KR100772162B1 - Interior material supply device of automatic mobile of using robot - Google Patents

Abstract

An interior material supply device using robots for an automobile is provided to improve productivity and automate work processes by including an attaching jig, a supply device, a robot and a controller, and to prevent defective generation by uniformly maintaining a fixing position of an FMH. An interior material supply device using robots for an automobile comprises an attaching jig(11), a supply device(15), a robot and a controller. The attaching jig is fixed to an FMH(Free Motion Head-foam,10) so as to be attached and detached. The supply device is consisted of a rotation body(12) rotated by a first drive unit, first and second lockers(13,14) rotated by a second drive unit and a fixing unit fixing the attaching jig to the first and second lockers. The robot is installed between an assembly line and the supply device supplying and attaching the FMH to a headliner module. The controller controls the first and second drive units, the fixing unit and a drive unit of the robot.

Description

Interior material supply device of automatic mobile of using robot}

1 is a perspective view of a typical automotive interior material,

Figure 2 is a schematic diagram of a vehicle interior material supply apparatus using a robot according to the present invention,

Figure 3 (a) is a schematic diagram of a clamp attached to the robot arm in the automotive interior material supply apparatus using a robot according to the present invention,

Figure 3 (b) is a schematic diagram showing that the attachment jig is removed by the robot arm in the automotive interior material supply apparatus using a robot according to the present invention,

Figure 4 is a front view of the supply device detachable attachment jig fixed FMH in the supply device shown in FIG.

5 is a side view of the feeding device shown in FIG. 4;

FIG. 6 is a side view showing that the attachment jig having the FMH fixed in the supply device shown in FIG. 2 is removed from the supply device by a robot and supplied to the headliner module mounted on the trolley of the assembly line;

7 is a perspective view of the attachment jig detachably fixing the FMH in the supply device shown in FIG.

8 is a clamp diagram for fixing the attachment jig in the supply device shown in FIG.

* Explanation of symbols used in the main part of the drawing

10; FMH

12; Rotating body

14; 2nd locker

16; Assembly line

18; Balance

20; robot

22; Air cylinder

24; Pinion Gear

26; 1st cylinder

28; Fixing pin

30; Joiner

32; 2nd fixed pin

40; Body

42; Cylinder rod

44; Joiner

46; 1st clamp

48; 2nd fixed pin

The present invention, when attaching the FMH rib to the head liner (car liner) that is a vehicle interior, unloading (FM) rib freely fixed to the rotatable feeder by specification by using a robot (unloading) Then, the present invention relates to a vehicle interior material supply apparatus using a robot that can attach FMH ribs to a robot arm by rotating the robot arm on a headliner mounted on a bogie moving along an assembly line.

More specifically, the feeder is detachably mounted to a predetermined angle by several attachment jigs, in which the FMH ribs are fixed according to specifications, and the robot arm rotates to remove the attachment jig from the supply device, and the FMH fixed to the attachment jig. The present invention relates to an automotive interior material supply device using a robot that enables unmanned automation of a work process of supplying and attaching ribs to a headliner mounted on a truck waiting on an assembly line.

In this case, the above-described FMH is attached to a predetermined position of the headliner module according to the vehicle type to protect the occupant's head by absorbing and offsetting the shock generated during the car accident. FMH requires functional features such as impact resistance, sound absorbing and insulating properties, heat insulating properties, shape retention, and the like, and a rib of a synthetic resin material injection molded to have a shape such as a honeycomb structure or foamed polyurethane foam is used.

As shown in FIG. 1, the headliner for a vehicle may perform a sound insulation function that blocks or absorbs noise generated from the outside or the inside of the roof panel, that is, on the ceiling of the vehicle interior. Is installed.

The headliner module 1 includes a storage box 2 (or a switching box) for storing and storing sungrass, a sun visor 3 (sun visor), a thin plate speaker (not shown), and an auxiliary handle 4 Various interior accessories such as (assist handle), room lamp (5), FMH ribs (6) to protect the occupant's head by absorbing and offsetting the impact in the event of a car accident is attached to the inner edge is finished.

Automobile interior materials including the above-described headliner module include door trims, fillers, trunk mats, package trims, etc. These interior materials may be injection molded only with a hard substrate, or a soft skin material on the surface of the substrate. The adhesive is used, but the trimmed edge thereof is used, or a foam layer is used to form a cushion layer between the substrate and the skin material.

At this time, when fixing the FMH rib on the headliner module, after applying a bonding hot melt (hot melt) to a specific portion of the headliner module by the operator, it is possible to fix the FMH due to the solidification of the hot melt by pressing the FMH rib Can be.

As described above, since a series of work processes for applying hot melt to a predetermined position of the headliner module and pressing the FMH to the hot melt application position are performed manually by the operator, the worker's fatigue is increased and the fixing position of the FMH rib is uneven. Because of the high occurrence rate of defects, excessive work time, workability or productivity is significantly reduced, so that the price competitiveness in the industry sector is low.

In addition, since the FMH is directly applied to the hot melt application position of the above-described headliner module, the hot melt harmful to the human body and the palm of the worker come into contact with the user's finger skin and are directly exposed to the bonding hot melt, thereby deteriorating worker health. Has

It is an object of the present invention to rotate a feeder to which a plurality of attachment jigs, to which the FMH ribs are fixed, are detachably mounted at a set angle, and to remove the attachment jig from the feeder by rotating the robot arm, which is fixed to the attachment jig. The present invention provides an automotive interior material supply device using a robot that can improve productivity by automating the work process of supplying and attaching FMH ribs to a headliner mounted on a truck waiting on an assembly line.

Another object of the present invention, when fixing the FMH rib after applying the hot melt to the headliner, the operator's palm does not come in direct contact with the hot melt to create a pleasant working environment, using a robot that can prevent worker health harm It provides a vehicle interior material supply device.

Still another object of the present invention is to provide a vehicle interior supplying device using a robot capable of preventing the occurrence of defects by maintaining a fixed FMH fixed position attached to the headliner.

Still another object of the present invention is to provide an automotive interior material supplying device using a robot which reduces labor costs by minimizing the number of workers required when fixing the FMH to a headliner mounted on a trolley moving along an assembly line.

An object of the present invention as described above, in the apparatus for supplying FMH fixed to the vehicle headliner module is mounted on the trolley moving along the assembly line, the coating process,

The attachment jig which FMH is detachably fixed to,

A rotating body rotatably installed at an angle set by the first driving means drive; a first body disposed symmetrically with respect to the rotating body, rotatably mounted at an angle set by the second driving means driving, and divided into equal intervals; A supply device comprising two lockers and fixing means for detachably fixing the attachment jig to the first and second lockers;

A robot which is installed between the assembly line and the supply device and supplies and attaches the FMH to the headliner module mounted on the truck by removing the attachment jig from the supply device by a multi-arm robot arm that is rotated when the drive signal is input from the outside;

A first and second driving means, a fixing means and a control unit for controlling the drive of the robot is achieved by providing a vehicle interior material supply apparatus using a robot.

According to a preferred embodiment, the first driving means described above,

The air cylinder, the pinion gear mounted at the end of the rotating shaft to fix the rotor rotatably, the one end is fixed to the air cylinder rod, the other end is engaged with the pinion gear, and the rotation shaft rotates due to the engagement with the pinion gear when the air cylinder is driven. And rack gears.

In addition, the above-mentioned rotating body is rotated by 180 degrees when the first driving means is driven, and the first and second rockers are rotated by 90 degrees when the second driving means is driven.

The apparatus may further include at least one detection sensor mounted on the above-mentioned rotating body and detecting whether the attachment jig is mounted between the first and second rockers and outputting a detection signal to the controller.

In addition, the above-described fixing means,

A first cylinder fixed to the first locker among the pair of rockers symmetrically formed on the rotating body, a support plate fixed to the rod of the first cylinder, and formed on the support plate and on one side in the longitudinal direction of the attachment jig when the first cylinder is driven. A first clamp comprising at least one first fixing pin coupled to or separated from the formed coupling hole;

At least one second fixing pin fixed to the second locker of the pair of rockers formed symmetrically on the rotating body to be fixed to the coupling hole formed on the other side in the longitudinal direction of the attachment jig It includes a second clamp including.

In addition, the robot arm described above,

A body fixed to the robot arm, at least one or more first cylinders formed on one side of the body, a support plate fixed to the first cylinder rod, and one side of the attachment jig width direction formed on the support plate and driving the first cylinder A first clamp comprising a first fixing pin coupled to or separated from a coupling hole formed in the first clamp;

A second clamp including at least one second fixing pin which is formed on the other side of the body so as to face the first fixing pin and is detachably fixed to the coupling hole formed on the other side of the attachment jig in the width direction, and is controlled from the controller. When driving the first cylinder according to the signal input, the attachment jig is removed from one of the first and second rockers.

In addition, for braking to be mounted at one end of the rotating shaft for rotating the first and second rockers by the above-described second driving means, and to brake the first and second rockers rotated at a 90-degree angle according to a driving signal input from the controller. It further comprises an air motor.

The apparatus may further include a braking air motor mounted to one end of the rotating shaft for rotating the rotating body by driving the first driving means and braking the rotating body by 180 degrees in response to a driving signal input from the controller.

In addition, at least one support block formed in the attachment jig to detachably fix the same or different FMH model, the air cylinder mounted adjacent to the support block, and the FMH seated on the support block when driving the air cylinder It further comprises a clamp comprising a pressing plate to be detachably fixed.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, which are intended to describe in detail enough to enable those skilled in the art to easily practice the invention, and therefore It does not mean that the technical spirit and scope of the present invention is limited.

As shown in Figures 2 to 8, the automotive interior material supply apparatus using a robot according to the present invention is mounted on a trolley moving along an assembly line to bond liquids (for example, hot melt is used) In the device for supplying the FMH fixed to the coated automotive headliner module,

An attachment jig 11 to which at least one FMH 10 having the same or different model name (each having a different shape or size of FMH) is detachably fixed;

A rotating body 12 rotatably installed at an angle of 180 degrees set by the first driving means and a symmetrical arrangement with respect to the rotating body 12 and rotatably mounted at a 90 degree angle set by the second driving means; Supply device 15 comprising first and second rockers (13,14) divided into intervals and fixing means for detachably fixing the attachment jig 11 to the first and second lockers (13,14) Wow,

It is installed between the assembly line 16 and the supply device 15, and the attachment jig 11 is removed from the supply device 15 by the articulated robot arm 17 which is rotated when the drive signal is input from the outside. A robot 20 for supplying and attaching the FMH 10 to the headliner module 19 mounted on the 18;

A control unit (shown as a control box) 21 in which data related to the FMH 10 model name is input in advance is provided to control the first and second driving means, the fixing means, and the driving unit of the robot 20.

At this time, the first driving means described above,

One end is fixed to the air cylinder 22, the pinion gear 24 mounted to the end of the rotation shaft 23 rotatably fixing the rotor 12, and the air cylinder rod 22a, and the pinion gear 24 The other end is engaged and includes a rack gear 25 for rotating the rotating shaft 23 due to the engagement with the pinion gear 24 when the air cylinder 22 is driven.

In addition, at least one support block 50 formed on an upper surface of the attachment jig 11 and adjacent to the support block 50 to detachably fix the FMH 10 having the same or different model name according to the type of vehicle. And a pressure plate 52 for detachably fixing the rib (not shown) of the FMH 10 seated on the support block 50 when the air cylinder 51 is driven. It further includes a clamp 53.

In addition, at least one detection sensor mounted on the above-described rotating body 12 and detecting whether the attachment jig 11 is mounted between the first and second rockers 13 and 14 and outputting a detection signal to the controller 21. (39) further.

In addition, the first drive is mounted on one end of the rotating shaft 38 for rotating the first and second rockers 13 and 14 when the second driving means is driven, and rotated according to the driving signal input from the controller 21. And a braking air motor 37 for braking the two rockers 13 and 14 at an angle of 90 degrees.

It is mounted at one end of the rotating shaft 23 for rotating the rotating body 12 by the driving of the first driving means described above, and brakes the rotating body 12 rotated according to the driving signal input from the control unit 21 at an angle of 180 degrees. A braking air motor 36 is further included.

In addition, the above-described fixing means,

A first cylinder 26 fixed to the first locker 13 of the pair of rockers symmetrically formed on the rotor 12, and a support plate 27 fixed to the rod 26a of the first cylinder 26; At least one first fixing pin 28 formed at the support plate 27 and coupled to or separated from the coupling hole 30 formed at one side of the attachment jig 11 in the longitudinal direction when the first cylinder 26 is driven. The first clamp 29 made of, and

The coupling hole 31 is fixed to the second locker 14 of the pair of rockers formed symmetrically on the rotating body 12 to face the first fixing pin 28, and formed on the other side in the longitudinal direction of the attachment jig 11. It includes a second clamp 33 including at least one or more second fixing pin (32) that is detachably fixed to.

In addition, the above-described robot arm 17,

A body 40 fixed to the robot arm 17, at least one first cylinder 41 formed on one side of the body 40, a support plate 43 fixed to the first cylinder rod 42, and And a first fixing pin 45 formed on the support plate 43 and coupled to or separated from the coupling hole 44 formed on one side of the attachment jig 11 in the width direction when the first cylinder 41 is driven. The first clamp 46,

At least one second fixing pin which is formed on the other side of the body 40 so as to face the first fixing pin 45 and is detachably fixed to the coupling hole 47 formed on the other side of the attachment jig 11 in the width direction ( The second clamp 49 including the 48, the mounting jig from any one of the first and second rockers 13 and 14 when driving the first cylinder 41 in response to the control signal input from the controller 21 Remove (11).

In the drawings, reference numeral 50a denotes a drive motor for rotating the first and second rockers 13 and 14, and 51a denotes a reducer connected to the drive motor 50a.

On the other hand, according to the pre-programmed control signal input from the above-described control unit 21, the robot arm 17 made of multiple joints is rotated and rotated between the supply device 15 and the assembly line 16 due to the driving of the joint portion. Since the description of the configuration and operation is substantially belonging to the technical contents applied to the industrial robot, the detailed description thereof will be omitted.

Hereinafter, with reference to the accompanying drawings an example of the use of the automotive interior material supply apparatus using a robot according to the present invention will be described in detail.

6 and 8, the attachment jig 11 in which the same or different FMH 10 is detachably fixed according to the type of vehicle is disposed symmetrically on the rotating body 12 by the fixing means. At least one removable between the first and second rockers (13,14).

That is, the first fixing pin 28 of the first clamp 29 constituting the first locker 13 formed on one side of the rotating body 12 and the second locker formed on the other side of the rotating body 12 so as to face the first locking pin 28. The attachment jig 11 is detachably fixed between the second fixing pins 32 of the second clamp 33 constituting 14).

In detail, the first fixing pin is formed on the support plate 27 of the first rocker 13 when the first cylinder 26 is extended and driven by the supply of compressed air by the above-described drive signal from the controller 21. (28) is coupled to the coupling hole 30 formed on one side of the attachment jig 11 in the longitudinal direction, and at the same time, the second fixing pin 32 formed on the second rocker 14 is attached to the attachment jig 11 in the longitudinal direction. It is coupled to the coupling hole 31 formed on the other side.

For this reason, the attachment jig 11 can be detachably fixed between the 1st, 2nd rockers 13 and 14 arrange | positioned symmetrically to the above-mentioned rotation body 12. FIG.

At this time, the presence or absence of the mounting jig 11 between the first and second lockers 13 is detected by at least one or more detection sensors 39 mounted on the rotating body 12 to control the detection signal 21. Output to At this time, when the mounting jig 11 is not mounted between the first and second rockers 13 and 14, the first and second rockers 13 and 14 are driven by a driving signal input from the control unit 21 to the second driving means. Rotate) 90 degrees.

At this time, the first and second rockers 13 and 14 rotated by the driving of the driving motor 50a and the reduction gear 51a are mounted on the rotary shaft 38 of the first and second rockers 13 and 14. (37) Can be braked at 90 degrees during operation.

According to the model, the FMH 10 having the same or different model name is fixed by the operator manually to the attachment jig 11 using the clamp 53 (in this case, the worker is located opposite the assembly line 16). .

In detail, after mounting the FMH 10 on at least one or more support blocks 50 mounted on the upper surface of the attachment jig 11, the air cylinder 51 is compressed according to the driving signal from the control unit 21. It is driven by the air supply. A rib (not shown) of the FMH 10 is held in close contact with the support block 50 by a pressing plate 52 which is slid according to the driving of the air cylinder 51 to be detachably fixed.

At this time, the information about the model name specification of the FMH 10 fixed to the attachment jig 11 (for example, a classification signal such as a product name code) is input to the control unit 21 and stored. That is, the overall length, shape, and shape of the FMH 10 are different depending on the model name, and the position where the FMH 10 is attached to the headliner module 19 is also different depending on the model name.

Thus, the rotating body 12 is rotated at an angle set by the first driving means, that is, 180 degrees. When the air cylinder 22 is extended and driven in response to a drive signal from the controller 21, the rack gear 25 fixed to the air cylinder rod 22a performs a linear movement (moves upward in the drawing). The pinion gear 24 meshed with the rack gear 25 is rotated clockwise in the drawing.

That is, by rotating the rotary shaft 23 is mounted with the pinion gear 24, it is possible to rotate the rotating body 12 at a set 180 degrees. At this time, in response to the driving signal input from the controller 21, the rotating shaft 23 rotated when the braking air motor 36 installed at the other end of the rotating shaft 23 is driven may be braked at an angle of 180 degrees.

Therefore, as the power source for rotating the rotor 12 by 180 degrees, the air cylinder 22 is used without using a power-consuming drive motor, thereby reducing the cost cost, increasing durability and reducing the occurrence of failure. Post maintenance costs can be reduced.

On the other hand, in response to the drive signal input from the controller 21, the body 40 mounted on the robot arm 17 rotates and moves toward the attachment jig 11 of the rotating body 12 by driving the joint portion. The attachment jig 11 mounted between the first and second rockers 13 and 14 is removed by the first and second clamps 46 and 49 formed on the body 40.

In detail, the first cylinders 41 (for example, two are provided in the drawing) of the at least one first clamp 46 formed on the side of the body 40 by the drive signal from the controller 21 are provided. At the time of extension driving, the first fixing pin 45 fixed to the support plate 43 is coupled to the coupling hole 44 formed on one side in the width direction of the attachment jig 11. At the same time, the second fixing pins 48 (for example, two are installed in the drawing) of the at least one or more second clamps 49 are coupled to the coupling holes 47 formed on the other side in the width direction of the attachment jig 11. .

At this time, the locking state of the fixing means for detachably fixing the attachment jig 11 between the first and second rockers 13 and 14 is released. In detail, the first fixing pin 28 of the first clamp 29 is coupled to the coupling hole 30 formed on one side in the longitudinal direction of the attachment jig 11 due to the driving of the first cylinder 26. At the same time, the second fixing pin 32 of the second clamp 33 is separated from the coupling hole 31 formed on the other side in the longitudinal direction of the attachment jig 11.

therefore. The attachment jig 11 can be removed from the first and second rockers 13 and 14 by the robot arm 17.

Meanwhile, the attachment jig 11 detached from the first and second rockers 13 and 14 of the rotating body 12 by the crimping operation of the first and second clamps 29 and 33 mounted on the robot arm 17. Is rotated toward the assembly line 16 due to the rotation of the robot arm 17. At this time, the surface of the headliner module 19 mounted on the trolley 18 moving along the assembly line 16 is already coated with a bonding liquid by an application process of a hot melt applicator (not shown).

Thus, the FMH 10 mounted on the attachment jig 11 moves to the applied position of the headliner module 19 due to the rotation of the robot arm 17, and the robot arm 17 moves the headliner module 19. The FMH 10 is fixed to the headliner module 19 by pressing in the vertical direction with respect to the headliner module 19. At this time, the locking state of the clamp 53 to which the FMH 10 is detachably fixed to the attachment jig 11 is released.

On the other hand, as shown in Figure 6, as the above-described supply device 15 is installed symmetrically on both sides on the basis of the assembly line 16, the jig (attaching the FMH 10 having the same specifications in the left and right supply device ( It is possible to work by attaching to the attachment jig 11 or the FMH 10 having different specifications in the left and right feeder.

As described above, the automotive interior material supply apparatus using the robot according to the present invention has the following advantages.

Rotate the feeder to which the attachment jig to which the FMH rib is fixed according to the specification is detachably mounted at a set angle, remove the attachment jig from the supply by rotating the robot arm, and install the FMH rib fixed to the attachment jig. Work efficiency can be improved by shortening working time by automating the work process that is attached to the headliner mounted on the trolley which is waiting on.

If the FMH rib is fixed after the hot melt is applied to the headliner, the operator's palm does not come into direct contact with the hot melt and can work in a comfortable workplace atmosphere.

By reducing the FMH fixed position distribution to the headliner, it is possible to prevent the occurrence of defects and to increase the reliability.

The labor cost and cost can be reduced by minimizing the number of workers required to fix the FMH to the headliner mounted on the bogie moving along the assembly line.

Claims (9)

In a device for supplying FMH mounted on a trolley moving along an assembly line and fixed to a coated automotive headliner module: An attachment jig to which the FMH is detachably fixed; A rotating body rotatably installed at an angle set by the first driving means driving, and a first body disposed symmetrically with respect to the rotating body and rotatably mounted at an angle set by the driving of the second driving means and divided into equal intervals A supply device comprising a second rocker and a fixing means detachably fixing the attachment jig to the first and second rockers; A robot which is installed between the assembly line and the supply device and removes the attachment jig from the supply device by a multi-arm robot arm that is rotated when the drive signal is input from the outside to supply and attach FMH to the headliner module mounted on the truck. ; And And a control unit for controlling the first and second driving means, the fixing means, and the driving unit of the robot. The method of claim 1, wherein the first driving means, An air cylinder, a pinion gear mounted to an end of a rotating shaft rotatably fixing the rotating body, one end is fixed to the air cylinder rod, and the other end is engaged with the pinion gear, and the rotation shaft is engaged with the pinion gear when the air cylinder is driven. Automobile interior materials supplying device using a robot, characterized in that it comprises a rotating rack gear. The method of claim 1, wherein the rotating body is rotated by 180 degrees when driving the first driving means, the first and second rocker is supplied to the interior materials for automobiles using a robot, characterized in that rotated 90 degrees when driving the second driving means. Device. The method of claim 1, wherein the fixing means, A first cylinder fixed to a first locker among a pair of rockers symmetrically formed on the rotating body, a support plate fixed to a rod of the first cylinder, and a support jig formed in the support plate in the longitudinal direction of the attachment jig when the first cylinder is driven. A first clamp including at least one first fixing pin coupled to or separated from a coupling hole formed at a side surface thereof; And At least one second fixing fixed to the second locker of the pair of rockers formed symmetrically to the rotating body to be fixed to the coupling hole formed on the other side in the longitudinal direction of the attachment jig Car interior material supply apparatus using a robot, characterized in that it comprises a second clamp including a pin. The apparatus of claim 1 or 4, further comprising at least one detection sensor mounted on the rotating body and detecting whether the attachment jig is mounted between the first and second rockers and outputting a detection signal to the controller. Automobile interior material supply device using a robot. The method according to claim 1, wherein the robot arm, A body fixed to the robot arm, at least one or more first cylinders formed on one side of the body, a support plate fixed to the first cylinder rod, and a support plate formed on the support plate and driven in the width direction of the jig when the first cylinder is driven. A first clamp including a first fixing pin coupled to or separated from a coupling hole formed at a side surface thereof; And A second clamp including at least one second fixing pin formed on the other side of the body so as to face the first fixing pin and detachably fixed to a coupling hole formed on the other side of the attachment jig in a width direction; And an attachment jig removed from any one of the first and second rockers during driving of the first cylinder according to a control signal input from the controller. The first and second rockers of claim 1, wherein the first and second lockers are respectively mounted at one end of a rotating shaft for rotating the first and second lockers by the second driving means, and the first and second lockers are rotated at 90 degrees. Automotive interior material supply device using a robot, characterized in that it further comprises a braking air motor for braking. The braking air motor of claim 1, wherein the braking air motor is mounted at one end of the rotating shaft to rotate the rotating body by driving the first driving means, and brakes the rotating body to be rotated at an angle of 180 degrees according to a driving signal input from the controller. Automotive interior material supply device using a robot, characterized in that it further comprises. The method of claim 1, wherein at least one support block formed on the attachment jig to detachably fix the same or different FMH model name, an air cylinder mounted adjacent to the support block, the support when driving the air cylinder Car interior material supply apparatus using a robot, characterized in that it further comprises a clamp comprising a pressure plate detachably fixing the FMH seated on the block.

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