JPH0620704B2 - Work transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a work (material to be processed) conveying device applied to an assembly line of an automobile or the like.

(Prior Art) In an automobile assembly line, a work is fixed on a pallet, the work is transported together with the pallet, and the work is processed at each station during the transportation, or another member is assembled. There is.

(Problems to be Solved by the Invention) Processing of a work or assembly of another member is not always performed on the same surface of the work, and processing and assembly must be performed from all directions.

In this case, conventionally, the arrangement of the processing device or the assembling device is elaborately arranged, the work is transferred to a different pallet, or the pallet is transferred to another conveyor.

However, there is a limit to the arrangement of the processing device and the like, and the entire device becomes complicated, and it is disadvantageous in terms of workability to transfer the work to a different pallet or to transfer the pallet to another conveyor. There is a disadvantage that the assembly line itself becomes long.

(Means for Solving Problems) In order to solve the above problems, according to the present invention, a pallet holding a work is swingably attached to a traveling body traveling along a line, and the pallet is placed at a predetermined swing position. By stopping the work, the work can be processed and assembled from the vertical and horizontal directions.

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

FIG. 1 is a schematic view showing that the carrier device according to the present invention is applied to a line for assembling members such as a drive shaft to a knuckle arm, and FIGS. 2 (A) to (J) are diagrams showing an assembling order. is there.

The outline of the assembly of the knuckle arm and other members will be described below with reference to FIGS. 1 and 2.

Two transport paths (2), (3) are formed in the upstream part of the base (1), and a traveling body (4) is provided on one of the transport paths (2). The pallet (5) is installed and this pallet
The knuckle (6) is held by (5), while the hub (8) to which the brake disc (7) is fixed is placed on the transport path (3) and transported in parallel with the knuckle (6). By the way, as shown in FIG. 2 (A), the knuckle (6) has a hole (9) into which a hub (8) and a joint are fitted, and an arm (10) which is connected to a lower arm from the base. ), An arm (1
1) is extended, and the brake caliper mounting bracket
(12) is integrally formed.

The knuckle (6) held on the pallet (5) is
By running (4), wheel bearing supply device (13)
And it is transported to the position of the dust seal supply device (14),
In this position, as shown in FIG. 2 (B), the knuckle (6)
Wheel bearing (15) and dust seal in the hole (9) of the
Press in (16).

Next, the knuckle (6) is conveyed to the position of the circlip supply device (17) by traveling of the traveling body (4), and at this position, the circlip (18) is press-fitted as shown in FIG. 2 (C). Then, after that, the knuckle (6) is further conveyed, and the splash guard (20) is attached and tightened and fixed at the position of the splash guard supply device (19) as shown in FIG. 2 (D).

After that, the knuckle (6) is conveyed to the position of the hub supply device (21), and the hub (8) having the brake disc (7) fixed in advance on the knuckle (6) is attached as shown in FIG. 2 (E). The knuckle (6) is swung 90 degrees, that is, the knuckle (6) is swung 90 degrees, that is, the traveling body (4) is driven and the pallet (5) is swung, that is, the knuckle (6).
The hole portion (9) of the drive shaft is conveyed laterally to the position of the drive shaft supply device (22), and as shown in FIGS. 2 (G) and (H), the joint member (24) of the drive shaft (23). Spline with hub (8) and spindle nut (25)
It sticks at.

After that, the spindle nut (25) is caulked by the caulking device (26), and the brake caliper (27) is fixed to the bracket (12) of the knuckle (6) as shown in Fig. 2 (I). An assembly (28) as shown in (J) is obtained.

Next, a specific configuration of each station on the line will be described with reference to FIGS. 3 to 12.

3 to 5 show the dust seal supply device (14), of which FIG. 3 is a longitudinal sectional view of the device (14), FIG. 4 is a plan view, and FIG. 5 is a V direction of FIG. FIG.

The dust seal supply device (14) has a support plate (31) on the frame (30).
, The horizontal plate (32) is attached to the upper part of the support plate (31), four columns (33) are erected on the horizontal plate (32), and are formed by these columns (33). A large number of dust seals (16) are piled up and held in the space defined, and the dust seals (16) are dropped through the circular holes (34) formed in the horizontal plate (31). Here, the dust seal (16) covers the surface of the iron ring with rubber or the like.

Further, a bracket (35) is fixed to the outer surface of the support (31), and a pair of cylinder units (36), (37) are attached to the bracket (35) vertically spaced apart from each other.

Then, the rod (38) of the upper cylinder unit (36) faces between the holding plates (39) and (39) attached to the bracket (35), and a pair of holding plates (39) and (39) is placed between them. Pinion (40), (40) is the axis
It is rotatably supported by (41). These pinions (40), (40) mesh with each other, and each pinion (40). (40) is integrally formed with arms (42), (42).
Fingers (43) and (43) are provided at 2) and (42). Further, a forked portion (44) is integrally formed on one pinion (40), and the forked portion (44) is engaged with the rod (38) of the cylinder unit (36).

When the rod (38) is projected by the operation of the cylinder unit (36), the pinions (40), (40) rotate and the arms (42), (4
2) is closed and holds the dust seal above the lowermost dust seal among the dust seals (16) ... Stacked by the fingers (43) and (43). Also rod (38)
When is retracted, the holding state by the fingers (43), (43) is released.

On the other hand, the rod (45) of the lower cylinder unit (37) faces the holding plates (46), (46) attached to the bracket (35), and a pair of pinion is placed between these holding plates (46), (46). (47) (only one is shown in FIG. 3) is rotatably supported by a shaft (41 '). The pinions (47) and (47) are provided at positions overlapping the pinions (40) and (40) when viewed from above, the pinions (47) mesh with each other, and the pinions (4)
The arm (48) is provided integrally with (7), and one pinion
The fork (49) which engages with the rod (45) of the cylinder unit (37) is formed in (47).

When the rod (45) is projected by the operation of the cylinder unit (37), the pinion (47) is rotated to close the arms (48) and (48), and the arms (48) and (48) are stacked. And holds the bottom surface of the dust seal (16) at the bottom of the dust seal. Further, the arms (48), (48) are opened by retracting the rod (45), and in this state, the dust seals above the lowermost stage of the dust seals (16) piled up by the fingers (43) and (43). By holding it, the dust seal at the bottom will drop down.

Further, a rail (50) is laterally fixed to the inner surface of the support (31), and the carrier (5) of the dust seal (16) is attached to the rail (50).
The catching member (52) provided on the carrier (51) is engaged with (1) so as to project upward from the slit (54) formed in the sliding plate (53).

Further, a cylinder unit (55) is vertically arranged below the sliding plate (53), and the rod (5) of the cylinder unit (55) is
6) A dust seal in which a magnet (57) is fixed to the tip and the magnet (57) fixed to the tip of the rod (56) by the operation of the cylinder unit (55) is held by the arms (48) and (48). (16)
It is designed so that it can be raised to the bottom position of.

In the above, with the stopper (59) pulled out from the set plate (58) and the set plate (58) inserted into the center of the opening (34),
Put a large number of dust seals (16) in the space surrounded by the columns (33). At this time, the model of the dust seals (16) is discriminated by the proximity switch (60). Next, the cylinder units (36), (37) are operated, the arms (48), (48) and fingers (43), (43) are closed, and the lowermost dust seal lower surface is held by the arms (48), (48). , Fingers (43), (4) on the side of the dust seal above the lowest dust seal.
Operate the cylinder unit (37) again from the state held in 3), open the arms (48), (48), and open the dust seal (16) at the bottom.
Drop it onto the sliding plate (53). Dust seal (1
In 6), the iron ring surface is covered with rubber etc., so the upper and lower dust seals (16) stick to each other, and the lowermost dust seal (16) does not fall even though the arms (48), (48) are opened. It is possible. Therefore, in this embodiment, the cylinder unit (55) is operated, the iron ring of the dust seal (16) in the lowermost stage is attracted by the magnet (57), and the dust seal (16 )
Are forced to drop.

Then, the dust seal (16) dropped on the sliding plate (53) is hooked on the hooking member (52) of the carrier (51) which is moved by the operation of the cylinder unit (61), and the hole of the knuckle (6). It is conveyed to the lower part of the part (9) and set on the supply member (62), and then the supply member (62) is advanced to provide the dust seal (16) on the hole (9) of the knuckle (6). It is handed over to the gripping part and is press-fitted from below by a press-fitting cylinder.

6 to 8 are views showing the details of the traveling body (4) and the pallet (5). FIG. 6 is a side view showing a main part by breaking it, and FIG. 7 is a plan view. FIG. 8 is a sectional view taken along the line VIII-VIII in FIG.

Rails (100) and (100) are provided along the transfer path (2) of the base (1), and the rail (100) and (100) are provided on the traveling body (4) via rollers (101) and (101). ) Is movably attached. A proximity dog (102) is provided for each station on the side of the base (1) between the rails (100) and (100), and this proximity switch (102) is a proximity dog attached to the underside of the traveling body (4). By operating the dog (103), the model of the knuckle (6) held on the pallet (5) is identified.

Further, the props (104) and (104) are erected on the traveling body (4), and the pallet (5) is attached to the shafts (105) and (105) rotatably attached to these props (104) and (104). A frame body (106) for supporting is fixed. Shafts (107), (108), and (108) are fixed to the frame body (106) at a distance from each other in the front-rear direction. Is slidably fitted onto the shafts (108) and (108), and the base of the second arm (110) constituting the pallet (5) is slidably fitted onto the shafts (108) and (108). And the second arm (11
0) is urged upward by the springs (111) and (112), that is, when the pallet (5) is in a horizontal state.
Then, as shown in FIG. 8, the first arm (109) has a recess (11
3) is formed, and the protrusion of the second arm (110) is formed in this recess (113).
(114) engages and the first arm (109) and the second arm (110)
Are integrally slid along the shafts (107), (108), and further, by the bolts (115), (115) provided on the frame body (106), the first and second arms (110). The upper limit of sliding (referenced to the horizontal state) is regulated.

The base of the third arm (116) is attached to the tip of the first arm (109) through a bolt (117), and the third arm (116) is attached.
(116) is parallel to the rail (100). And the third
Pins (119), (119) are formed on the upper surface of the arm (116), and the holes (120) of the caliper mounting brackets (12), (12) of the knuckle (6) are formed on these pins (119), (119). , (120) are fitted and positioned and held. On the other hand, a concave portion is formed on the upper surface of the front end of the second arm (110).
(121) is formed, the arm (11) of the knuckle (6) is placed and held in the recess (121), and the base of the second arm (110) is provided with a spring (as shown in FIG. 7). 122) is provided with a pressing body (123) that is urged by this pressing body (123).
The arm (10) of (6) is biased in one direction. In this way, the knuckle (6) has the first arm (109) and the second arm (110).
Also, the pallet (5) including the third arm (116) is positioned and held.

As shown in FIG. 8, a lever (145) is rotatably provided around a shaft (146) at the base of the second arm (110), and the lever (145) is rotated upward. Axis (108)
The second arm (110) can be removed, and the second arm (110) can be replaced according to the model.

By the way, the shafts (105) and (105) that firmly support the frame body (106).
An arm (124) is attached to one of the two, and a first roller (125) and a second roller (126) are provided at the tip of this arm (124). The first roller (125) and the second roller (126) are orthogonal to each other when viewed from the rotation axis or the side, and the base (1)
The cylinder unit lot (127) (see FIG. 6) provided on the side is pressed against the first roller (125), and the arm (124) is moved to the sixth position.
By rotating counterclockwise in the figure, the frame body (106) and the pallet (5) supported by the frame body (106) are swung upward around the shaft (105), and in this state, the traveling body 6th to (4)
The second roller (12
6) engages the lower surface of the first rail (128) provided on the base (1) side to maintain the pallet (5) upright as shown by the imaginary line in FIG. In other words, the knuckle (6) held by the pallet (5) has its hole (9) in the lateral direction,
Hold on to (5).

Further, a stopper (129) is provided on the lower rear surface of the frame body (106),
A bracket (130) is provided on the upper surface of the traveling body (4), and a bolt (131) is attached to the bracket (130) so that the bolt (131) can be threaded so that the tip of the bolt (131) abuts the stopper (129). The pallet by changing the protruding amount of the bolt (131).
The horizontal state of (5) can be finely adjusted.

On the other hand, the traveling body (4) has a positioning piece with an engaging portion at the bottom.
(133) is attached, and the tip of the arm (134) is engaged with the engaging portion, whereby the traveling body (4) travels. That is, the base
The cylinder unit (135) is arranged in the front-rear direction of (1), and the central portion of the arm (134) is rotatable on the rod (136) of this cylinder unit (135) and moves integrally with the rod (136). The arm (134), the pin (137) attached to the rear end of the arm (134) is engaged with the forked part of the arm (139) which is rocked by the operation of the cylinder unit (138), and further below the rod (136). (140) and install this guide rod (140) and rod (1
36) A holding plate (141) is interposed between the tip portion and the front portion to prevent the rod (136) from hanging down. Then, when the arm (139) is rocked counterclockwise by the operation of the cylinder unit (138),
The arm (134) swings clockwise, and the tip of the arm (134) engages with the engaging portion of the positioning piece (133). Then, by operating the cylinder unit (135) in this state,
(4) moves along the rail (100) in the direction perpendicular to the paper surface of FIG. Here, the arm (134) also moves integrally with the traveling body (4), but the pin (137) provided on the arm (134) is the rod (136).
Since it is as long as, the engagement between the pin (137) and the forked portion of the arm (139) does not come off. Further, a device for traveling the traveling body (4) such as the cylinder unit (135), the arms (134) and (139) is provided for each station of the base (1).

Further, a cylinder unit (142) for positioning is arranged for each station on the upper surface of the base (1), and a rod (143) of this cylinder unit (142) is provided on the traveling body (4) for positioning pieces (133). ) Is engaged with the hole (144) of
Position (4) and the pallet (5) attached to it at a predetermined station.

Next, the running action of the running body (4) will be described below.

First, while the pallet (5) is kept horizontal, the traveling body (4) is conveyed to the station of the wheel bearing supply device (13) and the dust seal supply device (14) by the operation of the cylinder unit (135), and travels to this position. If you did, base (1)
The proximity switch (102) on the side is the proximity dog (103) of the moving body (4).
Cylinder unit (135)
The cylinder unit (13
5) Stop the operation of the cylinder unit (13
8), (142) are activated, arm (134) and positioning piece (133)
The engagement of the cylinder unit (1
The rod (143) of 42) is inserted into the hole (144) of the positioning piece (133) to position the knuckle (6) held by the traveling body (4), that is, the pallet (5).

Then, in this state, the wheel bearing (15) and the dust seal (16) are press-fitted into the hole (9) of the knuckle (6).

After that, the traveling body (4) is made to travel to the supply station of the splash guard (20) and further to the supply station of the hub (8) by the same action as described above, and the splash guard (20) and the hub (8) are assembled at each station. . This state is shown in FIG.

Then, the running body (4) is allowed to run further,
At this time, the rod (127) of the cylinder unit is lowered to erect the pallet (5), and the rail (128) and the second roller
The drive shaft (23) is attached after the drive shaft (23) is stopped by traveling to the position of the dry shaft supply device (22) while maintaining the standing state by the engagement of (126).

To assemble the drive shaft (23) to the knuckle (6),
A constant velocity joint member (24) is attached to one end of the drive shaft (23), and this joint member (24) is
A joint member (24) protruding from the hub (8) to the opposite side after spline-fitting to a hub (8) rotatably mounted through a wheel bearing (15) in the hole (9) of the knuckle (6).
The spindle nut (25) is fastened to the tip end of the assembly. This assembly device will be described with reference to FIGS. 99 to 10. Here, FIG. 9 shows a knuckle (6) for the assembling device (200).
Overall view seen from the direction orthogonal to the transport direction of the
The figure is a cross-sectional view showing the relationship between the nut runner device (201) and the positioning device (202).

The assembling device (200) is on one side (No. 9) based on the knuckle (6).
A nut runner device (201) and a positioning device (202) are arranged on the left side in the figure, and a drive shaft supply device (22) and a chuck device (203) are arranged on the other side (right side in FIG. 9).

First, the drive shaft supply device (22) and the chuck device (2
(03), rails (204) are laid on the base (1) in a direction orthogonal to the transport direction of the knuckle (6), and the legs (206) of the table (205) are engaged with the rails (204). Together,
The operation of the cylinder unit (207) fixed to the base (1) causes the table (205) to move forward and backward with respect to the knuckle (6). A chuck device (203) is attached to the front leg of the table (205) via a connecting rod (208), and the chuck device (203) is attached to the cylinder unit (20).
It has a finger (210) that opens and closes by means of 9) and is engaged with the rail (204). Thus, the chuck device (203) also moves back and forth with respect to the knuckle (6) integrally with the table (205).

On the table (205), rails (2
11) is laid and a support plate (212) is erected on the rear part, and the hydraulic cylinder unit (213) is fixed to the support plate (212). The rod (214) of this hydraulic cylinder unit (213) is extended on the table (205), the leg (215) attached to the rod (214) engages with the rail (211), and the rod (214) )
A pressing piece (217) is attached to the tip end via an elastic mechanism (216), and the pressing piece (217) is fixed to the rod (214) by an air cylinder unit (218) fixed to a hydraulic cylinder unit (213). It is designed to be pushed out to the knuckle (6) side independently from and separately.

Then, the cylinder unit (207) is activated to move the table.
(205) and the chuck device (203) are retracted, and in this state, the drive shaft (23) is delivered to the chuck device (203) by using a charging device (not shown), and the finger (210) is operated by the operation of the cylinder unit (209). Hold the drive shaft (23). Further, when the table (205) is retracted, the hydraulic cylinder unit (213) is also operated so that the rod (214) and the pressing piece (217) are also retracted.
The amount depends on the length of the drive shaft (23) attached to (6).

From this state, the cylinder unit (207) is actuated to move and fix the drive shaft (23) according to the length thereof. Then, the hydraulic cylinder (213) is moved forward, the operation of the hydraulic cylinder (213) is stopped when the tip of the joint member (24) approaches the hub (8), and then the air cylinder unit (218) is operated. The drive shaft (23) is loosely pushed into the fitting portion of the hub (8) by the pressing piece (217). At this time, if the phase of the fitting part of the hub (8) and the joint member (24) are out of phase, the operation of the air cylinder (218) will stop, so after the phases are matched again, the tip of the joint member (24) Is inserted into the fitting part of the hub (8). Then, by operating the hydraulic cylinder unit (213), the tip of the joint member (24) is strongly pushed into the fitting portion of the hub (8) via the pressing piece (217), and the joint member (2
Make the tip of 4) protrude toward the nut runner device (201). As described above, the air cylinder (218) is used to weakly insert the joint member (24) at the beginning of fitting to prevent the occurrence of galling or the like.

Next, the nut runner device (201) and the positioning device (202) will be described. In the nut runner device (201), the leg (221) engages with the rail (220) laid on the base (1), and the cylinder unit (222) operates to move back and forth with respect to the knuckle (6). In the positioning device (202), the leg (224) engages with the rail (223) laid on the base (1), and the cylinder unit (22)
It is configured to move back and forth with respect to the knuckle (6) by the operation of 5).

By the way, FIG. 10 shows a state in which the upper half is tightening the spindle nut and the lower half is in a standby state. The positioning device (202) will be described in detail below with reference to FIG.
The positioning device (202) is attached to the rail (223) by the legs of the base (226).
The tubular member (228) is laterally fixed to the support plate (227) which is erected on the table (226) by engaging with (224). Then, the rotating member (2) is attached to the outer peripheral portion of the tubular member (228) through the bearing (229).
30) is installed.

A bearing (232) is fixed to the rear end surface of the rotating body (230) by a screw (231), and a gear part (233) is attached to the rear outer peripheral surface.
, And the rack (234) meshes with the gear part (233). The lower surface of the rack (234) is supported by the receiving member (235), and reciprocates in the direction perpendicular to the paper surface of FIG. 10 by a cylinder unit (not shown).

Further, a spline (236) is formed at the tip of the rotating body (230), and the spline groove of the sliding body (237) is formed in the spline (236).
(238) is fitted, and the rear surface of this sliding body (237) and the rotating body (230)
A spring (240) is interposed between the seat (239) fixed to the outer circumference.

Further, a positioning head (242) is fixed to the front end surface of the sliding body (237) with a bolt (241). This positioning head (24
A recess (243) into which the hub bolt (8a) is fitted is formed in the important part of 2).

On the other hand, a cylinder unit (244) (see FIG. 9) is vertically fixed to the support plate (227).
A receiving plate (246) having a bifurcated lower part is fixed to the rod (245) protruding downward from the (244). The receiving plate (246) acts as a reaction force receiving when the positioning device (202) advances and the positioning head (242) abuts the hub bolt (8a) at the tip. That is, when the positioning device (202) moves forward due to the operation of the cylinder unit (225), the cylinder unit (244) operates, lowers the receiving plate (246), and the receiving plate (246) causes the rear surface of the bearing receiver (232) to move. Support. As a result, the rotating body
(230) is prevented from retracting, and hub bolt (8a) is attached to head (242).
When it hits the end face of the head (242) without entering the recess (243) of the head, only the sliding body (237) and the head (242) are springs (240).
Retreat against.

Further, as shown in FIG. 9, the nut runner device (201) includes a motor (251) and a rotary shaft (252) which is rotated by the motor (251) supported by a base (250), and a tip of the rotary shaft (252). A nut boulder (253) is attached to the part as shown in FIG. The nut holder (253) has a substantially tubular shape, and a tip (25) into which the spindle nut is fitted is inserted.
4) is formed, and a square hole (255) is formed in the rear part, and the corner portion of the tip of the rotary shaft (252) engages with this square hole (255), and the rotary shaft (252) and nut holder Insert the pin (25
The rotation shaft (252) and the nut holder (253) are integrally rotated by engaging with the shaft 6). Also, nut holder
(253) between the rear end face and the step of the rotary shaft (25
7) is interposed, the nut holder (253) is biased forward, and a holder (258) for receiving and holding the spindle nut is further provided inside the nut holder (253). It is biased forward at (259).

Next, the tightening action of the spindle nut (25) will be described.

First, with a parts feeder (not shown), a nut holder at the tip of the nut holder (253) of the nut runner device (201)
Keep the spindle nut supplied and held in (258).

Then, the cylinder unit (225) is operated to move the positioning device (202) forward, and the recess (24) of the positioning head (242) is moved.
Insert the hub bolt (8a) into 3). Where the hub bolt (8
Since it is possible that the hub bolt (8a) does not fit into the recess (243) due to the phase shift of (a), in this embodiment, the rack (234) is moved to move the tubular member (230) and the rotating body. (twenty three
7) Move the positioning head (242) forward while rotating it. Then, for example, even when the hub nut (8a) does not enter the recess (243) of the head (242) and hits the end surface of the head (242),
Since the head (242) rotates while retracting against the spring (240), the hub nut (8a) is securely fitted into the recess (243). And the reaction force in the axial direction at this time is the receiving plate (246).
By.

In parallel with the above operation, or after the phase alignment of the hub (8) is completed, the cylinder unit (222) is operated to advance the nut runner device (201), and the rotation shaft of the nut runner device (201) ( 252) is inserted into the tubular member (228) of the positioning device (202) as shown in the upper half of FIG. 10, and is preliminarily held by the nut holder (258) in the nut holder (253). Insert the spindle nut (25) into the tip of the joint member (24) protruding from the hub (8), and then drive the motor (251) to rotate the rotary shaft (252) and the nut holder (25).
Rotate 3) and tighten the spindle nut (25) to the joint member (24).

By the above operation, an assembly in which the hub (8) and the drive shaft (23) are assembled to the knuckle (6) can be obtained.

As described above, if the spindle nut (25) is fastened to the tip of the joint member (24) by the nut runner device (201), the knuckle (6) and the drive shaft (2
While holding 3) on the pallet (5), convey it to the position of the caulking device (26).

Details of the caulking device (26) will be described below with reference to FIGS. 11 and 12.

FIG. 11 is a vertical cross-sectional view of the caulking device (26). The caulking device (26) comprises a spindle nut (25) positioning device (300) and a hammer device (301).

First, the positioning device (300) will be described. A rail (302) is provided on the base (1) in a direction orthogonal to the conveying direction of the knuckle (6), and a table (303) is engaged with the rail (302). ,base
(1) When the cylinder unit (304) fixed on the
The 3) can be moved back and forth with respect to the knuckle (6).

The support plate (305) is erected on the stand (303), and the support plate (3
Block (30) with a horizontal through hole (306)
7) is fixed, the shaft member (308) is slidably inserted into the through hole (306) via the guide bush, and the positioning pin (309) is attached to the tip of the shaft member (308). By fitting the positioning pin (309) into the recess (310) formed at the center of the end surface of the joint member (24), the caulking device (26) and the knuckle (6).
The position of the assembly is adjusted. by the way,
A notch (311) is formed in a part of the peripheral edge of the joint member (24), and the spindle nut (25) is screwed onto the spindle nut (25) as shown in FIG. 12 (A). ) And the joint member (24), a gap (312) is formed.

On the other hand, an optical sensor (313) having a light emitting part and a light receiving part is arranged in the block (307), and an optical cable (314) from the optical sensor (313) passes through the block (307) to block the block.
It extends to the front end face of (307). A cylindrical member (316) is rotatably attached to the outer periphery of the block (307) via a bearing (315), and a positioning head having a groove for engaging with a hub bolt is provided at the tip of the cylindrical member (316). (317) is spline-fitted, and the gear (318) is spline-fitted to the rear part of the tubular member (316), and this gear (318) meshes with a pinion or the like operated by a motor (not shown), and the motor is operated. The positioning head (317) rotates around the block (307).

In addition, the base (1) and the support plate (31) provided on the base (1)
9) is provided with a plurality of cylinder units (320) so as to surround the hub (8) attached to the knuckle (6), and a pad (321) is fixed to the rod ends of these cylinder units (320) to fix the cylinder unit (320). By operating (320), the peripheral surface of the hub (8) is held by the pad (321) and the hub (8) is fixed.

A hammer device (301) is obliquely fixed to the support plate (319). The hammer device (301) has a shaft (323) on the body (322).
Is attached so that it can project, the extension line of the shaft (323) intersects with the spindle nut (25), and a hammer (324) is provided at the tip of the shaft (323).

In the above, to tighten the spindle nut (25),
Actuating the cylinder unit (304), positioning device (300)
The knuckle (6) in the direction of the positioning head (317).
The hub bolt is engaged with the groove portion (317a) of the. When the hub bolt does not fit into the groove portion (317a) and hits the end surface of the head (317), the head (317) compresses the spring (325) and escapes backward. If the positioning device (300) is advanced while rotating the tubular member (316), the hub bolt and the groove (31
Securely engage with 7a).

Next, if the hub bolt engages with the groove portion (317a) of the head (317), light from the light emitting portion of the optical sensor (313) is emitted toward the end surface of the joint member (24) via the optical cable (314). . In this case, the notch (311) in the joint member (24)
Is in a predetermined position, that is, when the hammer device (301) is operated, if the hammer (324) is in a phase in which a part of the spindle nut (25) is press-fitted into the notch (311), the emitted light is Since it hits the oblique surface of the notch (311), it does not enter the light receiving part of the optical sensor (313) via the optical cable (314) again. Therefore, when the light receiving part does not detect the light from the light emitting part, it outputs a signal to the hammer device as if the notch (311) of the joint member (24) is in a predetermined position, and the shaft (32
3) Make it protrude and hit part of the spindle nut (25) with a hammer (324) to crush and crimp. Further, when the notch (311) of the joint member (24) is not in the hitting position by the hammer (324), the light from the light emitting portion is reflected by the end surface of the joint member (24) and passes through the optical cable (314). Enter the light receiving part. In this case, since the notch (311) of the joint member (24) is not in the predetermined position, the head (317) is rotated via the gear (318), and the notch (311) of the hub (8) is in the predetermined position. Rotate the light receiving part to a position where it no longer senses light, and perform the following operations in the same manner as above with the spindle nut (2
5) Tighten.

After that, by attaching the brake caliper (27) to the knuckle (6), the assembly (28) in which the hub (8) or the drive shaft (23) is assembled to the knuckle (6) can be obtained. In order to assemble this assembly (28) to the vehicle body, it is necessary to move to the next step, and for this purpose, the pallet
Assembly (28) needs to be removed from (5). However, the first arm (109) of the pallet (5) is in front of the assembly (28), the second arm (110) is in the rear, the third arm (116) is in the upper part, and the traveling body is in the lower part. Since (4) is located, the assembly (28) must be pulled out to either the left or right, but the pin (119) of the third arm (116) must be pulled out to the right (reference to Fig. 13). This is not possible because it is engaged with the bracket (12) of the knuckle (6), and it is not possible to pull out to the left for the length of the drive shaft (23).
(28) It is extremely troublesome to pull out the whole.

Therefore, in this embodiment, the following structure is adopted.
That is, as shown in FIGS. 6 to 8 and FIG.
A roller is provided at the base of the first arm (109) that constitutes the pallet (5).
(150) is attached, and when the assembly is held by the pallet (5), that is, when the pallet (5) is upright as shown in FIG. 13, the roller (150) is installed on the base (1) side. The roller (1
50) engages the second rail (151) provided on the base (1) side so that the entire pallet (5) provided with this roller (150) resists the springs (111), (112). 13 Move to the right in FIG.
The state shown in FIG. 4 is set. This pallet
By the rightward movement of (5), the engagement between the pin (119) of the third arm (116) and the hole (120) of the bracket (12) of the knuckle (6) is released, and the second arm ( 110) recess (121) and knuckle (6)
The engagement with the arm (11) of is also released. In addition, pallet (5)
When the assembly (28) is released by moving to the right, the assembly (28) is held by another holding means.

After this, attach the third arm (116) to the shaft (117) as shown in FIG.
Rotate horizontally (see FIG. 7) as a center. Then, since the third arm (116) is completely escaped from above the assembly (28), the assembly (28) is taken out above the pallet (5) by a dispensing device or the like.

With the above, the steps from the insertion of the knuckle (6) to the line of the assembly (28) are completed.

In the embodiment, the position of the pallet (5) of the transfer device can be changed between the horizontal position and the vertical position, but at which position the position of the pallet can be displaced and maintained. It is optional.

(Effects of the Invention) As described above, according to the present invention, a pallet for holding a work is pivotally supported by a device for conveying the work,
Since the swing position of this work can be stopped and maintained at an arbitrary position via the position fixing member, it is possible to process the work or attach other members to the work from multiple directions while holding the work on the pallet. As compared with the conventional method, the arrangement of the assembling device is not overly stressed, pallet transfer is not required, and the entire line can be shortened.

Further, by making the pallet slidable with respect to the frame and maintaining the sliding position, the engagement state between the pallet and the assembly configured by assembling a predetermined member to the work can be released. By doing so, it becomes easy to move the assembly to the next step.

[Brief description of drawings]

FIG. 1 is a schematic view of an assembly line centering on a knuckle, FIGS. 2 (A) to (J) are perspective views showing an assembling procedure of a knuckle and other members, and FIG. 3 is a vertical cross section of a dust seal supply device. Figure,
FIG. 4 is a plan view of the dust seal supply device, and FIG. 5 is a third view.
FIG. 6 is a vertical sectional view of the carrying device, FIG.
The figure is a plan view of the conveying device, FIG. 8 is a sectional view taken along the line VIII-VIII of FIG. 6, FIG. 9 is an overall view of the spindle nut assembling device, and FIG. 10 is a relationship with the nut runner device and positioning device. 11 is a sectional view of the spindle nut crimping device, FIGS. 12 (A) and 12 (B) are views showing a state before and after crimping the spindle nut, and FIG. 13 is a pallet holding the assembly. FIG. 14 is a diagram showing a standing state, and FIG. 14 is a diagram showing a state in which the pallet holds the assembly. In the drawing, (1) is a base, (2) and (3) are conveyance paths, (4) is a traveling body, (5) is a pallet, (6) is a knuckle, (8) is a hub, (23).
Is a drive shaft, (100) is a rail, (106) is a frame, (1
09) is the first arm, (110) is the second arm, (116) is the third arm, (125) is the first roller, (126) is the second roller, and (128).
Is a rail.

Claims (1)

[Claims] 1. A traveling body (4) traveling on a base (1),
A frame body (106) swingably supported with the traveling direction of the traveling body (4) as a swing axis direction, and a work holding pallet (sliding provided on the frame body (106) so as to be slidable. 5) and an arm (12) for swinging the frame (106) around the shaft (105).
4), the first rail (128) provided over the predetermined range of the base (1), and the arm (124) and the standing state due to the swing of the frame (106) is maintained. The first rail so that the traveling body can travel within a predetermined range as it is.
The rolling member (126) engaging with (128), the second rail (151) provided on the base (1) side, and the second rail (151) provided on the pallet (5) The pallet (5) slides with respect to the frame (106) by engaging with the pallet.
A work transfer device comprising (5) and a rolling member (150) for releasing engagement of the work.