JP2501873Y2 - Work assembly device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Industrial Field of the Invention The present invention relates to a work assembling apparatus that grips a work, conveys it to a predetermined place, and automatically assembles it.

Conventional technology As a device for assembling a relatively large work,
There is a fuel tank band assembling device used when assembling a fuel tank to an automobile body (see Japanese Utility Model Application No. 62-5378 (No. Sho 63-113524)).
Figure 0 shows an example of a conventional tank assembly method.
When installing the tank in the trunk room, the operator operates the fuel tank 3 suspended from the automobile body 1 by the hanger type auxiliary device 2 and carries it from the rear side in the body transport direction to the upper side of the trunk room 1a. ,
The height is adjusted using the air cylinder 2a, etc., and the luggage compartment 1a
The stud bolt planted at a predetermined mounting position in the inside is inserted into the bolt hole formed in the welding flange of the fuel tank 3 to temporarily support it, and in that state, the operator manually uses a tool. The fuel tank 3 was attached to the body 1 by fastening the nut.

However, when mounting the tank in the trunk room 1a described above, after operating the auxiliary device 2 to put the fuel tank 3 in the trunk room 1a, the worker enters the narrow trunk room 1a. Since the positioning of the fuel tank and the tightening work of the bolts or nuts are performed, this work performed in a bad working position is a heavy burden on the operator.
It has been desired to completely automate the work of mounting parts having a weight that is a little too heavy to be handled by human power alone, such as an air conditioner unit assembled by the same method.

However, when parts such as the conventional fuel tank 3 are assembled, the fuel tank 3 mounted on the auxiliary device 2
Etc., and then the stud bolts implanted at the mounting position on the vehicle body side are inserted into the bolt holes formed on the side of the parts to be assembled such as the fuel tank 3,
It is difficult to plant stud bolts in a predetermined position accurately and vertically, and most of them are inclined in either direction at present. Therefore, for example, when two stud bolts forming a pair are planted with being inclined in the same direction, they can be mounted as they are, but the stud bolts have different inclination directions and a large inclination. In this case, it becomes necessary to adjust the inclination of the stud bolt. Therefore, the variation in the planting state of the stud bolts is an obstacle, and in the past, automation of the assembly process of relatively heavy parts such as fuel tanks and air conditioner units has been delayed. It was

The present invention has been made in view of the above circumstances, and an object thereof is to provide a work assembling apparatus for automatically assembling a work such as an automobile part at a predetermined place.

Means for Solving the Problems In order to achieve the above object, the present invention comprises a fixed portion attached to a robot and a movable portion held by the fixed portion via a floating mechanism. The workpiece gripped by the mechanism is conveyed to a predetermined assembly position, and the positional deviation between the gripped work and the assembly partner is absorbed by the floating mechanism, and the positioned workpiece is bolted to the assembly partner. In the assembling device, a lock pin having a small diameter portion and a large diameter portion, which is provided in one of the fixed portion and the movable portion so as to be able to drive forward and backward, and the other of the fixed portion and the movable portion. Is formed in the work holding mechanism and an insertion hole through which the large diameter portion and the small diameter portion are selectively engaged when the lock pin is moved forward or backward. The positioning pin that can be inserted into the positioning hole formed in the assembly partner through the positioning hole and the bolt inserted in the bolt hole of the workpiece gripped by the workpiece gripping mechanism are the bolt fastening holes on the assembly partner side. The lock pin has a large diameter portion fitted into the insertion hole to eliminate the floating state of the floating mechanism, and the small diameter portion loosely fits into the insertion hole to cause the floating. A floating state is generated by the mechanism, and the positioning is performed by the positioning pin in this floating state.

Operation With the above configuration, the work gripping mechanism attached to the robot is positioned and automatically grips the work to convey it to a predetermined assembly position. Next, a plurality of positioning pins provided on the workpiece gripping mechanism side absorb the positional deviation by the unlocked floating mechanism, and are inserted into the positioning holes formed on the assembly partner side to perform automatic positioning. Is performed.
Then, when the positioning by the positioning pin is completed, the tip end side of the mounting bolt, which is inserted into the bolt hole of the work and the base end of which is chucked by the fastening machine, is screwed into the bolt fastening hole of the other side of the assembly, the automobile body, etc. The work is automatically fastened to the other side.

Further, when the small diameter portion of the lock pin is loosely fitted in the floating mechanism, the floating operation range is limited, and thus the floating mechanism can be positioned stepwise. Further, when the work is conveyed other than during the positioning operation, the large diameter portion of the lock pin is fitted so that the lock pin is fixed in the center of the floating operation range. The malfunction of the floating mechanism due to centrifugal force is prevented.

Embodiment An embodiment in which the present invention is applied to a work automatic assembly apparatus in an air conditioner unit mounting process of an automobile body outfitting line will be described below with reference to FIGS. 1 to 9.

The work automatic assembling device 11 is provided in the air conditioner unit assembling step of the automobile body outfitting line, and the air conditioner unit U to be attached in this step has an attaching plate on its upper surface as shown in FIG. P _1, P _2, P ₃ is provided with, together with the mounting plate P _1, P _2, P ₃ each bolt insertion hole H in is formed, positioned on the mounting plate P _2, P ₃ holes L , L are formed. In addition, smooth surfaces F, F are formed on the portion of the gripping mechanism that attracts the vacuum cup.

This air conditioning unit assembly process includes a lifting truck
An automobile body B placed on a vehicle 12 and lifted up to a predetermined height is conveyed from right to left in FIG. 2, and is gantry-type so as to straddle above the conveyance route of the automobile body B. A rectangular frame 14 of a robot 13 is horizontally provided with four corners supported by pillars 15, respectively.
Between the two opposite sides 14a, 14a of the rectangular frame 14 which are parallel to the transport direction, a traverse rail 16 is supported at its both ends so that it can move laterally in a direction parallel to the transport direction of the automobile body B. A robot main body 17 is provided on the traverse rail 16 so as to travel in a direction perpendicular to the transport direction and to be vertically movable. Then, at the lower end of the robot body 17, the work automatic assembling apparatus for automatically carrying out the work of gripping the work, bringing it into the engine room of the automobile body B, positioning it at a predetermined position and assembling it. As shown in FIG. 1, the workpiece automatic assembling apparatus 11 is roughly divided into a positioning mechanism section 18 at the center of the apparatus and bolt fastening mechanism sections 19 and 19 at both left and right wing sections. .

First, the positioning mechanism portion 18 will be described with reference to FIGS. 3 to 8. A frame 20 in which a square pipe is formed in a rectangular frame shape is provided in a horizontally long direction substantially vertically. L-shaped brackets 21 and 21 are provided at the lower end of the end so as to project to the front side (upper side in FIG. 3), and side vacuum cups 22 are provided at the tips of the L-shaped brackets 21 and 21. Brackets 23, 23 are provided slightly toward the center, and a center vacuum cup 24 is provided at each tip,
These four vacuum cups 22, 22, 24, 24 are sucked to hold the air conditioner unit U as a work.

Further, T-shaped base plates 25, 25 are provided on the front sides of the left and right ends of the frame 20.
A cylinder 26 and a linear way 27 are mounted on the
Positioning pins 29 are respectively provided at the ends through a rectangular arm 28, and the positioning pins 29 are moved forward and backward by a cylinder 26 and a linear way 27 to form shapes for right-hand drive vehicles and left-hand drive vehicles. It is possible to deal with the positioning work of two different types of air conditioner units. Further, the positioning pins 29, 29 can be inserted into the respective positioning holes L of the mounting plates P ₂ , P ₃ of the air conditioner unit U to position the workpiece automatic assembling device 11 with respect to the air conditioner unit U, and further, the automobile The gripped air conditioner unit U can be automatically positioned at the mounting position of the automobile body B by inserting it into a positioning hole (not shown) formed at the mounting position on the body B side.

6 and 7 show a floating structure of the positioning mechanism and its locking mechanism. A housing 30 is provided above the frame 20 via a linear way 31 in the longitudinal direction of the frame 20 (see FIG. 4). In the left-right direction)
It is provided slidably on the. A bearing 32 (see FIG. 7) is housed in the housing 30, and a rotary support shaft 34 coupled to a sub plate 33 is horizontally provided inside the housing 30 in the front-back direction (vertical direction in FIG. 3). Has been inserted into. Also, there are plates on both sides of the rotary support shaft 34.
35 and 35 are provided perpendicularly to the rotary support shaft 34, and the sub-plate 33 is slidably attached to both plates 35 and 35 via linear ways 36 and 36, respectively. It is adapted to be driven in the vertical direction by the cylinder 37.

Further, the mounting plate 38 coupled to the frame 20 has
A base 40 is assembled via a block 39, and a pair of guide cylinders 41, 41 arranged on both sides of the rotation support shaft 34 are arranged in parallel with the rotation support shaft 34 on the base 40. Installed. A stepped lock pin 42 is slidably inserted in each guide cylinder 41 in the axial direction,
The stepped lock pin 42 is driven forward and backward in the guide cylinder 41 by a cylinder 43 attached to the base 40. The stepped lock pin 42 has a small diameter portion 42b formed on the tip side of the large diameter portion 42a.
A tapered portion 42c is formed at the boundary between the small diameter portion 42b and the small diameter portion 42b.
When it is inserted into, the centering is performed by the action of the tapered surface 42c, and it is inserted into the insertion hole 35a with no gap,
Cylinder 43 while locking floating operation
When the stepped lock pin 42 is retracted by the
The large-diameter portion 42a comes out of the inside of the a, and the small-diameter portion 42b is positioned instead, and thereby the locked state is released, and
The movable range of the small diameter portion 42b in the insertion hole 35a is defined as the floating range.

On the other hand, the front side of each of the plates 35, 35 (first plate)
(Left side in the figure), L-shaped arms 44, 4 made of square pipe
4 is attached, the upper ends of both L-shaped arms 44, 44 are connected by a plate, and are connected to a robot mounting flange 46 via a pair of linear ways 45, 45, and the lower surface of the robot mounting flange 46. Is equipped with a cylinder 48 via a bracket 47.
The tip of the rod of 48 is connected to the upper end of the L-shaped arm 44 via a cylinder rod bracket 49, and by driving this cylinder 48, a robot mounting flange is formed.
A portion below the L-shaped arm 44 of the workpiece automatic assembling device 11 with respect to 46 is slid in the front-back direction (vertical direction in FIG. 3).

Further, the bolt fastening mechanism parts 19, 19 will be explained based on FIG. 3 and FIG. 4. The bolt fastening mechanism parts 19, 19 are composed of a fastening machine unit 50, a linear way 51 and a forward / backward movement cylinder 52, and are attached to both upper blades of the frame 20. On the plate 54 provided on the bases 53, 53, the fastener unit is mounted via the linear way 51.
50 is provided, and the tip of the rod of the forward / backward movement cylinder 52 also fixed on the plate 54 is bracketed.
The fastening unit 50 on the linear way 51 is connected to the fastening unit 50 via the forward / backward movement cylinder 52.
Can be driven in the forward direction (upward direction in FIG. 3) and the backward direction. Also, the fastening unit 50
A nut runner 50a is attached to its rear end (lower end in FIG. 3), and the fastener unit 50 has a bolt gripping function and a phase adjusting function.

Next, the operation of this embodiment configured as described above will be described.

The workpiece automatic assembling apparatus 11 attached to the robot body 17 of the gantry type robot 13 has the air conditioner unit U supplied to the air conditioner unit assembling process of the equipment line formed on its attachment plates P ₂ and P _3. Positioning holes L, L
Then, the positioning pins 29, 29 are respectively inserted to perform positioning. At this time, each floating mechanism of the workpiece automatic assembly apparatus 11 absorbs the positional deviation, so that automatic positioning becomes easy.

When the positioning of the workpiece automatic assembly device 11 with respect to the air conditioner unit U is completed, the center vacuum cup 24 and the side vacuum cup 22 are moved to the air conditioner unit U.
Grip is performed by adsorbing to the smooth surfaces F, F respectively. Further, the mounting bolts chucked to the fastener unit 50 are inserted into the respective bolt insertion holes H of the mounting plates P ₂ and P ₃ . Then, the robot main body 17 moves on the traverse rail 16, moves to a predetermined position above the outfitting line where the assembling work is performed, and waits there.

Then, when the car body B placed on the lifting carriage 12 is conveyed to the air conditioner unit assembling process, the traverse rail 16 of the gantry type robot 13 runs in the conveying direction in synchronization with the lifting carriage 12. At the same time, the robot main body 17 suspended on the traverse rail 16 descends, and the air conditioner unit U gripped by the workpiece automatic assembly device 11 connected to the lower end of the robot main body 17 is carried into the engine room of the automobile body B. To do. Then, during the synchronous traveling, the positioning pins 29, 29 inserted into the respective positioning holes L, L of the mounting plates P ₂ , P ₃ of the air conditioner unit U are inserted into the positioning holes formed at a predetermined assembly position of the automobile body B. (Not shown), the air conditioner unit U is positioned. At this time,
The positional deviation between the automobile body B and the air conditioner unit U is absorbed by the floating mechanism, the positional deviation in the left-right width direction is absorbed by the linear way 31, and the positional deviation in the height direction is absorbed by the linear way 36.
The positional deviation in the rotation direction is absorbed by the rotation around the rotation support shaft 34 and is automatically positioned. Then, after being positioned, the mounting bolts already inserted into the respective bolt insertion holes H of the mounting plates P ₂ and P ₃ of the air conditioner unit U are rotationally driven by the nut runner 50a to be formed on the vehicle body B side. They are fastened and assembled by being screwed into the fastened fastening holes (not shown).

When the automatic assembly of the air conditioner unit U to the automobile body B is completed, the suction of both vacuum cups 22 and 24 is released, and the positioning pins 29 and 29 of the workpiece automatic assembling device 11 are retracted, so that the automobile body B and It comes out from the positioning hole of the air conditioner unit U. When the grip of the air conditioner unit U is released, the stepped lock pin 42 is driven forward by the cylinder 43 and the large diameter portion 42a is fitted into the insertion hole 35a, whereby the floating is locked. Next, as the robot body 17 rises, the traverse rail 16 travels in the counter-transport direction and returns to the initial position, grips a new air conditioner unit U, and waits until the start of the next assembly work.

Thus, in the present embodiment, when positioning the workpiece automatic assembly device 11 and gripping the air conditioner unit U,
A mounting bolt is inserted into the bolt insertion hole H of the air conditioner unit U, and the mounting bolt is attached to the automobile body B.
Since it is screwed into the fastening hole formed on the side, compared with the case where the bolt hole formed on the air conditioner unit side is aligned and attached to the stud bolt planted on the side of the conventional automobile body. Since the bolt hole can be machined with higher accuracy than the machining accuracy of the stud bolt which is easily inclined, there is an advantage that the automatic assembling becomes easy.

Also, as a method of locking the floating mechanism,
Since the stepped lock pin 42 is used, the large diameter portion 42a of the stepped lock pin 42 is inserted into the insertion hole 35a of the plate 35 with no gap to lock the floating state by the floating mechanism and unlock the lock. At times, the small diameter portion 42b of the stepped lock pin 42 is inserted into the insertion hole 35a, so that the small diameter portion 42b can move within the insertion hole 35a.
The floating range can be limited, and further, when the large diameter portion 42a is moved into the insertion hole 35a when locking the floating, the workpiece automatic assembly device 11 can be automatically centered at the time of locking.

Effects of the Invention As described above, in the work assembling apparatus of the present invention, the large diameter portion is fitted into the insertion hole to eliminate the floating state at the center of the floating operation range and fix it, while the small diameter portion is loosened. The lock pin allows the floating state by the floating mechanism within a range in which the small diameter part can move within the insertion hole by fitting, and the work holding mechanism is positioned by being inserted into the positioning hole formed with the work and the mating partner side. A plurality of positioning pins that are inserted into the positioning holes formed on the work gripping mechanism to position the work gripped by the work gripping mechanism at the assembly position and the bolts that are inserted through the bolt holes of the work gripped by the work gripping mechanism Since it has a fastener machine that is screwed into the bolt fastening hole, the automatic positioning accuracy by the positioning pin is improved, and work assembly work can be performed. In addition to the automation, the work assembly device is always centered in the locked state of the floating mechanism, so that the positioning performed by releasing the lock can be achieved in a short time.

[Brief description of drawings]

1 to 9 show an embodiment of the present invention. FIG. 1 is a perspective view of a work assembling apparatus, and FIG. 2 is a perspective view of a gantry type robot having the work assembling apparatus attached. FIG. 3 is a plan view of the work assembling apparatus, FIG. 4 is a rear view of the same, FIG. 5 is an enlarged front view of an essential part showing a mounting state of a positioning pin, and FIG. FIG. 7 is a partial sectional front view showing a floating mechanism in a rotating direction, FIG. 8 is a partial sectional side view showing a sliding mechanism of a robot mounting flange portion, and FIG. 9 is a perspective view of an air conditioner unit. FIG. 10 is a schematic view showing a conventional work assembly method. 11 …… Automatic work assembly device, 12 …… Lifting cart,
13 …… Gantry type robot, 16 …… Transverse rail, 17…
… Robot body, 18 …… Positioning mechanism, 19 …… Bolt fastening mechanism, 20 …… Frame, 22 …… Side vacuum cup, 24 …… Center vacuum cup, 29 …… Positioning pin, 30 …… Housing , 34 …… Rotary support shaft, 35…
… Plate, 35a …… Insertion hole, 40 …… Base, 41 …… Guide tube, 42 …… Step lock pin, 42a …… Large diameter part, 42b
…… Small diameter part, 43 …… Cylinder, 44 …… L-shaped arm, 46
...... Robot mounting flange, 50 ...... Fastening machine unit,
50a …… Nutrunner, B …… Car body, U ……
Air conditioner unit, P ₁ , P ₂ , P ₃ ... Mounting plate, H ...
Bolt insertion hole, L ... Positioning hole.

Claims (1)

(57) [Scope of utility model registration request] 1. A fixed part attached to a robot and a movable part held by the fixed part via a floating mechanism, and the work held by a work holding mechanism of the movable part is conveyed to a predetermined assembly position. At the same time, the floating mechanism absorbs the positional deviation between the gripped work and the assembly partner, and the positioned work is bolted to the assembly partner by a work assembly device that has a small diameter part and a large diameter part. However, a lock pin provided in either one of the fixed portion and the movable portion so as to be able to drive forward and backward, and in the other of the fixed portion and the movable portion, the lock pin is formed when the lock pin is moved forward or backward. An insertion hole through which the large-diameter portion and the small-diameter portion selectively engage with each other, and a position formed on the mating side through a positioning hole formed in the work and provided in the work gripping mechanism. A positioning pin that can be inserted into the fixing hole; and a fastener that inserts the bolt inserted into the bolt hole of the work gripped by the work gripping mechanism into the bolt fastening hole of the mating side, and The large diameter portion fits into the insertion hole to eliminate the floating state due to the floating mechanism, and the small diameter portion loosely fits into the insertion hole to cause the floating state due to the floating mechanism. In this floating state, the positioning pin A work assembling apparatus characterized in that it is configured to perform positioning by.