CA2294672A1 - Apparatus for assembling motor vehicle body - Google Patents
Apparatus for assembling motor vehicle body Download PDFInfo
- Publication number
- CA2294672A1 CA2294672A1 CA 2294672 CA2294672A CA2294672A1 CA 2294672 A1 CA2294672 A1 CA 2294672A1 CA 2294672 CA2294672 CA 2294672 CA 2294672 A CA2294672 A CA 2294672A CA 2294672 A1 CA2294672 A1 CA 2294672A1
- Authority
- CA
- Canada
- Prior art keywords
- frame
- movable
- axis
- dig
- rotary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
In a motor vehicle body assembly line, there is disposed, on a side of an assembly station, a movable base so as to be laterally movable. On this movable base, there are mounted a setting jig for setting a side panel and welding robots. The side panel held on the setting jig is welded to the vehicle body constituting members such as a floor panel, a roof panel, or the like which are fed into the assembly station. It is arranged to enable to set the side panel onto the setting jig from an upper side or a lateral side to thereby eliminate the necessity of securing a space for moving the side panel feeding apparatus on the side of the assembly station. For that purpose, on the movable frame there is provided a rotary frame which is rotatable about an axis of rotation which is elongated in the longitudinal direction of the assembly line. The setting jig is detachably mounted on the rotary frame and welding robots are mounted thereon so as to be movable in the longitudinal direction. In a state in which the setting jig is rotated to an upward posture or an outward posture by the rotation of the rotary frame, the side panel is set thereon. The setting jig is then turned to an inward posture to assemble the floor panel and the roof panel. A cable supporting frame for supporting the cables or the like for the welding robots are mounted on the rotary frame in a manner to project to the side opposite to the setting jig. The cables are thus prevented from getting entangled with each other as a result of rotation of the rotary fame. The cable supporting frame also functions as a balancing element to keep the rotary frame well balanced.
Claims (6)
1. An apparatus for assembling a motor vehicle body in an assembly line which extends in a longitudinal direction by welding right and left side panels to other vehicle body constituting members such as a floor,panel, a roof panel or the like, said apparatus comprising:
a movable base provided on each of lateral side portions of an assembly station into which said other vehicle body constituting members are transferred, said movable base being movable between a laterally inward welding position and a laterally outward waiting position;
a rotary frame supported on said movable base so as to be rotatable about a longitudinally extending axis of rotation;
a setting dig for holding a side panel, said setting dig being detachably mounted on said rotary frame such that: the side panel can be set on said setting dig in a state in which said movable base is moved to the waiting position and in which said setting dig is turned by rotation of said rotary frame into an upward posture to look upward or an outward posture to look laterally outward and that; the side panel and the other vehicle body constituting members can be welded together in a state in which said movable base is moved to the welding position and in which said setting dig is turned by rotation of said rotary frame into an inward posture to look laterally inward;
a plurality of welding robots for welding the side panels and the other vehicle body constituting members together, said welding robots being mounted on said rotary frame so as to be longitudinally movable; and a cable supporting frame for supporting cables to be connected to said welding robots, said cable supporting frame being mounted on said rotary frame such that a turning moment which operates on said rotary frame in the inward posture due to a weight of said cable supporting frame cancels a turning moment due to a weight of said setting dig.
a movable base provided on each of lateral side portions of an assembly station into which said other vehicle body constituting members are transferred, said movable base being movable between a laterally inward welding position and a laterally outward waiting position;
a rotary frame supported on said movable base so as to be rotatable about a longitudinally extending axis of rotation;
a setting dig for holding a side panel, said setting dig being detachably mounted on said rotary frame such that: the side panel can be set on said setting dig in a state in which said movable base is moved to the waiting position and in which said setting dig is turned by rotation of said rotary frame into an upward posture to look upward or an outward posture to look laterally outward and that; the side panel and the other vehicle body constituting members can be welded together in a state in which said movable base is moved to the welding position and in which said setting dig is turned by rotation of said rotary frame into an inward posture to look laterally inward;
a plurality of welding robots for welding the side panels and the other vehicle body constituting members together, said welding robots being mounted on said rotary frame so as to be longitudinally movable; and a cable supporting frame for supporting cables to be connected to said welding robots, said cable supporting frame being mounted on said rotary frame such that a turning moment which operates on said rotary frame in the inward posture due to a weight of said cable supporting frame cancels a turning moment due to a weight of said setting dig.
2. An apparatus for assembling a motor vehicle body according to claim 1, further comprising a bar member provided on said rotary frame so as to extend along an axis of rotation of said rotary frame, wherein said plurality of welding robots are divided into two sets, one set of welding robots and the other set of welding robots being mounted, in postures opposite to each other, on those upper and lower surfaces, respectively, of said bar member which face upward and downward in the inward posture of said rotary frame.
3. An apparatus for assembling a motor vehicle body according to claim 2, wherein said cable supporting frame comprises:
an upper frame portion for supporting cables for said one set of welding robots mounted on the upper surface of said bar member, said upper frame portion being longitudinally elongated in a position laterally outward, and above, said bar member in the inward posture of said rotary frame; and a lower frame portion for supporting cables for said the other set of welding robots mounted on the lower surface of said bar member, said lower frame portion being longitudinally elongated in a position laterally outward, and below, said bar member in the inward posture of said rotary frame.
an upper frame portion for supporting cables for said one set of welding robots mounted on the upper surface of said bar member, said upper frame portion being longitudinally elongated in a position laterally outward, and above, said bar member in the inward posture of said rotary frame; and a lower frame portion for supporting cables for said the other set of welding robots mounted on the lower surface of said bar member, said lower frame portion being longitudinally elongated in a position laterally outward, and below, said bar member in the inward posture of said rotary frame.
4. An apparatus for assembling a motor vehicle body according to claim 3, wherein, in a coordinate system at rest relative to said rotary frame, a longitudinally extending coordinate axis is defined as an X-axis, and laterally extending and vertically extending coordinate axes in the inward posture of the rotary frame are, respectively, defined as a Y-axis and a Z-axis, each of said welding robots in each of said sets comprising:
a robot main body movably supported on a guide rail which is elongated in the X-axis direction on each of said upper surface and said lower surface of said bar member;
an articulated member supported on said robot main body so as to be rotatable about an axis of rotation in the X-axis direction in a position away in the Z-axis direction from said guide rail;
a robot arm elongated in a U-axis direction and supported on said articulated member so as to be movable in the U-axis direction, the U-axis being defined as that coordinate axis in the coordinate system at rest relative to said articulated member which is parallel to the Y-axis in a neutral position of rotation of said articulated member;
a welding gun mounted on an inner end in the U-axis direction of said robot arm through a wrist;
wherein each of said upper and lower frame portions is disposed so as to be positioned outside, in a swinging direction, of said robot arm relative to a position of an outer end in the U-axis direction of said robot arm, in a state: in which said robot arm of each welding robot in respective sets is moved to an outer stroke end in the U-axis direction; and in which said robot arm is swung by rotation of said articulated member to a swinging end at which the outer end in the U-axis direction of said robot arm lies away from said guide rail in the Z-axis direction, said apparatus further comprising a cable holding member which is capable of bending two-dimensionally for holding cables which are taken out of each of said upper and lower frame portions, said cable holding member being disposed between each of said upper and lower frame portions and said robot main body of each of said welding robots so as to be capable of bending on a plane which is parallel to the X-axis and the U-axis at the swinging end, said plane being positioned outside said robot arm at the swinging end as seen in the swinging direction.
a robot main body movably supported on a guide rail which is elongated in the X-axis direction on each of said upper surface and said lower surface of said bar member;
an articulated member supported on said robot main body so as to be rotatable about an axis of rotation in the X-axis direction in a position away in the Z-axis direction from said guide rail;
a robot arm elongated in a U-axis direction and supported on said articulated member so as to be movable in the U-axis direction, the U-axis being defined as that coordinate axis in the coordinate system at rest relative to said articulated member which is parallel to the Y-axis in a neutral position of rotation of said articulated member;
a welding gun mounted on an inner end in the U-axis direction of said robot arm through a wrist;
wherein each of said upper and lower frame portions is disposed so as to be positioned outside, in a swinging direction, of said robot arm relative to a position of an outer end in the U-axis direction of said robot arm, in a state: in which said robot arm of each welding robot in respective sets is moved to an outer stroke end in the U-axis direction; and in which said robot arm is swung by rotation of said articulated member to a swinging end at which the outer end in the U-axis direction of said robot arm lies away from said guide rail in the Z-axis direction, said apparatus further comprising a cable holding member which is capable of bending two-dimensionally for holding cables which are taken out of each of said upper and lower frame portions, said cable holding member being disposed between each of said upper and lower frame portions and said robot main body of each of said welding robots so as to be capable of bending on a plane which is parallel to the X-axis and the U-axis at the swinging end, said plane being positioned outside said robot arm at the swinging end as seen in the swinging direction.
5. An apparatus for assembling a motor vehicle body according to claim 1, wherein each of said movable bases comprises:
a pair of movable members which are disposed at a longitudinal distance from each other so as to be laterally movable by an independent driving source;
a hollow synchronizing shaft which is extended to bridge both said movable members;
a pinion coupled to each end of said synchronizing shaft so as to be engaged with a stationary rack which is disposed along each of travel passages of both said movable members; and a self-aligning bearing for rotatably supporting said synchronizing shaft on each of said movable members.
a pair of movable members which are disposed at a longitudinal distance from each other so as to be laterally movable by an independent driving source;
a hollow synchronizing shaft which is extended to bridge both said movable members;
a pinion coupled to each end of said synchronizing shaft so as to be engaged with a stationary rack which is disposed along each of travel passages of both said movable members; and a self-aligning bearing for rotatably supporting said synchronizing shaft on each of said movable members.
6. An apparatus for assembling a motor vehicle body according to claim 1, wherein a floor panel feeding station is disposed on an upstream side of the assembly station in the assembly line, a roof panel feeding station is disposed between the floor panel feeding station and the assembly station, and a transfer apparatus is provided to transfer a floor panel fed into the floor panel feeding station to the assembly station by allowing it to pass through the roof panel feeding station, wherein said transfer apparatus comprises:
a lifting frame disposed in the roof panel feeding station so as to be vertically movable;
a movable frame supported on said lifting frame so as to be longitudinally movable;
a transfer dig for supporting the floor panel, said transfer dig being supported on said movable frame so as to be longitudinally movable, said transfer apparatus being arranged such: that, by moving said movable frame and said transfer dig to an upstream side of the assembly line relative to said lifting frame and said movable frame, respectively, the transfer dig is returned to the floor panel feeding station in a manner overhung from said lifting frame toward the upstream side of the assembly line; that, by moving said movable frame and said transfer dig to a downstream side of the assembly line relative to said lifting frame and said movable frame, respectively, the transfer dig is moved forward to the assembly station in a manner overhung from said lifting frame toward the downstream side of the assembly line; that, by returning said transfer dig to the floor panel feeding station and lifting said lifting frame, the floor panel is lifted; and that, by forwarding said transfer dig to the assembly station and lowering said lifting frame, the floor panel is transferred into, and set in position in, the assembly station;
said roof panel feeding station having: a plurality of guide frames for supporting said lifting frame so as to be movable up and down at a plurality of points as seen in the longitudinal direction of the assembly line; and a rotary shaft extending in the longitudinal direction of the assembly line, said lifting frame being vertically moved by rotation of said rotary shaft in a normal direction and in an opposite direction through motion converting mechanisms disposed at a plurality of points as seen in the longitudinal direction; and a single driving motor for driving said rotary shaft, said driving motor being connected to that upstream end of said rotary shaft which is disposed on the upstream side of the assembly line.
a lifting frame disposed in the roof panel feeding station so as to be vertically movable;
a movable frame supported on said lifting frame so as to be longitudinally movable;
a transfer dig for supporting the floor panel, said transfer dig being supported on said movable frame so as to be longitudinally movable, said transfer apparatus being arranged such: that, by moving said movable frame and said transfer dig to an upstream side of the assembly line relative to said lifting frame and said movable frame, respectively, the transfer dig is returned to the floor panel feeding station in a manner overhung from said lifting frame toward the upstream side of the assembly line; that, by moving said movable frame and said transfer dig to a downstream side of the assembly line relative to said lifting frame and said movable frame, respectively, the transfer dig is moved forward to the assembly station in a manner overhung from said lifting frame toward the downstream side of the assembly line; that, by returning said transfer dig to the floor panel feeding station and lifting said lifting frame, the floor panel is lifted; and that, by forwarding said transfer dig to the assembly station and lowering said lifting frame, the floor panel is transferred into, and set in position in, the assembly station;
said roof panel feeding station having: a plurality of guide frames for supporting said lifting frame so as to be movable up and down at a plurality of points as seen in the longitudinal direction of the assembly line; and a rotary shaft extending in the longitudinal direction of the assembly line, said lifting frame being vertically moved by rotation of said rotary shaft in a normal direction and in an opposite direction through motion converting mechanisms disposed at a plurality of points as seen in the longitudinal direction; and a single driving motor for driving said rotary shaft, said driving motor being connected to that upstream end of said rotary shaft which is disposed on the upstream side of the assembly line.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4512/1999 | 1999-01-11 | ||
| JP00451699A JP4368442B2 (en) | 1999-01-11 | 1999-01-11 | Transfer device |
| JP4516/1999 | 1999-01-11 | ||
| JP00451299A JP4008137B2 (en) | 1999-01-11 | 1999-01-11 | Synchronizer |
| JP00451199A JP3816252B2 (en) | 1999-01-11 | 1999-01-11 | Auto body assembly equipment |
| JP4511/1999 | 1999-01-11 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2294672A1 true CA2294672A1 (en) | 2000-07-11 |
| CA2294672C CA2294672C (en) | 2010-03-16 |
Family
ID=31891826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA 2294672 Expired - Fee Related CA2294672C (en) | 1999-01-11 | 2000-01-10 | Apparatus for assembling motor vehicle body |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2294672C (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103949884A (en) * | 2014-05-02 | 2014-07-30 | 苏州博众精工科技有限公司 | Automatic blanking mechanism |
| CN105798611A (en) * | 2016-05-14 | 2016-07-27 | 昆山恒旭自动化设备有限公司 | Refrigerator door hinge assembling machine |
| CN108237381A (en) * | 2018-03-10 | 2018-07-03 | 海宁金豪机电有限公司 | Automatic bar machine |
| CN113601414A (en) * | 2021-06-16 | 2021-11-05 | 重庆尊航机械制造有限公司 | Frame side direction compresses tightly anchor clamps |
| CN114559674A (en) * | 2022-02-21 | 2022-05-31 | 常州市新创智能科技有限公司 | Sectional type composite material vehicle body assembling tool and assembling process |
-
2000
- 2000-01-10 CA CA 2294672 patent/CA2294672C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103949884A (en) * | 2014-05-02 | 2014-07-30 | 苏州博众精工科技有限公司 | Automatic blanking mechanism |
| CN105798611A (en) * | 2016-05-14 | 2016-07-27 | 昆山恒旭自动化设备有限公司 | Refrigerator door hinge assembling machine |
| CN108237381A (en) * | 2018-03-10 | 2018-07-03 | 海宁金豪机电有限公司 | Automatic bar machine |
| CN108237381B (en) * | 2018-03-10 | 2024-05-17 | 海宁金豪机电有限公司 | Automatic rod penetrating machine |
| CN113601414A (en) * | 2021-06-16 | 2021-11-05 | 重庆尊航机械制造有限公司 | Frame side direction compresses tightly anchor clamps |
| CN113601414B (en) * | 2021-06-16 | 2022-08-16 | 重庆尊航机械制造有限公司 | Frame side direction compresses tightly anchor clamps |
| CN114559674A (en) * | 2022-02-21 | 2022-05-31 | 常州市新创智能科技有限公司 | Sectional type composite material vehicle body assembling tool and assembling process |
Also Published As
| Publication number | Publication date |
|---|---|
| CA2294672C (en) | 2010-03-16 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request | ||
| MKLA | Lapsed |
Effective date: 20140110 |