JP2003145275A - Vehicle body welding system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle body welding system which achieves the reduction of the number of multi-articulated robots, reduction of production line length, and improvement in the efficiency of a welding operation at the same time by disposing a plurality of multi-articulated robots for carrying out a re-spot welding operation of the body asymmetrically to a production line. SOLUTION: In the body welding system 10, the re-spot welding is carried out to each part of the body 12 from right and left in the state where the body 12 is arranged on the production line 14. The body welding system 10 comprises a first station A for intensively welding the vicinity of the opening part 16 of the body 12, and a second through a fifth station B, C, D and E for welding the inside and outside of the body 12. At the second station B and the third station C, the articulated robots 26, 27 and 28 for the additional spot welding operation inside the body 12, and the multi-articulated robots 26, 27 and 28 for the re-spot welding operation outside the body 12 are disposed to both right and left sides of the central axis I-I of the production line 14 asymmetrically, respectively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle body welding system for performing additional welding work using an articulated robot,
In particular, the number of articulated robots is reduced by arranging the articulated robots, which are arranged on the sides of the vehicle body that relatively move, asymmetrically along the relative movement direction of the vehicle body,
The present invention relates to a vehicle body welding system capable of reducing the production line length and improving welding work efficiency all at once.

[0002]

2. Description of the Related Art Welding work for a vehicle body in an automobile manufacturing plant is composed of temporary welding work and additional welding work.

The temporary welding work is a welding work in which temporary welding is performed in a state where the main constituent components of the vehicle body are combined. An articulated robot is used to perform this welding operation.

Usually, the tip of the articulated robot is
An end effector (work tool) with a welding gun is attached. In order to enable the end effector to take an arbitrary posture at an arbitrary position in the space, three degrees of freedom represented by X, Y, and Z coordinates indicating the position in the space, and an inclination angle. It is necessary to have a total of 6 degrees of freedom including 3 degrees of freedom represented by roll, pitch, and yaw, and in order to secure this, the multi-joint robot often has 6 joints. .

FIG. 6 shows a vehicle body 100 to be tack welded.
Is illustrated. The vehicle body 100 includes a front member 102,
It is composed of a floor member 104, a roof member 106, and side panel members 108a and 108b.

In this case, first, the front member 102 and the floor member 104 are tack-welded together by using the articulated robot, and then the side panel member 108 is joined.
a and 108b are arranged on both sides of the floor member 104,
The roof member 106 is placed on the tops of the side panel members 108a and 108b and integrally tack-welded together to form the vehicle body 1
Get 00. As described above, the tack welding is performed by spot welding by an articulated robot equipped with a welding gun.

Next, as shown in FIG. 7, the vehicle body 100 on which the temporary shot welding is completed is conveyed to the vehicle body welding station 112 while being placed on the manufacturing line 110, and the vehicle body 100 is moved by the articulated robot 114. The over-welding work is performed.

In this case, the articulated robot 114 is
They are arranged symmetrically with respect to the longitudinal direction of the manufacturing line 110. Then, the articulated robots 114 arranged on both sides of the manufacturing line 110 weld the symmetrical parts on the sides of the vehicle body 100. That is, the production line 11
The articulated robot 114 arranged symmetrically with respect to 0
Will perform the same welding operation respectively. here,
The welding work in the vicinity of the opening of the vehicle body 100 such as a door or a window is performed by a plurality of articulated robots 114 with low welding work efficiency.
Often done by.

[0009]

However, unlike the welding work inside the vehicle body 100, the additional welding work near the opening is performed from the outside of the vehicle body 100. It is relatively easy to secure the necessary welding work space in order to avoid the interference. However, also in this case, in order to avoid the interference, the articulated robots 114 cannot be arranged densely. Therefore, the over-welding work in the vicinity of the opening is performed by a plurality of articulated robots 114 dispersedly arranged in the vehicle body welding station 112.

On the other hand, the articulated robot 114 is arranged symmetrically with respect to the manufacturing line 110, but
When performing additional welding work inside the vehicle,
Since the welding work space inside is narrow, interference occurs between the multi-joint robot 114 and the multi-joint robot 114 facing it. To avoid this interference,
While one articulated robot 114 is stopped, the other articulated robot 1 facing the articulated robot 114
14 may be operated to perform additional welding. However, in this case, the welding work efficiency of the articulated robot 114 decreases, and as a result, the operating rate of the manufacturing line 110 decreases.

Further, as shown in FIG. 8, a vehicle body welding station 118 composed of a general-purpose articulated robot 116.
In this case, the number of the articulated robots 116 can be reduced as compared with the case of the vehicle body welding station 112, and the length of the production line 120 can be reduced. However, the articulated robot 1 still remains.
Since 16 performs the over-welding work symmetrically with respect to the vehicle body 100, the work efficiency is not improved and interference is caused.

Further referring to the articulated robot, a body welding robot 122 shown in FIG.
85874), the welding gun 13 is attached to the machine frame 128 composed of the pedestal portion 124 and the structural reinforcing member 126.
Parallel articulated robots 132a to 132d having parallel link structures 0a to 130d are installed in a wall-mounted form.
Since the articulated robots 132a to 132d are densely arranged in a horizontal row, both the welding work time and the work space can be reduced. However, also in the vehicle body welding robot 122, since the multi-joint robots 132a to 132d perform the additional welding work in the left and right symmetrical portions inside the vehicle body 100, the multi-joint robots 132a to 132d and the multi-joint robots facing the multi-joint robots 132a to 132d. It is clear that interference occurs with the robots 132a to 132d.

The present invention has been made in view of the above problems, and is asymmetric with respect to a vehicle body that relatively moves the multi-joint robot when performing the additional welding work using the multi-joint robot. It is an object of the present invention to provide a vehicle body welding system that can achieve a reduction in the number of articulated robots, a reduction in the manufacturing line length, and an improvement in welding work efficiency all at once by arranging the robots at the same position.

[0014]

SUMMARY OF THE INVENTION The present invention has been made to achieve the above-mentioned object, and a production line is composed of a plurality of stations for additional welding work and is arranged in the production line. In a vehicle body welding system in which an articulated robot equipped with a welding gun at the tip of an arm is arranged on both sides of a vehicle body to perform over-welding work on each part of the vehicle body, the manufacturing line is a relatively moving vehicle body. It is characterized in that a plurality of articulated robots arranged on one side and a plurality of articulated robots arranged on the other side of the vehicle body are arranged asymmetrically.

Here, the station means a work area in which a plurality of articulated robots are arranged in parallel along a manufacturing line and a plurality of different over-welding operations are performed on the vehicle body.

In addition, to dispose a plurality of articulated robots asymmetrically means to dispose a plurality of articulated robots for performing over-welding of different parts of the vehicle body on both sides with respect to the central axis of the manufacturing line, and This means that the positions of the plurality of articulated robots are arranged asymmetrically with respect to the central axis, or the opposed articulated robots are of different types.

According to the present invention, since the plurality of articulated robots are arranged asymmetrically with respect to the relatively moving vehicle body, it is possible to efficiently perform the additional welding work.

For example, while the multi-joint robot on one side is performing the additional welding work inside the vehicle body, the multi-joint robot arranged on the other side facing the multi-joint robot is performing the additional welding work outside the vehicle body. To do. That is, while the articulated robot on one side is performing the welding work inside or outside the vehicle body, the articulated robot on the other side facing the articulated robot is struck at a different portion from the articulated robot on one side. It is possible to perform welding work.

Therefore, the one-sided articulated robot and the other-sided articulated robot can easily secure the work space for the additional welding work. Moreover,
Since the articulated robot on one side and the articulated robot on the other side weld different parts of the vehicle body, interference does not occur between the one side and the other side. Therefore, the time required for the over-welding work can be shortened, and the welding work efficiency can be improved.

Further, according to the present invention, in at least one or more stations among the plurality of over-welding work stations, one or more articulated robots arranged on the one side are over-welded inside the vehicle body. The multi-joint robot disposed on the other side is for work, and is for additional welding work on the outside of the vehicle body.

According to this structure, a plurality of articulated robots for performing the additional welding work inside the vehicle body are collectively arranged on one side of one or more stations with respect to the vehicle body, and the vehicle body is provided on the other side of the station. Since a plurality of multi-joint robots for performing external over-welding work are collectively arranged, the over-welding work can be efficiently performed.

That is, while the multi-joint robot arranged on one side of the station performs the additional welding work inside the vehicle body, the multi-joint robot arranged on the other side of the station performs the additional welding work outside the vehicle body. Therefore, the articulated robot on one side and the articulated robot on the other side can easily secure work spaces for the additional welding work. Moreover, the welding site is different. Therefore, no interference occurs between the one-sided articulated robot and the other-sided articulated robot. Further, since the interference does not occur, it is not necessary to stop the articulated robot on the other side while operating the articulated robot on the one side. Therefore, the welding work time is shortened and the welding work efficiency is further improved.

Further, according to the present invention, in at least one or more stations among the plurality of stations, the one or more articulated robots arranged on the one side are for additional welding work on the inside of the vehicle body. The articulated robot arranged on the other side is for additional welding welding to the outside of the vehicle body, and at another station adjacent to the station, the articulated robot arranged on the one side is additionally welded to the outside of the vehicle body. It is characterized in that it is for work, and the articulated robot arranged on the other side is for additional welding work inside the vehicle body.

That is, on the one side, after the over-welding inside the vehicle body is collectively conducted, the over-welding outside the vehicle body is conducted collectively. Furthermore, on the other side of the station adjacent to the station for performing the additional welding work outside the vehicle body,
Place multiple articulated robots that perform over-welding welding inside the vehicle body. That is, on the other side, after performing the additional welding work on the outside of the vehicle body, the additional welding work on the inside of the vehicle body is performed collectively.

As described above, since the articulated robots for performing the additional welding work on different parts of the vehicle body are arranged on the one side and the other side between the adjacent stations, the multi-joint robot performs the additional welding work. It is possible to easily secure the work space of. Therefore, even in the adjacent stations, the interference between the one-sided articulated robot and the other-sided articulated robot does not occur. Therefore, the welding work time is shortened and the welding work efficiency is further improved.

Further, since a plurality of articulated robots for performing the over-welding work inside the vehicle body or outside the vehicle body are collectively arranged, the welding work efficiency of the articulated robot is improved, and the welding work efficiency of the entire vehicle body welding system is improved. Will improve further. Therefore, the number of articulated robots can be reduced, and the production line length can be shortened.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION A vehicle body welding system according to the present invention will be described below in detail with reference to the accompanying drawings, by way of preferred embodiments.

FIG. 1 shows a vehicle body welding system 10 according to this embodiment. The vehicle body welding system 10 includes a vehicle body 12 formed by temporarily welding the front member 102, the floor member 104, the roof member 106, and the side panel members 108a and 108b shown in FIG. A plurality of robots 22 arranged on both sides of the production line 14, that is, articulated robots 26, 2
This is a vehicle body welding system in which each part of the vehicle body 12 is additionally welded from both sides by 7, 28 and 29.

The vehicle body welding system 10 is, for example, as shown in FIG. 4, a first station A for intensively performing additional welding work on a center pillar 15 and a windshield pillar 17 near a door opening 16. And the first
Located adjacent to station A and said opening 1
It is composed of second to fifth stations B, C, D and E for performing the additional welding work inside and outside the vehicle body 12 except for the vicinity of 6. In this case, the line I-I shown in FIG.
This is the central axis of the second production line 14.

As shown in FIG. 2A, in the first station A, a plurality of robots 22 are arranged at the same position on both sides of the vehicle body 12, in other words, symmetrically with respect to the manufacturing line 14 one by one. There is. The robots 22 are arranged side by side symmetrically with respect to an axis of the central axis I-I. The robot 22 in the first station A is an articulated robot 24 equipped with a C-shaped welding gun.
And an articulated robot 26. 2A
The articulated robot 26 shown in Figure 2 is of conventional, ie prior art construction. At the first station A, the articulated robot 24 has one side 23 and the other side 25.
5 units each are shown in Fig. 1, but Fig. 1 shows the first station A
It is only expressed as such because it is shown in a plan view, and in reality, five units are arranged in a stacked state on the upper side and the lower side in series, so that one side 23 and the other side 25
Is composed of 10 articulated robots 24 each.

FIG. 3 shows an example of the articulated robot 24. Specifically, the articulated robot 24 includes articulated robots 24a to 24d and the articulated robots 24a to 24d.
Has a machine frame 30 for fixing the machine frame, and two columns 32a, 32b for holding the machine frame 30 in a direction perpendicular to the ground,
The articulated robots 24a to 24d are fixed to the machine frame 30 via a base 34.

The articulated robots 24a to 24d have substantially the same structure. That is, each of the articulated robots 24 a to 24 d has four bases 34 fixed to the surface of the machine frame 30, a central axis of the bases 34, and axes extending perpendicularly to the bases 34. A base portion 36 arranged around J1 and rotatable about the axis J1.
And the base portion 36 connected to the side surface of the base portion 36.
Further, it includes a support portion 37 rotatable with respect to the axis J1, and a first arm portion 38 swingable about a shaft J2 in the lateral direction of the tip portion of the support portion 37. The first arm portion 38 is provided with a second arm portion 40 that can extend and contract coaxially with the axis J3. The second arm portion 40 has a first wrist portion 42 which is rotatable about an axis J3, which is the axial center of the second arm portion 40.
And a second wrist portion 44 which is swingable about the axis J4 in the lateral direction of the distal end portion of the first wrist portion 42 is connected. Further, the second wrist portion 44 has an axis J5, which is the axial center thereof.
A tip portion 46 rotatable about the
An end effector 48 attached to the. Therefore, the articulated robots 24a to 24d are
It is a multi-joint robot having 6-axis degrees of freedom, which has a shaft extension / contraction motion, a 2-axis swing motion, and a 3-axis rotary motion.

The end effector 48 has
A C-shaped welding gun 50 for performing the additional welding work is connected. The C-shaped welding gun 50 has a pair of welding electrodes 52a to 52d that open and close. This welding electrode 52a-
The point where 52d is closed and in contact is the welding point, and the axis J
It is set above 5.

On the other hand, the articulated robot 26 employs a general-purpose structure according to the prior art. Therefore, detailed description is omitted here.

When welding is performed using the robot 22, the posture of the articulated robots 24a to 24d and the articulated robot 26 is controlled by a teaching device (not shown). That is, the teaching device has three
Articulated robots 24a to 24 based on three-dimensional CAD
A model of d and the articulated robot 26 is constructed, and interference (contact, etc.) between the models is checked. Then, the attitudes of the articulated robots 24a to 24d and the articulated robot 26 are calculated from the attitude and the tilt angle of the end effector 48, and the position of the welding point is also calculated. Based on these results, the multi-joint robots 24a to 24d and the multi-joint robot 26 are made to perform the over-welding work on the desired portion of the workpiece.

The second to fifth stations B, C,
Articulated robots 26, 27, 28, and 29 are provided at D and E, respectively. Among these, the articulated robot 27 is provided with a slide base 27a in order to perform the additional welding work inside the vehicle body 12. The robot main body constituting the articulated robot 27 has the same structure as the articulated robot 26. Therefore, the description of the robot body is omitted here.

Further, the articulated robot 28 is provided with a plurality of welding guns as shown in FIG. Further, the articulated robot 29 has a structure for supplying the components of the vehicle body 12.

As shown in FIG. 5, the articulated robot 28 has a base portion 56 rotatable with respect to the center axis J6 of the base 54, and an axis J7 extending along the axis of the base portion 56.
A first arm portion 58 that is swingable around the
A second arm portion 60 capable of swinging about an axis J8 in the lateral direction of the distal end portion of the arm portion 58, and a third arm portion 62 which is formed coaxially with the second arm portion 60 and is rotatable. Is equipped with.

Further, the third arm portion 62 has a wrist portion 64 rotatable about an axis J9, which is the axial center thereof.
And connected to both ends of the wrist 64,
A fourth arm portion 6 rotatable about an axis J10 of 4
6 and a fifth arm portion 68, and end effectors 70 and 72 attached to the fourth arm portion 66 and the fifth arm portion 68, respectively. Therefore, the multi-joint robot 28 is a multi-joint robot having two axes of swinging motion and four axes of rotating motion and having six degrees of freedom.

Then, the end effectors 70, 72
C welding guns 74, 76 for welding are connected to the. The C-shaped welding guns 74 and 76 have a pair of welding electrodes 78a and 78b that open and close. The point where the welding electrodes 78a and 78b are closed and in contact is a welding point. When the multi-joint robot 28 performs the over-welding work, the posture control is performed by a teaching device (not shown) as in the multi-joint robot 24.

Next, the arrangement state of the robots in the second to fifth stations B, C, D and E will be described with reference to FIGS. 2B to 2E.

Second to fifth stations B, C, D, E
Then, with respect to the relative movement direction of the vehicle body 12, that is,
The articulated robots 26, 27, 28 and 29 are arranged asymmetrically with the central axis I-I of the production line 14 interposed therebetween.

Therefore, the second station B shown in FIG. 2B
In this case, two multi-joint robots 26 and two multi-joint robots 28 are alternately arranged on one side 80 of the traveling direction of the vehicle body 12 so that the over-welding work on the outside of the vehicle body 12 is performed. In addition, the second axis with the central axis I-I interposed therebetween.
On the other side 82 of the station B, three multi-joint robots 26 and one multi-joint robot 27 having a slide base 27a are arranged, respectively, so that the additional welding work inside the vehicle body 12 is performed. ing. In this case, the articulated robots 26, 28 on the one side 80 and the articulated robots 26, 27 on the other side 82 facing each other have a central axis I−.
The separation distance is different for I, and the arrangement order is also different. Further, the structure of the robot itself is different between the articulated robot 28 on the one side 80 and the articulated robots 26, 27 on the other side 82, and the presence or absence of the slide base 27a is also mentioned as a difference.

Further, as shown in FIG. 2C, a third station C adjacent to one side 80 of the second station B is provided.
On one side 84, three multi-joint robots 26 and one multi-joint robot 27 having a slide base 27a therebetween are arranged, respectively, so that the additional welding work inside the vehicle body 12 is performed. There is. Furthermore, the central axis I
On the other side 86 of the third station C with -I interposed therebetween, one articulated robot 26 and one articulated robot 28 having a different structure from each other are arranged, respectively, and are struck outside the vehicle body 12. We are trying to do welding work. Both are asymmetric with respect to the central axis I-I because of their different structures and arrangement positions.

On the other hand, at one side 88 of the fourth station D shown in FIG. 2D, the three articulated robots 26 and the vehicle body 12 are
One multi-joint robot 29 for supplying the components of FIG. 1 is arranged, and the multi-joint robot 26 performs the over-welding work on the outside of the vehicle body 12, and the parts used in the welding process of the next stage are the multi-joint robot. Supplied by 29. In addition, three multi-joint robots 26 and one multi-joint robot 28 are arranged on the other side 90 of the fourth station D with the central axis I-I interposed therebetween. I'm trying to do.

In this case, as is apparent from FIG. 2D, it is the other side that faces the articulated robot 26 disposed on one side 88 of the fourth station D with the central axis I-I interposed therebetween. An articulated robot 28 located at 90,
26, 26, the articulated robots 26, 28 on the other side 90 are arranged in an asymmetrical position with respect to the articulated robots 26, 26, 26 with the central axis I-I interposed therebetween.

Further, on one side 92 of the fifth station E shown in FIG. 2E, four multi-joint robots 26 are arranged to carry out additional welding work on the outside and inside of the vehicle body 12. On the other hand, five articulated robots 26 are arranged on the other side 94 of the fifth station E with the central axis I-I interposed therebetween so as to perform the over-welding work inside and outside the vehicle body 12.

In this case, one side 9 of the fifth station E
It is the fifth station E that faces the four articulated robots 26 arranged in No. 2 with the central axis I-I interposed therebetween.
5 articulated robots 26 arranged on the other side 94 of the. However, the articulated robot 2 on the other side 94
6 is arranged at an asymmetric position with respect to the articulated robot 26 on the one side 92. This 5th station E
The reason why the additional welding of the inside and outside of the vehicle body 12 is performed on the one side 92 and the other side 94 is to weld the additional points left at the first to fourth stations A, B, C, D. is there.

The vehicle body welding system 10 according to the present embodiment.
Is basically constructed as described above. Next, its function and effect will be explained.

First, the tack-welded vehicle body 12 is introduced into the first station A. Then, the robot 22 is energized to provide an articulated robot 24 having a C-shaped welding gun,
A general-purpose articulated robot 26 that has been used conventionally performs additional welding to the first predetermined position of the vehicle body 12.
After performing the over-welding on the first predetermined position, the vehicle body 12 is conveyed to the second station B, and the over-welding on the second predetermined position is performed in the second station B. In this case, the articulated robots 26, 2 on one side 80
8 performs additional welding to the outside of the vehicle body 12, and the articulated robots 26 and 27 on the other side 82 perform additional welding to the inside of the vehicle body 12. In particular, the articulated robot 27 on the other side 82 is movable along the longitudinal direction of the slide base 27a and is suitable for the additional hitting work inside the vehicle body 12. Therefore, it operates differently from the opposed articulated robot 28, and the configuration itself of the robot is also different.
Therefore, the articulated robots 27 and 28 perform welding operation asymmetrically. The welding robots in the next stage along the traveling direction of the vehicle body 12 are the multi-joint robots 26, 26 and 28, 26, but these robots are arranged at different positions, or they are heterogeneous robots and are asymmetrical to each other. . Therefore,
It is possible to perform additional welding of the vehicle body 12 at positions asymmetric to each other.

Similarly, in the third to fifth stations C, D and E, the asymmetrical over-welding is performed. Note that, for example, at the third station C, the articulated robots 26 and 27 perform over-welding on the inside of the vehicle body 12 at one side 84 thereof, and the articulated robots 26 and 28 increase the outside of the vehicle body 12 at the other side 86. Weld and weld. 4th station D
Then, the additional welding work is performed only on the outer side of the vehicle body 12 on the one side 88 and the other side 90 as described above, and at the fifth station E, the additional welding work is not completed inside and outside the vehicle body 12. Weld the points.

In this way, the vehicle body 1 with respect to the central axis I--I
The articulated robots 26, 27, 28 that perform the over-welding work of two different parts are arranged asymmetrically with the central axis I-I of the manufacturing line 14 as the axis of symmetry.
This is because a work space for the over-welding work of 6, 27, and 28 is secured and interference is not caused. As a result, the welding work time of the articulated robots 26, 27, 28 can be shortened. Therefore, the vehicle body welding system 10
It is possible to improve the welding work efficiency.

Moreover, the articulated robots 26, 27,
28 are arranged asymmetrically and the multi-joint robots 26, 27, 28 on both sides perform the additional welding work of different parts of the vehicle body 12, so that the work space required for the additional welding work is secured. Therefore, each articulated robot 26,
The load of teaching on 27 and 28 is also reduced.

By the way, in the case of the conventional vehicle body welding system 122 shown in FIG. 9, the articulated robots 132a to 132d are arranged in a horizontal row with respect to the traveling direction of the line, and the articulated robots 132a to 132d are arranged in the traveling direction. Since interference between 132d occurs, the welding work range handled by one articulated robot is limited, and there has been a problem that the welding work efficiency is reduced.

On the other hand, in the plurality of robots 22 shown in FIG. 3, the articulated robots 24a to 24d are three-dimensionally and densely arranged with respect to the machine frame 30, and the multi-joint robots 24a to 24d are arranged by a teaching device (not shown). Joint robot 2
Since the posture control of 4a to 24d is performed, the interference state between the articulated robots 24a to 24d does not occur. Therefore, the welding work range in each of the articulated robots 24a to 24d is expanded, and the welding work efficiency is significantly improved. Further, the additional welding work for the center pillar 15, the windshield pillar 17 and the like near the opening 16 such as the front door, the rear door and the window of the vehicle body 12 having a very large number of welding points can be performed quickly and efficiently.

By introducing the robot 22 into the vehicle body welding system 10, it is possible to reduce the length of the manufacturing line 14 and the number of welding robots in the vehicle body welding system 10. That is, in the vehicle body welding system 10 shown in FIG. 1, when a plurality of robots 22 are arranged on both sides of the vehicle body 12 transported to the first station A, the vehicle body welding station 112 shown in FIG. 7 or the vehicle body welding station shown in FIG. Compared with 118, the number of welding robots required for the over-welding operation and the capital investment cost of the production line 14 can be significantly reduced.

[0057]

As described above, according to the vehicle body welding system of the present invention, a plurality of articulated robots are arranged asymmetrically with respect to the relative movement direction of the vehicle body, and a plurality of articulated robots on one side are arranged. In addition, the additional welding work inside the vehicle body is performed, and the additional welding work outside the vehicle body is performed on the plurality of articulated robots on the other side. For this reason, the articulated robots arranged on the one side and the other side each have a work space required for the additional welding work, and the articulated robot on the one side and the articulated robot on the other side interfere with each other. Does not cause. Therefore, it is possible to efficiently perform the over-welding work inside and outside the vehicle body, and the welding work time can be shortened.

When a plurality of articulated robots are arranged on one side of the welding station to perform welding on the outside of the vehicle body, a plurality of articulated robots are arranged on the other side of the welding station to perform welding on the inside of the vehicle body. ing. And
In adjacent welding stations, a plurality of articulated robots for welding the inside of the vehicle body are arranged on one side, and a plurality of articulated robots for welding the outside of the vehicle body are arranged on the other side. That is, the over-welding work inside the vehicle body and outside the vehicle body, which has been conventionally performed by disposing a plurality of articulated robots in a distributed manner, is performed by a plurality of articulated robots that are arranged asymmetrically with respect to the vehicle body. By the arrangement,
The welding work efficiency of the articulated robot is further improved, and it is possible to reduce both the articulated robot and the manufacturing line length.

[Brief description of drawings]

FIG. 1 is a plan view showing a vehicle body welding system according to the present embodiment.

FIG. 2A is a plan view showing a plurality of articulated robots used in a first station of a vehicle body welding system, FIG. 2B is a plan view showing a plurality of articulated robots used in a second station, and FIG. 2C. FIG. 2D is a plan view showing a plurality of articulated robots used in the third station.
2E is a plan view showing a plurality of articulated robots used in the fourth station, and FIG. 2E is a plan view showing a plurality of robots used in the fifth station.

FIG. 3 is a perspective view showing a plurality of robots used in the vehicle body welding system according to the present embodiment.

FIG. 4 is a perspective view showing a state in which a vehicle body is welded using the robot.

FIG. 5 is a perspective view of an articulated robot used in the vehicle body welding system according to the present embodiment.

FIG. 6 is a perspective view of a vehicle body tack-welded.

FIG. 7 is a plan view showing a vehicle body welding station according to a conventional technique.

FIG. 8 is a plan view showing another example of the vehicle body welding station according to the related art.

FIG. 9 is a perspective view showing a vehicle body welding robot according to a conventional technique.

[Explanation of symbols]

10 ... Car body welding system 12, 100 ... Car body 14, 110, 120 ... Manufacturing line 15 ... Center pillar 16 ... Opening part 17 ... Windshield pillar 22 ... Robot 26, 27, 28, 29 ... Articulated robot 80, 84, 88 , 92 ... One side 82, 86, 9
0, 94 ... Other side 102 ... Front member 104 ... Floor member 106 ... Roof member 108a, 108
b ... Side panel members 112, 118 ... Car body welding station 122 ... Car body welding robot II ... Central axis

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Hiroshi Ichinomiya             1-10-1 Shinsayama, Sayama City, Saitama Prefecture             Engineering Co., Ltd. (72) Inventor Yasuhiro Okuno             1-10-1 Shinsayama, Sayama City, Saitama Prefecture             Engineering Co., Ltd. (72) Inventor Eiji Matsuda             1-10-1 Shinsayama, Sayama City, Saitama Prefecture             Engineering Co., Ltd. F-term (reference) 3D114 AA03 AA11 BA01 EA03                 4E065 AA05 CA09

Claims (3)

[Claims] 1. A manufacturing line comprises a plurality of stations for additional welding work, and articulated robots provided with welding guns at the tips of arms are arranged on both sides of a vehicle body arranged on the manufacturing line. Then, in the vehicle body welding system for performing the over-welding work of each part of the vehicle body, the manufacturing line includes a plurality of articulated robots arranged on one side of the vehicle body that relatively moves, and on the other side of the vehicle body. A vehicle body welding system characterized by arranging a plurality of articulated robots arranged asymmetrically. 2. The vehicle body welding system according to claim 1, wherein in at least one or more stations among the plurality of stations, one or more articulated robots arranged on the one side are struck against the inside of the vehicle body. A body welding system for welding work, wherein the articulated robot arranged on the other side is for additional welding work on the outside of the vehicle body. 3. The vehicle body welding system according to claim 1, wherein in at least one or more stations among the plurality of stations, one or more articulated robots arranged on the one side are overwelded to the inside of the vehicle body. For work,
The articulated robot arranged on the other side is for over-welding work to the outside of the vehicle body, and at another station adjacent to the station, the articulated robot arranged on the one side is over-strike to the outside of the vehicle body. A body welding system for welding work, wherein the articulated robot arranged on the other side is for additional welding work inside the vehicle body.