JP2003145364A - Positioning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a positioning device allowing highly accurate positioning of a workpiece such as an engine compartment at a given place on a carriage. SOLUTION: A positioning recessed portion is provided at the center of the carriage as a positioning member on one side in the cross direction and positioning recessed portions are provided at both sides thereof in the cross direction. Positioning protruded portions 207, 208, 209 are provided at three places on a positioning robot 20 as a positioning member on the other side corresponding to the positioning recessed portions. The positioning protruded portion at least one place corresponding to the positioning recessed portion is passed through the workpiece and the positioning protruded portions 207, 208, 209 at three places are inserted into the positioning recessed portions at three places on the carriage 15 to position a front floor as the workpiece.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device, and particularly to a positioning device suitable for positioning an engine compartment of an automobile or for positioning and assembling a work such as a front floor in the positioned engine compartment. Regarding the device.

[0002]

2. Description of the Related Art When assembling a chassis of an automobile, for example, an underfloor jig pallet trolley (hereinafter referred to as a trolley) is intermittently moved to each position along a conveying path to make a body part, such as an engine compartment ( (Hereinafter referred to as "encopa") is positioned, and the front floor, the front pillar lower inner, the cowl inner, etc. are sequentially positioned and assembled to the positioned encopa.

By the way, the body of an automobile has a complicated shape, and when assembling each work, it is required to position the work with high accuracy. In particular,
If the positioning accuracy of Encopa is low, the positioning accuracy of the front floor, front pillar lower inner, cowl inner, etc. that will be assembled in the subsequent process will decrease, which may cause the vehicle body to shake during operation and the doors cannot be opened and closed. Even if the door can be opened / closed, it cannot be opened / closed smoothly, and a squeak noise may be generated at the time of opening / closing.

Therefore, when a work such as an encopa is to be positioned on a dolly, one dent for positioning is provided on the dolly, and the locating projection of the work top clamp robot is passed through a hole formed in a part of the work. The three-dimensional positioning was carried out by inserting into the recess of the trolley.

[0005]

However, in the dolly having one positioning recess formed as described above, only one point can be positioned, and the work can be positioned in the θ direction or in the vertical direction of the work. In order to perform positioning in the (Z direction) with high accuracy, the positioning jig is large, complicated, and expensive.

The present invention has been proposed in order to solve such a problem, and an object thereof is to provide a positioning device capable of performing highly accurate positioning with a simple structure.

[0007]

In order to solve the above-mentioned problems, the positioning device according to claim 1 of the present invention is for positioning at the central portion in the width direction of one side member of two members to be positioned with respect to each other. It is characterized in that the recesses are provided and the positioning recesses are provided at both ends in the width direction, and the positioning projections are provided at three positions corresponding to the positioning recess positions of the other member.

According to such a positioning device, the one side member and the other side member are formed by inserting the three positioning protrusions of the other side member into the three positioning recesses of the one side member. Can be positioned with high accuracy. Therefore, the work can be positioned with high accuracy by inserting at least one positioning projection of the three positioning projections of the other side member through the holes of the work into the three positioning recesses of the one side member. can do. Moreover, since one positioning recess is provided in the central portion in the width direction of the one side member, the other two positioning recesses are provided on the arc line of the radius of gyration centered on this positioning recess. Thus, the other two positioning recesses can be indexed with reference to the positioning recess in the central portion, which facilitates the positioning work.

Here, the above three positioning recesses may be provided at the apexes of an equilateral triangle or an isosceles triangle.
It is desirable to provide it at the apex of an isosceles triangle. According to such a positioning device, compared to the case where the three convex portions and the concave portions are provided in a straight line, there is an advantage that the small portion can be accurately positioned. In addition, by providing the above three positioning recesses at the apexes of the isosceles triangle,
It is possible to prevent erroneous insertion of the positioning convex portion and the concave portion.

According to a second aspect of the present invention, there is provided a positioning device in which the positioning recesses and projections at the three positions are:
It is characterized in that at least one positioning recess and projection are different from the other two positioning recesses and projections.

According to the above-mentioned positioning device, when positioning a workpiece, the positioning recesses and protrusions different from the others are used as a reference to perform rough positioning, and then the other positioning recesses and protrusions are placed. By utilizing this, the work can be positioned with high accuracy. Here, what is meant by the term "positioning recesses and protrusions different from the others" is any one of the size and shape of the positioning recesses and protrusions, their height position, or the like. It means that two or more of the above include a compound.

According to a third aspect of the present invention, there is provided a positioning device in which the positioning recesses and projections at the three positions are
It is characterized in that at least one positioning concave portion and convex portion are provided at different height positions than positioning concave portions and convex portions at other locations.

According to the above-mentioned positioning device, for example, when positioning a three-dimensional, that is, non-planar work, the work is properly positioned at a height position corresponding to the height position of the position of the work. Can be positioned.

According to a fourth aspect of the present invention, in the positioning device described above, the one side member is a dolly for transporting a work,
It is characterized in that the other-side member is a positioning robot for the workpiece or a handling robot also serving as the positioning.

According to the above positioning apparatus, the positioning robot can position the work at a predetermined position on the carriage with high accuracy, or the handling robot that also serves as positioning transfers the work to the carriage position. It is possible to position the carriage at a predetermined position with high accuracy. In particular, by incorporating the clamping member of the workpiece clamping mechanism into the positioning convex portion of the handling robot, the workpiece clamped by the handling robot can be carried out with high accuracy at the same time as positioning and clamping of the workpiece on the handling robot. Can be positioned.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION A positioning device according to an embodiment of the present invention will be described below with reference to FIGS.
1 is a schematic side view of an example of a work assembling apparatus incorporating the positioning device of the present invention, FIG. 2 is an exploded perspective view of an automobile chassis as an example of a work to be positioned by the positioning device of the present invention, and FIG. a) is an enlarged plan view of an encopa which is an example of a work to be positioned by the positioning device of the present invention, FIG. 3 (b) is an enlarged side view thereof, and FIG. 4 is a schematic view of a carriage which is one side member of the positioning device of the present invention. FIG. 5 is a bottom perspective view of a positioning robot that is the other member of the positioning device of the present invention, and FIG. 6 is a schematic side view of the positioning device of the embodiment of the present invention when positioning a workpiece.

In FIG. 1, reference numeral 10 denotes an upper and lower two-stage type transport mechanism section having an upper outward path 11 and a lower backward path 12 at predetermined intervals. Elevating devices 13 and 14 are arranged at both ends of the transport mechanism unit 10, respectively. In one end, for example, the lifting device 13 at the left end of FIG. 1, when the encopa 16 is supplied on the carriage 15 and becomes the same height as the upper outward path 11, the lifting device 13 stops and the encopa 16 moves. The dolly 15 on which is mounted is transferred to the upper outward path 11.

On the upper outward path 11, the truck 15 intermittently moves between the positions P1 to P7. For example, the encopa 16 is positioned at the position P1, the front floor 17 is supplied, positioned and temporarily welded at the position P2, and the main welding is performed at the position P3. Further, at position P4, the front pillar lower inner 18 is supplied, positioned and temporarily welded, and at position P5 main welding is performed. Further, at position P6, the cowl inner 19 is supplied, positioned and temporarily welded, and at position P7 main welding is performed.

At position P7 of the transport mechanism 10, the chassis that has been assembled is removed from the carriage 15 by a crane or the like. The emptied trolley 15 is transferred to the lifting device 14 at the right end of FIG. 1 and then stopped when the lifting device 13 is lowered to the same position as the height of the lower return path 12.
Then, the carriage 15 is transferred to the lower return path 12 and returned to the left in FIG. 1 and conveyed. The carriage 15 that has been conveyed to the left end of the lower return path 12 has the lifting device 1 at the right end of FIG.
Reprinted in 3. New Encopa 16 on the dolly 15
Is supplied and rises, and stops when the same height as the upper outward path 11 is reached. Then, the carriage 15 is transferred to the upper outward path 11, and various works are sequentially positioned and assembled in the same manner as described above.

The Encopa 16, the front floor 17,
Front pillar Roa Inner 18 and cowl Inner 19
Has a structure as shown in FIG. Encopa 16 is
It has a front apron 161, an apron 162, a dash panel 163, a front side member 164, and a suspension tower 165. As shown in FIGS. 3 (a) and 3 (b), this encopa 16 is
A positioning hole 167 is provided at a substantially central portion of the lower member 166.

The front floor 1 assembled on the rear portion of the front side member 164 of the encopa 16.
Reference numeral 7 denotes a side plate portion 171, which rises from both ends in the width direction, a protrusion portion 172 at a middle portion in the width direction, a long hole 173 for a shift lever formed on the front side of the protrusion portion 172, and the protrusion. Round holes 175a formed in two places before and after the recesses 174 and 174 located on both sides of the line portion 172, for a total of four places.
.About.175d.

The front pillar lower inner 18 is assembled to both ends of the dash panel 163 of the encopa 16, and the front surface portion 181 thereof has a curved surface shape that matches the curved surface shape of the dash panel 163.
A hole 183 through which the harness is passed is formed in the triangular tip portion 182. 184 and 185 are positioning holes.

FIG. 4 is a schematic enlarged perspective view of the bogie 15 of FIG. 1, and positioning recesses 151, 152, 15 are provided at three positions thereof.
3 is provided. Recesses 151, 152, 153
Is provided at the apex of the isosceles triangle. For example, the recess 151 is provided at the center position and height of the carriage 15 corresponding to the hole 167 of the encopa 16, and the other two.
The recesses 152 and 153 at the positions are provided at positions and heights corresponding to the front circular holes 175a and 175b of the front floor 17, respectively.

Here, the installation height dimension h1 of each recess 151 from the upper surface of the truck 15 is set to be larger than the installation height dimension h2, h3 (= h2) of the other recesses 152 and 153 from the truck 15 upper surface. Has been done. The difference in height (h1-
h2) is equal to the difference in height between the hole 167 of the encopa 16 and the round holes 175a, 175b on the front side of the front floor 17.

FIG. 5 is a schematic bottom perspective view of a positioning robot 20 used in combination with the carriage 15 of the present invention.
Reference numeral 201 denotes a “T” -shaped arm in which one end of a vertical “I” -shaped one member 202 is integrally connected to a central portion of a horizontal “I” -shaped other member 203. The vertical arm 204 is provided, and the vertical arms 205 and 206 are provided at both ends of the other member 203, and the positioning convex portion 207 to be inserted into the concave portion 151 of the carriage 15 is formed at the lower end portion of the vertical arm 204. Vertical arm 205, 206
At the lower end of each of the recesses 152, 15 of the carriage 15, respectively.
3 is provided with positioning protrusions 208 and 209 to be inserted into the connector 3.

The convex portions 207, 208, 209 are
It is formed in a truncated cylindrical shape so that it can be easily inserted into the concave portions 151, 152, 153 of the carriage 15. In contrast to the concave portions 151, 152, 153 of the carriage 15, the convex portion 207
The falling dimension h4 from the “T” -shaped arm 201 is the falling dimension h5, h6 (= h) of the other protrusions 208, 209.
It is set smaller than 5). The difference (h5-h4) in the falling dimension is the difference between the holes 167 of the encopa 16 and the front side circular holes 175a, 175 of the front floor 17.
5b is equal to the difference in height dimension.

Next, the procedure for positioning the encopa 16 which is an example of the work on the carriage 15 by using the positioning robot 20 will be described. First, in FIG. 1, for example, when the carriage 15 on which the encopa 16 is placed is transferred from the lifting device 13 at the left end of FIG. 1 to the upper outward path 11, the truck 15 moves the upper outward path 11 to the right side in the figure. Being transported,
Come to position P1.

For example, when the encopa 16 is positioned on the carriage 15 at the position P1, the positioning robot 2
The positioning convex portion 207 of 0 is provided with the hole 167 of the encopa 16.
Through the positioning recess 151 of the carriage 15. In addition, the convex portions 208, 209 of the positioning robot 20
Are inserted into the recesses 152 and 153 of the carriage 15 located outside the front side members 164 and 164. Then, the convex portions 207, 208, 209 of the positioning robot 20 engage with the concave portions 151, 152, 153 of the dolly 15 to position the dolly 15 and the positioning robot 20 with high accuracy, and the encopa 16 Is positioned on the carriage 15 with high precision.

FIG. 6 shows the convex portion 20 of the positioning robot 20.
7, 208 and 209 are concave portions 151, 152 of the truck 15,
153 shows the inserted state. That is, this not only enables highly accurate positioning of the encopa 16 on the carriage 15 in the horizontal plane, but also as described above.
The height position of the recess 151 of No. 5 is different from that of the other two recesses 152, 153.
Can be positioned with high accuracy even in the vertical direction.

Incidentally, in FIG. 6, in order to facilitate understanding of the positioning state between the carriage 15 and the positioning robot 20, the concave portion 151 portion of the carriage 15 (the convex portion 207 portion of the positioning robot 20) positioned forward and backward with respect to the paper surface. And the concave portions 152 and 153 of the carriage 15 (the convex portion 2 of the positioning robot 20).
(Parts 08 and 209) are shown in cross section.

When the positioning of the encopa 16 is completed in this way, the carriage 15 is conveyed to the next position P2. Thereafter, the front floor 17 is positioned and temporarily welded at the position P2, and the main welding is performed at the position P3. Further, the front pillar lower inner 18 is positioned and temporarily welded at the position P4, and main welding is performed at the position P5. Further, the cowl inner 19 is positioned and provisionally welded at the position P6, and main welded at the position P7.

If the carriage 15 of the present invention is used, the positioning projections 207 and 2 are provided at three positions similar to those of the positioning robot 20.
By using the handling robot having 08 and 209 together, the front floor 17, the front pillar lower inner 18, the cowl inner 19 and the like can be sequentially positioned and assembled at predetermined positions of the encopa 16, as described above.

For example, when the front floor 17 is positioned on the encopa 16 at the position P2, the handling robot having the positioning projections 207, 208 and 209 at the same three locations as described above (however, the projections 20 at the two locations)
8 and 209 internally include a clamp mechanism portion that is inserted into the holes 175a and 175b on the front side of the front floor 17 and protrudes and clamps the front floor 17). After being inserted into the round holes 175a and 175b on the front side of the front floor 17, the front floor 17 is clamped by the protrusion of the clamp member of the clamp mechanism portion and transferred to the position of the encopa 16.

Front floor 1 with handling robot
When 7 is clamped and transferred to the position of Encopa 16, the convex portion 207 of the handling robot is moved as described above.
Through the hole 167 of the encopa 16 and is inserted into the recess 151 of the dolly 15, and the other projections 208, 209
Is a round hole 175a on the front side of the front floor 17,
The recesses 152, 15 of the truck 15 located below 175b
Insert in 3. Then, the recesses 151, 15 of the carriage 15
2, 153, convex portions 207, 2 of the handling robot
The carriage 15 and the handling robot are positioned by the engagement of 08 and 209, whereby the encopa 16 and the front floor 17 are positioned with high accuracy. Therefore, the temporary welding is immediately performed. When the temporary welding is completed, the carriage 15 is transported to the position P3, and the main welding is performed.

When positioning the front pillar lower inner 18 to the encopa 16, the positioning robot 2 is used.
Positioning projections 207, 208, 2 at three locations similar to 0
The handling of the front pillar lower inner 18 with respect to the encopa 16 can be performed using a handling robot having 09 (however, the clamp mechanism portion of the front pillar lower inner 18 is included).

Further, a cowl inner 19 is provided in a recess formed by the encopa 16 and the front pillar lower inner 18.
When positioning the robot, the handling robot having the positioning projections 207, 208, and 209 at three locations similar to the positioning robot 20 (however, the cowl inner 1
9), the cowl inner 19 can be positioned.

FIG. 7 is a plan view of a positioning robot 30 according to another embodiment of the present invention, FIG. 8 is a side view thereof, and FIG. 9 is a front view thereof. That is, the positioning robot 20 of FIG. 5 uses the “T” -shaped arm 201, whereas this embodiment is different in that the frame-shaped frame 301 is used.

This frame-shaped frame 301 has a pair of horizontal arms 302 and 303, a vertical arm 304 below the center of one horizontal arm 302, and the other horizontal arm 30.
Vertical arms 305 and 306 are provided in the vicinity of both end portions of 3.
Then, a positioning projection 307 to be inserted into the positioning recess 151 of the carriage 15 at the lower end of the vertical arm 304.
The vertical arm 305, 306 at the lower end of the carriage 15
The positioning projections 308 and 309 are inserted into the positioning recesses 152 and 153. That is, the positioning projections 207, 208, 20 of the positioning robot 20.
Positioning protrusions 307, 308, and 309 are provided at positions corresponding to 9 and corresponding heights.

Therefore, also in the positioning robot 30 of the present embodiment, as in the case of the positioning robot 20, the positioning convex portion 307 is passed through the workpiece, for example, the hole 167 of the encopa 16 and the positioning concave portion 15 of the carriage 15.
1, and the positioning projections 30307, 3
08 and 309 are positioning recesses 15 located on the sides of the front side members 164 and 164 of the encopa 16.
By inserting the encoders 2 and 153, the encopa 16 can be positioned on the carriage 15 with high accuracy.

Moreover, the positioning robot 3 of this embodiment
0 uses the frame-shaped frame 301, so that the frame-shaped frame 301 is less likely to be deformed than the positioning robot 20 using the “T” -shaped arm 201. Therefore, the positioning convex portions 307, 308, There is an advantage that the horizontal position and height position of 309 can be stably maintained.

Although the above embodiment has been described with respect to a specific configuration, the present invention is not limited to this embodiment, and various modifications can be made.

For example, in the above embodiment, the case where the encopa 16 is positioned as an example of the work has been described. Therefore, the height dimension of the recess 151 of the carriage 15 is different from that of the other recess 1.
52, 153 is larger than the height dimension of the convex portion 207 (307) of the positioning robot 20 (30), and the falling dimension of the convex portion 207 (307) is different from the convex portions 208 (308), 209 (309).
Although the case where the height position of the positioning portion of the workpiece to be positioned is opposite to the above, naturally, the height dimension and the fall dimension relationship are opposite to the above. To do. When there is no difference in the positioning height position of each work, naturally, each recess 15 of the carriage 15
1, 152, 153 and the positioning robot 20 (3
0) convex portions 207, 208, 209 (307, 308,
309) have the same height dimension.

Although the above embodiment has been described with respect to the positioning and assembly of the chassis of the automobile, it can be similarly applied to any work other than the chassis of the automobile.

Further, in the above embodiment, the carriage 15 is provided with the positioning recesses 151, 152, 153, and the positioning robot 20 (30) is provided with the positioning projections 207, 208 ,.
Although the case where the 209 (307, 308, 309) is provided has been described, conversely, the carriage 15 may be provided with the positioning projection and the positioning robot 20 (30) may be provided with the positioning recess. According to this structure, since the truck 15 on the lower side does not have the upward concave portion, dust is not accumulated in the concave portion, and high positioning accuracy can be maintained for a long period of time.

[0045]

As described above, according to the present invention, the positioning recess is provided at the center of the one member in the width direction of the two members to be positioned relative to each other, and the positioning recess is provided at both ends in the width direction. Since the positioning projections are provided at three locations corresponding to the respective positioning recesses of the side member, at least one projection of one side member is passed through the hole of the work to the other side member. The work can be positioned with high accuracy by inserting the work into the recess.

Further, by providing the positioning recess in the central portion of the one member, it goes without saying that the positioning portion of the workpiece to be positioned is in the central portion of the workpiece.
The work can be positioned even at a position eccentric from the central portion, and a wide variety of works can be accommodated.

[Brief description of drawings]

FIG. 1 is a schematic side view of a work assembling apparatus incorporating a positioning device according to an embodiment of the present invention.

FIG. 2 is an exploded perspective view of a chassis that is an example of a work to be positioned in the work assembling apparatus of FIG.

FIG. 3A is an enlarged plan view of an engine compartment of a chassis that is an example of a work, and FIG. 3B is an enlarged side view thereof.

FIG. 4 is a schematic perspective view of an embodiment of a carriage that is an example of one side member in the positioning device of the present invention.

FIG. 5 is a schematic bottom perspective view of a positioning robot that is an example of the other member of the positioning device of the present invention.

FIG. 6 is a schematic side view showing a state in which the one member and the other member are engaged with each other to position the workpiece in the positioning device of the present invention.

FIG. 7 is a plan view of a positioning robot which is the other side member of another embodiment of the positioning device of the present invention.

8 is a side view of the positioning robot of FIG. 7. FIG.

9 is a front view of the positioning robot of FIG. 7. FIG.

[Explanation of symbols]

10 upper and lower two-stage type transport mechanism section 11 upper outward path 12 lower return path 13, 14 lifting device 15 one side member (front floor jig pallet trolley) 151, 152, 153 positioning recess 16 work (engine compartment) 17 work ( Front floor) 18 Work (front pillar lower inner) 19 Work (cowl inner) 20,30 Positioning robot 207, 208, 209, 307, 308, 309 Positioning convex part

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 3C030 CC04 DA24 DA27 DA35 DA37                 3D114 AA12 AA15 BA01 CA05 DA05                       DA17 FA16 GA01

Claims (4)

[Claims] 1. A positioning recess is provided at a widthwise center of one side member of the two members to be positioned relative to each other, and positioning recesses are provided at both ends in the width direction, and the positioning recess positions of the other side member are provided. A positioning device having positioning protrusions provided at three locations corresponding to. 2. The positioning recess and the projection of at least one of the three positioning recesses and the projections are different from the other two of the positioning recesses and the projections. The positioning device according to claim 1. 3. The positioning recess and projection at least one of the three positioning recesses and projections are provided at different height positions than the positioning recess and projection at other locations. The positioning device according to claim 1, wherein the positioning device is provided. 4. The method according to claim 1, wherein the one side member is a dolly that conveys a work, and the other side member is a positioning robot for the work or a handling robot that also functions as a positioning robot. Positioning device.