JP2011093356A - Work mounting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a work mounting device capable of automatically mounting work to a vehicle body. <P>SOLUTION: The work mounting device 10 controls a rotation mechanism 60 and a moving mechanism 110 so as to correct a position and a posture of a roof glass 151 by a controlling means 200, on the basis of positional deviation amount between an end portion 172 of an opening 171 and an end portion 173 of the roof glass 151 which is detected by a sensor 180 and positional deviation amount between an end portion 181 of the opening 171 and an end portion 182 of the roof glass 151 which is detected by a sensor 190. After the positional deviation between an end portion of the vehicle body 11 and the end portion of the roof glass 151 is automatically resolved, the roof glass 151 is mounted to the vehicle body 11. Therefore, the work mounting device 10 capable of automatically mounting the roof glass 151 to the vehicle body 11 can be provided. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a workpiece attachment device.

  In the vehicle assembly line, various workpieces are attached to the vehicle body being conveyed by a conveyor. In order to increase the production efficiency of the vehicle, it is necessary to smoothly attach the workpiece to the vehicle body being transported so as not to stop the vehicle assembly line.

  Conventionally, as a technique for smoothly attaching a workpiece to a vehicle body being conveyed, various workpiece attachment technologies for attaching a workpiece to a vehicle body while synchronously conveying the vehicle body and the workpiece have been proposed (for example, Patent Document 1 (FIGS. 1 and 6)). reference.).

Patent document 1 is demonstrated based on the following figure.
FIG. 17 is a diagram for explaining a basic configuration of a conventional technique. A workpiece attachment device 300 includes a first support member 302 that is movably supported by a guide rail 301, and an elevating means 303 that is provided on the first support member 302. A second support member 304 supported so as to be movable up and down, a third support member 305 provided on the second support member 304 so as to be movable in a direction orthogonal to the conveyance path, and a front end of the third support member 305. Two vehicle body abutting members 309 that abut on the upper edge 308 of the front opening 307 of the vehicle body 306, a copying roller 312 that is provided in the middle part of the third support member 305 and fits in the groove 311 of the vehicle body 306, Four workpiece adsorbing means 314 provided at the intermediate portion and the rear end of the support member 305 for adsorbing the workpiece 313, and four pieces provided by the operator at the intermediate portion and the rear end of the third support member 305. And a grip portion 315. The operation of the workpiece attachment device 300 will be described with reference to the next figure.

  FIG. 18 is a diagram for explaining the operation of the prior art. When the operator grasps the grip portion 315 and moves the third support member 305 to the upstream side (left side in the drawing), the vehicle body contact member 309 is As indicated by the imaginary line, the workpiece abuts against the upper edge 308 of the front opening 307 of the vehicle body 306, so that the positioning of the workpiece attachment device 300 in the conveyance path direction is completed. At the same time, the copying roller 312 fits into the groove 311 of the vehicle body 306 as indicated by an imaginary line, so that the positioning of the workpiece attachment device in the vehicle width direction is completed.

  Since the operator only has to lower the workpiece 313 after the positioning of the workpiece attachment device 300 is completed and attach the workpiece 313 to the attachment portion of the vehicle body 306, the operator can smoothly attach the workpiece 313 to the vehicle body 306 being conveyed.

  By the way, in this work attachment device 300, since the worker performs the work of attaching the work 313 to the vehicle body 306, the work cost increases. In order to reduce the work cost, it is necessary to further save the work of attaching the work.

  Therefore, there is a need for a workpiece attachment device that can automatically attach a workpiece to a vehicle body.

JP 2007-223374 A

  It is an object of the present invention to provide a workpiece attachment device that can automatically attach a workpiece to a vehicle body.

  According to the first aspect of the present invention, a first support member that is movably supported by a guide rail disposed along a conveyance path through which the vehicle body is conveyed, and the first support member can be moved up and down via a lifting unit. A second support member supported by the second support member, a third support member supported by the second support member so as to be rotatable about an axis extending from the vertical axis of the lifting means, and the second support member. A rotation mechanism provided to rotate the third support member; a fourth support member supported by the third support member so as to be movable in a direction orthogonal to the conveyance path; and the third support member. A moving mechanism for moving the fourth support member, a work suction means provided on the fourth support member for sucking a work, and a contact with the vehicle body being conveyed provided on the fourth support member together with the vehicle body. A moving body contact member and A sensor that is provided on the fourth support member and detects a displacement amount between the end portion of the vehicle body and the end portion of the workpiece, and based on the displacement amount detected by the sensor, the position and posture of the workpiece are determined. And a control means for controlling the rotating mechanism and the moving mechanism for correction.

  In the invention which concerns on Claim 2, between the rotation mechanism and the 3rd support member, the connection / disconnection mechanism which connects the said rotation mechanism and the said 3rd support member, or cancels | releases this connection is interposed. And

  The invention according to claim 3 is characterized in that the third support member is provided with a contact member separation preventing mechanism for preventing the vehicle body contact member in contact with the vehicle body from separating from the vehicle body.

  In the invention according to claim 1, the workpiece attachment device includes a rotation mechanism for correcting the position and posture of the workpiece by the control means based on the amount of positional deviation between the end portion of the vehicle body and the end portion of the workpiece detected by the sensor. Since the movement mechanism is controlled, the positional deviation between the end of the vehicle body and the end of the workpiece can be automatically resolved. After the displacement is eliminated, the work is lowered by the lifting means and attached to the vehicle body. According to the first aspect of the present invention, it is possible to provide a workpiece attachment device that can automatically attach a workpiece to a vehicle body.

  In the invention according to claim 2, since the continuous mechanism for connecting the rotational mechanism and the third support member or for releasing the connection is interposed between the rotational mechanism and the third support member, the continuous mechanism Is in a disconnected state, and when the external force is applied to the third support member or an object is contacted, the third support member can rotate. When the work is attached to the attachment part of the vehicle body, the third support member can be rotated by releasing the connection between the rotation mechanism and the third support member. Can be installed following the end of the vehicle body.

  In the invention according to claim 3, the third support member includes a contact member separation preventing mechanism that prevents the vehicle body contact member that is in contact with the vehicle body from being separated from the vehicle body. By using the contact member separation preventing mechanism, when the vehicle body comes into contact with the vehicle body contact member, the separation prevention member can be brought into contact with the vehicle body, so that separation of the vehicle body and the work attachment device can be prevented.

It is a perspective view of the workpiece | work attachment apparatus which concerns on this invention. FIG. 2 is a sectional view taken along line 2-2 of FIG. FIG. 3 is an enlarged view of part 3 of FIG. 1. It is a figure explaining the effect | action of a rotation mechanism and a 1st disconnection mechanism. FIG. 5 is an enlarged view of part 5 of FIG. 1. FIG. 6 is an enlarged view of 6 parts in FIG. 1. It is a figure explaining the effect | action of an abutting member isolation | separation prevention mechanism. It is a figure explaining an effect | action until a vehicle body contact member is made to contact | abut to a vehicle body. It is a figure explaining an effect | action until it shakes down a separation prevention member. It is a figure explaining an effect | action until a separation prevention member is made to contact a vehicle body. It is a figure explaining the detection of the positional offset amount of a vehicle body edge part and a roof glass edge part. It is a figure explaining the detection of the positional offset amount of a vehicle body center and a roof glass center. It is a figure explaining the effect | action until the positioning completion of a vehicle body and a roof glass. It is a figure explaining an effect | action until affixing a roof glass to an adhesive agent. It is a figure explaining an effect | action until a 1st disconnection mechanism and a 2nd disconnection mechanism are made into a floating state. It is a figure explaining the effect | action until the completion of attachment of a roof glass. It is a figure explaining the basic composition of the conventional technology. It is a figure explaining the effect | action of a prior art.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. The drawings are viewed in the direction of the reference numerals. In the following description, the workpiece is described as a roof glass, and the lifting means is described as a cylinder unit.

Embodiments of the present invention will be described with reference to the drawings.
In FIG. 1, a white arrow indicates a traveling direction of the vehicle body conveyance. Also, the forward direction of the transport path is “front”, the reverse direction of the transport path is “rear”, the left side of the worker is “left” with the operator facing the forward direction of the transport path, The right side will be described as “right”.

  The workpiece attachment device 10 includes a first support member 20 that is movably supported by guide rails 12 and 12 disposed along a conveyance path (described later) through which the vehicle body 11 is conveyed, and the first support member 20. A second support member 30 (details will be described later) supported by a pneumatic cylinder unit 21 so as to be movable up and down, and an axis line (details will be described later) extended from the axis of the cylinder unit 21 in the up and down direction of the second support member 30. A third support member 50 (details will be described later) supported so as to be rotatable around, a rotation mechanism 60 (details will be described later) provided on the second support member 30 to rotate the third support member 50, and a third support member; A fourth support member 100 (details will be described later) supported so as to be movable in a direction orthogonal to the conveyance path 50 and a moving mechanism 110 (details) provided on the third support member 50 to move the fourth support member 100. 4), the four workpiece adsorbing means 160 for adsorbing the roof glass 151 provided on the left front, right front, left rear, and right rear of the fourth support member 100, and the front end 161 provided on the front end 161 of the fourth support member 100. Two vehicle body contact members 170 that extend downward from the vehicle and move together with the vehicle body 11 while contacting the vehicle body 11 being conveyed, and the left end portion of the opening 171 of the vehicle body 11 provided in front of the fourth support member 100 172 and the left end 173 of the roof glass 151, an optical front sensor 180 that detects the amount of displacement between the left end 173 of the roof glass 151, the left end 181 of the opening 171 of the vehicle body 11 provided to the left of the fourth support member 100, and the left end of the roof glass 151. Based on the optical rear sensor 190 that detects the amount of positional deviation with respect to the part 182, and the amount of positional deviation detected by the front sensor 180 and the rear sensor 190, The third control such is provided a controller in the support member 50 means 200 controls the rotation mechanism 60 and the moving mechanism 110 to correct the position and orientation of Fugarasu 151 (details described later), and a.

  The left end portion of the third support member 50 is provided with a contact member separation preventing mechanism 210 (details will be described later) that prevents the vehicle body contact member 170 contacting the vehicle body 11 from separating from the vehicle body 11. . The contact member separation preventing mechanism 210 is provided at the left end portion of the third support member 50 in the embodiment, but may be provided at the right end portion of the third support member 50.

  At the left front, right front, left rear, and right rear of the fourth support member 100, there are provided four grip portions 237 that extend in a direction orthogonal to the conveyance path and are gripped by the operator. The grip portion 237 is used for an operator to manually operate the workpiece attachment device 10 when an unexpected power failure or device failure occurs. Next, detailed structures of the second support member 30, the third support member 50, and the fourth support member 100 will be described.

  As shown in FIG. 2, a receiving seat 31 is attached to the upper surface of the second support member 30, and a shaft 33 extending in the vertical direction is rotatably supported by a bearing 32 provided on the receiving seat 31. .

  A lever 34 that extends forward is attached to the upper end of the shaft 33, and a first roller 35 (described in detail later) is rotatably attached to the front end of the lever 34. Further, the lower end of the shaft 33 is connected to the third support member 50 via the connecting member 36.

  In addition, a first disconnecting mechanism 70 (described later in detail) is provided on the upper portion of the rotation mechanism 60, and the first interrupting mechanism 70 is a first concave member 71 (described later in detail) that is fitted to the first roller 35. ). The first cut-off mechanism 70 is a mechanism for connecting the rotation mechanism 60 and the lever 34 by fitting the first concave member 71 to the first roller 35, and the first concave member 71 from the first roller 35. It is a mechanism that releases the connection between the rotation mechanism 60 and the lever 34 by removing the rotation mechanism 60. The first roller 35, the lever 34, the shaft 33, and the connecting member 36 are integrated with the third support member 50.

  That is, the rotation mechanism 60 and the third support member 50 are connected between the rotation mechanism 60 and the third support member 50 (details will be described later), or the connection is released (details will be described later). It is installed.

  On the lower surface of the third support member 50, two guide rails 51 are provided that extend along a direction orthogonal to the conveyance path (the front and back direction), and these guide rails 51 extend along a direction orthogonal to the conveyance path. The two sliders 52 that move freely are fitted. The fourth support member 100 is attached to the lower surfaces of these sliders 52 via bases 53 and 53.

  The fourth support member 100 includes a longitudinal member 101 extending in the front-rear direction, a front connection member 102 attached to the front side of the longitudinal member 101, and a rear connection member attached to the rear side of the longitudinal member 101. 103 and a longitudinal member (reference numeral 104 in FIG. 1) attached to the front side connecting member 102 and the rear side connecting member 103. A second roller 105 (described in detail later) is rotatably attached to the upper surface of the front connection member 102.

  In addition, a second connection mechanism 120 (details will be described later) is provided at the front portion of the moving mechanism 110, and the second connection mechanism 120 is provided with a second concave member 121 (details) that fits the second roller 105. Provided below. The second continuous disconnecting mechanism 120 is a mechanism for connecting the moving mechanism 110 and the front side connecting member 102 by fitting the second concave member 121 to the second roller 105, and the second concave member 121 is connected to the second roller. It is a mechanism for releasing the connection between the moving mechanism 110 and the front side connecting member 102 by removing it from 105. The second roller 105 is integrated with the fourth support member 100.

  That is, the second disconnecting mechanism 120 is connected between the moving mechanism 110 and the fourth support member 100 to connect the moving mechanism 110 and the fourth support member 100 (details will be described later) or to release the connection (details will be described later). It is installed. Next, the operation principle of the fourth support member 100 will be described.

  With the first concave member 71 fitted to the first roller 35 and the second concave member 121 fitted to the second roller 105, the lever 34 is orthogonal to the conveyance path by the operation of the rotation mechanism 60 (details will be described later). Press in the direction you want.

  When the lever 34 is pressed, the shaft 33, the connecting member 36, and the third support member 50 are centered on the axis 37 that is the center line of the shaft 33 and that is extended from the axis of the cylinder unit (reference numeral 21 in FIG. 1). The guide rail 51, the slider 52, the base 53, the moving mechanism 110, the second continuous disconnecting mechanism 120, and the fourth support member 100 rotate. Therefore, the roof glass (reference numeral 151 in FIG. 1) adsorbed by the workpiece adsorbing means (reference numeral 160 in FIG. 1) also rotates. Even when the lever 34 is pulled in a direction perpendicular to the conveyance path, the roof glass rotates as described above.

  On the other hand, when the front connecting member 102 is pushed in a direction orthogonal to the conveyance path by the operation of the moving mechanism 110 (details will be described later), the fourth support member 100, the base 53, and the slider 52 move in a direction orthogonal to the conveyance path. Accordingly, the roof glass also moves in the direction orthogonal to the conveyance path. Even if the front connecting member 102 is pulled in a direction orthogonal to the conveyance path, the roof glass moves in a direction orthogonal to the conveyance path. Next, the detailed structure of the rotation mechanism 60 will be described.

  As shown in FIG. 3, the rotation mechanism 60 is connected to a servo motor 62 provided on a support base 61 connected to the second support member 30 and controlled by the control means 200, and an output shaft of the servo motor 62. A screw shaft 64 rotatably supported by two bearing units 63 provided at a right end and an intermediate portion of the support base 61, and two guide rails 65 provided on the support base 61 in a direction orthogonal to the conveyance path; The slider 67 is movably fitted along the guide rails 65 and is connected to the screw shaft 64 via a nut 66. A first disconnecting mechanism 70 is provided on the upper side of the slider 67. Next, the structure of the first continuous breaking mechanism 70 will be described.

  The first interrupting mechanism 70 is attached to a slider 67 and controlled by the control means 200, and is a pneumatic first interrupting cylinder unit 72. The first interrupting mechanism 70 is attached to the tip of a cylinder rod 73 of the first interrupting cylinder unit 72. The first concave member 71 is fitted to one roller 35.

  In addition, although the pneumatic type was applied to the 1st intermittent cylinder unit 72 in the Example, you may apply a hydraulic type or an electrical type.

  The first concave member 71 includes a main body 75, a contact surface 76 that is provided at the center of the main body 75, contacts the outer peripheral surface 74 of the first roller 35, and is formed in an arc shape, and the contact surface 76. And two flat surfaces 77 and 78 formed rearward from the outer peripheral surface 74 of the first roller 35 by a certain distance.

  In the first continuous mechanism 70, a clip mechanism that sandwiches the first roller 35 may be applied instead of the first concave member 71. Next, the operation of the rotating mechanism 60 and the first continuous breaking mechanism 70 will be described.

  In FIG. 4, (a) corresponds to the view taken along the arrow 4a in FIG. When a normal rotation command is issued from the control means (reference numeral 200 in FIG. 3) to the servo motor 62, the first concave member 71 moves as indicated by an arrow (1) in a state where the first concave member 71 is fitted to the first roller 35. Simultaneously with the movement of the first concave member 71, the lever 34 and the shaft 33 rotate as indicated by the arrow (2) with the axis (reference numeral 37 in FIG. 2) as the center of rotation.

  Further, when a reverse rotation command is issued from the control means to the servo motor 62, the lever 34 and the shaft 33 are moved at the same time as the first concave member 71 moves as indicated by the arrow (3) while being fitted to the first roller 35. Is rotated as indicated by arrow (4).

  Note that the state in which the first concave member 71 is fitted to the first roller 35 is such that the first connection mechanism 70 is connected to the third support member (reference numeral in FIG. 2) via the first roller 35, the lever 34, and the shaft 33. 50) shows a connected state, and is defined as a connected state.

  Next, when a pulling operation command is issued from the control means to the first continuous cylinder unit 72, the first concave member 71 moves as indicated by an arrow (5). When the movement of the first concave member 71 is stopped halfway, the first concave member 71 stops at a position away from the first roller 35 by a certain distance L1, as shown in FIG. That is, the lever 34 and the shaft 33 can be rotated by the distance L1 about the axis (reference numeral 37 in FIG. 2) as the rotation center.

  The state in which the first concave member 71 is separated from the first roller 35 by a certain distance L1 and is disengaged from the first roller 35 is the third support connected to the lever 34 and the shaft 33. Since the member (reference numeral 50 in FIG. 2) can be rotated by the distance L1, it is defined as a floating state.

  The distance L1 indicates a gap between the flat surface 77 of the first concave member 71 and the outer peripheral surface 74 of the first roller 35, and a gap between the flat surface 78 of the first concave member 71 and the outer peripheral surface 74 of the first roller 35.

  Next, when the first concave member 71 is further moved as indicated by an arrow (6) by the first continuous cylinder unit 72, the first concave member 71 is completely removed from the first roller 35 as shown in (c). is seperated. That is, the lever 34 and the shaft 33 can freely rotate about the axis (reference numeral 37 in FIG. 2) as the rotation center.

  Note that the state in which the first concave member 71 is completely separated from the first roller 35 indicates that the third support member (reference numeral 50 in FIG. 2) connected to the lever 34 and the shaft 33 can freely rotate. , Defined as free state. The free state is used when the operator manually attaches the roof glass (reference numeral 151 in FIG. 1) to the vehicle body (reference numeral 11 in FIG. 1).

  The first cut-off mechanism 70 includes a connected state in which the first concave member 71 is fitted to the first roller 35 as shown in (a), and the first concave member 71 is in the first state as shown in (b). The floating state is switched from the first roller 35 by a certain distance L1, and the first concave member 71 is completely separated from the first roller 35 as shown in (c). It is a mechanism that can. Next, the detailed structure of the moving mechanism will be described.

  As shown in FIG. 5, the moving mechanism 110 includes a servo motor 112 that is provided on the third support member 50 via a support base 111 and is controlled by the control means 200. A second disconnecting mechanism 120 is provided on the front side of the slider 116. Note that the structure of the moving mechanism 110 is the same as that of the rotating mechanism 60. The structure of the 2nd disconnection mechanism 120 is demonstrated next.

  The second interrupting mechanism 120 is attached to the tip of a pneumatic second interrupting cylinder unit 122 attached to the slider 116 and controlled by the control means 200, and the cylinder rod 123 of the second interrupting cylinder unit 122. And a second concave member 121 fitted to the two rollers 105.

  In the embodiment, the pneumatic type is applied to the second continuous cylinder unit 122, but a hydraulic type or an electric type may be applied.

  The second concave member 121 includes a main body 125, a contact surface 126 provided in the center of the main body 125, the outer peripheral surface 124 of the second roller 105 being in contact with the main surface 125, and an arcuate contact surface 126. And two flat surfaces 127 and 128 which are formed rearward from the outer peripheral surface 124 of the second roller 105 and are separated by a certain distance.

  In addition, in the 2nd disconnection mechanism 120, you may apply the clip mechanism which pinches | interposes the 2nd roller 105 instead of the 2nd concave member 121. FIG. Next, the operation of the moving mechanism 110 will be described.

  When a forward rotation command is issued from the control means 200 to the servo motor 112, the second concave member 121 moves as indicated by the arrow (7) while being fitted to the second roller 105. Simultaneously with the movement of the second concave member 121, the second roller 105 and the front connection member 102 move as indicated by an arrow (8).

  Further, when a reverse rotation command is issued from the control means 200 to the servo motor 112, the second concave member 121 moves as indicated by an arrow (9) while being fitted to the second roller 105, and at the same time, the second roller 105 and the front connection The material 102 moves as indicated by the arrow (10).

  In addition, the 2nd disconnection mechanism 120 is the connection state in which the 2nd concave member 121 is fitting to the 2nd roller 105 similarly to the 1st disconnection mechanism (refer FIG. 4), and the 2nd concave member 121 is. This is a mechanism that can be switched to one of three modes: a floating state in which the second roller 105 is separated from the second roller 105 by a certain distance, and a free state in which the second concave member 121 is completely separated from the second roller 105. Next, the detailed structure of the contact member separation preventing mechanism will be described.

  As shown in FIG. 6, the contact member separation preventing mechanism 210 is provided at the front end portion of the support base 211 attached to the third support member 50 and controlled by the control means 200, and the output of the motor 212. A shaft member 214 connected to the shaft and rotatably supported by two bearing units 213 provided at the front and rear ends of the support base 211, and attached to the upper surface 215 of the shaft member 214 and controlled by the control means 200 Cylinder unit 216, a dogleg-shaped arm 218 that is attached to the tip of the cylinder rod 217 of the cylinder unit 216 and extends in the vertical direction, and a lower end of the arm 218 is rotatable via a support portion 219. It comprises a columnar separation preventing member 222 that is provided and contacts the center pillar (reference numeral 221 of FIG. 1) of the vehicle body (reference numeral 11 of FIG. 1).

  When the motor 212 is driven by a command from the control means 200, the shaft member 214 rotates, so that the cylinder unit 216, the arm 218, and the separation preventing member 222 rotate about the axis 223 of the shaft member 214.

  On the other hand, the cylinder unit 216 can push and pull the cylinder rod 217 by a command from the control means 200. That is, the arm 218 and the separation preventing member 222 can move in the direction along the conveyance path by the pushing and pulling operation of the cylinder unit 216.

  The separation preventing member 222 may be made of metal, rubber, or resin, but is preferably made of rubber from the viewpoint of preventing the center pillar from being damaged. Next, the operation of the contact member separation preventing mechanism 210 will be described.

  In FIG. 7, as shown in (a), when an operation command is issued from the control means 200 to the motor 212 as indicated by a broken line, the operation of the motor 212 is started and the shaft member 214 is moved as shown by the arrow (11). At the same time, the arm 218 and the separation preventing member 222 move as indicated by the arrow (12).

  Next, as shown in (b), when a stop command is issued from the control means 200 to the motor 212 as indicated by a broken line and a pulling operation command is issued from the control means 200 to the cylinder unit 216 as indicated by a broken line, The arm 218 and the separation preventing member 222 move as indicated by the arrow (13).

Next, as shown in (c), when an operation stop command is issued from the control means 200 to the cylinder unit 216 as indicated by a broken line, the position of the separation preventing member 222 is fixed. The action of the separation preventing member 222 coming into contact with the center pillar (reference numeral 221 in FIG. 1) of the vehicle body (reference numeral 11 in FIG. 1) will be described later.
The operation of the workpiece mounting apparatus described above will be described next.

  In FIG. 8, as shown in FIG. 8A, the carriage 241 on which the vehicle body 11 is placed travels on the conveyance path 242 as indicated by an arrow (14). When the sensor in the area detects that the vehicle body 11 has been transported to the workpiece attachment area, the workpiece attachment device 10 descends toward the vehicle body 11 as indicated by an arrow (15).

  As shown in (b), the vehicle body contact member 170 of the workpiece attachment device 10 is in contact with the upper edge 244 of the front opening (reference numeral 243 in FIG. 1) of the vehicle body 11, so that the vehicle body 11 is attached to the workpiece. The apparatus 10 is conveyed synchronously as indicated by the arrow (16). Next, the operation of the arm 218 of the contact member separation preventing mechanism 210 will be described.

  In FIG. 9, (a) corresponds to an arrow 9a view of FIG. 8 (b). When an operation start command is issued from the control means 200 to the motor 212, the arm 218 of the contact member separation preventing mechanism 210 is swung down on the vehicle body 11 as indicated by an arrow (17).

  When a stop command is issued from the control means 200 to the motor 212, the separation preventing member 222 of the contact member separation preventing mechanism 210 is disposed behind the center pillar (reference numeral 221 in FIG. 1) as shown in FIG. The Next, the operation of the separation preventing member 222 of the contact member separation preventing mechanism 210 will be described.

  In FIG. 10, (a) is equivalent to the 10a arrow view of FIG.9 (b). When a pulling operation command is issued from the control means 200 to the cylinder unit 216, the arm 218 and the separation preventing member 222 move as indicated by an arrow (18).

  When a stop command is issued from the control means 200 to the cylinder unit 216, the separation preventing member 222 comes into contact with the center pillar 221 as shown in FIG. At this time, the vehicle body 11 is sandwiched between the vehicle body contact member 170 and the separation preventing member 222.

  By using the contact member separation preventing mechanism 210, when the vehicle body 11 comes into contact with the vehicle body contact member 170, the separation prevention member 222 can be brought into contact with the center pillar 221. Can be prevented.

  In the embodiment, the contact member separation preventing mechanism 210 is operated when the vehicle body contact member 170 and the vehicle body 11 contact each other, but the vehicle body contact member 170 and the vehicle body 11 approach each other at a certain distance. This may be detected by a sensor or the like, and the contact member separation preventing mechanism may be operated based on the detection signal. Next, functions of the front sensor and the rear sensor will be described.

  In FIG. 11, as shown in FIG. 11A, a laser 245 is emitted from the front sensor 180 to the roof glass 151 and the vehicle body 11, and a laser 246 is emitted from the rear sensor 190 to the roof glass 151 and the vehicle body 11. The laser reflected by the vehicle body 11 is received by the front sensor 180 and the rear sensor 190, and waveform data is input to the control means 200. The control means 200 compares the input waveform data with the specified waveform data.

(B) corresponds to a cross-sectional view taken along the line bb of (a), and the waveform data input by the control means 200 is compared with the prescribed waveform data, so that the positional deviation amounts _Δ B ₁ and _Δ B ₂ are obtained. Desired. _Δ B ₁ is the amount of displacement between the left end 172 of the opening 171 of the vehicle body 11 and the left end 173 of the roof glass 151, and _Δ B ₂ is the left end 181 of the opening 171 of the vehicle body 11 and the left end of the roof glass 151. This is the amount of displacement from the portion 182.

Further, if the distance from the left end portions 172 and 173 to the left end portions 181 and 182 is L _p , the deviation angle θ _d of the roof glass 151 with respect to the opening 171 of the vehicle body 11 can be obtained. The point P4 is a point along which an axis line (reference numeral 37 in FIG. 2) along the ascending / descending direction passes, and is a rotation center point of the roof glass 151. A procedure for setting the angle θ _d to zero will be described next.

In FIG. 12, as shown in (a), when an operation start command is issued from the control means (reference numeral 200 in FIG. 3) to the servo motor (reference numeral 62 in FIG. 3), the first concave member 71 is moved to the first roller. while engaged in 35, at the same time when the first communication disconnection mechanism 70 is moved as shown by the arrow (19), the lever 34 and shaft 33 are rotated by an angle theta _d as indicated by the arrow (20).

  After the stop command is issued from the control means to the servo motor, the roof glass 151 is moved from the position of the imaginary line to the position of the solid line as indicated by an arrow (21) as shown in (b).

Then, following a procedure that the shift dimension _{B d} of the roof glass 151 for opening 171 of the body 11 to zero. A line 247 is the center line of the roof glass 151, and a line 248 is the center line of the opening 171 of the vehicle body 11.

In FIG. 13, as shown in (a), when an operation start command is issued from the control means (reference numeral 200 in FIG. 5) to the servo motor (reference numeral 112 in FIG. 5), the second concave member 121 is moved to the second roller. at the same time while engaged in 105 second communication disconnection mechanism 120 is moved as shown by the arrow (22), moving the front connecting member 102 by a distance _{B d.}

  After the stop command is issued from the control means to the servo motor, the roof glass 151 has moved from the position of the imaginary line to the position of the solid line as indicated by the arrow (23) as shown in (b). Thus, the positioning of the roof glass 151 with respect to the opening 171 of the vehicle body 11 is completed. Next, the operation of attaching the roof glass 151 will be described.

In FIG. 14, the roof glass 151 faces the opening 171 of the vehicle body 11 as shown in FIG.
Next, when the roof glass 151 is lowered as indicated by an arrow (24) by the cylinder unit (reference numeral 21 in FIG. 1), the roof glass 151 is disposed immediately above the opening 171 as shown in FIG.

  (C) corresponds to a cross-sectional view taken along the line cc of (b), and the left end portion 249 of the roof glass 151 is placed on the adhesive 252 applied to the inner groove 251 of the vehicle body 11. Thus, the roof glass 151 is affixed to the vehicle body 11. Next, the operation until the first disconnection mechanism and the second disconnection mechanism are brought into a floating state will be described.

  In FIG. 15, as shown in FIG. 15A, the laser 245 is fired again from the front sensor 180 to the roof glass 151 and the vehicle body 11, and the laser 246 is fired again from the rear sensor 190 to the roof glass 151 and the vehicle body 11. Then, the position of the roof glass 151 is confirmed.

  When a command is issued from the control means 200 to the first continuous cylinder unit (reference numeral 72 in FIG. 3), the first concave member 71 is disengaged from the first roller 35 as shown in FIG. The third support member (reference numeral 50 in FIG. 2) connected via (reference numeral 33 in FIG. 2) is in a floating state.

  Next, when a command is issued from the control means 200 to the second continuous cylinder unit (reference numeral 122 in FIG. 5), the second concave member 121 is detached from the second roller 105 as shown in FIG. A 4th supporting member (code | symbol 100 of FIG. 2) provided with the material 102 will be in a floating state.

  The distance L2 indicates a gap between the flat surface 127 of the second concave member 121 and the outer peripheral surface 124 of the second roller 105, and a gap between the flat surface 128 of the second concave member 121 and the outer peripheral surface 124 of the second roller 105. In the floating state, the front connecting member 102 can move by the distance L2, so the fourth support member 100 can also move in the direction orthogonal to the transport path by the distance L2. Next, the operation until the roof glass 151 is attached to the vehicle body 11 will be described.

  In FIG. 16, as shown in FIG. 16A, the third support member 50 is in a floating state, so that it can rotate in the direction of the white arrow. However, the rotatable range is limited to a certain distance L1 (see FIG. 4B).

  Further, since the fourth support member 100 is in a floating state, the fourth support member 100 can move in the direction of the white arrow. However, the movable range is limited to a certain distance L2 (see FIG. 15C).

  Next, as shown in (b), the roof glass 151 is lowered as indicated by an arrow (25) by the cylinder unit (reference numeral 21 in FIG. 1).

  (C) corresponds to a cross-sectional view taken along the line cc of (b), and the roof glass 151 is completely attached to the adhesive 252 as indicated by an imaginary line by descending as indicated by an arrow (26) and the vehicle body. 11 receiving portions 253. Thus, the roof glass 151 is attached to the vehicle body 11.

  When the roof glass 151 is lowered and placed on the receiving portion 253 of the vehicle body 11, the end surface 254 of the roof glass 151 follows the inner surface 255 of the left end portion 172 of the vehicle body 11.

  In the workpiece attachment device 10, a first disconnection mechanism 70 that connects the rotation mechanism 60 and the third support member 50 or releases this connection is interposed between the rotation mechanism 60 and the third support member 50. Therefore, when the 1st disconnection mechanism 70 is made into the floating state which is a connection cancellation | release state, the roof glass 151 will rotate simultaneously with the 3rd supporting member 50 rotating.

  When the roof glass 151 is attached to the opening 171 of the vehicle body 11, the end surface 254 of the roof glass 151 is brought into contact with the inner surface 255 of the left end portion (reference numeral 172 in FIG. 11) of the vehicle body 11 by bringing the first continuous breaking mechanism 70 into a floating state. Rotate in contact. Therefore, the roof glass 151 can be installed following the left end portion of the vehicle body 11 even if the alignment and attitude of the roof glass 151 are not perfect.

  In the work attachment device 10, since the second connection mechanism 120 that connects the movement mechanism 110 and the fourth support member 100 or releases the connection is interposed, the second connection mechanism 120 is in a state of releasing the connection. In a certain floating state, the roof glass 151 moves simultaneously with the movement of the fourth support member 100.

  When the roof glass 151 is attached to the opening 171 of the vehicle body 11, the end surface 254 of the roof glass 151 is brought into contact with the inner surface 255 of the left end portion (reference numeral 172 in FIG. 11) of the vehicle body 11 by bringing the second continuous mechanism 120 into a floating state. Move in contact. Therefore, the roof glass 151 can be installed following the left end portion of the vehicle body 11 even if the alignment and attitude of the roof glass 151 are not perfect.

  In addition, the workpiece attachment device 10 detects the amount of displacement between the left end (reference numeral 172 in FIG. 11) of the opening 171 of the vehicle body 11 and the left end (reference numeral 173 in FIG. 11) of the roof glass 151 detected by the front sensor 180. And the control means 200 based on the amount of displacement between the left end (reference numeral 181 in FIG. 11) of the opening 171 of the vehicle body 11 and the left end (reference numeral 182 in FIG. 11) of the roof glass 151 detected by the rear sensor 190. Thus, since the rotation mechanism 60 and the moving mechanism 110 are controlled in order to correct the position and posture of the roof glass 151, the positional deviation between the end of the vehicle body 11 and the end of the roof glass 151 can be automatically eliminated.

  After the displacement is eliminated, the roof glass 151 is lowered by the cylinder unit (reference numeral 21 in FIG. 1) and the roof glass 151 is attached to the vehicle body 11. Therefore, it is possible to provide the workpiece attachment device 10 that can automatically attach the roof glass 151 to the vehicle body 11.

  In addition, although the roof glass was applied to the workpiece | work concerning this invention in embodiment, a windshield, a bumper, etc. may be applied and it does not interfere to apply a vehicle equipment.

  Moreover, although the pneumatic cylinder unit is applied to the elevating means according to the present invention in the embodiment, a hydraulic or electric type may be applied. Furthermore, a feed screw mechanism may be applied instead of the cylinder unit.

  In addition, although the servo motor is applied as the drive source for the rotation mechanism and the movement mechanism according to the present invention in the embodiment, a cylinder unit may be applied.

  The workpiece attachment device of the present invention is suitable for attaching a roof glass to a vehicle body.

  DESCRIPTION OF SYMBOLS 10 ... Work attachment apparatus, 11 ... Vehicle body, 12 ... Guide rail, 20 ... 1st support member, 21 ... Cylinder unit (elevating means), 30 ... 2nd support member, 37 ... Axis, 50 ... 3rd support member, 60 DESCRIPTION OF SYMBOLS ... Rotation mechanism, 70 ... 1st connection mechanism (interconnection mechanism), 100 ... 4th support member, 110 ... Movement mechanism, 151 ... Roof glass (work), 160 ... Work adsorption | suction means, 170 ... Car body contact member, 172, 173, 181, 182 ... Left end (end), 180 ... Front sensor (sensor), 190 ... Rear sensor (sensor), 200 ... Control means, 210 ... Contact member separation prevention mechanism, 242 ... Conveyance path .

Claims (3)

A first support member that is movably supported by guide rails disposed along a conveyance path through which the vehicle body is conveyed;
A second support member supported by the first support member via an elevating means so as to be movable up and down;
A third support member that is supported by the second support member so as to be rotatable about an axis extending from the vertical axis of the lifting means;
A rotation mechanism provided on the second support member to rotate the third support member;
A fourth support member supported by the third support member so as to be movable in a direction orthogonal to the conveyance path;
A moving mechanism provided on the third support member for moving the fourth support member;
A workpiece suction means provided on the fourth support member for sucking the workpiece;
A vehicle body abutting member provided on the fourth support member and abutting against the vehicle body being conveyed and moving together with the vehicle body;
A sensor provided on the fourth support member for detecting the amount of displacement between the end of the vehicle body and the end of the workpiece;
Control means for controlling the rotating mechanism and the moving mechanism to correct the position and posture of the workpiece based on the amount of positional deviation detected by the sensor;
It is comprised from the workpiece mounting apparatus characterized by the above-mentioned.   The connection mechanism which connects the said rotation mechanism and the said 3rd support member between the said rotation mechanism and the said 3rd support member, or cancels | releases this connection is interposed. Workpiece mounting device.   2. The work mounting according to claim 1, wherein the third support member includes a contact member separation preventing mechanism that prevents the vehicle body contact member that is in contact with the vehicle body from being separated from the vehicle body. apparatus.

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