JP2003145371A - Workpiece carrying and assembling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a workpiece carrying and assembling device for carrying and assembling a pair of workpieces such as plate apron reinforcements (RERs) to a main workpiece such as a white body. SOLUTION: The workpiece carrying and assembling device comprises a workpiece supply part 10, a horizontal circulating truck 11 for carrying the main workpiece W, a first robot 12 arranged outside the horizontal circulating truck 11, a second robot 13 arranged inside the horizontal circulating truck 11, and workpiece placing jigs 14, 15 arranged outside the horizontal circulating truck and adjacent thereto. The workpieces such as the RERs are supplied to the workpiece supply part 10, the first robot 12 attracts two workpieces W1, W2 and carries them to the workpiece placing jigs 14, 15 for positioning them, and then the first robot 12 assembles the workpiece W1 on the right side of the main workpiece W such as the white body and the second robot 13 assembles the other workpiece W2 on the left side of the workpiece W.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work conveying and assembling apparatus for conveying a part work and assembling it to a main work, and more particularly to conveying and assembling a plurality of works such as a plate apron reinforcement to a white body of an automobile. The present invention relates to a work transfer and assembling apparatus suitable for carrying out the work.

[0002]

2. Description of the Related Art For example, on a white body of an automobile, a plate apron reinforcement (also referred to as a plate apron lean force or a fender apron) (hereinafter, referred to as P
When assembling a pair of left and right parts such as ER), the white body placed on the truck is intermittently transported and assembled.

FIG. 3 (a) is a schematic plan view of the engine compartment 20 with the PER assembled, and FIG. 3 (b) is a schematic side view thereof. In FIG. 3A and FIG.
Is a front apron, 22a is a right PER, 22b is a left PER, 23 is a dash panel, and 24 is a front side member.

When assembling these PERs 22a and 22b, as a revolving track, a two-stage vertical revolving track having an upper forward path and a lower return path may be used, and a horizontal revolving track may be used. .

In the case of using the former two-stage upper and lower revolving track having an upper outward path and a lower return path, the first robot and the second robot are arranged on both sides of the upper and lower revolving track, and the respective robots are provided. Left and right PERs 22a, 22
b can be supplied by a work transfer device having a simple structure.

[0006]

However, when the latter horizontal orbiting track is used, it is easy to supply the PER to the robot placed outside the horizontal orbiting track, but it is placed inside the horizontal orbiting track. It is not easy to supply PER to a robot that has been installed. Therefore, either the work transfer device is required to be installed over the horizontal track, or the work transfer device is provided in the pit by digging a pit on the floor surface.

However, no matter which work transfer device is provided, the initial investment amount is high, and in particular, when the work transfer device is provided across the former horizontal track, the pillars and the like of the work transfer device are the same as those of the assembly robot. There is a problem in that the degree of freedom in designing the layout is limited because it interferes with the installation and work transfer by the assembly robot.

On the other hand, digging a pit on the floor of the latter is
Although the above problems do not occur, it is difficult to dig a pit on the floor surface, the initial investment amount is very high, and it is difficult to perform maintenance work on the work transfer path in the pit. There was a point. In addition, if the pit depth is increased in order to facilitate maintenance work in the pit, there is a problem in that the initial investment amount becomes higher and higher.

The present invention has been proposed in order to solve such a problem, and a horizontal orbiting truck is used to convey and assemble a part work such as PER to a main work such as a white body of an automobile. An object of the present invention is to provide a work transfer and assembling apparatus capable of performing the work transfer.

[0010]

SUMMARY OF THE INVENTION In order to solve the above problems, a work transfer and assembly apparatus according to a first aspect of the present invention has a horizontal track and a plurality of works arranged outside the horizontal track. A first robot for transporting the workpiece and assembling a part of the workpiece to the main workpiece on the horizontal circulating track; a workpiece placing jig for placing a plurality of workpieces transported by the first robot; It is characterized by further comprising a second robot arranged inside the orbiting track and for assembling the other work of the work placement jig to the main work on the horizontal orbiting track.

According to such a work transfer and assembly apparatus,
A first robot arranged outside the horizontal track transports a plurality of works to a work placement jig, and some of the plurality of works are assembled by the first robot and the work placement is performed. Other workpieces placed on the jig can be picked up and assembled by the second robot arranged inside the horizontal track. Therefore, as compared with the case where the work transfer device is provided across the horizontal track, the support posts of the work transfer device do not interfere with the installation of the second robot and the transfer of the work. Further, since it is not necessary to dig a pit on the floor surface, not only the initial investment amount can be greatly reduced, but also maintenance work is significantly facilitated.

A second aspect of the present invention is the work transfer and assembling apparatus, wherein the main work is a white body of an automobile and the plurality of works are PER.

According to the above-described work transfer / assembling apparatus, in addition to the above-described function and effect, one PER of the first robot is used by the first robot for the white body intermittently transferred on the horizontal circulation track.
, And the other PER can be assembled with the second robot. Here, the “white body” means a body before painting with the hood, fender, front balance, cowl louver, door, luggage etc. attached to the main body.

A work transfer and assembly apparatus according to a third aspect of the present invention is characterized in that the work placing jig has a positioning mechanism for positioning the PER. As the positioning mechanism section, a known XY-θ table or one having two or four positioning claws can be used.

According to the work transfer / assembling apparatus described above, the first
Since the workpieces such as PER transported by the robot are positioned by the workpiece placing jig, the workpieces such as PER transported by the first robot do not necessarily have to be highly positioned, and are efficient workpieces. Can be transported.
Further, since this positioning operation is performed during the transfer of the work by the first robot or during the assembly of the work by the first and second robots, the tact time is not lengthened by the positioning operation. Moreover, since the work such as PER positioned by the work placement jig is assembled to the main work such as the white body by the first robot and the second robot, the work such as PER can be accurately performed with respect to the main work. Can be assembled.

According to a fourth aspect of the present invention, there is provided the work transporting / assembling apparatus, wherein the white body is transported backward on a horizontal track.

According to the work transfer / assembling apparatus described above, after the white body has passed the positions of the first robot and the second robot, the PE is moved by the first robot and the second robot.
A work such as R can be attached to the front of the white body. Therefore, the height dimension of the second robot and the second robot can be reduced, and the cost can be reduced.

In the work transfer / assembling apparatus according to a fifth aspect of the present invention, the first robot temporarily mounts a work on the work mounting jig and positions the work by the work mounting jig. The work is assembled to the main work.

According to the work transfer / assembling apparatus described above, the first
The robot performs rough transfer of the work such as PER to the work placement jig, and after positioning with the work placement jig,
Again, since the work such as PER is assembled to the main work such as the white body by the first robot, the work can be assembled with high accuracy. In addition, the positioning mechanism of the first robot can be eliminated or simplified.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to FIGS. FIG. 1 is a schematic plan view of an example of the work assembling apparatus, and FIG. 2 is an enlarged front view of a main part of a work holding portion of the first robot in the work assembling apparatus of FIG.

The work transporting and assembling apparatus shown in FIG. 1 intermittently transports a work supply unit 10 and a main work W such as a white body with its rear portion forward in the traveling direction.
1, a first robot 12 arranged outside the horizontal track 11, a second robot 13 arranged inside the horizontal track 11, and the horizontal track 11
And the work placement jigs 14 and 15 disposed outside the above and adjacent to the horizontal circulating track 11.

As shown in FIG. 2, the first robot 12 has work holding portions 122 and 123 at two positions on the tip of an arm 121 which can be swiveled horizontally and vertically and which can be moved vertically. Have, each work holding unit 1
Reference numeral 22 and 123 denote one or a plurality of work suction portions 122.
a, 123a.

The second robot 13 is capable of swinging in the horizontal and vertical directions and is capable of moving up and down.
A work holding portion 132 is provided at the tip of the work piece 31, and one or a plurality of work suction portions 132 are attached to the work holding portion 132.
a (see the work suction portions 122a and 123a in FIG. 2).

Although not shown, the work placing jigs 14 and 15 each have a positioning mechanism section such as an XY-θ table and two or four positioning claws.
When the works W1 and W2 such as PER transported by the first robot 12 are placed, they are positioned by the operation of the positioning mechanism section.

Next, in the above-described work transfer / assembling apparatus, the white body W as the main work and the PE as the work are
The operation when transporting and assembling the RW1 and W2 will be described. First, the right side PERW1,
The left PERW 2 is lined up and supplied. In this case, P
The ERW1 and W2 may be supplied to the work supply unit 10 one by one, or a plurality of ERW1 and W2 may be stacked and supplied.

While the white body W placed on the horizontal track 11 is being intermittently fed, or as shown in FIG. 1, the first robot 12 and the second robot 13 are moved.
When passing through the position and stopping, the arm 121 of the first robot 12 is rotated and lowered in the clockwise direction, and the work suction parts 122a and 123a simultaneously suck and hold the right side PERW1 and the left side PERW2 from the work supply part 10, respectively. To do.

Then, the arm 121 is raised and rotated counterclockwise, and when the work suction portions 122a and 123a are located above the work placement jigs 14 and 15, they are lowered to stop vacuum suction, Alternatively, relatively weak compressed air is positively ejected to release the PERW1 and W2 from the work adsorbing portions 122a and 123a, the right PERW1 is placed on the work placement jig 14, and the left PERW2 is placed on the work. Place it on the jig 15.

Next, the right side PERW1 and the left side PERW2 placed on the work placement jigs 14 and 15 are positioned by the work placement jigs 14 and 15, respectively. This positioning is performed by the white body W in which the first robot 12 and the second robot 13 are intermittently transported on the horizontal track 11.
On the other hand, the PERW1 for the right side and the PERW2 for the left side are respectively corrected to a direction and a position where they can be positioned at predetermined positions.

Next, the right-side PERW 1 positioned by the work placing jig 14 is attached to the suction portion 122 of the first robot 12.
a at a predetermined position on the right side (left side with respect to the traveling direction) of the front portion (that is, rear portion with respect to the traveling direction) of the white body W, which is disposed with the rear portion in front of the traveling direction. Position and assemble with welding robot or bolting robot. At the same time, the left PERW 2 positioned by the work placement device 15 is sucked by the suction portion 132a of the second robot 13 and positioned at a predetermined position on the front left side of the white body W (right side with respect to the traveling direction). , Welding robot or bolting robot.

PERW1 for the right side and PERW2 for the left side
Is completed, the first robot 12 and the second robot 12
The robot 13 ascends, turns horizontally, and retreats from the horizontal circuit truck 11. Then, horizontal track 1
The white body W is intermittently fed in the direction indicated by the arrow (clockwise direction) on the upper side of the first position, and the next white body W comes to a predetermined assembly position.

Thereafter, in the same manner as described above, the first robot 12 conveys the PERW1 and W2, and the work placing jigs 14 and 1 are transferred.
5 and place the work placement jigs 14 and 15 on the PERW1,
W2 is positioned and the first robot 12 and the second robot 1
3, the PERW1 and W2 are simultaneously positioned on the right side and the left side of the front part of the white body W, and are assembled by the welding robot or the bolt tightening robot.

Although the above embodiment has been described with respect to a specific configuration, the present invention is not limited to the configuration shown in this embodiment, and various modifications are possible.

For example, in the above-described embodiment, the case where the PERW1 and W2 are assembled to the white body W has been described, but the same can be applied to the transportation and assembly of another pair of left and right automobile works. .

Alternatively, the invention can be carried out in the transportation and assembly of works other than automobiles.

[0035]

As described above, according to the present invention, a horizontal orbiting track and a plurality of works arranged outside the horizontal orbiting track are conveyed, and a part of the works is attached to a main work on the horizontal orbiting track. A first robot for carrying out the work, a work placing jig for placing a plurality of works carried by the first robot, and a work placing jig disposed inside the horizontal orbiting track for horizontally placing other works of the work placing jig. The first robot can convey a plurality of works because it is provided with a second robot for assembling the main work on the circulating track. Further, the first robot can assemble a part of the work, and the second robot can assemble another work.

Further, since the second robot is used to go over the horizontal orbiting track to receive the work and to assemble it as it is, a conventional work conveying device for conveying the work over the horizontal orbiting track is not required. , It does not interfere with the installation of robots and the transfer of workpieces by robots.

Moreover, as compared with the case of digging a pit on the floor surface, it is not necessary to dig a pit, the initial investment can be greatly reduced, and difficult maintenance work in the pit can be eliminated.

[Brief description of drawings]

FIG. 1 is a schematic plan view of a work transfer and assembly device according to an embodiment of the present invention.

FIG. 2 is an enlarged front view of a main part of a first robot in the work transfer and assembly device of FIG.

FIG. 3A is an enlarged plan view of an engine compartment in which a plate apron reinforcement is assembled,
(B) is the expanded side view.

[Explanation of symbols]

10 Work Supply Unit 11 Horizontal Circulation Track 12 First Robot 13 Second Robot 14, 15 Work Placement Tool W Main Work (White Body) W1, W2 Work (PER = Plate Apron Reinforce)

Claims (5)

[Claims] 1. A horizontal orbiting track, a first robot which is arranged outside the horizontal orbiting track, conveys a plurality of works and assembles a part of the works to a main work on the horizontal orbiting track, and the first robot. 1 A work placing jig for placing a plurality of works conveyed by a robot, and another work placed on the inside of the horizontal orbiting track and attached to the main work on the horizontal orbiting track. A work transfer and assembly apparatus comprising a second robot for performing the work. 2. The work transfer and assembling apparatus according to claim 1, wherein the main work is a white body of an automobile, and the plurality of works are plate apron reinforcements. 3. The work transfer and assembly apparatus according to claim 1, wherein the work placement jig has a positioning mechanism for positioning the plate apron reinforcement. 4. The white body is transported rearward on a horizontal track.
The work transfer and assembly device according to any one of 1. 5. The first robot temporarily mounts a work on the work mounting jig, and assembles the work positioned by the work mounting jig to the main work. Item 5. The work transfer and assembly device according to any one of items 1 to 4.