JP2516186Y2 - Body transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a body transfer device installed in a welding line or an assembly line of an automobile.

<Prior art> In the production line of automobiles (especially small cars such as passenger cars),
An overhead conveyor is used to convey the body between the welding line and the painting line or between the painting line and the assembly line.

As shown in FIGS. 12 and 13, the overhead conveyor 101 is a device in which a rail 102 is laid near the ceiling of a factory and a body 104 hung on a hanger 103 is moved (conveyed) by the rail 102. . The body 104 is conveyed above the carriages and jigs (hereinafter, represented by carriages) 105 of each line by the overhead conveyor 101 and lowered by the drop lifter 106 so that the carriage 1
Installed in 05. The drop lifter 106 has a rail 107 laid vertically, and a lifter main body 108 guided by the rail 107 has a drive mechanism (comprising a motor and a speed reducer) 1
The 09 and the chain 110 move up and down.

The body 104 is disengaged from the hanger 103 when the lifter body 108 is lifted by a small amount, and is opened when the hanger 103 is opened as shown by a chain double-dashed line in FIG. After that, the body 104 is mounted on the carriage 105 such as a shuttle conveyor by lowering the lifter main body 108. Dolly 1
The 05 has a cone-shaped location pin (not shown) attached to the upper end, and this location pin enters the location hole (not shown) formed in the body to perform positioning during mounting. Be seen.

<Problems to be solved by the invention> By the way, the body 104 moves from the hanger 103 of the overhead conveyor 101 to the lifter body 108 of the drop lifter 106.
When it is moved to, its position often shifts. This is because the position is already displaced when it is carried out from the previous process line, or it is an overhead conveyor.
In addition to moving on the move by 101, hanger 103
Swings with respect to the rail 102. This deviation was corrected by the combination of the location pin and the location hole as described above when the wafer was transferred to the carriage 105.

However, if the amount of displacement is large, the location pin and the location hole cannot be used for complete correction, and a rough guide (not shown) is pressed against the inner outer plate of the body 104 to guide it to a predetermined position. It was generally done. In this case, since the body 104 comes into contact with the rough guide and is forcedly positioned, the outer plate is often scratched. When the paint is transferred from the painting process to the assembly process line, the paint on the outer plate may be peeled off, forcing repair.

The present invention has been made in view of the above circumstances.
It is an object of the present invention to provide a device for quickly and accurately transferring the sheet from the drop lifter 106 to the carriage 105.

<Means for Solving the Problem> Therefore, in order to solve this problem, the present invention is an apparatus for transferring a body from a drop lifter to a carriage or a jig, which is provided in a vehicle manufacturing line. Body position detecting means for detecting the position of the body held in the body, body holding means for holding the body, first driving means for driving the body holding means up and down, and driving the body holding means forward and backward. Second driving means, a third driving means for driving the body holding means left and right, a fourth driving means for driving the body holding means in a rotational direction, and a predetermined position of the carriage or jig. In order to transfer the body, drive control means for driving and controlling the first, second, third, and fourth drive means based on the detection result of the body position detection means is provided. It is intended to propose a body transfer apparatus that.

<Operation> In the body transfer device of the present invention, the drop lifter lowers the body to a predetermined position, and then, for example, three sets of body position detecting means come into contact with three points of the body, and the front-back, left-right, and rotational directions are set. Detect the position of. Next, based on the detection result, the drive control means drives and controls the first, second, third and fourth drive means to match the phases of the body and the body holding means and receive the body from the drop lifter. .
Then, again, the driving means is drive-controlled to perform the positioning with respect to the carriage, and then the body holding means is lowered by the first driving means to transfer the body onto the carriage or the jig.

<Embodiment> An embodiment of the present invention will be specifically described with reference to the drawings.
In the description of the embodiments, the same members as those in the above-described conventional example are designated by the same reference numerals, and duplicated description will be omitted.

FIG. 1 is a plan view showing an embodiment of a body transfer device according to the present invention, and FIG. 2 is a view taken in the direction of arrow A in FIG. 1 (side view).
3 is shown in FIG. 1 as viewed in the direction of arrow B (front view).

In the drawing, 1 is a base fixed on the floor of the factory,
On this base 1, a lateral movement frame (hereinafter, referred to as BL frame) 3 that moves left and right is supported via four linear motion ball bearings (hereinafter, referred to as LM) 2. A vertical movement frame (hereinafter referred to as a TL frame) 4 that moves back and forth is supported on the upper portion of the BL frame 3 also via four LMs 2.

BL frame 3 is the third drive means fixed to the base 1 BL
The TL frame 4 is driven in the left-right direction by the driving device 5, and the TL frame 4 is driven back and forth by the TL driving device 6, which is a second driving means fixed to the BL frame 3. The BL drive device 5 and the TL drive device 6 are both composed of motors 5a, 6a, transmission belts 5b, 6b, ball screws 5c, 6c, etc., and operate in response to a command from a drive control device (not shown).

A rotary base frame 7 is supported on the upper part of the TL frame 4 via a plurality of rollers 8 and rotates about a pivot 9 integral with the TL frame 4. The rotary base frame 7 is driven in the rotational direction by a rotary drive device 10, which is a fourth drive means fixed to the TL frame 4. 4 and 5 show an enlarged view (enlarged view of portion C in FIG. 1) and a sectional view taken along line DD in FIG. 4 of the rotary drive device 10. As shown in these figures, the rotary drive device 10 is also a motor.
In addition to 10a, the drive belt 10b, the ball screw 10c and the like are components, but the rotary underframe 7 is driven via the link 10d. The rotary drive device 10 also operates according to a command from the drive control device.

As shown in FIG. 6 (enlarged view of portion E in FIG. 1) and FIG. 7 (view FF in FIG. 6), column bases 11 are attached to the four corners (front, rear, left and right) of the rotary underframe 7. A column 12 is housed in each of the columns so that it can slide vertically. A rack 12a is formed on the column 12 and meshes with a pinion 13 held by the column base 11. Left and right pinion
13 are connected by a pinion shaft 14 and rotate integrally. Therefore, the left and right columns 12 synchronously slide up and down.

At the top of the left and right front and rear columns 12, the body 104
A lifter frame 16 that is a body holding means having a lifter 15 that supports four points is attached. A rod 17b of an air cylinder 17, which is a first drive means having a main body 17a fixed to the rotary frame 7, is connected to the center of the lifter frame 16, and the lifter frame 16 moves up and down by the operation of the air cylinder 17. Move. The air cylinder 17 also operates upon receiving a command from the drive control device. In the figure, reference numeral 18 denotes a urethane work receiver that cushions when the body 104 abuts.

On the other hand, the body transfer apparatus of this embodiment is provided with three sets of contact-type sensing units as position detecting means. One set is for detecting the position of the body 104 in the front-rear direction (hereinafter referred to as a first sensor) 19, and is attached to the left front portion of the lifter frame 16 via a bracket 20. The first sensor 19 is the front wheel house 104 of the body 104.
The position is detected by abutting against a, but the air cylinder 21 can swing with the vertical movement of the body 104. In addition, the other two sets contact the side sill 104b and are connected to the body.
The sensors 22 and 23 (hereinafter, referred to as second and third sensors) for detecting the left-right position of 104 are attached to the left and right lifters 15.

The structures of the second and third sensors 22 and 23 will be described below with reference to the enlarged side view (FIG. 8) and the arrow G in FIG. 8 (FIG. 9).

In the figure, 24 is a slide base which is a frame of the unit, and a slide plate 26 is attached to the side surface of the slide base 26 via an LM 25 so as to be slidable in the left and right directions. The side sill 104b of the body 104 is located at the upper left corner of the slide plate 26 in the figure.
A urethane contact plate 27 is attached so as to abut on the.
Further, a rod 28a of an air cylinder 28 for urging the slide plate 26 to the left side in the drawing is connected to the lower left end of the slide plate 26 in the drawing.

On the upper part of the slide plate 26, two magnetic scales (round bar of ferromagnetic material in which N poles and S poles are alternately arranged) 29 are integrally provided and fixed to the slide base 24 of the slide plate 26. A so-called magnet scale is configured with the magnetic detection head 30. As shown in FIG.
When the slide base 24 moves leftward in the figure together with the lifter 15, the contact plate 27 of the slide plate 26 contacts the side sill 104b. Further, when the slide base 24 moves, the magnetic scale 29 moves relative to the magnetic detection head 30, and a position detection signal is output. A detection signal from the magnetic detection head 30 is input to the drive control device, and the relative position between the lifter 15 and the body 104b is recognized in the drive control device.
The above description is for the second and third sensors 22 and 23, but the structure of the first sensor 19 is also the same.

The drive control device includes the first to third sensors described above.
Input the output signals from 19,22,23. The position of the body 104 in the front-rear direction with respect to the lifter frame 16 is recognized by the signal of the first sensor 19, and the position in the left-right direction and the phase of the rotation direction are also recognized by the signals of the second and third sensors 22, 23. It

 Next, the operation of this embodiment will be described.

In the body transfer device of this embodiment, the drop lifter 10
When the body 104 is lowered by the operation of the lifter main body 108 of 6, the air cylinder 17 which is the first drive means is activated by a command from the drive control device, and the lifter frame 16 is raised to a predetermined height. At this time, the left and right columns 12 that support the lifter frame 16 ascend in synchronization with the pinion 13 and the pinion shaft 14 as described above, so that the lifter frame 16 is lifted.
The levelness of 16 or lifter 15 is kept high. At the time of this rise, the lifter frame 16 is forward (rightward in FIG. 1) and leftward (rightward in FIG. 1) of the normal position with respect to the body 104.
Located above). In this case, the lift limit of the lifter 15 may be set so that a required gap is formed between the lifter 15 and the body 104, or the side sill 104b of the body 104 is lightly placed on the work support 18 and slides. You may employ the method of making it.

Next, in response to a command from the drive control device, the TL drive device 6, which is the second drive means, operates and the TL frame 4 moves backward. As a result, the slide plate of the first sensor 19 (second sensor
(Similar to the slide plate 26 of 22) comes into contact with the measured site in the wheel house 104a of the body 104. Also,
At the same time, in response to a command from the drive control device, the BL drive device 5, which is the third drive means, also operates, and the BL frame 3 moves to the left.
Then, the slide plates 26 of the second sensor 22 and the third sensor 23 come into contact with the side sills 104b of the body 104, respectively.

When the detection signals from the first to third sensors 19, 22, 23 are input, the drive control device performs predetermined arithmetic processing to
The tilt in the rotation direction is calculated in addition to the positional deviation between the front and rear and the left and right with respect to the lifter frame 16 of 4. When these calculation processes are completed, the drive control unit uses TL based on these calculation results.
The drive amounts of the drive device 6, the BL drive device 5 and the rotary drive device 10 as the fourth drive means are determined, and drive control of these is performed.
Then, the motors 6a, 5a, 10 which are the drive sources of the respective drive devices 6, 5, 10
a rotates, the TL frame 4 and the BL frame slide, and the lifter frame 16 turns around the pivot 9.

Even during the movement of the lifter frame 16, the relative positions of the lifter frame 16 and the body 104 continue to be detected by the first to third sensors 19, 22 and 23, and the detection result indicates that the drive control devices are not displaced until the drive devices 6 and 5, 10 are feedback controlled. Then, when the relative position shift is eliminated, the lifter body 108 of the drop lifter 106 descends to its lower limit, and the body 104 is held by the lifter 15 of the lifter frame 16 from here.

Next, the drive control device drives and controls the drive devices 6, 5 and 10 again, and corrects the position of the lifter frame 16 so that the relative position between the body 104 and the carriage 105 is eliminated. On this occasion,
Since the carriage 105 is fixed by a shuttle conveyor or the like, the relative position with respect to the base 1 does not shift, and the lifter frame
The drive control of 16 is quantitatively performed based on the detection results of the first to third sensors 19, 22, 23.

When the position correction is completed, the air cylinder 17 operates to transfer the body 104 to the carriage 105. As shown in FIGS. 10 and 11, the bogie 105 of the present embodiment has two front and rear left and right sides so that a plurality of types of bodies 105 having different sizes can be supported.
Eight pairs of brackets (location pins) 111 are provided. Further, two sets of left and right door retainers 112 including a roller 112a, a lever 112b and the like are provided at the central portion and the rear portion to prevent accidental opening of the door during movement.

In the present embodiment, since the body transfer device is configured as described above, it becomes possible to transfer the body from the drop lifter to the trolley quickly and accurately, improving the line speed and reducing the body shell plate repair rate. Was realized.

Although the description of the specific embodiment has been completed, the embodiment of the present invention is not limited to this embodiment. For example, although the contact type sensing unit is used as the body position detecting means in the above embodiment, it may be replaced with a contact type using a laser beam or the like. Further, a hydraulic cylinder, a pinion drive motor or the like may be used as the first drive means, or another drive mechanism (hydraulic cylinder or the like) may be used as the second to third drive means. Further, the above-mentioned device transfers the body from the drop lifter to the carriage, but the present invention may be applied to a body transfer device that transfers the body to a welding jig or the like.

<Effect of the Invention> According to the body transfer device of the present invention, the body holding means is driven by three kinds of driving means for driving the body holding means in the front-back, left-right, and rotational directions based on the detection result of the body position detecting means. Since the correction was performed and the body was transferred from the drop lifter to the carriage or jig by the vertical drive means, the body can be transferred quickly and accurately, improving line speed and improving the body skin repair rate. There is an effect that the manufacturing cost is reduced due to the reduction or the like.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of a body transfer device according to the present invention, FIG. 2 is a view taken in the direction of arrow A in FIG. 1, and FIG.
The figure is a view taken in the direction of arrow B in FIG. FIG. 4 is an enlarged view of portion C in FIG. 1, and FIG. 5 is a sectional view taken along line DD in FIG. Sixth
The figure is an enlarged view of part E in FIG. 1, and FIG. 7 is the FF in FIG.
It is sectional drawing. FIG. 8 is an enlarged side view of the second and third sensors, and FIG. 9 is a view on arrow G in FIG. Further, FIG. 10 is a plan view of the truck, and FIG. 11 is a side view thereof. And, FIG. 12 is a side view of a conventional drop lifter, and FIG. 13 is a front view thereof. In the drawings, 1 is a base, 3 is a horizontal movement frame, 4 is a vertical movement frame, 5
Is a BL drive device, 6 is a TL drive device, 7 is a rotary frame, 9 is a pivot, 10 is a rotary drive device, 12 is a column, 15 is a lifter, 16 is a lifter frame, 17 is an air cylinder, and 19 is a first sensor. , 22 is a second sensor, and 23 is a third sensor.

Claims (1)

(57) [Scope of utility model registration request] 1. A device provided on a vehicle manufacturing line for transferring a body from a drop lifter to a carriage or a jig, the body position detecting means for detecting a position of the body held by the drop lifter, Body holding means for holding a body, first driving means for driving the body holding means up and down, second driving means for driving the body holding means back and forth, and driving the body holding means left and right A third drive means, a fourth drive means for driving the body holding means in a rotation direction, and a transfer result of the body position detecting means for transferring the body to a predetermined position of the carriage or jig. The said
A body transfer device comprising drive control means for controlling drive of first, second, third and fourth drive means.