JP2000203472A - Assembling device for automobile body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To dispense with the movement space of the side panel feeding device for the side of an assembly station by a method wherein a side panel is set to a set jig from above and an external part in a lateral direction, in a device to assemble a carbody by using a weld robot. SOLUTION: A rotary frame 11 rotatable around a rotary axis in a longitudinal direction is provided on a moving bed 10, and a set jig 12 is removably mounted on the rotary frame 11. A weld robot 13 is longitudinal movably mounted on a vehicle. After a side panel W5 is set in a state that the set jig 12 is inverted to an up attitude or an out attitude through rotation of the rotary frame 11, the set jig 12 is inverted to an in attitude and assembled to a floor W1 and floor W2. A cable support frame 14 to support cables for the weld robot 13 is mounted on the rotary frame 11 in a state to protrude to the opposite side of the set jig 12. Entanglement of the cables due to rotation of the rotary frame 11 is prevented from occurring, and the cable support frame 14 is functioned as the balancer of the rotary frame.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle body assembling apparatus for assembling a vehicle body by welding left and right side panels to other vehicle body components such as a floor and a roof.

[0002]

2. Description of the Related Art Conventionally, as this type of assembling apparatus, Japanese Patent Application Laid-Open No. 5-124549 discloses a laterally outer side of an assembling station for loading a body component other than a side panel such as a floor or a roof. A movable frame that can move forward and backward is provided between the standby position and the inner welding position, and a set jig that holds the side panel is detachably mounted on the movable frame, and a plurality of welding robots are mounted to be movable in the front-rear direction. Further, there is known a device provided with a side panel supply device for taking a preset jig for a side panel into and out of a space between an assembly station inside a movable frame located at a standby position.

In this apparatus, a side panel previously set on a preset jig is transferred from the preset jig to a set jig with the movable frame moved to a standby position, and then the movable frame is moved to a welding position. The side panels are welded to other vehicle body components by a welding robot mounted on a movable frame to assemble the vehicle body.

[0004]

According to the above-mentioned conventional apparatus, even if the hitting position changes due to the model change, it can be dealt with by the movement of the welding robot. Therefore, the model change can be dealt with only by replacing the set jig. Unlike using a welding jig with a large number of welding guns, there is no need to attach a welding gun to the set jig, so the cost of the set jig is low and multiple set jigs are prepared according to the model. Even so, equipment costs can be kept low.

[0005] In some models, the side sill of the side panel is welded to the floor above and below the side sill. In this case, it is desired to arrange a welding robot below the side of the assembling station, and to weld the lower side of the side sill by the welding robot to shorten the cycle time. Since it is necessary to secure a space for moving the side panel loading device on the side of the station, such a welding robot cannot be arranged.

SUMMARY OF THE INVENTION In view of the above, an object of the present invention is to provide an improved device of the above-mentioned conventional device which does not require a moving space for a side panel supply device at a side of an assembly station.

[0007]

Means for Solving the Problems In order to solve the above problems,
The present invention relates to an apparatus for assembling an automobile body by welding left and right side panels to other vehicle body components such as a floor and a roof. A movable table that can move forward and backward is provided between the inner welding position and the outer standby position, and a rotating frame that is rotatable around the longitudinal axis of rotation is supported on each movable table, and a side panel is mounted on the rotating frame. The set jig to be held is detachably attached, the movable table is moved to the standby position, and the set jig is turned upside down by turning the rotating frame or upside down to the side. The side panel can be set freely on the set jig with
The movable table is moved to the welding position, and the side panel and the other vehicle body component are freely joined in a state in which the set jig is inverted by rotating the rotating frame to an inward posture facing inward in the lateral direction, and further, A rotating frame, a plurality of welding robots for welding and joining the side panel and the other vehicle body components are mounted movably in the front-rear direction, and a cable support frame for supporting cables connected to these welding robots, The rotating frame is attached to the rotating frame so that the rotating moment due to the weight of the cable supporting frame acting in the inward posture acts in a direction to cancel the rotating moment due to the weight of the set jig.

According to the present invention, the set jig can be set to the upward or outward position, and the side panel can be set on the set jig from above or laterally outward. Space for moving the supply device is not required. Therefore, the welding robot is arranged below the side of the assembly station, and the welding robot assists the welding of the side panel to the floor, thereby shortening the cycle time.

Further, the welding robot mounted on the rotating frame revolves around the axis of rotation by the rotation of the rotating frame. However, since the cables for the welding robot are supported by the cable supporting frame attached to the rotating frame, the welding robot is not connected to the welding robot. The cables do not become entangled in the revolution of the robot. Further, the cable support frame also functions as a balancer for the rotating frame, and the rotating frame can be smoothly rotated.

The welding robots mounted on the rotating frame include an upper welding robot for welding the side panel to an upper body component such as a roof and a lower welding robot for welding the side panel to the floor. Will be needed. In this case, it is also conceivable to provide a rod member elongated in the front-rear direction on the rotating frame in two stages, and to mount an upper welding robot on the upper rod member and a lower welding robot on the lower rod member. The mounting position of the welding robot moves away from the rotation axis of the rotating frame, and the rotational inertia of the welding robot increases due to the rotation of the rotating frame. When the rotation of the rotating frame stops, excessive force is applied to the engaging portion of the welding robot with the rotating frame. Works. On the other hand, the rotating frame is provided with a rod-shaped member extending along the rotation axis of the rotating frame, the plurality of welding robots are divided into two sets, and the rod-shaped members facing upward and downward in the inward posture are provided. If one set of welding robots serving as the upper welding robot and the other set of welding robots serving as the lower welding robot are mounted upside down on the upper and lower surfaces, the mounting position of each welding robot will be the rotation axis. As a result, the rotational inertia of each welding robot due to the rotation of the rotating frame is reduced, and the force acting on the engaging portion of each welding robot with respect to the rotating frame when the rotation of the rotating frame is stopped is also reduced. Therefore, there is no disadvantage such as deterioration of the positioning accuracy of the welding robot due to deformation of the engaging portion, which is advantageous.

In this case, the cable supporting frame is placed in the inward posture so that the rod-shaped member is not entangled with one set of cables for the welding robot and the other set of cables for the welding robot. An upper frame portion that supports one set of cables for a welding robot mounted on the upper surface side of the rod-shaped member and extends in the front-rear direction that is located laterally outward and upward, and the rod-shaped member. A lower frame portion that is located laterally outward and below the member and extends in the front-rear direction and supports the other set of cables for the welding robot mounted on the lower surface side of the rod-shaped member. It is desirable to configure it.

[0012] In addition, the coordinate axes along the front-back direction of the stationary coordinate system with respect to the rotating frame are defined as the X axis, and the coordinate axes along the horizontal direction and the coordinate axes along the vertical direction in the inward posture are defined as the Y axis and the Z axis, respectively. A welding robot is mounted on each of the upper and lower surfaces of the rod-shaped member, and is movably supported by guide rails extending in the X-axis direction. A joint body rotatably supported around an axis of rotation, and a U-axis defined as a coordinate axis of a stationary coordinate system for the joint body which is parallel to the Y-axis at a rotation neutral position of the joint body. A robot arm that is movably supported in the axial direction and has a robot arm that is long in the U-axis direction, and a welding gun is mounted on the inner end of the robot arm in the U-axis direction via a wrist. The welding It smaller and lighter than the rectangular coordinate type robot that equal the movable range of the emissions. Then, the robot arms of the welding robots of each set are moved to the stroke ends outward in the U-axis direction, and the outer ends of the robot arms in the U-axis direction are separated from the guide rails in the Z-axis direction by rotation of the joints. The upper and lower portions of the cable support frame are positioned so as to be located outside of the robot arm in the swing direction with respect to the position of the outer end in the U-axis direction of the robot arm in a state where the robot arm is swung to the swing end in the direction of Arrange each frame portion, a two-dimensionally bendable cable holding member that holds cables drawn out from each frame portion, between each frame portion and the robot body of each set of welding robots, If it is arranged so as to be curved on a plane that is parallel to the X axis and the U axis at the swinging end and that is outside the swinging direction of the robot arm at the swinging end, it is pulled out from each frame. Cable management Space, can be reduced as much as possible without inhibiting the movement of the robot body and the robot arm, it is advantageous.

[0013]

1 and 2 show a vehicle body assembly line in which a floor loading station 1, a roof loading station 2, an assembly station 3 and an idle station 4 are arranged in this order in the forward direction.

The floor loading station 1 has a floor W1
Table 5 is provided, and a floor W1 discharged from an upstream floor processing line (not shown) can be positioned and supported by a plurality of work receivers 5a erected on the table 5. As shown in FIG. 3, the assembling station 1 is also provided with a table 6 on which a plurality of workpiece receivers 6 a for positioning and supporting the floor W1 are provided. The floor placed on the table 5 of the floor loading station 1 is also provided. W1
It was transported by passing roof dosing station 3 to the assembling station 3 from the floor loading station 1 by the first transfer device 7 _1, table 6 assembly stations 3
To be placed on

A traveling frame 8 is provided above the line between the roof loading station 2 and the assembling station 3 so as to be reciprocally movable. The traveling frame 8 is provided for the roof W2, the rear roof rail W3, and the dashboard upper W4. Each of the holders 9 ₁ , 9 ₂ , 9 ₃ is suspended so as to be able to move up and down, and three members, a roof W 2, a rear roof rail W 3, and a dashboard upper W 4, which are loaded from the side of the roof loading station 2 by a transfer machine (not shown). Is received by the holders 9 ₁ , 9 ₂ , and 9 ₃ , and these 3
The members W2, W3 and W4 are carried into the assembly station.

In the assembling station 3, the left and right side panels W5 and W5 are welded to the floor W1 on the table 6 and both ends of the rear roof rail W3 and the dashboard upper W4 are connected to both side panels W5 and W5.
5, the roof W2 is inserted and set from above from between the upper edges of both side panels W5, W5, and the roof W2 and the side panel W5 are welded together, and the automobile body W thus assembled is assembled. was allowed to pass through the idle station 4 on the downstream side of the vehicle body up striking lines not shown from the second transfer device 7 ₂ by assembly station 3 so that paid out.

The left and right sides of the assembling station 3 are each provided with a laterally inward welding position shown in the left half of FIG. 3 and a laterally outward welding position shown in the right half of FIG. The movable table 10 is provided at the standby position of the movable table 10 and is movable back and forth.
A pair of supporting columns 10a, 10a is erected at 0, and a rotating frame 11 rotatable around a rotating axis 11a in the front-rear direction is supported between the supporting columns 10a, 10a. And the rotating frame 1
1, the set jig 12 for the side panel W5 is attached, and the set jig 12 is turned inward (the left half in FIG. 3) and upward (the right half in FIG. 3). And the rotation of the rotating frame 9. The set jig 12 is configured by attaching a plurality of work receivers 12a and clampers 12b for positioning and holding the side panel W5 on a framed jig frame. In FIG. 1, the set jig is omitted.

The rotating frame 11 includes a rod-shaped member 11b extending along the rotation axis 11a, and flange members 11c, 11c at both front and rear ends of the rod-shaped member 11b. Motor 1
1d and a coaxial type reduction gear 11e, and this reduction gear 11
Each flange member 11c is connected to the output end of e, so that the rotating frame 11 is rotated. The front and rear ends of the set jig 12 are detachably connected to the flange members 11c, 11c so that the set jig 12 can be exchanged according to the model when the model of the vehicle body is changed.

When the set jig 12 rotates the rotary frame 11 to the phase in which the inward posture is set, the welding gun G is attached to the upper and lower surfaces of the rod-shaped member 11b which faces upward and downward, respectively, at the operating end. A plurality of mounted welding robots 13 are mounted so as to be movable up and down in an upside down direction. In this embodiment, the rod-shaped member 11b includes two square pipes 11b ₁ ,
11b ₁ and are configured to that formed by combining a plurality of connecting pieces 11b ₂ before and after, may be configured rod-shaped member in a single pipe or a solid rod.

The rotating frame 11 further includes a welding robot 13.
Support frame 14 for supporting cables to be connected to
Is installed. The cable support frame 14 extends laterally outward and upward with respect to the rod-shaped member 11b and extends in the front-rear direction when the rotary frame 11 is rotated to a phase at which the set jig 12 is in an inward posture. , Rod-shaped member 11
b, a duct-shaped upper frame portion 14a for inserting and supporting cables for the welding robot 13 mounted on the upper surface side of the rod-shaped member 1
A duct-shaped lower frame portion 14b, which is positioned laterally outward and below and extends in the front-rear direction and extends in the front-rear direction, for inserting and supporting cables for the welding robot 13 mounted on the lower surface side of the rod-shaped member 11b; , A pair of front and rear duct-shaped vertical frame portions 14c and 14 connecting the front and rear end portions of both upper and lower frame portions 14a and 14b.
c, and a duct-shaped overhang 14 d extending outward from the upper end of each vertical frame 14 c in the front-rear direction of each support 10 a,
Each flange member 1 of the rotating frame 11 in each vertical frame portion 14c
1c. Then, the cable carrying members 15 are arranged on both front and rear outer sides of the moving space of the movable base 10,
One end of the cable is connected to the overhang portion 14d, and the cables for the welding robot 13 mounted on the upper surface side of the rod-shaped member 11b among the cables pulled out from the cable holding member 15 are inserted into the upper frame portion 14a through the overhang portion 14d. The cables for the welding robot 13 mounted on the lower surface of the rod-shaped member 11b are inserted into the lower frame portion 14b through the overhang portion 14d and the vertical frame portion 14c. A cable holding member 13a is provided between each of the upper and lower frame portions 14a, 14b and each of the welding robots 13.
Are arranged, and cables connected to the welding robots 13 are supported by supporting cables drawn from the frame portions 14a and 14b on a cable supporting member 13a.

Further, a plurality of welding frames G, each having a longitudinally extending fixed frame 16, 17 provided on the left and right sides of the assembling station 2 in the front-rear direction, and a welding gun G attached to the working end of each of the frames 16, 17, respectively. Robots 18 and 19 are mounted movably in the front-rear direction. In the figure, reference numerals 18a and 19a denote cable holding members for holding cables for the welding robots 18 and 19, respectively. Note that in FIG.
5, 13a, 18a, and 19a are omitted.

When assembling the vehicle body W, first,
The movable table 10 is moved to the standby position, and the set jig 12 is turned upside down by the rotation of the rotary frame 11. In this state, the side panel W5 is set on the set jig 12 from above by a transfer machine (not shown). , Floor W1, roof W2, rear roof rail W3, and dashboard upper W
4 is carried into the assembly station 3. Next, the set jig 12 is inverted to the inward posture and the movable base 10 is moved to the welding position, and the side panel is formed on the floor W1, the rear roof rail W3 and the dashboard upper W4 respectively lowered to the predetermined assembly position. W5 is joined from the side, and in this state, the side panel W5 is welded to the floor W1 by the welding robot 13 for lower welding mounted on the lower surface side of the rod-shaped member 11b of the rotating frame 11, and the upper surface side of the rod-shaped member 11b. The ends of the rear roof rail W3 and the dashboard upper W4 are welded to the side panel W5 by the welding robot 13 for upper welding mounted on the vehicle, and the roof W2 is inserted and set between the left and right side panels W5 and W5 from above. Then, the side panel W5 is welded to the roof W2 by the welding robot 13 for upper welding.

Each of the welding robots 13 performs welding at a plurality of hit points, and the cycle time is long in a model having a large number of hit points. In this case, the welding robots 18 and 19 mounted on the upper and lower fixed frames 16 and 17 assist the welding of the side panel W5 to the floor W1 and the roof W2, thereby shortening the cycle time.

When the assembling of the vehicle body W is completed as described above, the holding of the side panel W5 by the set jig 12 is released, the movable table 10 is moved to the standby position, and the set jig 12 is moved upward. Invert and set jig 1
2, the next side panel W5 is set, the vehicle body W is paid out from the assembly station 3, and the next floor W1, roof W2, rear roof rail W3, and dashboard upper W4 are loaded into the assembly station 3. . Then, the vehicle body W is continuously assembled by repeating the above operations.

The side panel W5 can be set on the set jig 12 from outside in the lateral direction by inverting the set jig 12 to the outward position facing outward in the lateral direction. Without assembling the W5 in advance, the components of the side panel W5 are set on the set jig 12 in a required positional relationship, and these components are welded and connected by the welding robot 13 mounted on the rotating frame 11 to assemble the side panel W5. It is also possible.

The welding robot 13 mounted on the rotating frame 11 revolves around the rotation axis 11 a by the rotation of the rotating frame 11, and the cables for the welding robot 13 are mounted on a cable support frame 14 attached to the rotating frame 11. Because it is supported, even if the welding robot 13 revolves, the cables do not become entangled. Further, in a state where the rotating frame 11 is rotated to the phase in which the set jig 12 is in the inward posture, the center of gravity of the cable supporting frame 14 is located laterally outward with respect to the rotating axis 11a. The rotational moment due to the weight of the support frame 14 acts in a direction to cancel the rotational moment due to the weight of the set jig 12. That is, the cable support frame 14 functions as a balancer for the rotating frame 11,
The rotating frame 11 can be smoothly rotated.

When the rotational inertia of the welding robot 13 generated by the rotation of the rotating frame 11 increases, when the rotation of the rotating frame 11 is stopped when the set jig 12 is in the upward posture or the inward posture, the welding is performed. There is a possibility that a large force acts on the engaging portion of the robot 13 with respect to the rotating frame 9 and the engaging portion is deformed. However, in the present embodiment, the rotating frame 1
Since two sets of upper and lower welding robots 13 for upper welding and lower welding are mounted upside down on both upper and lower surfaces of a rod-shaped member 11b extending along one rotation axis 11a. The mounting position is as close as possible to the rotation axis 11a, and the rotational inertia of each welding robot 13 due to the rotation of the rotary frame 11 is reduced. Therefore, each welding robot 13
The force acting when the rotation of the rotating frame 11 is stopped on the engaging portion with respect to the rotating frame 11 is also reduced, and the problem that the positioning accuracy of each welding robot 13 is deteriorated by the deformation of the engaging portion does not occur.

Referring to FIG. 4, welding robot 13 has a coordinate axis along the front-rear direction of the stationary coordinate system with respect to rotating frame 11, an X-axis, a coordinate axis along the lateral direction when set jig 12 is in the inward posture, and Y is the coordinate axis along the vertical direction.
A robot body 131 movably supported by a pair of guide rails 130, 130, which are arranged on the upper and lower surfaces of the bar-shaped member 11 b at intervals in the Y-axis direction as the axis and the Z-axis with a space therebetween in the X-axis direction. And the guide rail 1 on the robot body 131
A joint body 132 rotatably supported around a rotation axis in the X-axis direction at a position separated from the joint body 30 in the Z-axis direction;
The joint body 132 becomes parallel to the Y axis at the rotation neutral position of
The joint body 13 with the coordinate axis of the stationary coordinate system with respect to
2, a robot arm 133 that is movably supported in the U-axis direction and is elongated in the U-axis direction.
The welding gun G is mounted on the inner end in the U-axis direction through a wrist 134. According to this, the welding gun G can be moved over a wide range by the swing of the robot arm 133 due to the rotation of the joint 132 and the movement of the robot arm 133 in the U-axis direction. Can be made smaller and lighter than a rectangular coordinate robot having the same movable range. The upper and lower frame portions 14a and 14b of the cable support frame 14 move the robot arm 133 of each of the welding robots 13 for upper welding and lower welding to a stroke end outward in the U-axis direction, and Of the robot arm 133 in a state where the robot arm 133 is swung to a swing end in a direction such that the outer end of the robot arm 133 in the U-axis direction is separated from the guide rail 130 in the Z-axis direction by the rotation of the robot arm 133. The robot arm 133 is disposed so as to be located outside of the robot arm 133 in the swing direction with respect to the position of the one end. Then, a cable receiver 135 projecting outward in the swinging direction of the robot arm 133 is attached to the robot body 131 of each welding robot 13, and the frame parts 14 a, 14 b
The two-dimensionally bendable cable supporting member 13a for supporting the cables drawn out of the cable is connected to the frame portions 14a, 1
4b and the cable receiver 135 of each welding robot 13, parallel to the X axis and the U axis at the swing end, and
The robot arm 133 located at the swing end is arranged so as to be curved on a plane located outside in the swing direction of the robot arm 133. According to this, the routing space for the cables drawn out from the frame portions 14a and 14b can be reduced as much as possible without obstructing the movement of the robot main body 131 and the robot arm 133.

The robot body 131 of each welding robot 13 has a base 131a slidably engaged with the guide rails 130, 130 as shown in FIGS.
An L-shape having a rising portion 131b that rises in the Z-axis direction from one end in the X-axis direction of the base portion 131a, and
Both guide rails 130, 13
It is formed to have a concave portion 131c recessed between zeros. Then, a drive motor 132a for the joint 132 is placed in the base 131a in a posture parallel to the X-axis direction.
31c and the rising portion 13
The joint body 132 is cantilevered on a side surface of the joint body 1b facing the other side in the X-axis direction via a coaxial type reduction gear 132b such as a harmonic drive type positioned on the rotation axis of the joint body 132,
The drive motor 132a and the speed reducer 132b are connected via a timing belt 132c as a winding transmission means. Further, the joint body 132 is formed in a flat plate shape in the X-axis direction, and a guide rail 133a on which a robot arm 133 is attached is provided on the side of the joint body 132 facing the other side in the X-axis direction.
Are slidably supported in the U-axis direction. According to this, X rises from the rising portion 131b of the robot body 131.
The reduction gear 132b, the joint body 132, and the robot arm 133 are arranged in this order in the other axial direction, and the other in the X-axis direction matches the bending direction of the base 131a of the robot body 131 with respect to the rising portion 131b. Accordingly, the reduction gear 132a, the joint 132, and the robot arm 133 can be arranged so as to overlap in the X-axis direction with respect to the drive motor 132a for the joint 132 accommodated in the base 131a. Further, the robot arm supporting portion of the joint body 132 does not need to be extended in the Z-axis direction of the robot body 131, and the drive motor 132a for the joint body 132 is connected to the concave portion 1 of the base 131a of the robot body 131.
The height of the base 131a in the Z-axis direction can be reduced by entering the base 31c. Thus, the dimensions of the welding robot 13 in the X-axis direction and the Z-axis direction can be reduced, and the welding robot 13 can be made as small as possible.

A drive motor 131d for the robot body 131 is mounted on the outer side of the robot body 131 in the Y-axis direction.
e to the pinion 131f
The robot body 131 is moved in the X-axis direction by engaging with a rack 131g fixed to the rack b, and a protruding portion is formed on the joint body 132 outward in the U-axis direction. The speed reducer 132b
And a drive motor 133 for the robot arm 133 so as to overlap the rising portion 131b in the X-axis direction.
b is attached in a posture parallel to the X-axis direction.
1 which is connected to the motor through a coaxial type speed reducer 133c
A rack 133e for fixing 33d to the robot arm 133
The robot arm 133 is moved in the U-axis direction.

The wrist 134 of each of the welding robots 13
First wrist part 134 rotatable around U axis₁And directly on the U axis
Second wrist 134 that is rotatable about the intersecting V axis_TwoAnd V
Third wrist portion 134 rotatable about a W axis orthogonal to the axis_Three
And a third wrist.
Part 134_ThreeIs mounted with a welding gun G. And Robo
The first wrist 13 is attached to the outer end of the arm 133 in the U-axis direction.
4₁Drive motor 134 for₁a and the second wrist 134_Twofor
Drive motor 134_Twoa and the drive motor 134₁
a is the coaxial type reducer 134₁b and gear 134₁via c
Hollow rotating shaft 134 to be connected₁d to robot arm 1
33, and the rotary shaft 134₁tip of d
The first wrist 134₁And drive motor 1
34_Twoa rotating shaft 134 directly connected to a_Twob to the rotation shaft 134₁
d into the hollow part, and_Twoat the tip of b
One wrist 134₁Bevel gear 134 in_TwoCoaxial type deceleration with c
Machine 134_Twod through the second wrist 134_TwoConcatenate
You. Also, the second wrist portion 134 _TwoThe third wrist 134_ThreeFor
Drive motor 134_Threea and the motor 134_Threea
Coaxial type reducer 134_Threeb through the third wrist 134_ThreeReam
Tied.

The driving motor 1 for the robot body 131 among the cables carried by the cable carrying member 13a
Cables for the motor 31d and the drive motor 132a for the joint 132 are branched by the cable receiver 135 and connected to these motors 131d and 132a, and the remaining cables C are cables attached to the cable receiver 135 and the joint 132. A slack is provided between the branch plate 136 and the cables for the drive motor 133b for the robot arm 133.
6 and is connected to the motor 133b. The remaining cables are connected to the U-axis and Z-axis disposed between the cable distribution plate 136 and the outer end of the robot arm 133 in the U-axis direction. Cable carrying member 13 that can be bent on a plane
7 and the first and second wrist portions 134 ₁ , 1 of the cables carried by the cable carrying member 137.
A driving motor 134 for 34 _{2 1} a, 134 ₂ robotic arm 1 of the cables with respect to a cable carrying member 137
The motor 134 ₁ a, 1 branches at the continuous end on the 33 side.
34 ₂ connected to a, and cables CM for the remainder of the drive motor 134 ₃ a of the third wrist part 134 _3, a welding gun for G cables CG and the respective robot arms 133
Are arranged along the robot arm 133 while being accommodated in the concave grooves 133f and 133g formed on the outer surface of the robot arm 133, and these cables are pulled out from the robot arm 133 near the inner end of the robot arm 133 in the U-axis direction and driven. Motor 1
It is connected to the 34 ₃ a and the welding gun G. At the outer end of the robot arm 133 in the U-axis direction, a switching valve GV for connecting a pressurizing cylinder air pipe of the welding gun G among the cables CG for the welding gun G is attached. The length of the air pipe between the valve and the switching valve GV is shortened so that the welding gun G can be opened and closed with good responsiveness.

The base 131a of the robot body 131
Is formed with a through hole 131h through which a cover 130a for the guide rail 130 is inserted.
At one end in the axial direction, a pair of sandwiching rollers 131i, 131i sandwiching the cover 130a from both sides in the Z-axis direction are attached, and the cover 130a is attached to the other end in the X-axis direction of the base 131a.
A support roller 130j, which is supported from the inside in the axial direction, is attached so that the cover 130a does not come into contact with the inner surface of the through hole 131h. Note that the cover 130a is
Each of the welding robots 13 is divided into a plurality of parts in accordance with the respective movement ranges of the plurality of welding robots 13 mounted on the X-axis direction, and the adjacent covers 130a are connected to each other by connecting pieces 130b. The cover 130a and the guide rail 130 can be removed together.

As shown in FIGS. 7 and 8, the welding robot 18 mounted on the upper fixed frame 16 has a fixed frame with the X-axis direction in the front-rear direction, the Y-axis direction in the up-down direction, and the Z-axis direction in the horizontal direction. A pair of guide rails 18 arranged in parallel in the Y-axis direction on the lateral side surfaces of the pair 16 at intervals in the X-axis direction.
Robot body 181 movably supported by 0,180
A first robot arm 182 swingably supported by a robot body 181 around a first rotation axis in the X-axis direction;
A second robot arm 183 is provided at a tip end of the first robot arm 182 so as to be swingable around a second rotation axis in the X-axis direction, and a welding gun is provided at a tip end of the second robot arm 183 via a wrist 184. G is attached.

Here, the robot body 181 is provided with a board portion 181 slidably engaged with the guide rails 180, 180.
a and Z in one half of the substrate portion 181a in the X-axis direction.
And a case portion 181b that stands in the axial direction. The first robot arm 182 is cantilevered on a side surface of the case portion 181b facing the other side in the X-axis direction via a coaxial type reduction gear 182a located on the first rotation axis, and one side around the case portion 181b is supported. A drive motor 182b for the first robot arm 182 is mounted on the side in a posture orthogonal to the X-axis direction, and the drive motor 182b is mounted in the case 181b as shown in FIG.
It houses a bevel gear mechanism 182c connected to 2a. Further, the second robot arm 183 is provided on a side surface of the tip end of the first robot arm 182 facing one side in the X-axis direction via a coaxial reduction gear 183a located on the second rotation axis.
And a drive motor 183b for the second robot arm 183 in a posture parallel to the X-axis direction on a side surface of the intermediate portion of the first robot arm 182 facing one side in the X-axis direction.
And the motor 183b and the speed reducer 183a are connected to each other via a timing belt 183c as a winding transmission means. According to this, the first robot arm 182
And the driving mechanism thereof and the second robot arm 183 and the driving mechanism thereof can be accommodated within the width of the robot main body 181 in the X-axis direction. The dimension in the X-axis direction can be reduced as much as possible.

A drive motor 181c for the robot body 181 is attached to the outer side of the robot body 181 in the Y-axis direction, and a coaxial reduction gear 181 is attached to the motor 181c.
The pinion 181e connected via the link d is engaged with a rack 181f fixed to the fixed frame 16 to move the robot body 181 in the X-axis direction. The wrist 184 is connected to the wrist 134 of the welding robot 13.
Similarly to the above, U which is the longitudinal direction of the second robot arm 183
Around the axis and rotating the first freely wrist 184 _1, the rotatable second wrist portion 184 ₂ to the V axis which is perpendicular to the U axis, the a pivotable W axis perpendicular to the V axis 3 is configured to a three-axis structure consisting of the wrist portion 184 ₃ which is mounted a welding gun G to the third wrist part 184 _3. Then, mounting a first wrist portion 184 _first driving motor 184 ₁ a for the driving motor 184 ₂ a of the second wrist portion 184 for ₂ to tail of the second robot arm 183, coaxial to the drive motor 184 ₁ a A hollow rotary shaft 184 ₁ d connected via a speed reducer 184 ₁ b and a gear 184 ₁ c is inserted through the hollow portion of the second robot arm 183, and a first wrist is inserted into the distal end of the rotary shaft 184 ₁ d. with connecting parts 184 _1, inserted through the rotary shaft 184 ₂ b which is directly connected to the drive motor 184 ₂ a hollow portion of the rotary shaft 184 ₁ d, the first wrist portion 1 to the tip of the rotary shaft 184 ₂ b
84 ₁ in the bevel gear 184 ₂ c and the coaxial type reducer 184 ₂
d) to connect the second wrist 184 ₂ and
The drive motor 18 for the third wrist 184 _{3 is} attached to the wrist 184 ₂ .
4 ₃ a is attached, and the coaxial reduction gear 1 is attached to this motor 184 ₃ a.
The third wrist 184 ₃ is connected via 84 ₃ b.

Cable carrying member 1 for welding robot 18
8a is a cable receiver 1 attached to the robot body 181.
The cables for the robot main body 181 and the drive motors 181c and 182b for the first robot arm 182 are branched by a cable receiver 185 from the cables carried by the carrier member 18a. 181c and 182b, and the remaining cables are arranged along the peripheral surface around the first rotation axis of the case portion 181b of the robot main body 181. Here, the cables for the drive motor 183b for the second robot arm 183 are branched and connected to the motor 183b, and the remaining cables are connected to one side of the first robot arm 182 in the swing direction, Next, the second robot arm 18 is disposed along the peripheral surface around the second rotation axis at the distal end of the arm 182. Spanned the the tail end, wherein the first wrist portion 184 ₁ and for the driving motor 18 of the second wrist portion 184 for ₂
4 ₁ a, 184 ₂ branches cables for a connected to the motors 184 ₁ a, 184 ₂ a, third the remainder
A driving motor 184 for the wrist portion 184 _{3 3} and cables CM for a, welding the grooves 183 formed in the outer surface of the gun G for cables CG and respectively second robotic arm 183
d, 183e and the second robot arm 18
3, these cables are drawn out from the second robot arm 183 near the tip of the arm 183 and connected to the drive motor 184 ₃ a and the welding gun G.
The cables CG for the welding gun G are the robot body 1
81 from the peripheral surface of the case portion 181b to the peripheral surface of the distal end portion of the first robot arm 182, these driving motors 183 are held outside the surfaces by cable clampers 186.
b, 184 ₁ a, 184 ₂ a, 184 ₃ a cables CM for the peripheral surface of the case portion 181 b and the second robot arm 1
A groove 181g formed on the side surface and the peripheral surface of the distal end portion of the groove 82;
182d.

According to this, the robot body 181 and the first
Cables can be efficiently arranged along the robot arm 182 so as to fit within the width in the X-axis direction, and the robot body 181 and the first robot arm 1
82 and between the first robot arm 182 and the second robot arm 183, cables are connected to the case 181 of the robot body 181.
b, since the first robot arm 182 and the second robot arm 183 extend from the peripheral surface and the peripheral surface of the distal end portion of the first robot arm 182 in the swinging direction of the first robot arm 182 and the second robot arm 182. U toward arm 183
The slack of the bridging portion can be provided by making the bridging portion curved, and as a result, the bridging portion moves regularly following the swing of the first robot arm 182 and the second robot arm 183, and the bridging portion moves. Cables can be prevented from entangled in the first robot arm 182 and the second robot arm 183.

At the tail end of the third robot arm 183, a switching valve GV for connecting the pressurizing cylinder air pipe of the welding gun G among the cables CG for the welding gun G is mounted. Substrate part 1 of robot body 181
A through hole 181h is formed in the base 81a so as to insert the cover 180a for the guide rail 180, and the cover 180a is sandwiched at one end in the X-axis direction of the substrate 181a from both sides in the Z-axis direction.
Attaching the pair of sandwiching rollers 181i, 181i,
A support roller 180j that supports the cover 180a from the inside in the X-axis direction is attached to the other end in the X-axis direction of the substrate portion 181a. This is the same as the welding robot 13 described above.

The welding robot 19 mounted on the lower fixed frame 17 has the same structure as the welding robot 13, and a detailed description thereof will be omitted.

As shown in FIG. 10, the movable base 10 is a pair of movable bodies 10 on which the respective columns 10a are erected.
0,100. Each movable body 100 is provided with a pair of guide rails 10 on each laterally long fixed frame 101 arranged in a pair on the side of the assembly station 3.
2 and 102 are slidably engaged with each other, and are threaded on each fixed frame 101 by a motor 103 via a timing belt 104 serving as a winding transmission means.
Is installed, and a nut 106 screwed to the screw 105 is attached to the movable body 100, so that each movable body 100 is linearly moved in the lateral direction by each motor 103.

Then, a pair of movable bodies 100, 100
As a synchronizing device for moving in the horizontal direction in synchronization with each other, a hollow synchronizing shaft 107 is provided between the movable bodies 100, 100, and at both ends of the synchronizing shaft 107, the front and rear fixed frames 101, 101 are mounted. The pinions 107a, 107a meshing with the fixed rack 108 are connected, and the synchronous shaft 107 is connected to the movable bodies 100, 10
0 are supported via self-aligning bearings 107b, 107b, respectively. According to this, when the synchronization between the movable bodies 100, 100 is lost, the rotation angles of the pinions 107a, 107a at both ends of the synchronous shaft 107 are different, and the synchronous shaft 107 is twisted. Body 100,
100 out-of-sync failures are corrected. By the way, when the synchronization between the movable bodies 100 and 100 is lost, the synchronous shaft 1
07 is inclined in the moving direction of the movable bodies 100, 100, and the synchronous shaft 107 is supported on the movable bodies 100, 100 via normal bearings.
When the bending moment acts on the synchronous shaft 107 and the synchronous shaft 107 is made hollow, the bending rigidity is insufficient and the synchronous shaft 10
7 is deformed. However, in the present embodiment, since the inclination of the synchronous shaft 107 is allowed by the self-aligning bearings 107b, 107b, no bending moment acts on the synchronous shaft 107, and only the torsional moment acts on the synchronous shaft 107. . Therefore, the synchronous shaft 10
Even if the hollow member 7 is hollow, the synchronous shaft 107 is not deformed, so that the weight of the synchronous device can be reduced and the driving load of the movable base 10 can be reduced.

[0043] The first transfer device 7 _1, 11
As shown in FIG. 13, an elevating frame 71 movably arranged on a base 70 provided in the roof loading station 2 and a movable frame 72 supported on the elevating frame 71 so as to be movable in the front-rear direction which is the longitudinal direction of the line. And a transfer jig 73 supported on a movable frame 72 so as to be movable in the front-rear direction. A plurality of work receivers 73a are provided on the transport jig 73 to position and support the floor W1. Then, guide rails 73b, 73b, which are long in the front-rear direction, are attached to the upper edges of the left and right sides of the movable frame 72, and the transport jig 73 is attached to the lower sides of the guide rails 73b, via a number of rollers 73c. A pinion 73 that is rotatably supported by 73b and that meshes with a rack 73d fixed to the movable frame 72.
The motor 73f to which the e is connected is attached to the transport jig 73, and the transport jig 73 is moved back and forth with respect to the movable frame 72.

Further, guide rails 72a, 72a which are long in the front-rear direction are attached to the lower edges of the left and right sides of the movable frame 72, and the guide rails are mounted on brackets 71a which are erected at a plurality of front and rear portions on the left and right sides of the lifting frame 71. A roller 72b for supporting the moving frame 72 is attached to the lifting frame 71.
And a motor 72e to which a pinion 72d meshing with a fixed rack 72c is connected.
2 is moved back and forth. And the movable frame 72
The transport jig 73 is moved rearward on the line upstream side with respect to the lifting frame 71 and the movable frame 72 with respect to the lifting frame 71 and the movable frame 72, respectively. Moving and moving frame 7
2 and the transport jig 73 are moved forward with respect to the elevating frame 71 and the movable frame 72, respectively, on the line downstream side, so that the transport jig 73 is overhanged forward from the elevating frame 71 and goes to the assembly station 3. I try to move it. When the floor W1 is transported from the floor loading station 1 to the assembly station 3, the transport jig 73 is moved back to the floor loading station 1 and the lifting frame 71 is raised, so that the floor W1 is moved from the table 5 of the station 1. The floor W1 is set on the table 6 of the station 3 by lifting and then moving the transport jig 73 forward to the assembling station 3 and lowering the elevating frame 71.

The leg frame 71 is provided at a plurality of front and rear
b, a plurality of guide frames 70a at the front and rear are erected on the base 70, and a vertically long guide rail 71c attached to each leg 71b is attached to each guide frame 70a. The lifting frame 71 is slidably engaged with the guide 71d to support the lifting frame 71 vertically. Further, a rotating shaft 71e extending in the front-rear direction is provided on the base 70, and the rotating shaft 71e is provided.
a rack 71 fixed to each leg piece 71b at a plurality of positions before and after e.
f, and a pinion 71g meshing with f is attached.
A single drive motor 71h for 1e is connected to the rear end, which is the shaft end on the upstream side of the rotary shaft 71e, and is constituted by a plurality of front and rear rack and pinion mechanisms 71f and 71g by forward and reverse rotation of the rotary shaft 71e by the motor 71h. The elevating frame 71 is moved up and down via the motion conversion mechanism. On the base 70, a plurality of front and rear balance cylinders 71i connected to the lifting frame 71, and upper and lower portions of the leg pieces 71b at the lowering position (position shown) and the raising position of the lifting frame 71, respectively. A plurality of lock cylinders 71l before and after locking the lifting frame 71 at the respective positions by fitting lock pins 71k into the lock holes 71j are provided.

When the lifting frame 71 is raised with the transport jig 73 moved back to the floor loading station 1, since the transport jig 73 is overhanging rearward from the lifting frame 71, A large load acts on the rear end portion of the rotation shaft 71e via the motion conversion mechanism on the rear end side of the rotary shaft 71e. Therefore, when the drive motor 71h is connected to the front end of the rotating shaft 71e, the rotating shaft 71e is twisted, and the rear end portion of the elevating frame 71 is delayed, so that the elevating frame 71 is inclined downward toward the rear. Then, the prying of the guide frame 70a, that is, the prying between the guide rail 71c and the linear guide 71d occurs, and the elevating frame 71 cannot be lifted smoothly. However, in the present embodiment, since the drive motor 71h is connected to the rear end of the rotating shaft 71e, the rotating shaft 71e
The twist of e, that is, the inclination of the elevating frame 71 is suppressed, and the elevating frame 71 is raised smoothly without twisting the guide frame 70a. Thus, the drive source for the lifting frame 71 can be constituted by a single drive motor 71h, and the cost can be reduced.

[0047] subjected to the second even transfer device 7 ₂ has the same structure as the first transfer device _71, the same reference numerals in the first transfer device ₇₁ and the same members and explanations thereof are omitted. I do.

[0048]

As is apparent from the above description, according to the present invention, the side panel can be set on the set jig by reversing the set jig to the upward position or the outward position by rotating the rotary frame. There is no need to secure a space for moving the side panel feeder on the side of the assembly station, and as a result, a welding robot that assists welding of the side panel to the floor is arranged below the side of the assembly station to reduce cycle time. Is possible, and
Even if the welding robot mounted on the rotating frame revolves around the rotation axis with the rotation of the rotating frame, the cables for the welding robot are not entangled because they are supported by the cable support frame attached to the rotating frame, Also, the cable supporting frame functions as a balancer for the rotating frame, so that the rotating frame can be smoothly rotated.

[Brief description of the drawings]

FIG. 1 is a perspective view of a vehicle body assembly line equipped with the device of the present invention.

FIG. 2 is a side view of a vehicle body assembly line.

FIG. 3 is a front view of the assembling station viewed from the line III-III in FIG. 2;

FIG. 4 is an enlarged sectional view taken along the line IV-IV of FIG. 2;

FIG. 5 is a sectional view taken along line VV of FIG. 4;

FIG. 6 is a sectional view taken along the line VI-VI of FIG. 5;

FIG. 7 is an enlarged sectional view taken along the line VII-VII of FIG. 2;

8 is a sectional view taken along line VIII-VIII in FIG. 7;

FIG. 9 is a sectional view taken along line IX-IX of FIG. 7;

FIG. 10 is an enlarged sectional view taken along line XX of FIG. 3;

11 is an enlarged side view of the first transfer device as viewed from the side opposite to FIG. 2;

FIG. 12 is a plan view of a first transfer device.

13 is a front view of the first transfer device as viewed from the left in FIG. 11;

[Explanation of symbols]

W Automobile body W1 Floor W2 Roof W5 Side panel 3 Assembly station 10 Movable table 11 Rotating frame 11a Rotation axis 11b Bar-shaped member 12 Set jig 13 Welding robot 13a Cable carrying member 130 Guide rail 131 Robot body 132 Joint body 133 Robot arm 134 Wrist 14 Cable support frame 14a Upper frame 14b Lower frame

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Naoki Fukai 1-10-1, Shinsayama, Sayama City, Saitama Prefecture Honda Engineering Co., Ltd. (72) Inventor Shoichi Hirata 1-10-1, Shinsayama, Sayama City, Saitama Prefecture Within Da Engineering Co., Ltd. (72) Inventor Kenji Kusume Yonegi 1-10-1 Shin-Sayama, Sayama City, Saitama Prefecture Honda Incorporated (72) Inventor Jiro Sugawara 1-1-10 Shin-Sayama, Sayama City, Saitama Prefecture Hong Within DA Engineering Co., Ltd. (72) Inventor Toshio Izuna 1-10-1 Shinsayama, Sayama City, Saitama Prefecture Honda Engineering Co., Ltd. F-term (reference) 3D114 AA11 BA01 CA05 DA17 EA03 4E065 AA05 CA09

Claims (4)

[Claims] 1. An apparatus for assembling an automobile body by welding and joining left and right side panels to another vehicle body component such as a floor or a roof. A movable table that can move forward and backward is provided between the welding position on the inner side and the standby position on the outer side, and a rotating frame that is rotatable around the rotation axis in the front-rear direction is supported on each movable table. The set jig that holds the jig is detachably attached, the movable table is moved to the standby position, and the set jig is turned upward by the rotation of the rotating frame, or by the rotation of the rotary frame to the outward position facing outward. The side panel can be freely set on the set jig in the inverted state, the movable table is moved to the welding position, and the set jig is turned inward by turning the rotating frame to the inward posture facing inward in the horizontal direction. With side pa And a plurality of welding robots for welding and connecting the side panel and the other vehicle body components are mounted on the rotating frame so as to be movable in the front-rear direction. The cable supporting frame supporting the cables connected to the welding robot is moved so that the rotational moment due to the weight of the cable supporting frame acting on the rotating frame in the inward posture acts in a direction to cancel the rotational moment due to the weight of the set jig. An assembly device for an automobile body, which is attached to a rotating frame. 2. A rod-shaped member extending on the rotating frame along a rotation axis of the rotating frame, wherein the plurality of welding robots are divided into two sets, and the rod-shaped members face upward and downward in the inward posture. The assembly apparatus for an automobile body according to claim 1, wherein one set of welding robots and the other set of welding robots are mounted on the upper and lower surfaces of the vehicle body in an upside-down direction. 3. The cable support frame is mounted on an upper surface side of the rod-shaped member, which is positioned laterally outward and above the rod-shaped member and extends in the front-rear direction in the inward posture. An upper frame portion for supporting one set of cables for a welding robot, and mounted on the lower surface side of the rod-shaped member, which is located laterally outward and below the rod-shaped member and extends in the front-rear direction. 3. The automobile body assembling apparatus according to claim 2, further comprising a lower frame portion for supporting the other set of cables for the welding robot. 4. The coordinate system according to claim 1, wherein a coordinate axis along the front-rear direction of the stationary coordinate system with respect to the rotating frame is an X axis, and a coordinate axis along the horizontal direction and a coordinate axis along the vertical direction in the inward posture are a Y axis and a Z axis, respectively. A welding robot is mounted on each of the upper and lower surfaces of the rod-shaped member, and is movably supported by guide rails extending in the X-axis direction. A joint body rotatably supported around an axis of rotation, and a U-axis defined as a coordinate axis of a stationary coordinate system for the joint body which is parallel to the Y-axis at a rotation neutral position of the joint body. A robot arm movably supported in the axial direction, the robot arm being elongated in the U-axis direction, and a welding gun mounted on the inner end of the robot arm in the U-axis direction via a wrist. Robot for robot welding The arm moves to the stroke end outward in the U-axis direction, and the robot moves to the swing end in a direction such that the outer end in the U-axis direction of the robot arm is separated from the guide rail in the Z-axis direction by rotation of the joint body. The upper and lower frame portions of the cable support frame are arranged so as to be located on the outer side in the swing direction of the robot arm with respect to the position of the outer end in the U-axis direction of the robot arm in a state where the arm is swung, A two-dimensionally bendable cable supporting member for supporting cables drawn out from the portion is provided between each frame portion and the robot body of each set of welding robots by an X axis and a U axis at the swing end. The vehicle body assembling device according to claim 3, wherein the device is arranged so as to be curved on a plane that is parallel to the robot and that is located outside the robot arm in the swing direction at the swing end.