JPH0764285B2 - Automatic injection equipment - Google Patents

Description

TECHNICAL FIELD The present invention relates to equipment for automatically injecting various hydraulic fluids into their containers in an automobile assembly line, and particularly to brake fluids for brake master cylinders and clutch masters. It is suitable for application when it is injected into a cylinder.

<Prior Art> Various hydraulic fluids such as brake fluid and automatic transmission fluid are appropriately used for automobiles in addition to crankcase oil, gear fluid, and the like. Of these, the crankcase oil is usually injected at the time of assembling the engine, and the gear oil and the automatic transmission oil are usually injected at the time of assembling the transmission. However, since the brake fluid used as the hydraulic fluid for the braking device and the clutch requires piping work for the vehicle body, it is generally injected into each reservoir tank in the middle of an automobile assembly line.

As is well known, injecting brake fluid is often performed at a work station near the final process of the assembly line, and the cycle time of the work is sometimes only 30 seconds, so in the past, the operator used brake fluid. The operator has gripped the injection gun of No. 2 and injected the brake fluid from the injection ports of the brake reservoir tank and the clutch reservoir tank assembled to the vehicle body.

<Problems to be Solved by the Invention> In recent years, along with the development of high-performance manipulators, automation of automobile assembly lines has been promoted, and automation of brake fluid injection work has been considered.

In this case, in addition to the time required to inject the brake fluid, the time required to control the attitude of the manipulator and the time required to position the injection gun with respect to the injection ports of the brake reservoir tank and the clutch reservoir tank must be secured. It is considered that work time of 40 to 50 seconds is required.

However, in an automobile assembly line, the vehicle body stays at one work station for only about 30 seconds, so conventionally, when trying to automate the brake fluid injection work, it is necessary to considerably reduce the transport speed of the assembly line. It was virtually impossible to automate the brake fluid injection work.

<Means for Solving the Problem> The automatic injection equipment according to the present invention includes a vehicle body transfer means for transporting a vehicle body from a first work station set in an automobile assembly line to a second work station, and the assembly line. A pair of gun holders facing each other and alternately reciprocating between the first work station side and the second work station side, and attached to the pair of gun holders and assembled to the vehicle body. A flexible supply pipe having an injection gun for supplying liquid to the container and a flexible pipe which is installed on the side of the first work station and is on standby on the side of the first work station. A first manipulator for inserting the injection gun from the gun holder into an injection port of the container mounted on the vehicle body located at the first work station; , Moving the gun holder to the second work station side in conjunction with the vehicle body transfer means that starts operation in a state where the injection gun is inserted into the injection port, and One of a pair of holder drive means for moving to the first work station side and one of the waiting guns installed on the second work station side and having finished the injection work on the second work station side. A second manipulator for returning to the gun holder.

<Operation> When the vehicle body is loaded into the first work station, the first manipulator grips the injection gun of the supply pipe from one of the gun holders waiting at this first work station and positions it at the first work station. Insert the injection gun into the injection port of the container assembled to the car body.

In this state, the liquid injection work is started from one of the gun holders side through the supply pipe into the container. In the middle of this injection work, the vehicle body is transferred from the first work station to the second work station by the vehicle body transfer means, and a new vehicle body is carried into the first work station. here,
With the vehicle body starting to move in the middle of liquid injection work,
One of the gun holders to which the supply pipe is attached also moves to the second work station side by the one holder driving means in conjunction with the vehicle body transferring means. Then, when the liquid injection work is completed at this second work station, the second manipulator pulls out the injection gun from the injection port of the container assembled to the vehicle body located at the second work station, Return the injection gun to one of the gun holders waiting at the work station in. After that, one of the gun holders is returned to the first work station side by the one holder driving means, and enters a standby state for the next work.

On the other hand, the first manipulator receives the injection gun from the other gun holder and inserts it into the injection port of the container assembled to this vehicle body for the vehicle body newly loaded into the first work station during the liquid injection work. Then, the liquid injection work is started from the other gun holder.

Here, the vehicle body transfer means is actuated again, and the vehicle body for which the injection work has been completed at the second work station is carried out from this second work station, while it is located at the first work station in the middle of the injection work. The car body to be transferred is transferred to the second work station, and another car body is carried into the first work station. The other gun holder is also transferred to the second work station side by the other holder driving means together with the vehicle body in the middle of the injection work.

In this way, the pair of gun holders alternately reciprocate between the first work station side and the second work station side by the holder driving means, and the liquid injection work is continuously performed over the two work stations. To do.

<Example> Fig. 1 and its II-II arrow sectional structure showing the concept of an example in which the automatic injection equipment according to the present invention is applied to a brake reservoir tank and a clutch reservoir tank assembled to a vehicle body. As shown in FIG. 2, a first work station for injecting brake fluid into a brake reservoir tank and a clutch reservoir tank (not shown) incorporated in the vehicle body 1 is provided in an automobile assembly line 11.
A 12 and a second work station 13 are provided. These two work stations 12, 13 are provided with locators 15 each having a location pin 14 at its upper end that can be fitted into a plurality of location holes (not shown) for positioning, which are formed in the vehicle body 1. The vehicle body 1 is mounted. Further, since the vehicle body 1 in the first work station 12 is transferred to the second work station 13 in these locators 15, it is possible to move up and down, and the first work station 12 and the second work station 13 A shuttle conveyor 16 capable of reciprocating along the assembly line 11 for a distance corresponding to the distance is mounted.

In other words, the shuttle conveyor 16 in the standby state immediately below the first work station 12 rises when the vehicle body 1 is transferred and lifts the vehicle body 1 from the location pin 14 of the locator 15, and in this state, the second work station 13 side. After moving the car body 1 to the second working station
Body 1 on location pin 14 of locator 15 located at 13
Are transferred in the positioning state, and returned to the first work station 12 side in the lowered state to enter the standby state for the next transfer work.

In addition, the shuttle conveyor 16 mounts the vehicle body 1 on the assembly line 11
From the upstream side (right side in FIG. 1) of the assembly line 11 to the first work station 12 and the second work station 13 to the downstream side (left side of FIG. 1) of the assembly line 11. It operates in synchronization with a delivery device (not shown),
All the vehicle bodies 1 on the assembly line 11 are designed to move at the same time.

On both sides of the assembly line 11, bridges 18 each having a guide rail 17 extending parallel to the assembly line 11 are arranged. Mounted on these bridges 18 are gun holders 20 each of which slides along a guide rail 17 and has rolling wheels 19, and reciprocates between a first work station 12 and a second work station 13. I'm supposed to get it. Bridge
A rack 21 extending in parallel with the guide rail 17 is fixedly mounted on each of the guide rails 17, and a drive pinion 22 meshing with the rack 21 is connected to a drive motor 23 installed in each gun holder 20 via a clutch 24 with a reduction gear. ing.

Therefore, when the drive motor 23 rotates forward and backward with the clutch 24 engaged, the drive pinion 23 rotates forward and backward so as to roll with respect to the rack 21, and the gun holder 20 reciprocates on the bridge 18 along the assembly line 11.

In the present invention, the gun holder 20 is the first work station 12
It is necessary to interlock with the transfer of the vehicle body 1 by the shuttle conveyor 16 when moving from the side to the second work station 13 side. As shown in FIG. 3 which is an enlarged view of the portion of the interlocking mechanism and FIG. 4, which shows the shape of the left side surface thereof, and FIG. 1, FIG. 2 and FIG. A guide rail 25 and a wheel guide groove 26 extending along the assembly line 11 in parallel with the guide rail 17 are provided on the side. A frame 29 having a slider 27 slidably engaged with these guide rails 25 and a rolling wheel 28 rolling in the wheel guide groove 26 is provided on the upstream side of the assembly line 11 with respect to these frames 29. Subframes 30 that are located and can reciprocate along the guide rails 25 and the wheel guide grooves 26 are connected via connecting rods 31, respectively,
Each subframe 30 and the gun holder 20 are connected to each other by an arm 32.
Are integrally connected with each other.

On the other hand, at the upper end of each frame 29, a tilting shaft 33 integrally projectingly provided at the base end of the tilting arm 33 is rotatably supported. A crank lever 37 pinned to a piston rod 36 of an arm raising / lowering cylinder 35 mounted vertically upward is integrally provided with each of them. Also, at the tip of the tilting arm 33,
Dog detection sensors 39a, 39b, 40a, 40b for detecting the positions of rod-shaped dogs 38 positioned horizontally on the downstream side of the assembly line 11 with respect to the shuttle conveyor 16 are arranged along the assembly line 11, respectively. A pair of buffer blocks 41a, 41b that face the upstream side and the downstream side of the assembly line across the 38 and can contact the dog 38 are fixed.

Sensor bracket 42 fixed to the tip of the tilting arm 33
Two dog detection sensors 39a, 39b located in the center of the
The dog 38 has a dog detection sensor 39a,
It is for feedback controlling the rotation speed of the drive motor 23 so that it is located between 39b. However, in this embodiment, when the two dog detection sensors 40a, 40b located at both ends of the sensor bracket 42 detect the dog 38, the feedback control of the drive motor 23 is stopped and the clutch 24 is disengaged. The transmission of the power of the drive motor 23 to the drive pinion 22 side is cut off, and the drive pinion 22 is put in the idling state. Then, the dog 38 that moves integrally with the shuttle conveyor 16 presses against the buffer block 41a located on the downstream side of the assembly line 11 to move the gun holder 20 together with the shuttle conveyor 16 from the first work station 12 side to the second work. It is arranged to be forcibly moved together with the vehicle body 1 toward the station 13 side.

That is, when the vehicle body 1 is transferred from the first work station 12 to the second work station 13 by the shuttle conveyor 16, the gun holder 20 of the one who has started the brake fluid injection work at the first work station 12 is Operate the arm raising / lowering cylinder 35 to raise the raising / lowering arm 33 horizontally,
The gun holder 20 is moved to the second work station 13 side in conjunction with the movement of the dog 38 integrated with the shuttle conveyor 16. Further, when returning the gun holder 20 located on the side of the second work station 13 that has finished the injection of the brake fluid to the side of the first work station 12, the drive motor 23 regardless of the operation of the shuttle conveyor 16. In this case, in order to avoid the interference of the raising / lowering arm 33 with the vehicle body 1, the arm raising / lowering cylinder 35 is activated to extend the piston rod 36 of the raising / lowering arm 33,
Fold it vertically as shown by the chain double-dashed line.

FIG. 5 showing the structure of the main part of the gun holder 20 and FIG. 6 showing its plane shape and its sectional view taken along the line VII-VII, V
III-VIII Figures 7 and 8 showing the cross-sectional shape as seen from the arrow
As shown in FIG. 1 and FIG. 1 and FIG.
On the base plate 43, guide rails 44 extending in the horizontal direction perpendicular to the assembly line 11 are laid. A holder arm which slides on these guide rails 44 via a slider 45 and whose tip can project from the side of the assembly line 11 to the center.
46 includes a pair of brake fluid hoses 47a, 47b whose base ends are connected to a brake fluid supply source (not shown) and a pair of air bleed hoses 48a, 48b whose base ends are connected to a vacuum pump (not shown).
And are attached respectively. The front ends of the two sets of the brake fluid hoses 47a, 47b and the air bleeding hoses 48a, 48b are free ends, and the inlet 2 of the brake reservoir tank (not shown) assembled to the vehicle body 1 and the clutch (not shown) are assembled. Two injection guns 49, which will be described later, are detachably inserted into the injection port 3 of the reservoir tank, and are connected to these tips.

At both ends of the base plate 43 along the guide rails 44, an idler pinion 51 around which an endless toothed belt 50 is wound and a speed increasing pinion 52 are rotatably attached, and the holder arm 46 is toothed. It is integrally connected to a part of the belt 50 via a connecting fitting 53. An endless toothed belt 56 is wound around a small pinion 54 that is coaxial with the speed increasing pinion 52 and an idler pinion 55 that is rotatably attached to the center of the base plate 43. And this toothed belt
The arm driving cylinder 59, in which the piston rod 58 is connected to the coupling rod 57 via the coupling fitting 57, is arranged so that the expansion / contraction direction of the piston rod 58 is parallel to the reciprocating direction of the holder arm 46.
It is installed on the base plate 43.

Further, in this embodiment, a sub guide rail 60 parallel to the guide rail 44 is provided on the base plate 43 so that the toothed belt 56 can smoothly move in association with the expansion and contraction operation of the piston rod 58. A pair of pinch rollers 61 sandwiching 60 up and down is rotatably attached to the connecting fitting 57.

Therefore, when the arm driving cylinder 59 operates and the piston rod 58 expands and contracts, the speed increasing pinion 52 integrated with the small pinion 54 is driven and rotated via the toothed belt 56.
The holder arm 46 integrated with the toothed belt 50 is connected to the guide rail 44.
Slide on. In this case, the small pinion 54 and the speed-up pinion
The reciprocating stroke amount of the piston rod 58 is enlarged according to the ratio of the pitch circle diameter with 52, and is transmitted to the holder arm 46.

In this embodiment, the manipulators 101, 102, 103 described later are used to inject the injection gun 49 into the holder arm 46 of the gun holder 20.
When attaching / detaching, the tip of the holder arm 46 is advanced to just above the assembly line 11, but when the gun holder 20 moves between the first work station 12 and the second work station 13. In this case, the holder arm 46 is pulled back onto the base plate 43. Therefore, when the gun holder 20 moves from the first work station 12 to the second work station 13 during the brake fluid injection work in conjunction with the transfer of the vehicle body 1, the brake fluid hoses 47a, 47b and the air bleeder are released. The hoses 48a and 48b are in a state of being pulled out from the holder arm 46 pulled in to the base plate 43 side to the center of the assembly line 11 (see FIG. 1).

First work station 12 side and second work station
On the side of the assembly line 11 with the 13 side, a total of three multi-joint multi-degree-of-freedom manipulators 101 to 103 are arranged adjacent to the bridge 18 of the guide rail 17.

One manipulator 101 located on the side of the first work station 12 holds the injection gun 49 supported by the tip portion of the holder arm 46 of the gun holder 20, and stands by at the first work station 12. It is for inserting into the respective inlets 2 and 3 of the above-mentioned brake reservoir tank and clutch reservoir tank assembled to the vehicle body 1.

Further, of the two manipulators 102, 103 facing each other across the assembly line 11 on the side of the second work station 13, one manipulator 102 is the injection gun 49 for the clutch from the vehicle body 1 waiting at the second work station 13. Is removed and returned to the gun bracket 62 attached to the tip of the holder arm 46 of each gun holder 20, and the tank cap 4 for brake is screwed into the inlet 2 of the brake reservoir tank. Similarly, the other manipulator 103 removes the injection gun 49 for the brake from the vehicle body 1 waiting at the second work station 13 and returns it to the gun bracket 62 at the tip of the holder arm 46, and further attaches the tank cap 5 for the clutch. It is for fitting into the inlet 3 of the clutch reservoir tank. A parts feeder 63 for supplying the brake tank cap 4 and the clutch tank cap 5 to the two manipulators 102 and 103 is provided on the side of the two manipulators 102 and 103, respectively.

Although the basic structure of these three manipulators 101 to 103 is the same, the two manipulators 102 and 103 located on the second working station 13 side are manipulators to be described later for mounting the tank caps 4 and 5. The hands 104 of 102 and 103 are attached and detached.

FIG. 9 showing the cross-sectional structure of the hand 104 in the state of gripping the injection gun 49 for the brake and its FIG. 10 showing the cross-sectional structure taken along the line XX, and the cross-sectional structure taken along the line XI-XI, taken along the line XII-XII. Cross-sectional structure, XIII-XIII arrow cross-sectional structure, XIV-XIV arrow cross-sectional structure, respectively, as shown in FIG. 11, FIG. 12, FIG. 13, FIG. 14 and FIG. Both ends of two parallel guide rods 107 are fixed to a mounting plate 106 which is fixed to the tip end portion via bolts 105. These guide rods 1
Floating blocks through 07 through linear guides 108 respectively 1
09 is slidably held, and the guide rod 107 between the floating block 109 and the mounting plate 106 is provided with a compression coil spring 110 for biasing the floating block 109 at the center of the guide rod 107. There is. Further, a frame body 113 is fixed to both ends of two mutually parallel guide rods 112 penetrating the floating block 109 slidably in a direction perpendicular to the guide rod 107 via a linear guide 111. This frame 113 and floating block 10
The guide rod 112 between the 9 and the floating block 109 the guide rod 112
A compression coil spring 114 that relatively urges is attached to the central portion of the.

At the center of the frame 113, a claw holder 115 is attached which is rotatable about axes perpendicular to the guide rods 107 and 112. Further, the claw holder 115 is provided with a locking projection 117 that can be locked to a stopper 116 protruding from the inner wall of the frame 113. Further, in order to urge the locking projection 117 to the stopper 116,
The claw holder 115 and the frame body 113 are connected via a tension coil spring 118.

Therefore, the claw holder 115 is a tension coil spring with respect to the frame 113.
Although it is possible to rotate counterclockwise in FIG. 12 against the spring force of 118, when the external force is not applied to the claw holder 115, the spring force of the tension coil spring 118 locks the stopper 116 on the stopper 116.
7 is kept in contact.

A central portion of a pair of grip claws 119 capable of gripping the support flange 64 of the injection gun 49 is rotatably pivotally attached to the lower portion of the claw holder 115 via a pin 120, and further, a support flange 64 of the injection gun 49. A pair of knock pins 121, which can be tightly fitted in the pair of positioning holes 65 formed in the above, are provided so as to project downward. A pair of plungers 122, to which the upper ends of the gripping claws 119 are respectively pinned, are cylinder chambers formed in the claw holder 115.
It is fitted to 123 and is slidable in the opposite direction of these gripping claws 119, and they are connected to each other via a tension coil spring 123, and by the spring force of this tension coil spring 123,
The grip claws 119 are urged so that the distance between the tips of the grip claws 119 increases. An air hose communicating with a compressed air supply / discharge device (not shown) is connected to the cylinder chamber 123 via an air supply / discharge passage 125 formed in the claw holder 115, and the compressed air is sent from the air hose to the cylinder chamber 123. Then, the pair of plungers 1 resists the spring force of the tension coil spring 124.
As a result of the distance of 22 being widened, the holding claw 119 is in a state in which the distance between the tips of the holding claws 119 is narrowed and the support flange 64 of the injection gun 49 can be held.

A pair of lock pins 126, each of which has a conical tip, are linearly mounted above and below the floating block 109 so as to be slidable in directions perpendicular to the guide rods 107 and 112, respectively. A compression coil spring 127, which is not so strong, is interposed. And these lock pins 126
A conical lock hole 128 corresponding to the tip of the lock pin 126 is formed at the center of the mounting plate 106 and the claw holder 115 facing the tip of the lock pin 126 by the weak spring force of the compression coil spring 127. The tip of the lock head faces these lock holes 128. In the space of the floating block 109 that houses these lock pins 126 slidably, the floating block 1
An air hose communicating with a compressed air supply / discharge device (not shown) is connected via an air supply / discharge passage 129 formed in 09.

Therefore, when compressed air is fed under pressure from the air hose into the floating block 109, the distance between the pair of lock pins 126 is expanded, and the tips of the lock pins 126 are engaged with the lock holes 128 respectively. The relative displacement of the claw holder 115 with respect to the 106 is restricted, and the mounting plate 106 and the claw holder are restrained.
The frame 115 and the frame 115 are integrated with each other.
Further, when compressed air is not supplied into the floating block 109, the spring force of the compression coil spring 127 is weak, so the lock pin 126 is pushed back to the floating block 109 side and the mounting plate 106 is pressed.
The displacement of the floating block 109 with respect to and the displacement of the frame body 113 with respect to the floating block 109 are possible.

In this way, the claw holder 115 is attached to the mounting plate 106 with the guide rod 10
Floatingly supported so that it can be displaced in two directions along 7,112, the support flange 64 of the injection gun 49 and the gripping claw
Even if the relative position with respect to 119 or the gun bracket 62 is slightly deviated, it is possible to solve the problem caused by the positional displacement without any problem. When holding the injection gun 49, the lock pin 126
Since the mounting plate 106 and the claw holder 115 are integrated with each other, it is possible to prevent swaying and the like due to the movement of the injection gun 49. That is, when the hand 104 is moved, the mounting plate 106, the floating block 109, and the frame body 113 are integrated, but when the grip claws 119 of the hand 104 transfer the injection gun 49 or the like, they are relatively moved. The frame body 113 is supported in a floating manner with respect to the mounting plate 106 in order to allow such positional displacement.

On the other hand, the support flange 64 of the injection gun 49 is formed with a pair of engagement holes 67 that fit into a pair of support pins (see FIGS. 5 and 6) 66 projecting from the gun bracket 62. For the injection gun 49, the support pin 66 of the gun bracket 62 is the injection gun 49.
It is placed on the gun bracket 62 while penetrating into the engaging hole 67 of the. A plurality of (three in this embodiment) guide cylinders 68 projecting downward from the support flanges 64 are respectively provided with linear guides 69 through which guide rods 107 and 112 are slidable in directions perpendicular to each other. 70 is fitted and supported. At the lower ends of these guide rods 70, a cap-shaped inlet port retainer 71 that surrounds the inlet port 2 of the brake reservoir tank is integrally attached, and the lower end portion of the inlet port retainer 71 has a lower end portion at the inlet port. The nozzle 72, which is tightly fitted in the second nozzle 2, is fixed. An intermediate cylinder 73 is integrally fitted on the upper portion of the nozzle 72, and brake fluid supply holes formed in the intermediate cylinder 73 respectively.
The brake fluid hose 47 described above is provided in the 74 and the air vent hole 75.
The tip of a and the tip of the air bleeding hose 48a are connected. Further, a brake fluid supply passage 76, which is formed in the central portion of the nozzle 72 and for pumping the brake fluid from the inlet 2, communicates with the brake fluid supply hole 74.
An air vent passage 77, which is formed in the nozzle 72 so as to surround the valve 76 and is used to evacuate the inside of the brake reservoir tank, communicates with the air vent hole 75.

In addition, the guide rod 70 between the guide cylinder 68 and the inlet port presser 71,
A compression coil spring 78 is attached to the guide cylinder 68 to urge the inlet port retainer 71 downward. Further, in this embodiment, in order to prevent the nozzle 72 from coming off from the inlet 2, the inlet 2
A plurality of bayonet claws 6 and 79 are formed on a part of the outer circumference of the inlet and a part of the inner circumference of the inlet port 71, respectively. The bayonet claws 79 are engaged or disengaged with the bayonet claws 79 of the inlet opening pressing member 71. in this case,
The turning action of the inlet port presser 71 utilizes the rotating action of the mounting plate 106 around the claw holder 115 and the spring force of the tension coil spring 118 described above.

That is, from the state shown in FIG. 12, the mounting plate 106 is rotated clockwise together with the frame 113, and the claw holder 115 is rotated clockwise so that the locking protrusion 117 contacts the stopper 116 by the spring force of the tension coil spring 118. Rotate, bayonet claw 6 on inlet 2
The bayonet claw 79 of the injection port retainer 71 is engaged with the above to prevent the tip of the nozzle 72 from coming off from the injection port 2. In this case, when the claw holder 115 side does not follow the rotation of the frame 113 for some reason, it is detected by an optical means (not shown) that the relative rotation difference between the frame 113 and the claw holder 115 exceeds a preset angle. Then, the engagement work of the injection port retainer 71 with respect to the injection port 2 is stopped and an alarm is generated.

The structure of the injection port 3 of the clutch reservoir tank and the injection gun 49 thereof is exactly the same as the structure of the injection port 2 of the brake reservoir tank and the injection gun 49 thereof, but in the present embodiment, the diameter of the injection port 3 is the brake. Since the size is smaller than that of the reservoir tank, the size and shape of the nozzle 72, the inlet port retainer 71, etc. are small.

As described above, the basic structure of the hands 104 of the two manipulators 102, 103 on the second work station 13 side is the same, but since the frame body 113 and the claw holder 115 are integrated, Manipulator 101 on one work station 12 side
The stopper 116, the locking protrusion 117, or the tension coil spring 118 provided on the hand 104 are omitted.

FIG. 15 and its X showing a sectional structure of the hand 104 of the manipulator 103 and the cap mounting attachment 130 for fitting the clutch tank cap 5 into the clutch inlet 3.
VI-XVI FIG. 16 showing a sectional structure taken along arrow and its XVII-XVII
As shown in FIG. 17 and FIG. 18, which respectively show the sectional structure in the direction of arrows and the sectional structure in the direction of arrows XVIII-XVIII, the structure of the hand 104 is basically the same as that shown in FIG. 9 to FIG. So
Members having the same functions as those described above are designated by the same reference numerals as those used above, and description thereof will be omitted.

The support flange 131 formed at the upper end of the cap attachment 130 is provided with a pair of positioning holes 132 into which the knock pin 121 of the hand 104 can be tightly fitted, and is provided on the side of the manipulator 102, as shown in FIG. A pair of engagement holes 133 for mounting the cap mounting attachment 130 in the positioned state on the attachment table 80 (see FIG. 1) having the same structure as the gun bracket 62 having the support pins 66 as shown in FIG. And are formed. Into a pair of guide cylinders 134 projecting downward from the support flanges 131, mutually parallel guide rods 136 having a lower end fixed with a claw bracket 135 slidably penetrate in the directions perpendicular to the guide rods 107 and 112. The guide rod 136 between the guide tube 134 and the pawl bracket 135 has a pawl bracket with respect to the support flange 131.
A compression coil spring 137 for urging 135 downward is attached to each.

The lower part of the claw bracket 135 is in a bifurcated state, and the center parts of the pair of gripping claws 139 are rotatably and pivotally attached thereto via a pair of pins 138. Between these gripping claws 139, both ends contact the gripping claws 139 and the gripping claws 13
Compression coil spring 1 that urges the tip 9 to expand the space
A spring holder 141 that supports 40 is arranged, and both ends of this spring holder 141 are suspended from a pawl bracket 135 via pins 138. Also, in the upper center of the claw bracket 135,
A piston 143 having a pair of inclined surfaces 142 with which the upper ends of the grip claws 139 are in sliding contact is housed slidably in a direction parallel to the guide rod 136, and between the piston 143 and the spring holder 141, the piston 143 is provided. A compression coil spring 144 is interposed which functions to urge 143 upward so as to widen the gap between the tip portions of the grip claws 139. The cylinder chamber 145 partitioned by the piston 143 into the claw bracket 135 is connected to an air supply / discharge passage 146 formed in the claw bracket 135 and communicating with a compressed air supply / discharge device via an air hose (not shown). ing.

Therefore, compressed air is supplied from the air supply / discharge passage 146 to the cylinder chamber 145.
When pumped in, the piston 143 moves downward in FIG. 16 against the spring force of the compression coil springs 140 and 144, and the inclined surface 1
As a result of 42 expanding the gap between the upper ends of the pair of gripping claws 139, the lower end of the gripping claws 139 is moved to the clutch tank cap 5
Is ready to be gripped. It should be noted that the spring holder 141 includes a pad 14 that contacts the upper end surface of the clutch tank cap 5.
7 is installed.

FIG. 19 showing the cross-sectional structure of the hand portion 104 of the manipulator 102 for screwing the brake tank cap 4 into the brake inlet 2 and the cap screw attachment 148, and FIG. 20 showing the XX-XX arrow cross-sectional structure thereof. XXI-X
As shown in FIG. 21 showing the cross-sectional structure taken along the line XI, the hand 104
9 is basically the same as that shown in FIG. 9 to FIG. 13, and similarly, the structure of the cap screwing attachment 148 is basically the same as that of the cap mounting attachment 130. The functional members are designated by the same reference numerals as those used above, and the description thereof is omitted.

The frame 149 connected to the guide rod 136 has these guide rods.
An upper end of a pawl bracket 135 is attached so as to be rotatable about an axis parallel to 136. A disc 151 having a stopper pin 150 is integrally fixed to the upper end of the claw bracket 135, and a locking projection 152 with which the stopper pin 150 can abut is provided from the inner wall of the frame 149. Also, the frame 149
The disk 151 and the disk 151 are connected to each other via a pair of tension coil springs 153 for biasing a rotational force to the claw bracket 135 with respect to the frame 149 so that the stopper pin 150 abuts on the locking projection 152. .

Therefore, the gripping claw 139 grips the brake tank cap 4, and the spring 104 of the compression coil spring 137 is used to press the brake tank cap 4 against the inlet 2 while the hand 104 is shown together with the frame 149 in FIG. When it is turned counterclockwise from the state, the disc pin 15 causes the stopper pin 150 to contact the locking projection 152 by the spring force of the tension coil spring 153.
The claw bracket 135 turns with 1 and the brake tank cap 4 is screwed into the inlet 2. In this case, when the claw bracket 135 side does not follow the rotation of the frame 149 for some reason, it is detected by an optical means (not shown) that the relative rotation difference between the frame 149 and the claw bracket 135 has become equal to or greater than a preset angle, The operation of screwing in the brake tank cap 4 is stopped and an alarm is issued.

The cap screw-in attachment 148, like the cap-attaching attachment 130, is placed in a positioned state on the attachment table 81 installed on the side of the manipulator 102 as shown in FIG. ing.

As described above, in the present embodiment, the shuttle conveyor 16 is adopted as the vehicle body transfer means for carrying the vehicle body 1 from the first work station 12 to the second work station 13, but other known carrier devices may be adopted. Of course it is possible. or,
Although electric feedback control is adopted as a method of interlocking the holder drive means with the vehicle body transfer means, other known methods may be used. Further, as a holder driving means, a drive motor 23, a clutch 24, a drive pinion 22, a rack 21
It is also possible to adopt a structure other than the above, and the gun holder 20 and the manipulators 101 to 103 may similarly have a structure other than that of this embodiment without any particular problem.

Next, the operation flow of the entire equipment will be described from the state shown in FIG. In this FIG. 1, the first work station
In 12, the injection gun 49 is attached to the two injection ports 2 and 3 of the vehicle body 1 to inject the brake fluid, and in the second work station 13, the injection operation of the brake fluid is completed. .

Here, on the first work station 12 side, while depressurizing the inside of the brake reservoir tank and the inside of the clutch reservoir tank via the air bleeding hoses 48a and 48b, respectively, the brake fluid is supplied to these tanks via the brake fluid hoses 47a and 47b. The liquid is injected so that the injection can be performed quickly.

On the other hand, at the second work station 13 side, the manipulator
The hand 104 of 102 picks up the cap screwing attachment 148 positioned on the attachment table 81, and the parts tank 63 from the parts feeder 63.
Is gripped by the cap screw-in attachment 148 and screwed into the inlet 2 of the brake reservoir tank. Following this operation, the hand 104 of the manipulator 103 picks up the cap mounting attachment 130 positioned on the attachment table 80, grips the clutch tank cap 5 from the parts feeder 63 with the cap mounting attachment 130, and the clutch reservoir tank. It is press-fitted into the injection port 3 of. When the caps 4 and 5 are attached in this manner, the manipulators 102 and 103 return the attachments 148 and 130 to the predetermined positions of the attachment bases 80 and 81. Further, during this time, the gun holder 20 located on the second work station 13 side moves to the first work station 12 side and stands by for the next work.

Then, the shuttle conveyor 16 operates to move the vehicle body 1 from the first work station 12 to the second work station 13
Transfer to. At the same time, the vehicle body 1 located at the second work station 13 is carried out to the next work station and a new vehicle body 1 is carried into the first work station 12. At this time, the gun holder 20 which is injecting the brake fluid at the first work station 12 is linked to the transfer of the vehicle body 1 while continuing the injecting work, and then the second work station.
Move to side 13.

When the new vehicle body 1 is loaded into the first work station 12, the holder arm 46 of the gun holder 20 waiting here moves forward, and then the hand 104 of the manipulator 101 is placed on the tip of the holder arm 46. Gripping the injection gun 49 for the brake, install this injection gun 49 in the injection port 2 of the brake reservoir tank, and then receive the injection gun 49 for the clutch from the holder arm 46 and install it in the injection port 3 of the clutch reservoir tank. . Then, the holder arm 46 returns to the base plate 43, and the raising / lowering arm 33 rises in the horizontal state to be in the state shown in FIG.

On the other hand, when the injection work of the brake fluid is completed at the second work station 13, the holder arm 46 moves forward and the manipulator 102 first removes the injection gun 49 attached to the injection port 3 of the clutch reservoir tank, and the holder arm 46 The manipulator 103 removes the injection gun 49 attached to the injection port 2 of the brake reservoir tank and returns it to the tip of the holder arm 46. After that, the holder arm 46 is pulled toward the base plate 43 side. During this work, the shuttle conveyor 16 returns to the side of the first work station 12 and the raising / lowering arm 33 is brought down to a vertical state to be in the state shown in FIG.

In this way, the gun holder 20 is moved along with the intermittent movement of the vehicle body 1.
Are alternately operated to inject the brake fluid into the brake reservoir tank and the clutch reservoir tank assembled to the vehicle body 1 automatically.

In this embodiment, the operation of injecting the brake fluid has been described, but it is effective when the time for injecting various hydraulic fluids exceeds the stop time of the vehicle body at one work station. Of course, it is not limited to work.

<Effects of the Invention> According to the automatic injection equipment of the present invention, even if the injection time of the hydraulic fluid exceeds the stop time of the vehicle body at one work station, the automatic injection is performed without reducing the speed of the assembly line. It became possible to perform injection work.

[Brief description of drawings]

FIG. 1 is a plan view of an embodiment of the automatic injection equipment according to the present invention, FIG. 2 is a sectional view taken along the line II-II, and FIG. 3 is a plan view showing the main part of the synchronizing means of the gun holder. Is a left side view thereof, FIG. 5 is a plan view showing the main part of the gun holder, FIG.
FIG. 7 is a front view thereof, FIG. 7 is a sectional view taken along the line VII-VII in FIG. 5, and FIG. 8 is a sectional view taken along the line VIII-VIII in FIG. Further, FIG. 9 is a sectional view of the manipulator hand in a state where the injection gun is held, FIG. 10 is a sectional view taken along the line XX, FIG. 11 is a sectional view taken along the line XI-XI, and FIG. Sectional view taken along the line XII-XII in FIG. 10, FIG. 13 is XIII-XIII in FIG.
14 is a sectional view taken along the line XIV-XIV in FIG. 10,
FIG. 15 is a cross-sectional view of the manipulator hand in the state in which the cap mounting attachment is held, and FIG.
XVI-XVI arrow sectional view, FIG. 17 is its XVII-XVII arrow sectional view, FIG. 18 is XVIII-XVIII arrow sectional view in FIG. 16, 19
The figure shows a cross-sectional view of the manipulator's hand while holding the attachment for cap screwing in.
XX-XX arrow sectional drawing, FIG. 21 is the XXI-XXI arrow sectional drawing. Further, in the figure, reference numeral 1 is a vehicle body, 2 and 3 are inlets, 4 and 5 are tank caps, 11 is an assembly line, 12 and 13 are work stations, 14 is location pins, 15 is a locator, and 16 is a shuttle conveyor. , 20 is a gun holder, 23 is a drive motor, 24 is a clutch, 33 is a raising / lowering arm, 35 is an arm raising / lowering cylinder,
38 is a dog, 39a, 39b, 40a, 40b are dog detection sensors, 4
6 is a holder arm, 47a, 47b are brake fluid hoses, 48a, 48
b is an air bleeding hose, 49 is an injection gun, 59 is an arm driving cylinder, 62 is a gun bracket, 64 and 131 are support flanges, 71 is an inlet holding member, 72 is a nozzle, 74 is a brake fluid supply hole, and 75 is an air bleed hole. , 80 and 81 are attachment stands, 101
~ 103 is a manipulator, 104 is a hand, 106 is a mounting plate, 109
Is a floating block, 113 is a frame, 115 is a claw holder, 119, 139
Is a gripping claw, 122 is a plunger, 125, 129 and 146 are air supply / discharge passages, 126 is a lock pin, 128 is a lock hole, 130 is a cap mounting attachment, 135 is a claw bracket, 143 is a piston, 148 is a cap screw attachment, and 149 is It is a frame.

Claims (1)

[Claims] 1. A vehicle body transfer means for transporting a vehicle body from a first work station set to an automobile assembly line to a second work station, and the first work which is opposed to and alternate with the assembly line. A pair of gun holders capable of reciprocating between the station side and the second work station side, and an injection gun for supplying liquid to the containers respectively attached to the pair of gun holders and assembled to the vehicle body. A flexible supply pipe provided at the tip, and the injection gun from the one can holder that is installed on the first work station side and is on standby at the first work station side. The first manipulator inserted into the inlet of the container mounted on the vehicle body located at the station, and the injection gun inserted into the inlet A pair of holder drives that move the gun holder to the second work station side in conjunction with the vehicle body transfer means that starts operation and move the gun holder on the side where the injection work is completed to the first work station side. Means and a second manipulator for returning the injection gun, which is installed on the side of the second work station and finished the injection work, to one of the gun holders on standby at the side of the second work station. Facility.