JP3004366B2 - Work assembling method and apparatus used for carrying out the method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention is a set elevational work on the workpiece, forming as automatically performed at the time of conveyance of a workpiece by using a working robot, an apparatus for use in combination elevational method and practice of the workpiece .

[0002]

2. Description of the Related Art In a vehicle production line in a vehicle manufacturing process, for example, a vehicle body in which a plurality of members are connected and formed, and a door disposed in a compartment forming portion is temporarily fixed and integrated. In the coating line division, after the sealing agent is applied, the coating is applied as necessary for each part from the undercoat to the top coat, then the doors etc. are removed, and the body body and the door etc. are separated from each other After being put into the work line section, each of them is processed or assembled by assembling various parts in each work line section, and then processed or various parts are again processed into the body of the body which has been processed or assembled with various parts. The doors and the like that have been assembled are attached to complete the vehicle body.

[0003] In such a work line section for a vehicle body in a vehicle body production line, the vehicle body is mounted on a trolley or is transported while being supported and conveyed by a conveyor. Processing or assembling by assembling various parts is generally performed by using both the work by the worker and the work by the installed work robot in a simple manner. In order to achieve further automation as described above, for example, Japanese Utility Model Application Laid-Open No. Sho 62-108183 or JP-A-63-2657
As shown in Japanese Patent Publication No. 79, the vehicle body is divided into a plurality of vehicle body components, for example, an upper vehicle body component, a floor member, or a lower vehicle body component including a floor member,
It has been proposed that each vehicle body component is preliminarily processed or assembled by assembling various parts, and then connected to each other to form a vehicle body.

[0004]

As described above, when each of a plurality of vehicle body components which are interconnected to form a vehicle body as described above is processed or assembled by assembling various parts, a plurality of body components are required. A plurality of work line sections are provided corresponding to each of the vehicle body components, and each of the vehicle body components is placed in a corresponding work line section, for example, under a state of being mounted on a carriage and conveyed, Processing or assembly of parts prepared in advance is performed by a work robot fixedly installed in the work line section. Therefore, in each work line section, when each of a plurality of vehicle body components sequentially input thereto is transported to the position of the fixedly installed work robot,
Since the body robot is processed by the work robot or assembled by assembling parts, it is difficult to set the position of each body member with respect to the work robot with sufficient accuracy. It is required to perform processing or assembling work while absorbing the displacement of the component members, and each work robot takes an intermittent time by taking a waiting time for the vehicle body components conveyed in the work line section. Work has to be performed, and therefore the working robot is not operated efficiently.

[0005] Further, when a change is made to the working or assembling work process for a specific vehicle body component, the effect of the change in the work process is provided corresponding to the specific vehicle body component and affects the entire work line section. Therefore, there is a problem that the working or assembling work process for each vehicle body component cannot be easily changed. Further, when a failure occurs in any of the plurality of carts that respectively transport the plurality of vehicle body components, or in a work robot that performs processing or assembly work on the vehicle body components, the robot is transported by the failed truck. Or a plurality of work line sections related to a vehicle body formed including the vehicle body components formed including the vehicle body components to be processed or assembled by the failed work robot. A situation in which the operation is stopped may be simulated, and the production efficiency may be significantly reduced.

[0006] In view of the foregoing points, the present invention provides a set elevational work on the workpiece, such as a vehicle body component member to be conveyed is placed on the carriage, when achieving the automated performed using a working robot, the work it is possible to improve the rate of operation of the robot effectively, when a change to the set elevation work processes are added, is assumed to be flexibly correspond to the changed set upright working process, also, for example, it is placed If a failure occurs in the cart that transports the work, it is assumed that the decrease in the production efficiency of the work due to the failure can be reduced .
And to provide a device for use in combination elevational method and its implementation.

[0007]

To achieve the Disclosed resolve means for the] above object, the set elevation process of the workpiece according to the present invention is assembled in the work and the work with installing the work robot
Traveling along a work transport path on a trolley on which parts to be mounted are placed
Is, work robot by truck, under the state where the work and parts are conveyed, the work robot, the part to the work
Assembling work to assemble the work by assembling is performed.

Further, the set elevation device of a work according to the present invention,
Work to be placed and to be assembled to the work
A trolley that transports parts along the work transport path, and a work that is installed on the trolley and assembles the parts by assembling the parts into the work under the condition of being transported together with the workpieces and parts <br/> Assembly work configured to include a robot, a.

[0009]

[For work] set elevational method of a workpiece according to the present invention as described above, or, in the set elevation device of a work according to the present invention, the workpiece and its components to be assembled in the work and word <br/> over click work robot and is conveyed along the work conveying path by a common carriage, during its transport, component set to work robot depending on the work to perform the set of standing work
By attached, so that the automation of the set elevation work on the workpiece is achieved efficiently. Specifically, the work , the parts to be assembled thereto, and the work robot are transported by a common carriage, so that the work is accurately positioned with respect to the work robot, and the work of the work robot is performed. load is reduced, also, the working robot work and we assembled thereinto
The waiting time for waiting for the arrival of a part to be replaced is eliminated, and the operation rate of the working robot is improved. Further, when a failure occurs in the bogie or the work robot, it is possible to avoid a situation in which the influence is exerted on the entire work line in which the bogie is arranged, thereby suppressing a reduction in the production efficiency of the work, and at the same time, assembling the work. Changes in the vertical work process
It can be easily performed without causing any inconvenience on the work line on which the cart is provided, and the degree of freedom is improved.

[0010]

EXAMPLES 1 and 2, an example of an apparatus used in the practice of the set elevation process of the workpiece according to the present invention, shown with it placed on a workpiece placed on the work of the body of the vehicle The upper body member is a part of the upper body member.

Upper body member 1 shown in FIGS. 1 and 2
Is a self-propelled carriage that is carried out of a painting line by a conveying means (not shown), laid on a part assembly work line section of a body component assembly line, and runs on a pair of rails 3 forming a work conveyance path. 5. The upper vehicle body member 1 includes a cabin forming portion A1, an engine room forming portion A2, a trunk space forming portion A3, and the like. The bottom portion and the left and right sides of the cabin forming portion A1 respectively include: A floor portion opening K1, a front door portion opening K2 and a rear door portion opening K3 formed so as to sandwich the center pillar 1a are provided. The engine room forming portion A2 has an engine room portion opening. K4 is provided, and the trunk space forming portion A3 is further provided with a trunk space partial opening K5.

FIG. 3 shows a vehicle body component assembly line.
As shown in FIG. 2, the parts assembling work line sections LP1 and LP2, the floor unit assembling work line section LF, and the body exterior member assembling work line section LE are included. In the part assembling work line section LP1, an annular work transport path R1 is formed by a pair of rails 3, and a plurality of self-propelled vehicles 5 move on the work transport path R1. The upper vehicle body member 1 shown in FIG. 1 and FIG. 2 is mounted on each of the plurality of self-propelled vehicles 5. In the part assembling work line section LP2, an annular work transport path R2 is formed by a pair of rails, and a plurality of self-propelled trolleys 4 move on the work transport path R2.

At one end of a portion R1a of the work transfer path R1, there is provided an upper body member carry-in portion BO into which a plurality of upper body members 1 carried out from the painting line CL are successively carried in intermittently. The other end of R1a is connected to one end of a portion R2a of the work transport path R2 via a hanger conveyor H1. The other end of the part R2a is connected to one end of a part R2b of the work transfer path R2, and the other end of the part R2b is connected to one end of a part R1b of the work transfer path R1 via a hanger conveyor H2. ing. The other end of the portion R1b is connected to a floor unit assembling work line section LF via a hanger conveyor H3. Further, the floor unit assembling work line section LF is a vehicle body exterior member assembling work line section. Connected to LE.

In such a vehicle body component assembly line,
Each of the upper body members 1 sequentially carried out from the painting line CL is introduced into the component assembling work line section LP1 from the upper body member carry-in portion BO, and a portion R1a of the work transport path R1 is provided.
Is placed on the self-propelled carriage 5 at one end. And
The upper vehicle body member 1 placed on the self-propelled trolley 5
Accordingly, various parts such as a wire harness, a grommet, and a clip are assembled while the portion R1a of the work transfer path R1 is transferred from one end to the other end in the direction of the arrow X1. Part R1a of work transfer path R1
The upper body member 1 in which various components are assembled in
At the other end of the portion R1a, the vehicle is transferred to the hanger conveyor H1 so as to be transferred from the self-propelled carriage 5 to the component assembling work line section LP2, via the hanger conveyor H1,
Work transfer path R in part assembly work line section LP2
The second portion R2a is placed on the self-propelled carriage 4 at one end.

Then, the upper body member 1 placed on the self-propelled carriage 4 is moved by the self-propelled carriage 4 to a portion R of the work transport path R2.
2a is conveyed from one end to the other end, and a portion R2b of the work conveyance path R2 is conveyed from one end to the other end in the direction of the arrow X2. Various parts such as the unit, rear seat, front and rear windshield glass are to be assembled. Subsequently, the upper vehicle body member 1 on which various components are assembled in the portions R2a and R2b of the work transport path R2 is transferred from the self-propelled carriage 4 to the component assembling work line section LP1 again at the other end of the portion R2b. It is transferred to the hanger conveyor H2 as much as possible, and the parts assembling work line section LP1 is transferred via the hanger conveyor H2.
Is placed on the self-propelled carriage 5 at one end of a portion R1b of the work transfer path R1.

The upper vehicle body member 1 mounted on the self-propelled carriage 5 again receives the portion R1b of the work transfer path R1 by the self-propelled carriage 5.
Is transported from one end to the other end, the screw member for attaching the assembled various parts to the upper vehicle body member 1 is to be tightened, and then, at the other end of the portion R1b. Is transferred to the floor unit assembling work line section LF from the self-propelled carriage 5 and transferred to the floor unit assembling work line section LF via the hanger conveyor H3.

The part assembling work line sections LP1 and LP2 carried into the floor unit assembling work line section LF.
Upper body member 1 in which various parts are assembled in
In the floor unit assembly work line section LF,
The floor unit to be introduced there is to be assembled. The upper vehicle body member 1 to which the floor unit is attached is a floor unit assembling work line section L
The vehicle is transferred from F to the vehicle exterior member assembly work line section LE, and the vehicle exterior members such as the front shroud member, the front fender member, the trunk lid, the bonnet, and the right and left doors are assembled in the vehicle exterior member assembly work line section LE. As a result, the assembly is completed.

At the other end of the portion R1a of the work transfer path R1 in the part assembling work line section LP1,
The self-propelled trolley 5 from which the upper body member 1 mounted thereon has been removed moves from the other end of the portion R1a to one end of the portion R1b along the work transfer path R1. At the other end of the portion R2b of the work transfer path R2 in the assembly work line section LP2, the self-propelled trolley 4 from which the upper body member 1 placed thereon has been removed is the work transfer path R
2, the other end of the portion R2b moves from the other end to the one end of the portion R2a.
At the other end of the portion R1b of the work transport path R1 at P1, the self-propelled carriage 5 from which the upper body member 1 placed thereon is removed, the other end of the portion R1b along the work transport path R1. From the part to one end of the portion R1a.

[0019] Figures 1 and self-propelled carriage 5 the upper body member 1 is placed on as shown in FIG. 2, the wheel by a motor 6 mounted to the Re their is driven, travel a pair of rails 3 above It is supposed to. Then, on the mounting surface 5A of the self-propelled carriage 5, a first pallet 7 for positioning the upper vehicle body member 1 to be mounted, and first and second workings for the upper vehicle body member 1 positioned by the main pallet 7 are performed. 2 work robots 8A and 8B, two robot tool placement tables 9A and 9B provided for the first and second work robots 8A and 8B, respectively, and the first and second work robots 8A and 8B. Two control units 10A and 10B for controlling the operation of 8B are provided.

The main pallet 7 is formed in the shape of a frame, and columnar support members 22 are planted at a plurality of positions. The engaging pins 21 provided on the tops of the columnar support members 22 are connected to the upper vehicle body. The upper vehicle body member 1 is supported and positioned by the columnar support member 22 in a state where the upper vehicle body member 1 is engaged with the engagement hole provided in the bottom surface of the member 1.

The first working robot 8A has a base 14A fixed on the mounting surface 5A of the self-propelled carriage 5 so as to be surrounded by the center of the main pallet 7, and a rotating part 15A having a base 14A. The movable arm portion 16A supported by the rotating portion 15A is installed in the concave portion 14AG provided in the upper body member 1 and the floor portion opening provided in the bottom surface portion of the cabin forming portion A1 of the upper body member 1. It is designed to enter the cabin forming portion A1 through K1. The rotating portion 15A supporting the movable arm portion 16A is movable along the longitudinal direction of the upper vehicle body member 1 in the concave portion 14AG provided in the base 14A. In this manner, on the base 14A on which the rotating portion 15A of the first work robot 8A is disposed, the first and second sub-pallets 12A and 12B on which parts are placed are sandwiched by the recess 14AG. are arranged in a position opposed to the upper surface of each, are arranged with the manner in which the grommet should primarily be assembled inside the cabin forming part A1 of the upper vehicle body member 1, various parts P such as a wire harness is predetermined .

The second work robot 8B pivots on a base 14B fixed on the mounting surface 5A of the self-propelled carriage 5 so as to be partially surrounded by the U-shaped end of the main pallet 7. The movable arm portion 16B supported by the rotating portion 15B is provided in the engine room forming portion A2 of the upper vehicle body member 1 while the portion 15B is installed in a state where the portion 15B is disposed in the concave portion 14BG provided in the base 14B. It is designed to enter the engine room partial opening K4. The rotating portion 15B supporting the movable arm portion 16B moves inside the concave portion 14BG provided in the base 14B to the upper body member 1.
Is movable along the longitudinal direction of the camera. In this manner, on the base 14B on which the rotating part 15B of the second work robot 8B is arranged, the third sub-pallet 12C on which components are placed is positioned at a position corresponding to the inside of the engine room partial opening K4. Various components P ′ such as grommets and wire harnesses to be assembled mainly inside the engine room forming portion A2 of the upper vehicle body member 1 are arranged on each upper surface in a predetermined manner.

First and second work robots 8A and 8B
Are articulated robots, and each movable arm 16
A or 16B is the rotating part 15A or 15B, respectively.
B and can perform bending and stretching operations at a plurality of positions.
A or 17B is provided.

The robot tool placement table 9A is provided with a wrist section 17A provided on the movable arm section 16A of the first work robot 8A outside the cabin forming section A1 of the upper body member 1 supported by the main pallet 7. Are arranged in a position where they can be reached, and various tools Q detachably attached to the wrist section 17A of the first working robot 8A are arranged on the tool mounting surface in a predetermined manner. In addition, the robot tool placement table 9B is provided near the engine room forming portion A2 of the upper vehicle body member 1 supported by the main pallet 7, and the second work robot 8
B is arranged at a position where the wrist portion 17B provided on the movable arm portion 16B of B can be reached, and various tools Q 'detachably attached to the wrist portion 17B of the second work robot 8B on its tool mounting surface. Are arranged in a predetermined manner.

The two control units 10A and 10B are:
An operation control signal according to, for example, a preset control program is supplied to each of the first and second work robots 8A and 8B, which is disposed at an end of the mounting surface section 5A of the self-propelled carriage 5. Then, those operations are controlled.

Based on the above-described configuration, the self-propelled vehicle 5 on which the upper vehicle body member 1 is mounted, and the self-propelled vehicle 5 which is installed on the self-propelled vehicle 5 and conveyed together with the upper vehicle body member 1 , First and second work robots 8A and 8B operating under operation control by control units 10A and 10B
As main components, and is of an example of a set elevation device of a work according to the present invention is formed.

[0027] Using an example of a set elevation device such work, In conducting assembly by forming the assembly of the various parts of the upper body member 1, first, the upper body is unloaded from the coating line CL The upper body member 1 carried into the member carry-in part BO is divided into parts assembling work line sections LP.
1 is a pair of rails 3 constituting the work transfer path R1
It is placed from above on one of the plurality of self-propelled trolleys 5 that are to run above. At this time, the first working robot 8A installed on the mounting surface 5A of the self-propelled carriage 5 is moved to the cabin through the floor portion opening K1 provided on the cabin forming portion A1 of the upper body member 1 by moving the movable arm 16A. Similarly, the second working robot 8B installed on the mounting surface 5A of the self-propelled vehicle 5 has a movable arm portion 16B which moves into the engine room forming portion of the upper body member 1. A plurality of columnar supports set on the main panel 7 installed on the mounting surface 5A of the self-propelled trolley 5 under the condition that they enter the interior of the engine room partial opening K4 provided in A2. Member 22
The engaging holes provided in the engine room forming portion A2 and the trunk space forming portion A3 of the upper vehicle body member 1 are fitted to the engaging pins 21 provided in each of the above, as shown in FIGS. , The upper body member 1 is supported and positioned by the plurality of columnar support members 22.

Next, the self-propelled trolley 5 on which the upper body member 1 is mounted is operated with the motor 6 thereof, and the parts assembling work line section L is moved on the pair of rails 3 at a predetermined speed.
The vehicle travels in the direction toward P2, and the upper body member 1 is transported together with the first and second work robots 8A and 8B toward the component assembly work line section LP2.

Subsequently, an operation control signal transmitted according to a preset control program from a control unit 10A installed in the traveling self-propelled vehicle 5 is supplied to the first work robot 8A, and the first work robot 8A is operated. 8A, the rotating portion 15A moves as needed within a range of a concave portion 14AG provided on a base 14A fixed on the mounting surface portion 5A of the self-propelled carriage 5, and the movable arm portion 16A The wrist portion 17A provided therein is connected to the front door partial opening K provided in the cabin forming portion A1 of the upper body member 1.
2, or a state where one of the tools Q placed on the robot tool placement table 9A is attached to the wrist section 17A through the rear door partial opening K3 to reach the position of the robot tool placement table 9A. After installing the tool Q
And the first and second sub-pallets 12A and 12A.
A state is assumed in which the various components P arranged in B are to be sequentially assembled mainly inside the cabin forming portion A1 of the upper vehicle body member 1. In such a state, as shown by a solid line in FIG. 4, the first work robot 8A uses the tool Q attached to the wrist unit 17A to output various parts P arranged on the first sub-pallet 12A. And assembling it with a portion around the first sub-pallet 12A in the cabin forming portion A1 of the upper body member 1, and as shown by a dashed line in FIG. With the tool Q attached to the second sub-pallet 12B, a specific one of the various components P arranged on the second sub-pallet 12B is selected and held, and is held in the second sub-pallet in the cabin forming portion A1 of the upper body member 1. Assemble around the 12B. When assembling the various parts P to the upper body member 1 as described above, the first
Of the work robot 8A, the operation of appropriately replacing the tool Q mounted on the wrist section 17A with a tool suitable for handling the part P to be assembled to the upper body member 1.

In addition, the self-propelled truck 5 running
Is supplied to the second work robot 8B according to a preset control program from the control unit 10B installed in the second work robot 8B.
In addition, the rotating portion 15B moves as needed within a range of a concave portion 14BG provided in a base 14B fixed on the mounting surface portion 5A of the self-propelled carriage 5, and the movable arm portion 16B The wrist unit 17B provided on the wrist unit 17B reaches the position of the robot tool placement table 9B, and one of the tools Q ′ arranged on the robot tool placement table 9B is set in a state of being mounted on the wrist unit 17B. Thereafter, using the mounted tool Q ', an operation of sequentially assembling the various components P' arranged on the third sub-pallet 12C mainly inside the engine room forming portion A2 of the upper body member 1 is performed. Let it be in a state that will When assembling the various parts P ′ to the upper body member 1, the tool Q ′ mounted on the wrist portion 17B is attached to the second work robot 8B by the part P ′ to be assembled to the upper body member 1.
, An operation of appropriately replacing the device with a device suitable for handling it is also performed.

As described above, it is possible to obtain the upper body member 1 in which the assembling of the various parts P and P 'has been completed. It is transferred to one of the plurality of self-propelled vehicles 4 which are to travel on the work transport path R2 in the attached work line section LP2.

Thus, as shown in FIG. 5, the upper body member 1, the first to third sub-pallets 12A to 12A
C, the first and second work robots 8A and 8B, the control units 10A and 10B, and the robot tool placement table 9
A and 9B are mounted on a common self-propelled carriage 5 and transported, and the first to third sub-pallets 1 for the upper body member 1 by the first and second work robots 8A and 8B.
The various parts P and P ′ arranged in 2A to 12C are assembled, and the upper body member 1 is assembled. At this time, the first work robot 8A mainly operates the cabin of the upper body member 1. Assembling of the various parts P inside the forming part A1 is performed by the movable arm part 16.
A is a cabin forming part A1 through a floor part opening K1.
The second work robot 8B mainly assembles the various parts P ′ to the inside of the engine room forming portion A2 of the upper body member 1 with the movable arm portion 16B. Is arranged in the engine room partial opening K4, so that the first and second parts of the upper body member 1 are assembled during the part assembling work by the first and second work robots 8A and 8B. The state in which the positioning with respect to the work robots 8A and 8B is accurately performed is maintained, the work load on the first and second work robots 8A and 8B is reduced, and the first and second work robots 8A and 8B 8B is the upper body member 1 and
There is no waiting time for waiting for the arrival of various parts P and P ′ to be assembled , and in addition, the first
Tool exchange for each of the second work robots 8A and 8B as needed is performed in a very short time, and the operation rates of the first and second work robots 8A and 8B are significantly improved.

Further, the self-propelled carriage 5 or the first and second
When at least one of the work robots 8A and 8B has a failure, the self-propelled vehicle 5 is retracted from the work transport path R1 in the component assembling work line section LP1 so that the self-propelled vehicle 5 or the A situation in which the failure of at least one of the first and second work robots 8A and 8B is affected over the entire part assembling work line section LP1 is avoided, and a decrease in the production efficiency of the upper body member 1 is suppressed. The change of the assembling work process for the upper body member 1 on the self-propelled trolley 5 is based on the parts assembling work line section L.
P1 can be easily performed without causing any inconvenience, and the degree of freedom can be improved.

In the above-described example, the upper body member 1 on which various parts are assembled by the first and second work robots 8A and 8B installed on the self-propelled carriage 5 is mounted on the floor of the cabin forming section A1. partial opening K1 is provided, also, the engine room formed part A2 is but assembly of the front shroud member is not to have been made, it is used to set elevational method and practice of the workpiece according to the present invention device Can be applied to the assembling of an upper vehicle body member in which a floor portion opening is not provided in a cabin forming portion and a front shroud member is attached to an engine room forming portion, and FIG. 6 is used in such a case. is, another example of apparatus used in the practice of the set elevation process of the workpiece according to the present invention.

In the example shown in FIG. 6, first and second work robots 8A 'and 8B' with control units 10A 'and 10B' are installed on a self-propelled carriage 5 ', and The upper vehicle body member 1 'to be constituted is mounted. The self-propelled trolley 5 ′ is configured similarly to the self-propelled trolley 5 in the example shown in FIG. 1, and runs on a pair of rails 3.
Similar to the case where the upper vehicle body member 1 shown in FIG. 1 is mounted on the self-propelled trolley 5, it is positioned and mounted on the self-propelled trolley 5 ′, and further, the control units 10A ′ and 10B ′. And second working robot 8A 'with
And 8B 'have the same configuration as the first and second work robots 8A and 8B with the control units 10A and 10B in the example shown in FIG. 1, and perform the same operations. ing.

The upper body member 1 'is provided with a cabin forming portion A
1 ', an engine room forming part A2' and a trunk space forming part A3 ', the cabin forming part A1' has no floor opening, and the engine room forming part A2 'has a front shroud. The member AS is assembled.

In the self-propelled trolley 5 ', the first work robot 8A' is located outside the cabin forming part A1 'in the placed upper body member 1', and the second work robot 8B 'is The upper body member 1 'is located outside the engine room forming portion A2' of the placed upper body member 1 'so as to sandwich the upper body member 1' therebetween. Then, on the mounting surface 5A 'of the self-propelled carriage 5', a robot tool placement table 9A 'on which a robot tool QA is placed is installed near the first work robot 8A', and a second A robot tool placement table 9B 'on which a robot tool QB is placed is also installed near the work robot 8B'.

Further, the first working robot 8A is provided at the end on the first working robot 8A 'side and the second working robot 8B' side end on the mounting surface 5A 'of the self-propelled carriage 5'.
A ', for example, a first part on which various parts PA such as a shift lever are to be assembled to the upper body member 1'.
Sub-pallet 12A 'and second work robot 8
For example, second sub-pallets 12B 'on which various components PB such as wipers to be assembled to the upper body member 1' by B 'are arranged.

[0039] Using the example of a set elevation device such work, the upper body member 1 'In making the assembly by forming the assembly of the various components of the self-propelled carriage 5'
On the pair of rails 3 to move the placed upper vehicle body member 1 'to the first and second work robots 8A' and 8A.
Under the state of being transported together with B ', an operation control signal sent from the control unit 10A' according to a preset control program is supplied to the first work robot 8A ', and the first work robot 8A' Then, for the list part, the selective mounting and replacement of the robot tool QA arranged on the robot tool placement table 9A ', and the various parts PA arranged on the first sub-pallet 12A', respectively. Of the upper body member 1 ', and an operation control signal transmitted from the control unit 10B' in accordance with a preset control program.
B ', and the second work robot 8B' is selectively mounted and exchanged with the wrist part of the robot tool QB arranged on the robot tool placement table 9B '. Each of the various components PB arranged on the sub-pallet 12B 'is mainly assembled to the engine room forming portion A2' of the upper body member 1 '.

Also in such a case, the upper body member 1 ', the first
And second sub-pallets 12A 'and 12B', first and second work robots 8A 'and 8B', control units 10A 'and 10B', and a robot tool placement table 9
A ′ and 9B ′ are installed and transported on a common self-propelled carriage 5 ′, and the first and second work robots 8A ′ and 8A ′
The various parts PA and PB arranged on the first and second sub-pallets 12A 'and 12B' are assembled to the upper body member 1 'by B', and the upper body member 1 'is assembled. As a result, during the part assembling operation by the first and second work robots 8A 'and 8B', the first and second work robots 8 of the upper body member 1 'are moved.
A state in which positioning with respect to A ′ and 8B ′ is performed with high accuracy is maintained, the work load on the first and second work robots 8A ′ and 8B ′ is reduced, and the first and second work robots 8A ′ are also reduced. 'And 8B' are upper body members 1 ' and
The waiting time for waiting for the arrival of the various parts PA and PB is eliminated, and in addition, the tool change as needed for each of the first and second working robots 8A 'and 8B' is extremely short. The operation rate of the first and second work robots 8A 'and 8B' is significantly improved.

Further, other advantages similar to those obtained in the case of the example shown in FIG. 5 are obtained.

[0042]

As is clear from the above description, the set elevational method of a workpiece according to the present invention or a work according to the present invention
According to the set stand device, for example, work with parts to be assembled to the work that is the vehicle body structure member and a working robot for performing a set elevational work for that work, along the work conveying path by a common carriage It is conveyed, during its conveyance, with parts assembled on the work robot depending on the work
The positioning of the work with respect to the work robot is performed accurately and is maintained, whereby the work load of the work robot is reduced, and the work robot can detect the arrival of the work and parts to be assembled thereto. The waiting time to be waited for is eliminated, and the operation rate of the work robot is improved. Further, when a failure occurs in the bogie or the work robot, it is possible to avoid a situation in which the influence is exerted on the entire work line in which the bogie is arranged, thereby suppressing a reduction in the production efficiency of the work, and at the same time, assembling the work. The change in the vertical operation process can be easily performed without causing any inconvenience in the operation line on which the bogie is arranged, and the degree of freedom is improved.
Therefore, the automation of the set elevation work on the workpiece is achieved efficiently.

[Brief description of the drawings]

Is a side view showing an example with the work of Figure 1 set elevational device of a work to be used in the practice of the set elevation process of the workpiece according to the present invention.

Is a plan view showing an example with a work set elevation device of a work to be used in the practice of the set elevation process of the workpiece according to the present invention; FIG.

FIG. 3 is a conceptual diagram for explaining a vehicle body component assembly line to which the example shown in FIGS. 1 and 2 is applied;

FIG. 4 is a cross-sectional view for explaining the operation of the example shown in FIG. 1;

FIG. 5 is a perspective view used for explaining the operation of the example shown in FIG. 1;

Another example of a set elevation device of a work to be used in the practice of the set elevation process of the workpiece according to the present invention; FIG is a perspective view showing together with the workpiece.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Upper body member 1 'Upper body member 5 Self-propelled trolley 5' Self-propelled trolley 8A First work robot 8A 'First work robot 8B Second work robot 8B' Second work robot 10A Control unit 10B Control unit 10A 'control unit 10B' control unit

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-57-8047 (JP, A) JP-A-58-66637 (JP, A) JP-A-59-152035 (JP, A) 155075 (JP, A) JP-A-2-292141 (JP, A) JP-A-1-175978 (JP, U) JP-A-2-139037 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23P 21/00 307 B23Q 41/00 B62D 65/00

Claims (8)

(57) [Claims] A work robot is installed and a work robot is installed.
And a cart on which parts to be assembled to the work are placed
The robot is moved along a work transfer path, and the work robot , the work and the parts are transferred by the carriage,
The above working robot, assembling the component to the workpiece
Set <br/> elevational method of the work to perform the assembly operation for assembling the workpiece Te. 2. A working set elevational method of claim 1, wherein the workpiece, characterized in that the robot is installed in a position where the interior of the workpiece in the carriage. 3. A trolley, each of which is to be mounted on a work robot.
Established the tool locating stand species tool arranged, the working robot, which performs an exchange of tools that according to the content set standing work is to be mounted on the work of the various tools set elevational method of workpiece according to claim 1, characterized in that a. Wherein the workpiece and parts respectively placed on the truck s body
Wherein the work robot is disposed inside the vehicle body through at least one of a floor portion opening portion and an engine room portion opening portion provided in the vehicle body. set standing method of work of 1, wherein the. 5. A mounted work and assembly to the work
A carriage for transporting along the part in the work conveying path to be, installed in該台vehicle, under the condition to be transported together with the workpieces and parts, by assembling the component to the work
Set elevation device configured workpiece and a working robot for performing assembly work for assembling the workpiece. 6. A working robot assembly stand device of a work according to claim 5, characterized in that installed in the position where the interior of the workpiece in the carriage. 7. A trolley, each of which is to be mounted on a work robot.
Is installed tool locating stand species tool arranged, and that the work robot, the exchange of a tool which according to the content set upright work is to be mounted on the work of the various tools it is Ru is set elevation device of a work according to claim 5, wherein. 8. workpiece placed and components carriage is a component to be attached assembled to each car <br/> body and the vehicle body, a floor part opening and the engine in which the working robot is provided on the vehicle body At least one through the set elevation device of a work according to claim 5, wherein a that will be located inside said body of the room partial opening.