JP2000176756A - Part mounting manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide each part mounting manipulator capable of mounting parts onto a car body placed over a car body carrying hanger without interfering with the car body carrying hanger. SOLUTION: Each manipulator 2A and 2B has U-shaped handles 22A and 22B projected out over a carrying passage first, when supporting bars 54A and 54B are detected by proximal switches not shown in the figure and attached onto both the side surfaces of the U-shaped handles 22A and 22B, the running speed of each horizontal slider 26A and 26B is computed by the manipulators 2A and 2B in order to avoid being in contact with a car body carrying hanger 50. Subsequently, a pane of windshield glass W is sucked up so as to be held by suction cups 24A and 24B at the tip ends, respective joints 8A, 12A, 16A,... are bent in a horizontal plane by the manipulators 2A and 2B, the horizontal sliders 26A and 26B are moved at the running speed computed while the manipulators 2A and 2B are being evacuated so as to let the U-shaped hands 22A and 22B be projected, so that a pane of windshield glass W is mounted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting manipulator device for performing an automatic operation of automatically mounting components such as window glass on a vehicle body in an automobile production line.

[0002]

2. Description of the Related Art In a vehicle production line, as a technique for automatically mounting components such as window glass on a vehicle body, automatic mounting by a large robot is generally performed. That is, the vehicle body is transported to a predetermined position by the vehicle body transport hanger, and is lowered from the hanger for positioning.
Therefore, a general method has been adopted in which a large robot capable of automatic traveling grasps and enters a component such as a window glass and mounts the component on a vehicle body placed on the floor.

However, in such a method, the traveling range of the large robot must be surrounded by a safety fence, and the worker is isolated from the production equipment. Also, every time a component is mounted, the vehicle must be removed from the vehicle transport hanger,
There is a problem that the production lead time is lengthened. Therefore, in order to mount components with the vehicle body mounted thereon without stopping the body transport hanger, it is conceivable to install light-portable manipulator devices for component mounting on both sides of the path of the vehicle body transport hanger. By employing such a lightly portable manipulator device, it is not necessary to surround the periphery with a safety fence.

[0004]

However, if the manipulator is moved to mount the component on the vehicle body while the vehicle body is mounted on the vehicle body transport hanger, the manipulator may hit the vehicle body transport hanger. In addition, if manipulator devices are installed on both sides of the path of the vehicle body transfer hanger, the manipulator cannot reach the vehicle body unless the length of the arm is increased. For this reason, there is a problem that the moment of inertia (inertia) applied to the arm of the manipulator at the time of mounting components increases, and an excessive force is applied to the arm supporting portion (joint) of the manipulator, causing a failure.

Further, components are usually supplied to the manipulator from above. However, after the manipulator receives the components from the descending component supply device, the component supply device must be lifted unless the manipulator temporarily avoids the horizontal direction. Can not do it. Then, since the manipulator has to move in the horizontal direction again after returning to the component supply device and return to the component mounting position, it takes time for the manipulator to receive the component.

Accordingly, a first object of the present invention is to provide a component mounting manipulator device capable of mounting components on a vehicle body on a vehicle body transport hanger without interfering (contacting) with the vehicle body transport hanger. It is.

A second object of the present invention is to provide a component mounting manipulator device capable of reducing the moment of inertia (inertia) applied to each joint of the manipulator when mounting the component.

A third object of the present invention is to provide a component mounting apparatus capable of transferring components from a component supply device to component holding means in a short time when components to be mounted are supplied from above. It is to provide a manipulator device.

[0009]

Therefore, in order to solve the above first problem, the invention described in claim 1 of the claims has been created.

In the component mounting manipulator device according to the present invention, when the hanger position detecting means detects that the vehicle body transport hanger has reached the component mounting position, the pair of manipulators bends each joint in a horizontal plane. The tip of the hanger is protruded into the transfer path of the vehicle body transfer hanger. Thus, when the approach detecting means provided in the component holding means at the tip of the manipulator detects that the tip of the manipulator has approached the hanger for transporting the vehicle body, the relative position between the hanger for transporting the vehicle body and the manipulator is confirmed. Then, the traveling speed of the horizontal slider for avoiding contact is calculated from the traveling speed of the vehicle body transport hanger.

Then, the pair of manipulators is operated to raise the vertical slider to receive the component, and the vertical slider is lowered to bend each joint of the manipulator in a horizontal plane to move the horizontal slider forward while moving the component closer to the vehicle body. To release the manipulator from the advancing body hanger. Thus, the mounting of the component on the vehicle body by the pair of manipulators can be performed while the manipulator is retracted from the vehicle body transport hanger, and the manipulator can be reliably prevented from coming into contact with the vehicle body transport hanger. Thus, according to the component mounting manipulator device of the present invention, components can be mounted on the vehicle body on the vehicle body transport hanger without interference (contact) with the vehicle body transport hanger.

[0012] In order to solve the above second problem, the invention described in claim 2 of the claims has been created.

Since the component mounting manipulator device according to the present invention has three or more joints, each joint is largely bent in a horizontal plane to hold the manipulator root (the connection with the vertical slider) and the component at the tip. Means can be approached. As a result, the distance between the portion where the force for holding the component is applied and the base of the manipulator can be reduced, and the inertia inertia applied to each joint of the manipulator can be reduced.

Further, each joint is provided with a bearing for rotatably supporting each joint in a horizontal plane. Therefore, by rotating the component holding means in the vertical plane,
Even when a force is applied obliquely to the horizontal plane of each joint when the component holding means holds and mounts the component, the bearing can receive the force and reduce inertia inertia applied to the joint. . Thus, according to the component mounting manipulator device of the present invention,
It is possible to reduce the moment of inertia (inertia) applied to each joint of the manipulator when mounting components.

[0015] Further, in order to solve the third problem, the invention described in claim 3 of the claims has been created.

In this component mounting manipulator device, the component holding means is bifurcated, and the component supply means for supplying the component to the manipulator from above can pass vertically through the bifurcated component holding means. It has become. Therefore, when the manipulator receives a component, the component supply means descends and passes through the bifurcated component holding means, and the component holding means holds the component. Thereafter, even when the component supply means rises, it is not necessary to move the manipulator in the horizontal direction to avoid it, and the manipulator can pass through the forked part holding means and rise as it is. Thus, according to the component mounting manipulator device of the present invention, when the component to be mounted is supplied from above, it is possible to transfer the component from the component supply device to the component holding unit in a short time. .

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the present invention will be described with reference to FIGS. First, an overall configuration of a component mounting process using the component mounting manipulator device of the present embodiment will be described with reference to FIG. FIG. 1 is a perspective view showing an overall configuration of a component mounting process using an embodiment of the component mounting manipulator device. In the present embodiment, a process of mounting a windshield on a vehicle body will be described as an example of the component mounting process.

In the automobile assembly line shown in FIG. 1, a vehicle body transport hanger 50 for transporting the vehicle body V being assembled is installed. The vehicle body transport hanger 50 is suspended at a predetermined interval from a cable (not shown) stretched horizontally above the assembly line by a wire (not shown). The cable is wound by the electric motor at the end, whereby the vehicle body transport hanger 50 slowly advances on the assembly line.

The hanger 50 for transporting the vehicle body is connected to a pair of support rods 5 from a ceiling 52 suspended by the wires.
4A and 54B extend downward, and mounting portions 56A and 56B are fixed to lower ends of the support rods 54A and 54B. The vehicle body V being assembled is placed on these placing portions 56A and 56B and transported on the assembly line. On both sides of the assembly line, a pair of guide rails 30A, 30B is laid over a fixed length. These guide rails 30A and 30B have manipulators 2 for mounting components.
A and 2B are respectively attached.

The manipulators 2A and 2B have the following structure. The guide rails 30A, 30B
Has a horizontal slider 26 so that it can slide horizontally.
A, 26B are attached. These horizontal sliders 26A and 26B slide on guide rails 30A and 30B by linear motors 28A and 28B.
On the upper surfaces of the horizontal sliders 26A and 26B, the columns 4A,
4B are integrally fixed. These pillars 4A, 4B
, Vertical sliders 6A and 6B are attached so as to be slidable in the vertical direction. These vertical sliders 6
A and 6B are also supported by support columns 4 by a linear motor (not shown).
A, slide on 4B.

First arms 10A, 10B are attached to the vertical sliders 6A, 6B so as to be rotatable in a horizontal plane by first joints 8A, 8B. To these first arms 10A and 10B, second arms 14A and 14B are rotatably mounted in a horizontal plane by second joints 12A and 12B. Furthermore, these second arms 14
A and 14B are provided with support plates 18A and 18B respectively.
A and 16B are attached so that rotation is possible in the horizontal plane. And these support plates 18A, 18B have
The U-shaped hands 22A, 22B are used for rotating motors 20A, 20A.
B rotatably mounted in a vertical plane.
In FIG. 1, the second arm 14B and the support plate 18B are not shown hidden behind the second joint 12B.

Each of the U-shaped hands 22A, 22B is provided with two suction cups 24A, 24B at the forked ends thereof. Suction pipes (not shown) are attached to these suction cups 24A and 24B, respectively.
The holding material is sucked by sucking the air in the suction cups 24A and 24B with these suction pipes. The suction of the held material is released by introducing air into the suction cups 24A and 24B through these suction pipes. With these four suction cups 24A and 24B, the front window glass W
Is sucked and held, and fitted into the window frame W1 of the vehicle body V by the cooperative operation of the manipulators 2A and 2B.

Therefore, the U-shaped hands 22A, 22B and the suction cups 24A, 24B correspond to the component holding means in the present invention. At this time, the manipulators 2A and 2B
First arm 10A, 10B, second arm 14A, 14B
And the like do not abut against the support rods 54A and 54B of the vehicle body transfer hanger 50. Also, the first joints 8A, 8B
The rotation angle of each joint is determined so that the inertia inertia of the joint is minimized.

FIGS. 2 and 3 show the structures of the manipulators 2A and 2B more clearly. Since the structures of the manipulator 2A and the manipulator 2B are bilaterally symmetric, only the manipulator 2A is shown here. FIG. 2 is a side view of the manipulator 2A, and FIG. 3 is a plan view, showing a state where the arms 10A and 14A are extended straight. As shown in FIG. 2, in the manipulator 2A, a support 4A is fixed on the upper surface of a horizontal slider 26A, and a vertical slider 6A slides vertically on the support 4A by a linear motor 5A.

As shown in FIGS. 2 and 3, the first arm 8A is attached to the vertical slider 6A by the first joint 8A.
A is rotatably mounted in a horizontal plane. At the tip of the first arm 10A, a second joint 12A
The second arm 14A is rotatably mounted in a horizontal plane. Further, an L-shaped support plate 18A is rotatably mounted in the horizontal plane at the distal end of the second arm 14A by a third joint 16A. These first joints 8A,
Each of the second joint 12A and the third joint 16A is provided with a servomotor, and the rotation of these servomotors causes the joints 8A, 12A, 16A to rotate in a horizontal plane.

A U-shaped hand 22A is attached to the support plate 18A so as to be rotatable in a vertical plane by a rotary motor 20A. A pair of proximity switches 21A is attached to both sides of the U-shaped hand 22A. And
At the two ends of the U-shaped hand 22A, two suction cups 24 are provided.
A is mounted downward. Therefore, FIGS.
The movement of each part of the manipulator 2A shown in FIG.
There are straight traveling by sliding of the vertical slider 6A, rotation of the first joint 8A in a horizontal plane, rotation of the second joint 12A in a horizontal plane, rotation of the third joint 16A in a horizontal plane, and rotation of the rotary motor 20A in a vertical plane. The movements of these parts cooperate with each other, and the cooperative operation with the manipulator 2B causes the front window glass W to be mounted on the vehicle body V as shown in FIG.

Next, the manner in which the manipulators 2A and 2B are attached to the vehicle body V while the windshield W is mounted on the vehicle body V while avoiding interference (contact) with the vehicle body hanger 50 will be described with reference to FIGS. FIG. 4 is a plan view showing a state in which the front window glass W is mounted on the vehicle body V placed on the vehicle body transport hanger 50, and FIG. 5 is a front view. When the vehicle body transport hanger 50 moves forward and reaches the point where the manipulators 2A and 2B are installed, the hanger position detection means described later detects the hanger position and the manipulators 2A and 2B start operating.

First, a pair of manipulators 2A, 2B is connected to each joint 8A, 12A, 16A and 8B, 12B, 16A.
B is bent in the horizontal plane, and the U-shaped hands 22A and 22B protrude into the transport path of the body transport hanger 50. As a result, the pair of proximity switches 21A, 21B provided on both side surfaces of the U-shaped hands 22A, 22B approach the support rods 54A, 54B of the vehicle body transport hanger 50. When the support rods 54A, 54B of the vehicle body transport hanger 50 are detected by the proximity switches 21A, 21B, the relative position between the vehicle body transport hanger 50 and the manipulators 2A, 2B is calculated. And the body transport hanger 5
In order to avoid contact with the manipulators 2A and 2B from the traveling speed of 0, the horizontal sliders 26A and 26A shown in FIG.
The running speed of 26B is calculated.

Subsequently, the front window glass W to be mounted is supplied from above the assembly line. The manipulators 2A, 2B include vertical sliders 6A, 6B and joints 8A, 12A, 16A and 8B, 12B,
16B and the rotation motors 20A and 20B are operated to receive the front window glass W. Then, the front window glass W is sucked and held by the suction cups 24A, 24B at the tips, and the rotation motors 20A, 20B are operated to be tilted at a predetermined angle. In this state, the vehicle is brought closer to the front surface of the vehicle body V on the vehicle body transport hanger 50.

Next, as shown in FIG. 4, the manipulators 2A and 2B are connected to the respective joints 8A, 12A, 16A and 8A.
B, 12B, and 16B are bent in a horizontal plane, and the U-shaped hands 22A and 22B protrude from the front window portion of the vehicle body V on the vehicle body hanger 50, and the windshield W is mounted by applying pressure. At this time, in order to avoid contact with the vehicle body transport hanger 50 that is traveling slowly, the horizontal sliders 26A, 26
The mounting operation is performed while the 6B moves and retracts. This will be described later in detail with reference to FIG.

When the mounting is completed, the suction of the suction cups 24A and 24B is released, and the joints 8A, 12A, 16A and 8
B, 12B, and 16B are extended, and the U-shaped hand 22A,
22B is pulled out from the inside of the body transport hanger 50. Then, the joints 12A, 16A and 12B, 16B are linearly extended, and the joints 8A, 8B are bent at a right angle toward the traveling direction of the hanger 50 for transporting the vehicle body (upward in FIG. 4).

Thus, the manipulators 2A and 2B
Is parallel to the transfer path of the vehicle body transfer hanger 50, and the vehicle body transfer hanger 50 passes through the installation location of the manipulators 2A, 2B without contacting the manipulators 2A, 2B. When the mounting of the front window glass W to one vehicle body V is completed, the same procedure is repeated for the next approaching vehicle body hanger.

Next, a hanger position detecting means for detecting that the vehicle body transport hanger 50 has reached the installation position of the manipulators 2A and 2B will be described with reference to FIG. FIG. 6 is a schematic view showing a means for detecting the position of the vehicle body transport hanger 50. As shown in FIG. As described above, the hanger 50 for transporting the vehicle body is connected to the wire 4 connected to the cable 42 that extends horizontally above the assembly line.
By 0, it is hung at regular intervals. The cable 42 is wound by an electric motor provided in a hanger feeder 44, whereby the vehicle body transport hanger 50 slowly advances on the assembly line.

The hanger feeder 44 is provided with an encoder 46 for measuring the number of revolutions of the electric motor. The travel distance of the vehicle body transport hanger 50 is calculated based on the measurement value of the encoder 46. Hanger 5 for body transportation
The travel distance of 0 is calculated using the left front portion (support bar 54B) of the body transport hanger 50 as a reference position. By using this encoder 46 to calculate the travel distance of the vehicle body transport hanger 50 after the start of winding, it is detected that the vehicle body transport hanger 50 has reached the installation position of the manipulators 2A and 2B. Therefore, the encoder 46 corresponds to a hanger position detecting unit in the present invention.

Next, a specific procedure for attaching the front window glass W while the manipulators 2A and 2B avoid interference with the vehicle body transport hanger 50 will be described with reference to FIG.
This will be described with reference to FIG. FIG. 7 shows the manipulators 2A and 2A.
6 is a flowchart showing a procedure in which B attaches the front window glass W while avoiding interference with the vehicle body transport hanger 50. When the control is started in step S10 in FIG. 7, the motor of the hanger feeder 44 in FIG. 6 rotates to wind up the cable 42, and the vehicle body transport hanger 50 starts moving (step S12).

Along with this, the encoder 46 of the hanger feeder 44 is read (step S14), and the travel distance of the vehicle body transport hanger 50 is measured. Subsequently, it is determined whether the body transport hanger 50 has reached the operating position of the manipulators 2A and 2B (step S1).
6). If the determination is NO, the process returns to step S14 to continue reading by the encoder 46. If this determination is YES, the manipulators 2A and 2B start operating, and the U-shaped hands 22A and 22B at the tips of the manipulators 2A and 2B approach the vehicle body transfer hanger 50 (step S18).

Here, a pair of proximity switches 21A, 21B attached to the U-shaped hands 22A, 22B, respectively.
The support rods 54A, 5A of the body transport hanger 50
4B is detected (step S20).
At this time, each joint 8A, 12A, 16A, 8B, 12
From the values of the encoders provided in the servo motors B and 16B, the degree of bending of each joint can be known, and the positions of the support rods 54A and 54B of the vehicle body transfer hanger 50 can be estimated from the values (step S22). From this position, the movement trajectory of how many seconds later the body hanger 50 moves in the future is calculated from the winding speed of the hanger feeder 44 (step S24).

The movement trajectory of the manipulator traveling device, that is, the horizontal sliders 26A and 26B is determined so that the manipulators 2A and 2B do not contact the support rods 54A and 54B of the body hanger 50 for the movement trajectory calculated in this manner. (Step S26). Then, the horizontal sliders 26A and 26B are moved along the determined motion trajectory.
Travels, the manipulators 2A, 2A, 4A,
The front window glass W is mounted by 2B (step S28). In step S30, it is determined whether the mounting is completed. If not, the operation in step S28 is continued until the mounting is completed. When the mounting is completed, the control ends (step S32).

In the flowchart of FIG. 7, the procedure for one mounting operation is shown. However, as described above, when the mounting is completed, the manipulators 2A and 2B are opened in parallel to the transport path to transfer the vehicle body. Pass through the hanger 50. Thereafter, the procedure from step S14 is repeated for the next vehicle body transport hanger.

Next, a mechanism for reducing inertia inertia applied to each joint when the front window glass W is mounted will be described with reference to FIGS. First, as shown in FIG. 4, when the front window glass W is mounted, each joint 8A, 12A, 16A and 8B, 1
2B and 16B are greatly bent, and as a result, the first joint 8
A and a suction cup 24A as a part holding part, similarly the first joint 8B
And the distance between the suction cup 24B and the suction cup 24B are minimized. by this,
It is possible to minimize the distance between a portion to which force is applied when the front window glass W is mounted and the first joints 8A, 8B, and to reduce inertia inertia applied to the first joints 8A, 8B.

Next, a description will be given with reference to FIG. FIG.
It is a partial sectional view showing the vicinity of the third joint 16A of the manipulator 2A. As shown in FIG.
A third joint 16A that rotatably connects A and the support plate 18A in a horizontal plane has a servomotor 15A and a speed reducer 62A that reduces the rotation of the servomotor 15A. A cross roller bearing 60A is provided below the speed reducer 62A. The rotation of the third joint 16A is supported by the cross roller bearing 60A.

Therefore, when the front window glass W is mounted, the force applied to the third joint 16A from the oblique direction with respect to the horizontal plane is received by the cross roller bearing 60A, and the servo motor 15A and the speed reducer 62A have an extra force. It doesn't take power. As a result, inertia inertia applied to the joint can be reduced. Further, all the other joints 8A, 8B, 12A, 12B, 16B are also provided with cross roller bearings. Therefore, the diagonal force applied to each of the other joints 8A, 8B, 12A, 12B, and 16B is also received by these cross roller bearings, so that inertia inertia applied to the joints is reduced.

Next, an overhead carrier for supplying the front window glass W to the manipulators 2A and 2B will be described with reference to FIG. FIG. 9 (A)
FIG. 9B is a plan view showing the left half of the overhead carrier that supplies the front window glass W, and FIG. 9B is a front view thereof. As shown in FIG. 9A, the overhead carrier 70 of the present embodiment includes a plurality of suction cups 72 that adsorb and hold the front window glass W therearound.
To 72, and are suspended by a wire 74 so as to be able to move up and down as shown in FIG. 9 (B). Similarly to the suction cups 24A and 24B, suction pipes (not shown) are also connected to the plurality of suction cups 72 to 72.

When the front window glass W is delivered, the overhead carrier 70 sucks and holds the front window glass W and descends to the delivery position shown in FIG. 9B. At this time, FIG.
When the manipulator 2A is in an extended state as shown in (A), the U-shaped hand 22A interferes with the front window glass W, so that the manipulator 2A is bent and the U-shaped hand 22A retreats to the left in the drawing. ing. Then, the vertical slider 6A is raised from the height shown in FIG. 9B so that the suction cup 24A of the U-shaped hand 22A is at a position higher than the front window glass W.

Subsequently, the U-shaped hand 22A moves rightward and comes above the windshield W while avoiding interference with the overhead carrier 70 as shown in FIG. Then, as the vertical slider 6A descends, the suction cup 24A of the U-shaped hand 22A sucks and holds the front window glass W as shown by an imaginary line in FIG. 9B. Subsequently, the suction cups 72 to 72
Release the adsorption by the overhead carrier 7
0 rises. On the other hand, the manipulator 2A holding the front window glass W by suction is lowered to the position shown by the solid line in FIG. 9B, and the mounting operation of the front window glass W is performed as described above.

At this time, as shown in FIG.
A bifurcated U-shaped hand 22A surrounds the overhead carrier 70 so as not to interfere in the vertical direction. Therefore, even if the manipulator 2A does not retreat, the overhead carrier 70 can be lifted as it is, and the time for delivering the front window glass W is significantly reduced. Although only the left half of the overhead carrier 70 and the manipulator 2A are shown in FIG.
The right half of 0 has the same structure, and the manipulator 2B operates simultaneously with the manipulator 2A as described above,
The delivery of the front window glass W is performed in cooperation.

In this embodiment, the manipulator 2
Although the number of joints of A and 2B is three, four or more joints may be provided. Further, in the present embodiment, the case where the front window glass W is mounted as a component has been described as an example, but the mounted component is not limited to the front window glass W, and may be any other component such as a rear window glass.

Furthermore, in this embodiment, an example in which only one type of component (front window glass W) is mounted has been described. However, the component mounting manipulator device of the present invention can mount a plurality of types of components. It is.
For example, after attaching the front window glass W,
The manipulators 2A and 2B are moved to the rear of the vehicle body V on the vehicle body transfer hanger 50, and the rear window glass is moved from an overhead carrier (this may be used together with the overhead carrier 70 or another overhead carrier may be provided separately). May be received and attached to the vehicle body V. At this time, the manipulator 2A,
The method for preventing interference between the 2B and the hanger 50 for transporting the vehicle body, etc.
The same procedure as in the present embodiment can be performed.

Further, in the present embodiment, the U-shaped hands 22A, 22B and the suction cups 24A, 24B which are bifurcated are used as the component holding means. The component holding means may be of any shape and type. The structures, shapes, dimensions, materials, connection relationships, and the like of other parts of the component mounting manipulator device are not limited to the present embodiment.

[0050]

According to the first to third aspects of the present invention, components can be mounted on the vehicle body on the vehicle body transport hanger without interfering (contact) with the vehicle body transport hanger. Further, in the inventions according to the second and third aspects, the moment of inertia (inertia) applied to each joint of the manipulator when the component is mounted can be reduced. Furthermore, in the invention according to claim 3, when the component to be mounted is supplied from above, the delivery of the component from the component supply device to the component holding unit can be performed in a short time.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an overall configuration of a mounting process using an embodiment of a component mounting manipulator device according to the present invention.

FIG. 2 is a side view of the manipulator in one embodiment of the component mounting manipulator device.

FIG. 3 is a plan view of the manipulator in one embodiment of the component mounting manipulator device.

FIG. 4 is a plan view showing a state in which a front window glass is mounted on a vehicle body mounted on a vehicle body transport hanger in one embodiment of the component mounting manipulator device.

FIG. 5 is a front view showing a state in which a front window glass is mounted on a vehicle body mounted on a vehicle body transport hanger in one embodiment of the component mounting manipulator device.

FIG. 6 is a schematic view showing a means for detecting a position of a vehicle body transport hanger in one embodiment of the component mounting manipulator device.

FIG. 7 is a flowchart showing a procedure for mounting the windshield while the manipulator in one embodiment of the component mounting manipulator device avoids interference with the vehicle body transport hanger.

FIG. 8 is a partial cross-sectional view showing the vicinity of a third joint of the manipulator in one embodiment of the component mounting manipulator device.

FIG. 9 is a plan view and a front view showing a left half of an overhead carrier for supplying a front window glass in one embodiment of the component mounting manipulator device.

[Explanation of symbols]

2A, 2B A pair of manipulators 4A, 4B Posts 6A, 6B Vertical sliders 8A, 8B, 12A, 12B, 16A, 16B Plural joints 10A, 10B, 14A, 14B Plural arms 21A, 21B Approach detection means 22A, 22B, 24A , 24B Parts holding means 26A, 26B Horizontal sliders 30A, 30B A pair of guide rails 46 Hanger position detecting means 50 Body hanger 60A, 60B Bearing 70 Parts supply means V Body W parts

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Kenichi Mitsuda 2-6-36, Daimyo, Chuo-ku, Fukuoka, Japan F-term Co., Ltd. F-term (reference) 3C030 CC03 DA02 DA07 DA21 3D114 AA07 AA17 BA01 BA09 DA06 DA12 DA14 DA15

Claims (3)

[Claims] 1. A component mounting manipulator device for automatically mounting a component on a vehicle body transported by a vehicle body transport hanger in an automobile production line, wherein the vehicle body transport hanger reaches a component mounting position. A pair of guide rails installed along both sides of a transport path of the vehicle body transport hanger; and a slide along the transport direction of the vehicle body transport hanger with respect to the guide rails. A pair of manipulators respectively attached to the guide rails, the pair of manipulators being respectively slidable along the conveyance direction of the vehicle body transfer hanger with respect to the guide rail, and A column fixed substantially vertically, a vertical slider slidable along the column, and the vertical slider. A plurality of arms sequentially connected by a plurality of joints rotatable in a horizontal plane with respect to the idler; a component holding means rotatably mounted in a vertical plane to a leading arm of the plurality of arms; A component mounting manipulator device comprising: an approach detecting means provided on a holding means for detecting approach to the vehicle body transport hanger. 2. The component mounting manipulator device according to claim 1, wherein the plurality of joints are three or more, and each joint is provided with a bearing that rotatably supports each joint in a horizontal plane. Component mounting manipulator device. 3. The component mounting manipulator device according to claim 1, wherein said component holding means is bifurcated, and said component supply means for supplying components to said manipulator from above is bifurcated. A component mounting manipulator device capable of passing vertically through component holding means divided into two parts.