JP2015140171A - Device for and method of manufacturing vehicle component - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for and a method of manufacturing a vehicle component whereby a cycle time for a process, in which a component is attached to a rod-like member such as a steering member can be made efficient.SOLUTION: A device 100 for manufacturing a vehicle component according to the present invention includes: positioners 40a, 40b for holding a steering member base material 81; two or more hand robots 10a, 10b for gripping the component and transporting the steering member base material and the component; and a control part 60 for controlling operations of the two or more hand robots. The control part cooperatively controls the operation for gripping the component by each hand robot and disposing the component onto the steering member base material when joining the component with the steering member base material. Among the two or more hand robots, the hand robots, except the hand robot nearest a side on which the steering member is transported, dispose the N-th component onto the steering member base material.

Description

  The present invention relates to an apparatus and a method for manufacturing a vehicle component such as a steering member.

  An automobile is manufactured by joining and assembling tens of thousands of parts by bolting, bonding, or welding. For example, as described in Patent Document 1, several types of parts such as a steering column and a side bracket are welded and attached to the dash panel for the steering member disposed in the front part of the passenger compartment.

JP 2000-219171 A

  A steering member is attached with side brackets at both left and right ends, left and right audio brackets near the center in the longitudinal direction, and a number of other components such as a steering column and an instrument stay. As is well known, a high target is set for the cycle time until the parts are completed in the mass production stage, and it is a problem to shorten even the time of one second. In such a case, there is a problem that even if an articulated robot as described in Patent Document 1 is used, it is difficult to shorten the time to a desired cycle time by adjusting the robot speed. is there.

  Accordingly, the present invention has been made to solve the above-described problems, and provides a vehicle parts manufacturing apparatus and manufacturing method capable of improving the cycle time of a process of attaching parts to a rod-like member such as a steering member. With the goal.

  A vehicle component manufacturing apparatus according to the present invention that achieves the above object includes a holding unit that holds a member to be joined, two or more gripping robots that grip the joint member and transport the joint member or the member to be joined, and two or more And a control unit for controlling the operation of the holding robot. The control unit cooperatively controls the operation of gripping the joining member by each gripping robot and placing the joining member on the joined member when joining the joining member to the joined member. A gripping robot other than the gripping robot closest to is arranged to place the Nth joining member on the joined member.

  The vehicle component manufacturing method according to the present invention cooperatively controls the operation of gripping the joining member by each gripping robot and placing the joining member on the joined member when joining N joining members to the joined member. A gripping robot other than the gripping robot located on the carry-out side for unloading vehicle parts among the gripping robots is characterized in that the Nth joining member is arranged on the joined member.

  According to the vehicle component manufacturing apparatus and the manufacturing method of the present invention, since two or more gripping robots perform joint control to join the joining members to the joined members, the time required for the joining work can be shortened. . In addition, the N-th joining member is placed on the joined member by a gripping robot other than the gripping robot closest to the carry-out side. Therefore, during the arrangement and joining of the N-th joining member, the gripping robot closest to the carry-out side can be brought close to the vehicle part to prepare for gripping, and the completed vehicle part can be quickly gripped to perform the next process. The cycle time can be shortened by transporting to the center.

It is a perspective view which shows the manufacturing apparatus of the vehicle components which concerns on one Embodiment of this invention. It is a top view which shows the manufacturing apparatus. 3A and 3B are a perspective view and a front view showing a fixed positioner (supporting tool) constituting the manufacturing apparatus. 4A and 4B are a perspective view and a front view showing a movable positioner (supporting tool) constituting the manufacturing apparatus. It is a block diagram which shows the manufacturing apparatus. It is a perspective view which shows the steering member which is an example of vehicle components. It is a front view of the steering member. It is a right view which shows the steering member. FIGS. 9A and 9B are a perspective view and a plan view showing a state in which the side bracket is attached to the positioner in the manufacture of the steering member. 10A and 10B are a perspective view and a plan view showing a case where the steering member base material is welded to the side bracket in the manufacture of the steering member. FIGS. 11A and 11B are plan views showing when the opposite side bracket is welded to the steering member base material in the manufacture of the steering member. FIGS. 12A and 12B are a perspective view and a plan view showing welding of the bracket airbag to the steering member base material. FIGS. 13A and 13B are a perspective view and a plan view showing when the audio bracket is welded. FIGS. 14A and 14B are a perspective view and a plan view showing the audio bracket being welded. FIGS. 15A and 15B are a perspective view and a plan view showing when the bracket impact is welded. FIGS. 16A and 16B are a perspective view and a plan view showing when the instrument stay is welded. FIGS. 17A to 17D are a side view, a front view, a plan view, and a perspective view showing the hand robot transporting the steering member.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, the following description does not limit the technical scope and terms used in the claims. In addition, the dimensional ratios in the drawings are exaggerated for convenience of explanation, and may differ from actual ratios.

  FIG. 1 is a perspective view showing a vehicle parts manufacturing apparatus according to an embodiment of the present invention, FIG. 2 is a plan view showing the manufacturing apparatus, and FIGS. 3A and 3B are fixed types constituting the manufacturing apparatus. It is the perspective view and front view which show this positioner. 4A and 4B are a perspective view and a front view showing a movable positioner constituting the manufacturing apparatus, and FIG. 5 is a block diagram showing the manufacturing apparatus. 6 is a perspective view of a steering member showing an example of vehicle parts, FIG. 7 is a front view, and FIG. 8 is a right side view.

  The vehicle component manufacturing apparatus according to the present embodiment is used, for example, when manufacturing a steering member 80 as shown in FIGS. 1 to 5, a vehicle component manufacturing apparatus 100 according to this embodiment includes positioners 40a and 40b (corresponding to (end) holding portions) and locators 31 and 32 ((intermediate) holding portions. Equivalent), hand robots 10a and 10b (corresponding to gripping robots), a welding robot 20, and a control unit 60. The hand robot 10 a or the hand robot 10 b takes out a predetermined part from the part table 70, installs it on the steering member base material 81 (corresponding to the member to be joined), and welds it by the welding robot 20. When all the parts are welded to the steering member base material 81, the hand robot 10b near the carry-out side among the hand robots 10a and 10b grips the steering member 80 and carries it. The steering member 80 is formed by joining the joining members 82 to 88 (also referred to as components) shown in FIG. Details will be described below.

  Each of the hand robots 10a and 10b has a hand 11 attached to the arm tip. The hand robots 10a and 10b grip the component in a predetermined direction by the hand 11, and position and hold the gripped component at the taught position with respect to the steering member base material 81. The parts are placed on the parts table 70, and the hand robots 10 a and 10 b take out the parts from the parts table 70, position them at predetermined positions on the steering member base material 81, and hold them. The parts are carried into the parts table 70 by another robot (not shown) or a conveyor. Further, instead of the parts table 70, the hand robots 10a and 10b may grasp the parts flowing by the conveyor.

  A first camera 12 that captures the direction of the hand of the hand 11 is attached in the vicinity of the hand 11. The first camera 12 is used for grasping the orientation and size by photographing the part when the hand 11 takes out the part.

  In addition, the second camera 13 is installed within the work range of this process. The second camera 13 is used for confirming in what direction the component gripped by the hand 11 is gripped. Moreover, the 2nd camera 13 can image | photograph wide range from the hand robots 10a and 10b, the welding robot 20, and the positioner 40a to the positioner 40b. Therefore, in the steering member manufacturing apparatus 100, it is possible to confirm at which position each component of the steering member 80 is arranged, and it is possible to measure the position after joining the parts based on the result obtained by photographing.

  The hand robots 10 a and 10 b operate to hold the component from the component table 70 and then hold the component toward the second camera 13. As a result, the second camera 13 takes a picture of the part gripped by the hand 11 and confirms in what direction and position the part is gripped by the hand 11 by image processing. The hand robots 10a and 10b correct the orientation of the components so that the components can be positioned and held on the steering member base material 81 from the orientation and position of the components confirmed by the second camera 13. Thus, the steering member base material 81 can be positioned and held at the component position taught with respect to the steering member base material 81. Since the operation of correcting the orientation of the component held by the hand 11 is a general hand robot operation, a description thereof will be omitted.

  The welding robot 20 has a welding torch 21 attached to the arm tip. The tip of the welding torch 21 is positioned at a position where the part can be welded with reference to the position of the part positioned on the steering member base material 81. For this reason, the position of the tip of the welding torch 21 is taught on the basis of the part position taught to the hand robots 10a and 10b. When the component position by the hand robots 10a and 10b is corrected, the position of the tip of the welding torch 21 is also corrected accordingly.

  A third camera 22 is attached in the vicinity of the base portion of the welding torch 21. The third camera 22 photographs a part that is positioned and held by the hand 11. Then, the position (and / or inclination) of the component is measured from the captured image. Therefore, the third camera 22 has a function of measuring the size of an object in a captured image and the distance between objects (referred to as an intra-image distance measurement function). As an image distance measurement function, for example, an object (reference scale) used as a reference for determining a distance in an image is photographed in advance, and the correspondence between the actual size of the reference scale and the size in the image is obtained. Keep it. Then, the correspondence between the real object and the image on the stored reference scale is used to obtain the size of the object photographed for measurement, the distance between the objects, and the inclination. Such an intra-image distance measuring function may be a well-known one and is not particularly limited.

  Further, the third camera 22 may have a distance measuring function for measuring the distance from the current position of the third camera 22 to the photographed object. As the distance measuring function, a passive distance measuring function used for focusing of the third camera 22, an active distance measuring function using laser light or ultrasonic waves, or the like can be used. The distance measuring function may be a well-known one and is not particularly limited. If such a distance measuring function and an in-image distance measuring function are used, the part position measured by the third camera 22 can be calculated as the position in the operation coordinate system of the welding robot 20.

  Note that the above-described intra-image distance measurement function and distance measurement function may also have the second camera 13. Further, the control unit 60 performs image processing for distance measurement within the image, distance measurement performed as necessary, and calculation processing thereof.

  Support members 40a and 40b (also referred to as positioners) hold and hold both ends of the steering member base material 81. The support tools 40 a and 40 b include a support base 41 that serves as a support column for the support tools 40 a and 40 b, and a grip portion 44 that grips the steering member base material 71. The grip portion 44 includes clampers 45 and 46, a power portion 47 having a power mechanism for operating the clampers 45 and 46, positioning pins 48 and 49 for positioning members attached to both ends of the steering member base material 81, Have 4A, in addition to the above configuration, the support 40b also includes a slide portion 42 that enables the support 40a to be slidable in the longitudinal direction of the steering member base material 81. The slide part 42 is linked to the slide base 43.

  The support base 41 hits a support column that supports the steering member base material 81 and is connected to the grip portion 44 on the side surface that grips the steering member base material 71. Further, in the support tool 40a, the lower part of the support base 41 is fixed to the apparatus 100, and in the support tool 40b, the lower part of the support base 41 is connected to the slide portion 42. In this embodiment, the support base 41 is composed of a single member and has a predetermined height. However, the support base 41 may be composed of, for example, two or more members and include a height adjustment mechanism. Good. Further, as shown in FIG. 3A, the support base 41 is connected to the grip 44 and the rotation shaft 53, and the support base 41 includes a rotation mechanism including a motor and a gear pair. By providing the rotation mechanism on the support base 41, the grip portion 44 can rotate around the rotation shaft 53 while gripping the steering member base material 81.

  The slide part 42 cooperates with the slide base 43 to enable the support 40 b to move in the longitudinal direction of the steering member base material 81. Although the slide part 42 and the slide base 43 are configured to be movable by providing a gear pair, the present invention is not limited to this.

  The clampers 45 and 46 are configured to hold the steering member base material 81 at both ends, and in this embodiment, rotating shafts 51 and 52 are provided in a part of the power unit 47, and the rotating shafts 51 and 52 are clamped to the clampers. 45 and 46 are rotatably attached.

  The power unit 47 includes a motor for operating the clampers 45 and 46 and a rotation mechanism for the clampers 45 and 46 such as a gear pair. By grasping the steering member 80 and releasing the grip, the clampers 45 and 46 are rotated around the rotation shafts 51 and 52 and the opening angle formed by the clampers 45 and 46 is adjusted.

  The positioning pins 48 and 49 are provided on the outer surface of the power unit 47. Positioning holes for inserting positioning pins 48 and 49 are provided in the side brackets 82 and 83 arranged at both ends in the longitudinal direction of the steering member 80. By inserting the positioning holes of the side brackets 82 and 83 into the positioning pins 48 and 49, the side brackets 82 and 83 are attached to the positioners 40a and 40b and positioned. After the side brackets 82 and 83 are joined to the steering member base material 81 in a state of being inserted into the positioning pins 48 and 49 of the support members 40a and 40b, the side brackets 82 and 83 are gripped by the clampers 45 and 46 to be steered. The member 80 is supported.

  The locator 30 includes a locator 31 and a locator 32, but the number is not limited to this. The locator 31 holds the steering member base material 81 or releases the grip. The locator 32 holds the steering member base material 81 at a different position in the longitudinal direction of the steering member base material 81 in the same manner as the locator 31 or releases the grip. Therefore, holding of the steering member base material 81 by the locator 30 includes holding by the locators 31 and 32 or holding by either of the locators 31 and 32. As shown by the locator 32 in FIG. 2, the locators 31 and 32 are directions in which the upper portion of the locator 32 intersects the longitudinal direction from the slide base 43 when the steering member base material 81 is not gripped (upward direction in FIG. 2). Separate. This prevents the welding robot 20 and the hand robots 10a and 10b from entering the area when operating. The locators 31 and 32 have the same configuration as the slide part 42 of the positioners 40a and 40b. Thereby, the slide base 43 can be freely moved in the longitudinal direction.

  As shown in FIG. 5, the control unit 60 controls operations of the hand robots 10 a and 10 b, the welding robot 20, the positioners 40 a and 40 b, the locators 31 and 32, and the second camera 13 in the vehicle component manufacturing apparatus 100. The control of the first camera 12 is performed together with the control of the hand robots 10a and 10b, and the control of the third camera 22 is performed together with the control of the welding robot 20.

  The control unit 60 includes a storage unit 61, a calculation unit 62, a comparison unit 63, and an input / output unit 64. The storage unit 61 includes a ROM and a RAM. The storage unit 61 stores in advance a program related to the operation of the vehicle parts manufacturing apparatus 100 such as the hand robots 10a and 10b and the welding robot 20, and data related to the specifications of the vehicle parts that are workpieces, or a new one depending on the operation of the manufacturing apparatus. Editing such as addition, update, and deletion of data is performed. The calculation unit 62 corresponds to the CPU, and is based on data read from the storage unit 61 and information taken by the first camera 12, the second camera 13, and the third camera 22, and the hand robots 10a and 10b and the welding robot. 20 is controlled, and the operations of the positioners 40a and 40b and the locators 31 and 32 are controlled.

  In the present embodiment, the control unit 60 performs coordinated control (exclusive control) on the hand robots 10a and 10b, thereby quickly arranging parts on the steering member base material 81 and improving cycle time. That is, while the hand robot 10a grips a part and transports and arranges it on the steering member base material 81, the hand robot 10b grips another part and joins the parts gripped by the hand robot 10a. To the nearby area.

  Here, the vicinity region where the joining work is performed excludes the region occupied by the steering member base material 81 and the parts already joined to the steering member base material 81, and a hand robot that grips the parts to be joined at present. Refers to the area excluding the moving area that moves when the next operation. In this way, by bringing the hand robot holding the part to be joined next to the area near the place where the joining work is performed, the next part can be placed immediately after the joining work of the currently placed part is completed. It is possible to perform the joining work quickly and contribute to shortening the cycle time.

  The comparison unit 63 is a part realized by a CPU or the like, and is used when determining the joining order when joining a plurality of parts to the steering member base material 81. In this embodiment, the steering member 80 includes, for example, a steering member base material 81, side brackets 82 and 83, a bracket airbag 84, audio brackets 85 and 86, a bracket impact 87, and an instrument stay 88. When the above-described parts are joined to the steering member base material 81, the comparison unit 63 takes time when the parts 84 to 88 are joined to the steering member base material 81 in all possible patterns. Select the one that minimizes. As shown in FIG. 8, components to be joined to the steering member base material 81 are arranged in various angular directions on the cylindrical steering member base material 81.

  Further, welding cannot be performed while the steering member base material 81 is rotated to the angular direction in which the parts are joined by the positioners 40a and 40b. Therefore, the calculation unit 62 calculates the total rotation angle and the required time when rotating the steering member base material 81 in all patterns. The comparison unit 63 compares the total rotation angles in all patterns and selects the joining order of components that minimizes the total rotation angle. Then, by rotating the steering member base material 81 based on the joining order of the parts selected above, the time during which welding cannot be performed during the joining process can be minimized, and the cycle time can be shortened.

  Further, the control unit 60 determines which of the hand robots 10a and 10b is to be gripped when the parts 82 to 88 are joined to the steering member base material 81. As described above, the cycle time can be shortened when one hand robot places a part on the steering member base material 81 while the other robot grips another part from the part table 70 and the steering member base material. In 91, it is implement | achieved by making it approach to the area | region of the vicinity where joining work is performed. Therefore, in principle, the gripping robot alternately performs gripping of the parts. However, in addition to the above, after the side brackets 82 and 83 are joined to the steering member base material 81, an operation of switching the holding by the locators 31 and 32 to one of the locators 31 and 32 is also performed.

  If the hand robot is moved while the locators 31 and 32 are moving, a collision may occur. Therefore, it is not preferable to move the hand robot during that time. As described above, when the holding of the locators 31 and 32 is switched, a time occurs such that the hand robot waits for the end of the movement. In this case, immediately before considering the entire time for joining the components 82 to 88, It is also possible to cause the hand robot holding the part to hold the next part. With this configuration, the cycle time can be shortened in consideration of not only the workpiece specifications but also other specifications of the manufacturing apparatus.

  The input / output unit 64 includes a LAN or the like, and transmits the calculation result of the calculation unit 62 to a hand robot or the like, or the data acquired by the first camera 12 or the second camera 13 of the hand robots 10a and 10b. Or transmitted to the storage unit 61. Moreover, although the components table 70 which mounts the components 81-88 is comprised from the tables 71 and 72, a structure is not limited to this.

  Next, as a usage example of the vehicle component manufacturing apparatus according to the present embodiment, manufacturing of a steering member will be described. FIGS. 9A and 9B to FIGS. 17A and 17B are respectively a perspective view and a plan view for explaining the manufacturing of the steering member.

  In this embodiment, first, as shown in FIGS. 9A and 9B, the right side bracket 82 as seen in FIG. 9B is attached and fixed to the pins 48 and 49 of the positioner 40a by the hand robot 10a. Is done.

  While the hand robot 10a grips and attaches the side bracket 82, the hand robot 10b grips the steering member base material 81 to be placed next from the table 70 and brings it as close as possible to the above-described region that does not interfere with the hand robot 10a. And wait for the attachment of the side bracket 82 to end. When the attachment is completed, the attachment is completed from the hand robot 10a, and a notification that a component may be placed on the other robot is transmitted to the control unit 60. For convenience, this is referred to as a permission notice.

  Upon receiving the permission notification, the control unit 60 immediately transmits data that prompts the hand robot 10b to operate. Based on the command from the control unit 60, the hand robot 10b moves the steering member base material 81 from the standby position as shown in FIGS. 10 (A) and 10 (B), and moves it to the locators 31 and 32 so as to contact the side bracket 82. Place. In this way, the control unit 60 performs exclusive control (cooperative control) on the component placement operation of the hand robots 10a and 10b. Thereafter, the welding robot 20 immediately performs welding at the contact position between the side bracket 82 and the steering member base material 81.

  While the hand robot 10b arranges the steering member base material 81, the hand robot 10a grips the side bracket 83 to be joined next and moves the side bracket 83 to a position where it does not come into contact with the moving region of the hand bracket 10b as described above. As close as possible. When receiving the permission notification from the control unit 60, the hand robot 10a attaches the side bracket 83 to the positioner 40b as shown in FIGS. When the side bracket 83 is attached, the slide portion 42 of the positioner 40 b moves toward the steering member base material 81 along the slide base 43, and the side bracket 83 contacts the end portion of the steering member base material 81. Then, welding is performed by the welding robot 20 at the contact position.

  When the side brackets 82 and 83 are joined to the end of the steering member base material 81, the holding of the steering member base material 81 at the center portion is switched from the holding by the locators 31 and 32 to the holding by the locator 31. Since the waiting time of the hand robot is generated here, the next part is joined by the hand robot 10a that has gripped the part immediately before.

  That is, when the arrangement and joining of the side brackets 83 are finished, in this embodiment, the hand robot 10a grips the bracket airbag 84 to be joined next, and as shown in FIGS. 12A and 12B, the steering member The base material 81 is arranged at a predetermined position. Then, welding is performed by the welding robot 20.

  While the bracket airbag 84 is disposed by the hand robot 10a, the hand robot 10b grips the audio bracket 85 to be joined next, and approaches as close as possible to the region that does not contact the hand robot 10a. When the joining of the bracket airbag 84 is finished and the permission notification is received from the control unit 60, the hand robot 10b conveys and arranges the audio bracket 85 from the standby position to a predetermined position as shown in FIGS. To do. Then, welding is performed by the welding robot 20.

  While the audio bracket 85 is disposed by the hand robot 10b, the hand robot 10a holds the other audio bracket 86 in a pair and waits as close as possible to an area that does not contact the hand robot 10b. Then, when receiving the permission notification from the control unit 60, the hand robot 10a places the audio bracket 86 at a predetermined position as shown in FIGS. Then, welding is performed by the welding robot 20.

  While the audio bracket 86 is arranged by the hand robot 10a, the hand robot 10b holds the bracket impact 87 to be joined next, and waits for the joining to be completed as close as possible to an area not in contact with the hand robot 10a. . When the permission notification is received by the control unit 60, the hand robot 10b places the bracket impact 87 at a predetermined position as shown in FIGS. Thereafter, welding is performed by the welding robot 20.

  While the bracket impact 87 is being arranged by the hand robot 10b, the hand robot 10a grasps the next inst stay 88 to be joined, and waits as close as possible to the area in contact with the hand robot 10b. When the permission notification is received from the control unit 60, the instrument stay 88 is placed at a predetermined position from the standby position as shown in FIGS. Then, welding is performed by the welding robot 20, the welding of all the parts is completed, and the steering member 80 is completed.

  While the hand robot 10a arranges the instrument stay 88, the hand robot 10b waits for the welding of the instrument stay 88 to end as close as possible to the region in contact with the hand robot a. In the present embodiment, the hand robot 10b is installed on the carry-out side of the steering member 80 (the left side in FIGS. 17B and 17C). When the joining of the instrument stay 88 is completed and the permission notification is received, the hand robot 10b grips the completed steering member 80 and transports it to the next process.

  Next, the function and effect according to this embodiment will be described. Many parts such as side brackets, audio brackets, and instrument stays are attached to a steering member that is one of vehicle parts. Parts such as side brackets are gripped and attached by the robot, but a high target is set for cycle time during mass production, and further improvement in speed is required in addition to making the robot itself as fast as possible. Yes.

  On the other hand, in the present embodiment, parts are arranged on the steering member 80 while performing coordinated control using the two hand robots 10a and 10b. Therefore, it is possible to shorten the time from the joining of a part to the arrangement of the next part, thereby contributing to the shortening of the cycle time. Further, the last part 88 to be joined to the steering member base material 81 is arranged by the hand robot 10 a other than the hand robot near the carry-out side of the steering member 80. Therefore, the hand robot 10b closest to the transport side is as close as possible to the position where the steering member is gripped in the vicinity of the joining work area while the parts 88 are placed and joined by the hand robot 10a. Can be prepared. Therefore, the completed steering member 80 can be immediately grasped and quickly conveyed to the place of the next process, and the cycle time can be further shortened.

  Further, the positioners 40 a and 40 b have a rotation function for rotating the steering member base material 81, and a calculation unit 62 that calculates a rotation angle necessary for arranging all the components on the steering member base material 81, and a calculation unit 62. And a comparison unit 63 for comparing the rotation angles in the plurality of patterns calculated by the above. Therefore, a pattern that minimizes the total rotation angle can be selected from among the arrangement patterns of all the components, and the time during which the steering member base material 81 is rotating is minimized to further contribute to shortening the cycle time. Can do.

  Further, the steering member base material 81 is held by the positioners 40a and 40b at the end portions and held by the locators 31 and 32 at the intermediate portions. The hand robots 10a and 10b grip the parts alternately in principle, but when the holding by the locators 31 and 32 is changed, the hand robot that grips the parts immediately before is configured to grip the parts. . With this configuration, the cycle time necessary for manufacturing the steering member 80 can be shortened in consideration of the relationship with other configurations in the manufacturing apparatus.

  In addition, the hand robots 10a and 10b hold the part to be joined next by one hand robot, approach and wait for a nearby area where the previous part is joined, and the neighboring area where the joining work is performed Is a region excluding the area occupied by the steering member base material 81 and the parts already joined to the steering member base material 81, and excluding the moving area where the hand robot holding the previous part moves when it next operates. It is composed. Therefore, the components to be arranged next can be brought as close as possible to the steering member base material 81 without disturbing the next operation of the hand robot that has finished the joining work, which can contribute to shortening the cycle time.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims. Although it described that joining of the components in a steering member was performed by welding, it is not limited to this, You may use an adhesive agent etc.

10a, 10b hand robot (gripping robot),
20 welding robot,
30, 31, 32 locator ((intermediate) holding part),
40a Fixed positioner (support, (end) holding part),
40b Movable positioner (support, (end) holding part),
41 support base,
42 Slide part,
43 Slide base,
44 gripping part,
45, 46 Clamper,
47 Power section,
48, 49 locating pins,
51, 52, 53 rotation axis,
60 control unit,
61 storage unit,
62 (rotation angle) calculation unit,
63 comparison part,
64 I / O section,
70, 71, 72 Parts table,
80 steering member,
81 Steering member base material (joined member),
82, 83 Side brackets (parts, joint members),
84 Bracket airbag (parts, joint members),
85,86 Audio bracket (parts, joint members),
87 Bracket impact (parts, joint members),
88 Inst stay (parts, joining members).

Claims (8)

An apparatus for manufacturing a vehicle part formed by joining N joining members to a joined member,
A holding part for holding the joined member;
Two or more gripping robots that grip and transport the joining member and the joined member;
A control unit that controls the operation of two or more gripping robots,
The control unit cooperatively controls an operation of gripping the joining member by the gripping robots and joining the joining member to the joined member when joining the joining member to the joined member;
Manufacturing of vehicle parts, characterized in that, among the two or more gripping robots, the Nth joint member is arranged on the joint member by the gripping robot other than the gripping robot closest to the side for carrying out the vehicle parts. apparatus. The plurality of the joining members are joined at positions where at least two or more are different in the circumferential direction of the joining member,
The holding part has a rotation mechanism for rotating the member to be joined,
The control unit calculates a total rotation angle for rotating the member to be bonded in order to arrange all the bonding members on the member to be bonded, for each order of arranging the bonding members; and
A comparison unit that compares the plurality of rotation angles calculated by the rotation angle calculation unit;
The apparatus for manufacturing a vehicle component according to claim 1, comprising: The holding portion includes an end holding portion that holds both ends of the bonded member, and an intermediate holding portion that holds an intermediate portion in the longitudinal direction of the bonded member,
The two or more gripping robots, in principle, alternately grip the joining members and place them on the joined members,
The said holding | maintenance robot same as the robot which has arrange | positioned the said joining member immediately before arrange | positioning the said next joining member when the holding position of the said to-be-joined member in the said intermediate holding part is changed. Vehicle parts manufacturing equipment. The gripping robot that waits for the joining work of one joining member to finish grips another joining member and approaches a nearby region where the joining work is performed,
The adjacent region where the joining operation is performed is the region where the joining member and the joining member already joined to the joined member occupy, and the gripping robot that grips the one joining member is the next. The vehicle component manufacturing apparatus according to any one of claims 1 to 3, which is an area excluding a moving area that moves when the machine operates in a moving manner. A method of manufacturing a vehicle part formed by joining N joining members to a joined member using two or more gripping robots,
When joining the joining member to the joined member, cooperatively controlling the operation of gripping the joining member by each gripping robot and placing the joining member on the joined member;
A method of manufacturing a vehicle component, comprising: placing an N-th joining member on the member to be joined to the grasping robot other than the grasping robot located on the unloading side for unloading the steering member among the grasping robots. . The plurality of joining members are joined at positions where at least two or more are different in the circumferential direction of the joined members,
The joined member is rotatably held,
The control unit that controls at least the holding unit calculates, for each order in which the joining members are arranged, a total rotation angle for rotating the joined members in order to arrange all the joining members in the joined members, The method for manufacturing a vehicle component according to claim 5, wherein the plurality of calculated rotation angles are compared. The joining member is arranged and joined in a state of holding the joined member,
The gripping robot, in principle, alternately grips the joining members and arranges them on the joined members,
The said holding | maintenance robot same as the robot which has arrange | positioned the said joining member immediately before the position which hold | maintains the said to-be-joined member arrange | positions the said next joining member. Method for manufacturing vehicle parts. The gripping robot that waits for the joining work of one joining member to finish grips another joining member and approaches a nearby region where the joining work is performed,
The adjacent region where the joining operation is performed is the region where the joining member and the joining member already joined to the joined member occupy, and the gripping robot that grips the one joining member is the next. The method for manufacturing a vehicle part according to any one of claims 1 to 3, wherein the vehicle part is a region excluding a moving region that moves when the vehicle operates.