FIGS. 4, 5 and 6, the first support portion 11
Is fixed, and the main body 18 is the same as the second support portion 12.
A ring member 17 having an outer diameter substantially the same as is rotatably supported by a bearing. The timing belt 25 is wound around the pulley 24a of the motor 24 fixed to the first support portion 11 and the ring member 17, and the ring member 17 is configured to be rotatable.

As shown in FIGS. 4, 5 and 6, the ring member 1
The block-shaped support portion 26 is fixed to the position 7 in FIG.
As shown in (b), three rod members 27 are slidably supported in the radial direction of the ring member 17, and a positioning pin 27a is fixed to the center of the ring member 17 of the rod member 27. The rod member 27 is biased by the spring 28 so as to project toward the center of the ring member 17, and the positioning pin 2 in the rod member 27 is urged.
An engagement portion 27b is fixed to the side opposite to 7a. The operation cylinder 29 is fixed to the first support portion 11, and the operation cylinder 29 is provided with an engaging portion 29a.

With the above construction, the first and second support portions 11, 1 are provided inside the main body 18 as described in [7] described later.
When the second ring members 14 and 17 are fitted, as shown in FIG.
As shown in (b), the positioning pin 27a of the ring member 17 is inserted into the predetermined connecting hole 18b of the main body 18 to determine the position of the main body 18 with respect to the ring member 17, and the main body 18 is rotated by the motor 24. To be done.

In this case, the engaging portion 27b of the rod member 27
And the engaging portion 29a of the operating cylinder 29 is shown in FIG.
Since the shape is as shown in (b), even if the main body 18 is rotated, the engaging portion 27b of the rod member 27 passes through the engaging portion 29a of the operating cylinder 29. When the positioning pin 27a is pulled out from the connection hole 18b of the main body 18, as shown in FIGS. 8A and 8B, the engaging portion 27b of the rod member 27 enters the engaging portion 29a of the operating cylinder 29. By stopping the main body 18 and retracting the operating cylinder 29, the operating cylinder 29 pulls out the positioning pin 27a from the connecting hole 18b of the main body 18.

[3] Next, the handle teeth 19, the plate handle tooth supply device 2, and the first, second, third supply devices 3, 4, 5 will be described. As shown in FIG. 3, the handle teeth 19 are formed on the plate handle teeth 20 by the first and second parallel teeth 21, 2.
It is configured by combining two. The plate handle tooth 20 is formed by bending a plate material and includes a vertical wall portion 20a and a seat portion 20b. The seat portion 20b is formed in an arc surface shape having the same curvature as the outer peripheral portion of the main body 18, and a pair of seat portions 20b are provided. The hole 20c is opened.

As shown in FIG. 3, the wire is bent in a V shape to form first and second parallel teeth 21 and 22 (the first parallel tooth 21 has a rounded tip, whereas the first parallel tooth 21 has a rounded end). 2 parallel teeth 22
Has a square tip), the first and second parallel teeth 21, 22
A pair of legs 21a, 22a and a circular flange 21
b, 22b are formed, and the legs 21a, 22a are formed with screws. Thereby, the hole 20c of the plate handle tooth 20
The leg portions 21a, 22a of the first and second double teeth 21, 22
Is inserted to form the handle tooth 19.

As shown in FIGS. 1, 9, 10, and 12, a large number of plate handling teeth 20 are stored in the plate handling tooth supply device 2, and the plate handling teeth 20 from the plate handling tooth supply device 2 are seated portions 20b. Is conveyed vertically to the tooth combination device 6 along the rail-shaped feeder 30. As shown in FIGS. 1 and 9, the first supply device 3 stores a large number of first parallel teeth 21.
The first parallel teeth 21 from the supply device 3 are oriented vertically with the legs 21a facing down, and follow the rail-shaped feeder 34 along the feeder 34.
Is conveyed to the end portion 34a. A large number of second parallel teeth 22 are stored in the second supply device 4, and
The parallel teeth 22 are vertically oriented with the leg portions 22a facing down, and are conveyed to the end portion 35a of the feeder 35 along the rail-shaped feeder 35. As a result, in the handle tooth combination device 6 described in [4] described above and below, the first hole is formed in the hole 20c of the plate handle tooth 20.
And the leg parts 21a and 22a of the second parallel teeth 21 and 22 are inserted.

The third parallel tooth (not shown) is formed by bending a wire like the first and second parallel teeth 21 and 22, but the third parallel tooth is not combined with the plate handling teeth 20. Only the teeth are used as the handle teeth 19. As shown in FIG. 1, a large number of third parallel teeth are stored in the third supply device 5, and the third parallel teeth from the third supply device 5 are in the vertical direction with the legs down, and in the shape of a rail. 3 It has been conveyed to the end 33a along the handling tooth feeder 33 and stopped.

[4] Next, the tooth combination device 6 and the pushing hand 39 arranged above the tooth combination device 6 will be described. 9, 10,
As shown in FIG. 11, the tooth-handling combination device 6 is arranged at a position connected to the feeder 30 of the plate tooth-feeding device 2, and the guide rail 36 is located above the tooth-handling combination device 6.
Are fixed to the pair of left and right columns 37. A hand base portion 38 is movably supported along the guide rail 36, and a pushing hand 39 is provided on the hand base portion 38 so as to be vertically movable.

As shown in FIGS. 13B, 15 and 16, the pushing hand 39 has a pair of holding portions 39a having a U-shape in a cross-sectional view (see FIG. 16) and a forked shape in a side view (see FIG. I)
And FIG. 15), a flat plate-shaped pushing portion 39b is provided, and the holding portion 39a is provided along the guide rail 39c.
3 (b) is movably supported in the left-right direction on the paper surface, and the pressing portion 39b is fixed between the pair of holding portions 39a.

Next, the tooth combination device 6 will be described.
As shown in FIGS. 12, 13 (b), 15, and 16, a pair of block-shaped correction portions 40 are arranged so as to face each other with a predetermined interval, and a first guide portion is provided at the front-rear center of the correction portion 40. 40a is formed, and a pair of second guide portions 40b is formed in front of and behind the first guide portion 40a, and a recessed portion 40c facing forward and backward is provided below the first and second guide portions 40a, 40b.
Are formed. As a result, as shown in FIG.
First and second guide portions 40 of the pair of facing straightening portions 40
By the a and 40b, the cross-shaped slits are formed vertically in the front-back direction in a plan view, and as shown in FIG. 12, the cross-shaped slits (first and second guide portions 40a, 4a
0b corner portion) is formed in a tapered shape (wedge shape) in which the lower side is narrowed.

As shown in FIGS. 12 and 13 (a) and (b), a support base 42 is supported along the guide rail 41 in the lower part of the tooth combination device 6 so as to be movable in the lateral direction of the paper surface of FIG. ing. The first transfer portion 43 including the pair of pins 43a and the second transfer portion 44 including the pair of support portions 44a are the guide rails 42a and 42b of the support base 42.
An operation cylinder 45, which is movably supported in the vertical direction along the above and below, and which moves up and down the first and second transfer portions 43 and 44, is provided.

As a result, as described in [7] and [9] below, the first and second parallel teeth 21, 2 are inserted into the hole 20c of the plate handling tooth 20 by the pushing hand 39 in the handling tooth combination device 6.
The second leg portions 21a and 22a are inserted, and the plate handling teeth 20 are combined with the first parallel teeth 21 and the plate handling teeth 20 and the plate handling teeth 20.
The handle teeth 19 in which the second parallel teeth 22 are combined with each other are configured, and the handle teeth 19 are transferred from the handle tooth combination device 6 to the first and second handle tooth feeders 31 and 32 shown in FIGS. 1 and 9. .

As shown in FIGS. 9 and 10, a support base 47 is supported along a guide rail 46 so as to be movable in the vertical direction of the paper surface of FIG. 9, and the support base 47 supports the first and second handling tooth feeders. 31, 32 are supported. As a result, as described in [7] described later, in the state in which the first toothed teeth 21 are combined with the plate toothed teeth 20 in the toothed tooth combination device 6, as shown in FIG.
As shown in FIG. 3, the support base 47 is located at the first position where the first tooth handling feeder 31 is connected to the tooth handling combination device 6, and
(The plate handle teeth 20 and the first parallel teeth 21) are transferred to the first handle tooth feeder 31. In the handling tooth combination device 6, in a state where the plate toothing 20 and the second parallel tooth 22 are combined, the support base 47 moves to the second position where the second toothing feeder 32 is connected to the tooth handling device 6, Handle teeth 19 (plate handle teeth 20 and second
The parallel teeth 22) are transferred to the second handle tooth feeder 32.

[5] Next, the robot hand 7 will be described. The robot hand 7 is configured as a 6-axis articulated model, and is shown in FIG.
As shown in FIG. 17A, the hand base 48 is provided at the tip of the robot hand 7 via the four support rods 49 as shown in FIG.
The hand base 48 is urged toward the projecting side by a spring 50 while being supported movably in the vertical direction of the paper.

As shown in FIGS. 17A, 17B and 17C,
A pair of flat plate-shaped holding portions 51 are movably supported along the guide rails 48 a of the hand portion 48. A pair of convex portions 51a are formed at the ends of the sandwiching portion 51, and a semi-cylindrical concave portion 51b is formed as shown in FIG.
A flat urethane rubber 51c is formed in the vicinity of the center of the sandwiching portion 51.

As a result, when the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 21) (the plate handle teeth 20 and the second parallel teeth 22) are held by the holding portion 51 of the robot hand 7, the first
Also, the vicinity of the flange portions 21b and 22b of the second parallel teeth 21 and 22 is fitted into the recess 51b and is sandwiched,
The vertical wall portion 20a of the plate handle tooth 20 is located between the pair of convex portions 51a and is sandwiched by the urethane rubber 51c. A pair of proximity sensors 52 and 53 are provided on one holding portion 51 of the robot hand 7, and the proximity sensor 52 allows the flange portions 21 b of the first and second parallel teeth 21 and 22 to move.
It is detected that the vicinity of 22b is sandwiched, and the proximity sensor 53 detects that the vertical wall portion 20a of the plate handling tooth 20 is sandwiched.

[6] Next, the nut mounting device 8 and the nut supply device 9 will be described. As shown in FIG. 1, a nut mounting device 8 is arranged next to the main body supporting device 1, and the nut mounting device 8 is arranged as shown in FIG.
As shown in (b), a base 55 is movably supported along a pair of guide rails 54, and a feed screw 56 for moving the base 55 and a motor 57 for rotating the feed screw 56 are provided. The arm portion 58 fixed to the base portion 55 is cantilevered toward the main body supporting device 1, and is supported by the main body supporting device 1 by moving the base portion 55 to the main body supporting device 1 side. The arm portion 58 is inserted inside the main body 18 through the ring member 17 of the first support portion 11.

As shown in FIGS. 18 (b) and 19 (a) (b), the first support portion 61 is vertically moved along the guide rail 60a of the substrate 60 fixed to the tip of the arm portion 58. An operation cylinder 63 that is movably supported and that moves and operates the first support portion 61 is provided. The first operation shaft 64 is rotatably supported by the first support part 61, and the first drive shaft 65 a of the motor 65 fixed to the arm part 58 and the first operation shaft 64 are fixed to the arm part 58.
The operation shaft 64 is connected so as to be extendable and contractible and integrally rotatable, and the first operation shaft 64 is connected to the second operation shaft 66.

As shown in FIGS. 19A, 19B and 24A, a pin 66a is provided on the second operating shaft 66, and the pin 66a is provided in the elongated hole 59a of the cylindrical third operating shaft 59. A spring 67 that is inserted and biases the third operation shaft 59 upward is provided, and the third operation shaft 59 is attached to the second operation shaft 66 so as to rotate integrally with the second operation shaft 66 and expand and contract. Are connected. As shown in FIG. 24A, the third operation shaft 59
Is provided with a spherical head portion 59b, and a thin pin 59c is inserted into a large lateral hole of the head portion 59b.
The socket 76 is supported by b and the pin 59c. A hexagonal recess 76 a is formed in the socket 76, and a rubber plate 68 is laid on the bottom of the recess 76 a. As a result, the spherical operation head 59b and the play and rotation of the pin 59c with respect to the hole of the operation head 59b cause the third operation shaft 5 to move.
The socket 76 can freely incline (a slight angle incline) in the range of 360 ° in the front, rear, left, and right directions with respect to 9.

As shown in FIGS. 18 (b) and 19 (a) (b), the second support portion 62 is vertically moved within the range of the pair of upper and lower stoppers 60b along the guide rail 60a of the substrate 60. It is movably supported and has a pair of holding claws 6.
9 is movably supported in the left-right direction of the paper surface of FIG. As shown in FIGS. 22 and 23, the nut 2
3 has a long groove 69a formed in the holding claw 69, and the handling tooth 19 (first and second parallel teeth 21,
The semicircular notch 69b into which the legs 21a and 22a of 22) are inserted is formed in the holding claw 69.

As shown in FIGS. 18 (a), (b), 19 (b), and 20, a guide block 70 of the nut 23 is fixed to the upper part of the tip of the arm portion 58, and the cross section is square and is gentle. A curved guide path 70 a is formed inside the guide block 70. As shown in FIG. 1 and FIGS. 18A and 18B, the nut supply device 9 and the guide block 70 are connected by a guide pipe 71 having a square cross section.
As shown in FIG. 8B and FIG. 20, the operation cylinder 72 for positioning the nut 23 is fixed to the arm portion 58,
An elongated flat plate-shaped positioning member 73 provided on the operation cylinder 72 is inserted into the guide block 70. Thereby, as described in [7] described later, by the compressed air supply unit (not shown) provided in the nut supply device 9,
The nuts 23 are supplied from the nut supply device 9 one by one to the long groove 69a of the holding claw 69 through the guide pipe 71 and the guide passage 70a of the guide block 70.

[7] Next, the overall work flow in the automatic assembling facility of the handling cylinder of the present invention will be described in this section [7] and [8] described later, and FIG.
6 and FIG. 27. The body 18 of the handling cylinder is carried by an operator on a carriage (not shown),
As shown in FIG. 5, the operator mounts the main body 18 on the support base 10 (raised position) of the main body support device 1 (step S1). As shown in FIGS. 8A and 8B , the operator holds the main body 18 so that the predetermined connecting hole 18 b of the main body 18 is aligned with the position of the positioning pin 27 a of the ring member 17 of the first support portion 11. The main body 18 is fitted into the ring member 17 of the first support portion 11 while rotating with the operation cylinder 2
9 is extended to insert the positioning pin 27a into the predetermined connecting hole 18b of the main body 18 (step S2).

When the operator starts the automatic assembly facility in the above state (step S3), the second support portion 12 is moved to the first support portion 11 side as shown in FIG. 5, and the second support portion 11 is moved. The ring member 14 of 12 is fitted into the main body 18, and the main body 18 is supported by the ring members 14 and 17 of the first and second support portions 11 and 12 (step S4). As shown in FIG. 10 is moved down by the height of the handle teeth 19 (step S5).

As shown in FIG. 2 and the previous section [2], a plurality of mounting holes 18a are formed in the same circumference L of the main body 18 as a set, and a plurality of sets of mounting holes 18a are opened. A large number of circles L are set in the axial direction of the main body 18. In this case, handle teeth 19 having different sizes and shapes are fixed in advance in the mounting hole 18a of the circumference L closest to the first support portion 11.

As a result, when the operator starts the automatic assembly facility as described above, the nut mounting device 8 shown in FIG.
The base 55 of the main body 1 is moved to the main body supporting device 1 side, and the main body 1
The arm portion 58 is inserted inside 8 and the circumference L (1) next to the circumference L closest to the first support portion 11 as shown in FIG.
The socket 76 is set at the position (step S
6). Next, in a plurality of sets of mounting holes 18a on the circumference L (1), the socket 76 is set at the position of one mounting hole 18a (1) of the mounting holes 18a (1,2) of the reference set. Then, the main body 18 is rotated (step S7).

When the operator starts the automatic assembly facility as described above, as shown in FIGS. 1 and 9, the first handling tooth feeder 31 is placed at the first position where the tooth handling combination device 6 is connected to the supporting table. In the state where 47 is positioned (steps S8, S
9), as described in [9] described later, the tooth-handling combination device 6
And the pushing hand 39 starts to operate (step S1).
0). As a result, the handle teeth 19 constituted by the plate handle teeth 20 and the first parallel teeth 21 are transferred from the handle tooth combination device 6 to the first handle tooth feeder 31, and along the first handle tooth feeder 31, the first handle tooth feeder 31 is moved. One handling tooth feeder 31 is conveyed to the end portion 31a. In this case, the position of the end portion 31a of the first handle tooth feeder 31 is the extraction position of the handle tooth 19 (the plate handle tooth 20 and the first parallel tooth 21).

Next, the robot hand 7 moves to the take-out position (the end 31a of the first handle tooth feeder 31) (step S
13), the gripping portion 51 of the robot hand 7 is used to handle the teeth 19
(The plate handle teeth 20 and the first parallel teeth 21) are clamped and taken out (step S14). In this case, FIG.
As described in (b), (c) and [5] above, the vicinity of the flange portion 21b of the first parallel tooth 21 is fitted into the recess 51b and is sandwiched between the leg portion 21a of the first parallel tooth 21. Since the space is corrected, the vertical wall portion 20a of the plate handle tooth 20 is located between the pair of convex portions 51a and is sandwiched by the urethane rubber 51c.

As a result, as described in FIGS. 2 and 22 and [10] described later, the robot hand 7 holding the handling teeth 19 (the plate handling teeth 20 and the first parallel teeth 21) is moved to the main body 18
Of mounting holes 18a, which serve as a reference on the circumference L (1) of
It moves to the position of (1, 2) (step S15). Next, the robot hand 7 moves to the main body 18 side, and the leg portions 21a of the gripped teeth 19 (the plate teeth 20 and the first parallel teeth 21) are sandwiched.
24 is inserted into the reference set of mounting holes 18a (1, 2) (step S16), and the robot hand 7 holds the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 21) in FIG.
The insertion posture shown in (a) is maintained (step S1).
7).

At the same time, FIG. 20, 23 and 24 (a)
Also, as described in the above item [6], one nut 23 is guided from the nut supply device 9 to the guide pipe 71 and the guide block 70 by the compressed air supply unit (not shown) provided in the nut supply device 9. It is supplied to the long groove 69a of the holding claw 69 of the nut attaching device 8 through the passage 70a (step S18). As shown in FIG. 23, when the nut 23 is supplied to the holding claw 69 of the nut attaching device 8 and hits the inner portion of the long groove 69a of the holding claw 69, the nut 23 is caused by the reaction force of the collision.
May slightly return from the long groove 69a of the holding claw 69 to the guide block 70 side. Therefore, after the nut 23 is supplied to the holding claw 69 of the nut mounting device 8, the operation cylinder 72 shown in FIG. 20 is extended and the positioning member 73 enters the guide path 70a of the guide block 70, and the nut 23
Is pushed and positioned in the inner part of the long groove 69a of the holding claw 69 (position directly above the socket 76 as shown in FIG. 24A) (step S19).

As a result, FIGS. 24A and 24B and FIG.
5 (a), in a state where the robot hand 7 holds the handling teeth 19 (the plate handling teeth 20 and the first parallel teeth 21) and maintains the insertion posture as described in [11] described later (step S17).
The nut 23 is attached to one leg portion 21a of the handle tooth 19 (the plate handle tooth 20 and the first parallel tooth 21) by the nut attaching device 8 and is tightened and fixed (step S2).
0).

[8] As described in [7] above, when the nut 23 is tightened and fixed to one leg portion 21a of the handle tooth 19 (the plate handle tooth 20 and the first parallel tooth 21) (step). S20), the robot hand 7 separates the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 21) to the extraction position (the end 31 of the first handle tooth feeder 31).
a) (step S13), and the gripping portion 51 of the robot hand 7 operates the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 2).
1) is clamped and taken out (step S14).

At the same time, FIG. 25A to FIG.
As shown in (b), the reference set of mounting holes 18a
From the position of one mounting hole 18a (1) of (1,2), the other mounting hole 1 of the mounting hole 18a (1,2) of the reference set
The main body 18 is rotationally operated so that the socket 76 is set to the position of 8a (2) (step S21), and the nut 23 is operated in the same manner as in the previous section [7] and steps S18 and S19.
Is supplied to the holding claw 69 of the nut attaching device 8, and the nut 23 is pushed in by the operation cylinder 72 and positioned (steps S22, S23). Therefore, FIG.
As described in (a), (b), FIG. 25 (a), and [7] above, the nut mounting device 8 causes the nut 23 to move to the handle teeth 19.
It is attached to the other leg portion 21a of the plate handling tooth 20 and the first parallel tooth 21 and is tightened and fixed (step S2).
4). In this way, the fixing of one handle tooth 19 (the plate handle tooth 20 and the first parallel tooth 21) to the main body 18 is completed.

Next, the process proceeds from step S25, S26 to step S7, and the mounting hole 18a of the next set of the reference set is attached.
The main body 18 is rotated so that the socket 76 is set at the position of the one mounting hole 18a (3) of (3, 4),
The robot hand 7 holding the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 21) moves to the mounting holes 18a (3, 4) described above, and steps S15 to S24 are performed in the same manner as in the above [7]. The handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 2).
1) is fixed to the main body 18.

As described above, the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 21) are provided in all the mounting holes 18a of the circumference L (1).
18 is fixed (step S25), the process proceeds from step S27 to step S6, and as shown in FIG. 2, the socket 76 is set at the position of the next circumference L (2) as shown in FIG. ) (B) The base 55 of the nut attachment device 8 is moved to the main body support device 1 side. As a result, as described in the previous section [7] and this section [8], step S7 is performed.
Through step S26, the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 21) are provided in all the mounting holes 18a of the next circumference L (2).
Is fixed.

As shown in FIG. 2, in the main body 18, the handle teeth 19 constituted by the plate handle teeth 20 and the first aligning teeth 21 are fixed to the front half portion (range of about 3/4 on the right side of the drawing), In the latter half (the remaining 1/4 range), the plate handle teeth 2
The handle tooth 19 constituted by the zero and the second parallel tooth 22 is fixed. As a result, the last circumference L of the first half of the main body 18
The last handle tooth 19 (the plate handle tooth 20 and the first tooth 2)
The leg portion 21a of 1) is inserted into the attachment hole 18a by the robot hand 7, and the nut 23 is attached to one leg portion 21a of the handle tooth 19 (the plate handle tooth 20 and the first parallel tooth 21) and tightened and fixed. When the robot hand 7 separates the handle teeth 19 (the plate handle teeth 20 and the first normal teeth 21) (step S20), the steps S28, S29 to S8, S29 are performed.
11, shift to S12.

Therefore, from the first position where the first handle tooth feeder 31 shown in FIGS. 1 and 9 is connected to the tooth handler combination device 6, the second tooth handler feeder 32 is connected to the tooth handler combination device 6. The support base 47 is moved to the second position, and the position of the end 32a of the second handle tooth feeder 32 is changed to the handle tooth 19 (plate handle tooth 2
0 and the second parallel tooth 22) are taken out. This allows
As described in [9] described later, the tooth-handling combination device 6 and the pushing hand 39 are actuated, and the tooth-handling teeth 19 constituted by the plate tooth-handling teeth 20 and the second parallel teeth 22 are moved from the tooth-handling combination device 6 to Two
The second handling tooth feeder 3 is transferred to the handling tooth feeder 32.
2 along a predetermined position (the end portion 32 of the second handling tooth feeder 32)
It is transported to a).

As described above, the handle teeth 19 (plate handle teeth 20
And the second parallel tooth 22) is at a predetermined position (second handle tooth feeder 32).
When it is conveyed to the end portion 32a) of the above, as described in the previous section [7] and the present section [8], steps S6 to S26.
Thereby, the handle teeth 19 (the plate handle teeth 20 and the second parallel teeth 22) are fixed to the mounting holes 18a on the circumference L of the rear half of the main body 18.

[9] Next, the operations of the tooth-handling combination device 6 and the pushing hand 39 in steps S10 and S12 of the above-mentioned [7] and [8] will be described. As shown in FIGS. 9 and 10, the plate handle teeth 20 from the plate handle tooth supply device 2 are in the vertical direction with the seat portion 20b facing downward,
The sheet is conveyed along the feeder 30 to a position immediately before the tooth combination device 6. From the first and second supply devices 3 and 4, the first and second parallel teeth 21 and 22 are connected to the leg portion 21.
The paper is conveyed in a vertical direction with a and 22a facing down, and along the feeders 34 and 35 in a continuous state to the end portions 34a and 35a of the feeders 34 and 35.

In the state shown in FIGS. 12 and 13 (a) and (b), the support base 47 is located at the first position where the first handling tooth feeder 31 is connected to the tooth handling apparatus 6, and the tooth handling apparatus is operated. 6, the leg portion 21a of the first parallel tooth 21 is inserted into the hole 20c of the plate handle tooth 20.
This is a state in which the step of inserting is completed once. After this, as shown in FIG. 14A, the first and second transfer units 4
3, 44 are moved up, the pin 43a of the first transfer portion 43 is inserted into the hole 20c of the plate handling tooth 20 of the feeder 30, the plate handling tooth 20 of the feeder 30 is lifted, and the second transfer portion 44 is moved. The plate handling teeth 20 located below the recesses 40c of the orthodontic unit 40 are lifted by the supporting portions 44a (the seat portion 20b of the plate handling teeth 20 is moved to the first and second guide portions 4).
The holes 20c of the plate handle teeth 20 are located slightly below the lower ends of the first and second guide portions 40a, 40a,
It is located below the cross-shaped slit of 40b).

At the same time, as shown in FIGS. 9 and 11, the pushing hand 39 is moved along the guide rail 36 to the position of the end portion 34a of the feeder 34, and is lowered to hold the first parallel tooth 21. Then, it is moved up again and moved to the position of the tooth combination device 6. in this case,
As shown in FIG. 12, the nipping portion 39a of the pushing hand 39 nips a little upper side of the flange portion 21b of the first parallel tooth 21, and the pushing portion 39b of the pushing hand 39 contacts the upper end of the first parallel tooth 21. ing.

After that, the pushing hand 39 is lowered as shown in FIG. 14 (a), and the holding portion 39a of the pushing hand 39 is moved to the first and second guiding portions of the correction portion 40 as shown in FIG. The pressing part 39b of the pressing hand 39 and the first parallel teeth 21 enter the slit between the pair of correction parts 40, and enter the slit between 40a and 40b. Therefore,
As shown in FIGS. 14A and 16, the pushing hand 39
The flange portion 21b of the first parallel tooth 21 sandwiched between the
And, the first parallel teeth 21 are pushed downward by the pressing portion 39b of the pushing hand 39 into the cross-shaped slits of the second guiding portions 40a, 40b, and the first and second guiding portions 40a, 40b. With the four corners,
The flange portion 21b of the first parallel tooth 21 is guided, and the distance between the leg portions 21a of the first parallel tooth 21 is corrected against the elasticity of the first parallel tooth 21.

By pushing the first parallel teeth 21 by the pushing hand 39, the flange portion 21b of the first parallel teeth 21 reaches near the lower ends of the first and second guide portions 40a, 40b.
The leg portion 21a of the first parallel tooth 21 is inserted into the hole 20c of the plate handling tooth 20, and the recessed portion 44 of the support portion 44a of the second transfer portion 44 is formed.
Enter b. Next, the flange portion 21b of the first parallel tooth 21
However, if the lower corners of the first and second guide portions 40a and 40b move downward, the guiding action of the four corners of the first and second guide portions 40a and 40b disappears, so that the first parallel tooth 21 is in the free state. Therefore, the first parallel teeth 21 try to spread (or narrow) in the left-right direction of the paper surface of FIG.
The leg portions 21a of the parallel teeth 21 are brought into a state of pressing and engaging the inner circumference of the hole 20c of the plate handling tooth 20. In this way, the plate handle teeth 2
The leg portion 21a of the first parallel tooth 21 is inserted into the hole 20c of 0 to form the handle tooth 19.

Thereafter, the pushing hand 39 is operated to move up, and is moved to the position of the end portion 34a of the feeder 34 along the guide rail 36 as shown in FIGS. The teeth 21 are clamped and lifted again, and moved to the position of the tooth combination device 6. Next, as shown in FIG. 14B, the support base 42 (first and second transfer portions 43, 44) moves to the right in the drawing, and the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth). 21) is transferred to the first handle tooth feeder 31, and the plate handle tooth 20 supported by the first transfer portion 43 is transferred to the lower side of the recess 40c of the correction portion 40. After this, the first and second transfer units 43,
44 is operated to descend, the support base 42 (first and second transfer portions 43, 44) moves to the left side of the drawing, and returns to the state shown in FIG. By repeating the above operation, the plate handling teeth 20 and the first parallel teeth 21 configure the handle teeth 19 (the plate handle teeth 20 and the first parallel teeth 21), and the handle teeth 19 (the plate handle teeth 20 and The first parallel teeth 21) are transferred to the first handling tooth feeder 31 and are conveyed along the first handling tooth feeder 31 to the end portion 31a of the first handling tooth feeder 31 shown in FIGS. 1 and 9.

In step S11 shown in FIG. 26, when the support base 47 is moved to the second position and the second handling tooth feeder 32 is connected to the handling tooth combination device 6, the steps shown in FIGS.
As shown in FIG. 3, the pushing hand 39 is moved and moved up and down between the tooth-handling combination device 6 and the end portion 35a of the feeder 35, so that the tooth-handling 19 constituted by the plate-handling teeth 20 and the second parallel teeth 22 is generated. The tooth-handling combination device 6 transfers the tooth-handling combination device 6 to the second tooth-handling feeder 32 and conveys the tooth-handling feeder 32 to a predetermined position (the end portion 32a of the second tooth-handling feeder 32).

[10] Next, the operation of the robot hand 7 in step S16 of the above [7] and [8] will be described with reference to FIG. As in step S15 of the previous section [7], the treatment tooth 1
When the robot hand 7 holding 9 is moved to the position of the attachment hole 18a where the handle teeth 19 should be fixed on the circumference L of the main body 18, the robot hand 7 moves to the main body 18 side as shown in FIG. The leg portion 21a (2
2a) is about to be inserted into the mounting hole 18a (step S31).

In this case, the position of the leg portion 21a (22a) of the handle tooth 19 held by the robot hand 7 and the mounting hole 18 are set.
When the position of a accurately matches with the position of a, the leg portion 21a (22a) of the handle tooth 19 held by the robot hand 7 is directly inserted into the mounting hole 18a (step S32),
It transfers to step S17 of FIG.

On the contrary, if the positions of the legs 21a (22a) of the handling teeth 19 clamped by the robot hand 7 and the positions of the mounting holes 18a do not accurately match, the handling clamped by the robot hand 7 is performed. The leg 21a (22a) of the tooth 19 is caught in the mounting hole 18a and the insertion resistance increases, and the hand base 48 shown in FIGS. It retreats to the 7 side (step S32).

In such a state, as shown in FIG. 22, the robot hand 7 moves in the direction away from the main body 18, and the leg portions 21a (22a) of the gripped teeth 19 are separated from the mounting hole 18a (step S33), main body supporting device 1
Thus, the main body 18 is rotated by a minute angle in the direction of arrow Y1 in FIG. 22 (step S34). As a result, the robot hand 7 moves again to the main body 18 side and tries to insert the leg portion 21a (22a) of the sandwiched handle tooth 19 into the mounting hole 18a (step S35), and the sandwiched handle tooth 19 is removed. When the leg portion 21a (22a) is inserted into the mounting hole 18a (step S36), the process proceeds to step S17 in FIG.

In this case, the leg portion 21a (22a) of the handle tooth 19 which is again held by the robot hand 7 is attached to the mounting hole 18a.
The insertion resistance is increased and the
When the hand base portion 48 shown in 7 (a) and 7 (c) moves backward to the robot hand 7 side against the resistance of the spring 50 (step S
36), the robot hand 7 again moves away from the main body 18 as shown in FIG. 22, and the leg portions 21a (22a) of the gripped teeth 19 are separated from the mounting holes 18a (step S37). Thus, the main body 18 is rotated by a minute angle twice in the direction of arrow Y2 in FIG. 22, which is the opposite of step S34 (step S38). As a result, the robot hand 7 moves to the main body 18 side again, and the leg portions 21a (22a) of the gripped teeth 19 are attached to the mounting holes 18a.
When the leg portions 21a (22a) of the gripped tooth 19 are inserted into the mounting holes 18a (step S40), step S40 of FIG. 27 is performed.
Go to 17.

Also in step S39 described above, the leg portions 21a (22) of the handle teeth 19 held by the robot hand 7 are held.
17A, the insertion resistance increases, and the hand base 48 shown in FIGS. 17A and 17C moves back toward the robot hand 7 side against the resistance of the spring 50 (step (a)). S40), the robot hand 7 is shown in FIG.
26 is moved to the recovery box 74, and the gripped tooth 19 is put into the recovery box 74 (step S41), and step S of FIG.
Move to 13.

As described above, even if the rotation operation of the main body 18 in the direction of the arrow Y1 is performed at a minute angle (step S34) and the rotation operation of the main body 18 is performed in the direction of the arrow Y2 at a minute angle of twice (step S38). , The leg portion 2 of the handle tooth 19 in the mounting hole 18a
If the 1a (22a) cannot be inserted, the robot hand 7 moves to the recovery box 74 shown in FIG.
9 is put into the collection box 74 (step S41). As a result, the process proceeds to step S13, the new handling tooth 19 is clamped by the robot hand 7 and taken out, the process proceeds to steps S15 and S16 in FIG. 27, and steps S31 to S41 in FIG. 28 are performed again.

[11] Next, the operation of the nut mounting device 8 in steps S20 and S24 of the previous paragraphs [7] and [8] will be described with reference to FIG. Steps S19 and S2 in the previous sections [7] and [8]
3, the nut 23 is the holding claw 6 of the nut attaching device 8.
9 and the nut 23 is pushed and positioned by the operation cylinder 72 (state of FIG. 24A), the operation cylinder 63 is extended as shown in FIGS. 21 and 24B. The first support portion 61 is moved upward, the nut 23 enters the recess 76a of the socket 76, the socket 76 contacts the lower surface of the holding claw 69, and the socket 7
The holding claw 69 and the second support portion 62 are lifted up together with 6 (step S51).

In this way, the holding claw 69 and the second support portion 62 are
21 is abutted against the stopper 60b on the upper side of the substrate 60, the socket 76 holding claw 69 and the second support portion 62 are stopped, as shown in FIG. At this stopped position, as shown in FIG. 24 (b), the nut 23 held by the holding claw 69 has the handle teeth 1
It slightly contacts the lower end of the leg portion 21a (22a) of 9 and the socket 76 and the third operating shaft 59 are urged upward by the interchange action of the elongated hole 59a of the third operating shaft 59 and the pin 66a. The spring 67 is compressed.

Next, as shown in FIG. 24B, the nut 2
3 is held by the holding claw 69, as shown in FIG.
The motor 76 shown in (b) causes the socket 76 to rotate in the reverse direction a set number of times (step S52), and the nut 23
And the leg portion 21a (22a) of the handle tooth 19 are aligned with each other. Even if the phase of the recess 76a of the socket 76 and the phase of the nut 23 do not match and the nut 23 does not fit in the recess 76a of the socket 76 when the socket 76 is operated to be raised in step S51 described above, in step S52 When the socket 76 is rotated in the reverse direction, the nuts 23 enter the recesses 76 a of the socket 76 in phase with each other.
Next, as shown in FIG. 25A, the holding claw 69 is operated to open (step S53), the socket 76 is normally rotated by the motor 65 shown in FIGS. Tightening of the nut 23 to the leg portion 21a (22a) is started (step S54).

As shown in FIGS. 25 (a) and (b), the socket 76 can be tilted around the head 59b and the pin 59c of the third operating shaft 59 within a very small angle range, and the third operating shaft 59 is the second. Due to the fact that the operation shaft 66 can be expanded and contracted in the range of the long hole 59a, and that the rubber plate 68 is laid on the bottom of the recess 76a of the socket 76 and the nut 23 contacts the rubber plate 68,
In step S54, the socket 76 is rotated forward,
When tightening of the nut 23 to the leg portion 21a (22a) of the handle tooth 19 is started, the leg portion 21a (22a) of the handle tooth 19 is started.
On the other hand, the nut 23 is in a state of being capable of subtly changing its direction in all directions.

As a result, the socket 76 is rotated in the forward direction in step S54, and the leg portion 21a (2) of the handle tooth 19 is rotated.
When the tightening of the nut 23 to 2a) is started, the nut 23 slightly changes its direction, and the leg portion 21a (22a) of the handle tooth 19 enters the screw hole of the nut 23 without difficulty. Further, as shown in FIGS. 24A and 24B and FIG. 19B, the guide plate 75 is fixed downward to the holding claw 69, and the first support portion 61 is lifted in step S51. In steps S52, S54 and S59, the socket 76 is prevented from being largely separated from the holding claw 69 and the nut 23 when the socket 76 is rotated in the reverse direction and the normal direction.

A torque sensor (not shown) is provided for the motor 65 shown in FIGS. 19A and 19B, and the torque generated in the motor 65 is detected. This allows
When the socket 76 is normally rotated in step S54 and the tightening of the nut 23 to the leg portion 21a (22a) of the handle tooth 19 is started, the torque generated in the motor 65 becomes larger than the set value (step S55). ), It is determined that the nut 23 was not properly attached to the leg portion 21a (22a) of the handle tooth 19. As a result, the normal rotation of the socket 76 is stopped, the socket 76 is again rotated by the set number of times in reverse (step S59), the process proceeds to step S54, and the socket 76 is normally rotated again, and the leg of the handle tooth 19 is moved. Nut 23 to the portion 21a (22a)
Tightening is started.

The tightening of the nut 23 to the leg portion 21a (22a) of the handle tooth 19 is started, the nut 23 easily enters the leg portion 21a (22a) of the handle tooth 19, and the tightening is normally performed to tighten the nut. When finished (step S6)
1), the forward rotation of the socket 76 is stopped (step S62), and the operation cylinder 6 shown in FIGS.
3 is contracted and the first support portion 61 is lowered (step S63). As a result, the holding claw 69 and the second support portion 62 are lowered together with the socket 76, and the holding claw 69 is closed (step S64). In this case, after the tightening of the nut 23 in step S20 shown in FIG. 27, the process proceeds to steps S21, S22, S28, and after the tightening of the nut 23 in step S24 shown in FIG. 27, the process proceeds to step S25. .

As described above, when the nut 23 naturally enters the leg portion 21a (22a) of the handle tooth 19 and is tightened, for example, the leg portion 21a of the handle tooth 19 is used.
If the nut 23 is tightened obliquely with respect to (22a) or if dust or the like is caught in the nut 23, the torque rises above the set value after the nut 23 has been tightened to some extent. In such a state, the handling tooth 1
The nut 23 bites into the leg portion 21a (22a) of 9
The leg portion 21a (22a) of the handle tooth 19 and the screw portion of the nut 23 are in a crushed state.

As a result, when the torque rises above the set value after the nut 23 has been tightened to some extent (step S60), the forward rotation of the socket 76 is stopped (step S65), and FIG. The operation cylinder 63 shown in (b) is contracted and the first support portion 61 is moved down (step S66). As a result, the holding claw 69 and the second support portion 62 are lowered together with the socket 76, and the holding claw 69 is closed (step S6).
7), the buzzer (not shown) is activated (step S6
8), the automatic assembly facility is temporarily stopped (step S6)
9).

Therefore, the operator marks the handle teeth 19 in which the tightening of the nut 23 is abnormal with a paint or the like (step S70), and restarts the automatic assembly facility (step S71). In this case, the leg 21a of the handle tooth 19
Even when an abnormality occurs when the first nut 23 is tightened to (22a) (step S20 shown in FIG. 27), an abnormality occurs when the second nut 23 is tightened to the leg portion 21a (22a) of the handle tooth 19. 27 is generated (step S24 shown in FIG. 27), the process proceeds to step S25 shown in FIG.
It is clamped by and taken out, and fixed to the main body 18. This completes the fixing of the handle teeth 19 to the main body 18, and after taking out the main body 18 from the main body supporting device 1, the operator manually removes the handle teeth 19 with the mark to make a new handle. Fix the tooth 19.

[Another Embodiment of the Invention] In the above-mentioned [embodiment of the invention], the plate handling teeth 20 and the first
The handle teeth 19 formed by the parallel teeth 21, the plate handle teeth 20 and the handle teeth 19 formed by the second parallel teeth 21 are in a state of being fixed to the main body 18, but the plate handle teeth 20 are not combined to form the third handle teeth. When fixing only the tooth to the main body 18 as the handling tooth 19, the robot hand 7 moves to the end portion 33a (predetermined position) of the third handling tooth feeder 33 shown in FIG. 1 in steps S13 and S14 shown in FIG. And handle teeth 19 (third regular tooth)
The gripping teeth 19 (third parallel tooth) are fixed to the main body 18 after step S15 shown in FIG.

[0089]

According to the features of claim 1, in the automatic assembling facility of the handling cylinder used in the threshing device, the nut of the nut storage part is inserted into the nut storage part only by inserting the nut into the nut storage part. Since it is conveyed to the mounting device and is attached and tightened by the nut mounting device to the leg portion of the handle tooth inserted into the mounting hole of the main body, the leg portion of the handle tooth inserted into the mounting hole of the main body can be attached to the leg portion of the main body. There is no need to perform work to temporarily attach the nut in advance from the inside, and it was possible to improve the overall work efficiency of the automatic assembly facility. According to the feature of claim 1, the nut mounting device can simply configure the nut transporting structure by simply transporting the small and light nut from the nut storage portion to the nut mounting device. Therefore, since it is not necessary to reciprocate, the overall structure of the automatic assembly facility can be simplified.

According to the feature of claim 1, holding the handle tooth
By providing a hand device for taking out,
It is automatically inserted into the mounting hole of the main body, so it can be manually
It is no longer necessary to insert the leg of the handle tooth into the mounting hole of the main body
Improve the overall work efficiency of the automatic assembly facility.
I was able to.

According to the features of claim 1, the length of the hand device is
(If the hand device itself
Easily insert the leg of the handle tooth even if it is a mounting hole on a separate body.
And the advantages of the main unit support device (support
It is relatively easy to rotate the main body)
By properly combining and,
Installation of the main body that has holes distributed in the axial direction of the body
Easily insert the leg of the handle tooth into the hole and attach the nut.
It becomes possible to tighten, and the automatic assembly facility works.
We were able to further improve business performance.

According to the characteristics of claim 2, in the case of claim 1
Similarly to the above, the above-mentioned "effect of the invention" is provided.
In addition to this "effect of the invention",
It has an effect. When the leg portion of the handle tooth is inserted into the mounting hole of the main body by the hand device as in the feature of claim 2 , when the position of the leg portion of the handle tooth does not match the position of the mounting hole of the body, the main body By rotating the handle by a small angle, it is possible to eliminate the misalignment between the position of the leg of the handle tooth and the position of the mounting hole of the main body, and to insert the leg portion of the handle tooth into the mounting hole of the main body easily with the hand device. As a result, it was possible to further improve the work performance of the automatic assembly facility.

According to the features of claim 3, the features of claims 1 and 2 are:
Similar to the above case, the "effect of the invention" of the above-mentioned claims 1 and 2
In addition to this "effect of the invention",
It has the "effect of invention". According to the feature of claim 3 , when the main body is rotated in the predetermined direction by a small angle as in the feature of claim 2 , if the rotation direction of the main body is not appropriate, the main body moves in the opposite direction to the predetermined direction. Since it can be rotated by a minute angle that is larger than the minute angle, the gap between the position of the handle teeth leg and the mounting hole of the main body can be further eliminated, and the hand device makes it impossible to place the handle tooth leg in the main body mounting hole. It has become possible to insert without the need for further improvement of the work performance of the automatic assembly facility.

According to the characteristics of claim 4, the features of claims 1 to 3 are
Similar to the case of any one of them, claims 1 to 3
It has one of the "effects of the invention".
In addition to the “effect of the invention”, the following “effect of the invention”
I have it. As in the feature of claim 4 , in a state where the hand device holding the handle teeth maintains the insertion posture, the nut is attached and tightened by the nut attaching device to the leg portion of the handle tooth inserted into the attaching hole of the main body. With this configuration, the leg of the handle tooth is not lifted from the mounting hole of the main body, and the handle tooth is properly fixed to the main body, which can further improve the work performance of the automatic assembly facility. It was

According to the features of claim 5, the features of claims 1 to 3 are
As with any one of them and claim 4,
According to any one of claims 1 to 3 and claim 4,
In addition to this "effect of the invention",
It has the "effect of the invention" as described below. According to the feature of claim 5 , in a state in which the hand device holding the handle teeth maintains the insertion posture, the nut is attached by the nut attachment device to one leg of the handle teeth inserted into the attachment hole of the main body and tightened. Then, by configuring the hand device to be separated from the handle tooth, the nut attachment device causes the nut device to attach the nut to the other leg of the handle tooth inserted into the attachment hole of the main body and tighten the hand device. It was possible to go to the next handling tooth and shorten the overall work time, and it was possible to further improve the overall work efficiency of the automatic assembly facility.

According to the features of claim 6, the features of claims 1 to 5 are
As in the case of any one of the above, claims 1 to 5
It has one of the "effects of the invention".
In addition to the “effect of the invention”, the following “effect of the invention”
I have it. As in the feature of claim 6, the nut is previously
By rotating in the opposite direction, the nut screw hole and the handle tooth
After this, I can fit the legs of the
When rotating the nut in the screw-in direction,
The leg of the handle tooth will fit comfortably into the hole and can be tightened normally.
To improve the work performance of automated assembly facilities
I was able to.

According to the feature of claim 6, the nut is screwed in.
When rotating in the opposite direction to the
By holding the
It becomes possible to rotate in the opposite direction to the direction,
Align the screw holes of the nut with the legs of the handle teeth even better.
It will be possible to improve the work performance of the automatic assembly facility.
I was able to improve.

[Brief description of drawings]

[Fig. 1] Overall plan view of automatic assembly facility for handling cylinder

FIG. 2 is a perspective view of a main body of a handling cylinder.

FIG. 3 is a side view of the handle tooth and an exploded perspective view of the handle tooth.

FIG. 4 is an overall plan view of the main body supporting device.

FIG. 5 is a front view of the main body supporting device.

FIG. 6 is a side view of a first support portion of the main body support device.

FIG. 7 is a vertical sectional side view in the vicinity of a support base in the main body support device.

FIG. 8 is a vertical sectional side view and a vertical sectional front view in the vicinity of the positioning pin of the first supporting portion of the main body supporting device.

FIG. 9 is a plan view of the vicinity of the first and second handling tooth feeders, the tooth handling combination device, and the pushing hand.

FIG. 10 is a front view of the vicinity of the first and second handling tooth feeders, the tooth handling combination device, and the pushing hand.

FIG. 11 is a side view of the vicinity of the tooth combination device and the pushing hand.

FIG. 12 is a vertical cross-sectional front view showing a state in which the step of inserting the leg portions of the first parallel teeth into the holes of the plate treating teeth is completed once in the tooth combination device

FIG. 13 is a vertical sectional side view in the vicinity of the first and second supporting portions of the tooth combination device.

FIG. 14 shows a state in which the leg of the first cog tooth is inserted into the hole of the plate coping tooth next to FIG. 12 in the tooth coordinating device and the insertion of the leg of the first cog tooth into the hole of the plate coordinating tooth. Front view in vertical section showing the end of

FIG. 15 is a perspective view of the vicinity of the orthodontic portion in the tooth combination device.

FIG. 16 is a cross-sectional plan view of the correction unit and the pushing hand in the tooth combination device.

FIG. 17 is a side view and a front view in the vicinity of a gripping portion of the robot hand.

FIG. 18 is an overall plan view and overall front view of the nut mounting device.

FIG. 19 is a side view and a front view of the vicinity of the tip of the arm portion of the nut mounting device.

FIG. 20 is a cross-sectional plan view near the tip of the arm portion of the nut mounting device.

FIG. 21 is a side view showing a state where the socket is lifted at the tip of the arm portion of the nut mounting device.

FIG. 22 is a side view showing the positional relationship between the gripping portion of the robot hand that grips the handle teeth, the mounting hole of the main body, and the socket of the nut mounting device.

FIG. 23 is a cross-sectional plan view showing a state where the nut is supplied to the holding claw at the tip of the arm portion in the nut mounting device.

FIG. 24 is a side view showing a first half state in which a nut is attached to the leg portion of the handle tooth inserted into the attachment hole of the main body and tightened.

FIG. 25 is a side view showing the latter half of the state in which the nut is attached and tightened to the leg portion of the handle tooth inserted into the attachment hole of the main body.

FIG. 26 is a diagram showing the first half of the overall work flow in an automatic assembly facility for a handling cylinder.

FIG. 27 is a diagram showing the latter half of the flow of the entire work in the automatic assembly facility for the handling cylinder.

FIG. 28 is a diagram showing a flow when the handle teeth clamped by the robot hand are inserted into the mounting holes of the main body.

FIG. 29 is a view showing a flow when a nut is attached and tightened to a leg portion of a handle tooth inserted into a mounting hole of a main body.

[Explanation of symbols]

1 Main unit support device 7 Hand device 8 Nut mounting device 9 Nut storage part 18 body 18a Body mounting hole 19 handle teeth 23 nuts 21a, 22a Legs of handle teeth 31, 32 Handle tooth supply unit 31a, 32a predetermined position 68 Elastic material 69 holding part 71 Transport path 76 Rotation operation part

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Koichi Yamamoto 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory Co., Ltd. In-house (56) Reference JP-A 61-121842 (JP, A) JP-A 58-10433 (JP, A) JP-A 52-10978 (JP, A) JP-A 52-10977 (JP, A) Actually open 1-106132 (JP, U) Actually open 2-39836 (JP, U) Actually open 62-165868 (JP, U) Actually open 52-11687 (JP, U) Actually open 52-13278 (JP, U) JP-B-55-172 (JP, B1) (58) Fields investigated (Int.Cl. ⁷ , DB name) B23P 19/00-21/00 A01F 12/18-12/28

Claims (6)

(57) [Claims] 1. A main body supporting device for supporting a main body of a handling cylinder, which is cylindrical and has a large number of mounting holes into which handling teeth are inserted, a nut mounting device for entering inside the main body, and a nut for storing. rotating the nut storage part, and a conveying path for conveying the nut from the nut storage part to the nut mounting device, and a holding portion for holding receiving nut from the conveying path, a nut held by the holding portion And a rotation operating portion for mounting and tightening a nut on the leg portion of the handle tooth inserted into the mounting hole of the main body to configure the nut mounting device, and to set the handle tooth to be mounted on the main body at a predetermined position. Supply to
Hold the tooth supply part and the handle teeth supplied to the predetermined position.
Take out a hand that inserts the leg of the handle into the mounting hole of the main body.
And a main body supporting device configured to freely rotate the main body.
The position where the handle teeth are attached to the main body by the hand device,
Position change along the axial direction of the main body by the hand device
For further operation and rotation operation of the main body by the main body support device
Therefore, it can be changed, and the nut mounting device can be moved in the axial direction of the main body.
Existing, and mounting the nut by the nut mounting device
The position, the movement operation of the nut mounting device, and the body
Can be changed by rotating the main unit with the support device
Automated assembly facilities are the thresher. 2. A leg portion of a handle tooth held by a hand device.
When inserting into the mounting hole of the main body,
If the insertion resistance applied to the
Hold the hand device by rotating the main body by a small angle
Insert the leg of the treated tooth into the mounting hole of the main body,
The hand device and the main body supporting device are configured in claim 1.
Automatic assembly facility for the described barrel. 3. A leg portion of a handle tooth held by a hand device.
When inserting into the mounting hole of the main body,
If the insertion resistance applied to the
Rotate the body in a predetermined direction by a small angle to
Insert the leg of the handle held by the device into the mounting hole of the main body.
The insertion resistance applied to the hand device when it is inserted again
When it becomes larger than the above, the main body is placed in the opposite direction from the predetermined direction.
Direction by a minute angle larger than the above minute angle,
The leg of the handle tooth held by the hand device is attached to the mounting hole of the main body.
The hand device and the main body supporting device are configured so as to be inserted.
The automatic assembling facility of the handling cylinder according to claim 1, which is formed . 4. A main body of a leg portion of a handle tooth held by a hand device.
With the inserted posture maintained in the mounting hole of
The mounting device attaches the nut from the inside of the main body and tightens it.
The hand device and nut mounting device.
An arrangement according to any one of claims 1 to 3
Automatic assembly facility for the described barrel. 5. A leg part of a bifurcated tooth is provided with a hand device.
Insert the leg of the handle held by the table into the mounting hole of the main body
With the posture maintained, the nut mounting device
From one side, attach the nut to one leg of the handle and tighten.
After tightening the nut on one leg of the handle,
When the hand device is separated from the handle tooth, the nut mounting device
Attach a nut to the other leg of the handle and tighten and fix
Configure the hand device and nut mounting device so that
The automatic assembling facility for a handling cylinder according to any one of claims 1 to 3 . 6. A state in which a nut is held by a holding portion
The rotation operation part, the nut is applied to the leg of the handle tooth.
Screwing direction, set in the opposite direction to the screwing direction in advance.
Number of rotations, and what is the direction in which the nut is screwed in by the rotation operation part?
After the number of rotations in the reverse direction has been completed,
The holding of the nut by the holding part is released, and the rotation operating part is released.
The nut is rotated and installed on the leg of the handle.
So that it can be tightened.
The structure according to any one of claims 1 to 5.
Automatic assembly facility for the body.