JP2561566B2 - How to change the jig for the parts set jig of the body assembly device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of holding a component set jig for a vehicle body assembly apparatus for assembling a vehicle body of an automobile. The present invention relates to a method for changing the holding of a parts set jig used.

[0002]

2. Description of the Related Art Conventionally, a plurality of vehicle types (models) on the same line
As a vehicle body assembling apparatus suitable for a multi-vehicle mixed flow assembling line in which the vehicle body flows, for example, Japanese Patent Application No. 2-5416 (Japanese Patent Application Laid-Open No. 3-2
No. 13222) has been proposed by the present applicant. As shown in FIGS. 6 to 8, this vehicle body assembling apparatus, when assembling the air box 53, for example, with respect to the vehicle body 52 which is positioned in advance on the main jig 51, sets the parts according to the shape of the air box of the corresponding vehicle type. After selecting the tool 54 and holding it with the handling robot 55,
The parts setting jig 54 clamps the air box 53 at a predetermined parts standby position,
The component set jig 54 that clamps the
By positioning the air box 53 and the vehicle body 52 relative to each other, the relative positional accuracy of the air box 53 and the vehicle body 52 is obtained.

When the air box 53 is positioned on the main jig 51 side together with the parts setting jig 54,
The handling robot 55 temporarily retracts while leaving the component setting jig 54 on the main jig 51 side, and spot welding is performed by a spot welding gun (not shown) during that time.

Reference numeral 56 denotes a clamper provided on the component setting jig 54 for clamping the air box 53, and 57.
Is the main jig 51 on which the component setting jig 54 is positioned
The receiving portion 58 on the side is a clamper that clamps the component setting jig 54 to the receiving portion 57. Further, reference numeral 59 is a tool changer which is provided on the wrist portion at the tip of the robot arm 60 of the handling robot 55 and holds the taper cone portion 61 of the component setting jig 54.

[0005]

However, in such a conventional vehicle body assembling apparatus, since there is a single component set jig 54 that can be gripped by the handling robot 55, the vehicle body body to be welded next. If the vehicle model of 52 is different from the vehicle model of the vehicle body 52 currently being welded, the main jig 5
While the vehicle body 52 is being replaced on the first side, the handling robot 55 must continuously carry out the work of holding the component setting jig 54 and the work of clamping the air box 53 of the next vehicle.

For this reason, the total time of the above-mentioned holding work time of the parts setting jig 54 and the parts clamping work time cannot catch up with the vehicle body replacing work time on the main jig 51 side by the vehicle body conveying device, and the main jig 51 Even though the positioning of the vehicle body 52 of the next vehicle has already been completed, the air box 53 is kept waiting for a predetermined time. As a result, the waiting time becomes a lost time as it is, the tact time of the entire assembly line becomes long, and the production efficiency decreases.

On the other hand, in order to shorten the tact time, for example, by making the component receiving surface of one specific component set jig 54 into a general-purpose shape, it can be shared by two or three vehicle types, or by each vehicle type. It is also possible to make the assembly process of body parts independent.

However, in the former case, since the number of vehicle models that can share the component setting jig 54 is naturally limited, the component setting jig 54 cannot be commonly used for all vehicle types, and therefore the component setting jig 54 cannot be used. It is not possible to expect a significant reduction in tact time because the number of holdings will be slightly reduced.

In the latter case, an independent main jig 51 is required for each vehicle type, which not only causes an extremely high equipment cost but also significantly increases the total length of the assembly line.

The present invention has been made in view of the above problems, and a handling robot switches to a parts setting jig of a corresponding vehicle type, and then a body part is clamped by the parts setting jig to perform a main treatment. It is an object of the present invention to provide a method of holding a component set jig for a vehicle body assembly apparatus that can shorten the tact time when positioning on the tool side.

[0011]

In order to solve the above problems, according to the present invention, a parts set jig storage rack in which a plurality of parts set jigs corresponding to the car type are stored After selecting a parts set jig and holding it by the handling robot, the body parts of the corresponding vehicle model at the predetermined parts standby position are clamped by the parts set jig, and the parts set jig is used as the main tool for positioning the car body. Positioning with respect to the tool, after the positioning of the parts setting jig is completed, the body parts together with the parts setting jig are left on the main jig side, the handling robot is evacuated, and then the parts are welded to the vehicle body. In the vehicle body assembly apparatus in which the handling robot again grips and takes out the component setting jig on the main jig after welding is completed, If a tool changer capable of mounting two component setting jigs at the same time is provided on the wrist of the vehicle, and if the vehicle type of the vehicle body to be welded next is different from the vehicle type of the vehicle body currently being welded, Before taking out the parts set jig on the main jig, select the parts set jig for the next car from the parts set jig storage rack and hold it in advance by the handling robot. The handling robot grips the parts set jig for the next vehicle, and the parts set jig on the main jig is gripped and taken out, and the parts set jig for the next car is taken while holding the parts set jig taken out from the main jig. The jig is used to clamp the car body parts of the next car at the parts standby position, and after the completion of the replacement of the car body on the main jig, the parts set that was previously taken out from the main jig is clamped. It is characterized by positioning the parts set jig for the following vehicles with bets jig being gripped by the handling robot with respect to the each body part of the following vehicle the main jig.

[0012]

In the above structure, before the handling robot takes out the parts setting jig on the main jig for which the welding work has been completed, the handling robot is provided with a parts setting jig for the next vehicle in advance. Take out the parts set jig on the main jig while holding the parts set jig for. While the car body is being replaced on the main jig, the handling robot holds the parts set jig taken out from the main jig and uses the parts set jig for the other next car A body part is clamped, and the body part clamped by the part setting jig is positioned with respect to the main jig together with the part setting jig. And
While the welding operation is being performed on the main jig side, the handling robot first returns the component set jig extracted from the main jig to the component set jig storage rack for the first time.

[0013]

An embodiment of the present invention will be described in detail below with reference to the drawings. That is, FIG. 1 shows an example of a vehicle body assembly apparatus that positions and welds a rear panel 2 as a vehicle body component to the vehicle body 1. After the vehicle body 1 is carried onto a main jig 3 by a vehicle body carrying device (not shown), The main jig 3 is transferred and positioned.

On the jig base 4 of the main jig 3, a component setting jig positioning device 6 for positioning a component setting jig 5 described later is provided. The component setting jig positioning device 6 is driven by one of the servo motors 7, 7 to move forward and backward with respect to the vehicle body 1 positioned by the main jig 3, and is also driven by the other servo motors 8, 8. It is designed to work up and down. Then, when the component setting jig 5 is positioned on the receiving surface 9 of the component setting jig positioning device 6,
The component setting jig positioning device 6 moves forward with respect to the vehicle body 1, whereby the rear panel 2 clamped in advance by the component setting jig 5 is positioned with respect to the vehicle body 1.

Around the main jig 3, a self-propelled component carrier 10 for transporting the rear panel 2 and a component set jig accommodating a plurality of component set jigs 5 according to each vehicle type. A storage rack 11 (however, only one component setting jig 5 is shown in FIG. 1) and a handling robot 12 are provided.

The component carrier 10 carries the rear panel 2 and travels to the component standby position S to stop, and waits at the component standby position S until the rear panel 2 is taken out by the handling robot 12. When the rear panel 2 on the component carrier 10 is removed, the component carrier 1
0 immediately starts traveling toward the component supply stage, while the component carrier 10 carrying the rear panel 2 required for assembly of the next vehicle body 1 stands by at the component standby position S instead.

The handling robot 12 selects the component set jig 5 of the corresponding vehicle type from the component set jig storage rack 11 and carries it over, and then transfers the component by the selected component set jig 5. It has a function of clamping the rear panel 2 on the dolly 10 and positioning it together with the component setting jig 5 on the component setting jig positioning device 6, and setting the component on the wrist portion 14 at the tip of the robot arm 13 of the handling robot 12. A tool changer 15 for changing the jig 5 is provided.

The tool changer 15 has 9
Two chucking heads 16 are placed at a position that is 0 degrees out of phase
Is provided, which allows the tool changer 15
Can hold two component setting jigs 5 at the same time.

The parts set jigs 5 are shown in FIGS.
In addition to the clamper for clamping the rear panel 2 similar to that shown in FIG. 8, a taper cone is provided as a gripping portion at a common position through each jig, so that the handling robot 12 has the chucking head 16 of the tool changer 15. The component setting jig 5 is gripped by tapering the taper cone to the taper cone.

In the vehicle body assembling apparatus constructed as described above, assuming that the main jig 3 of the vehicle body assembling line is now welding and assembling the vehicle body 1 of the vehicle type A as shown in FIG. Also, as shown in FIG. 3 (A), the main jig 3 on which the vehicle body 1 is positioned, with respect to the main jig 3, the parts setting jig 5 for the vehicle type A supported by the parts setting jig positioning device 6
A is positioned, and the rear panel 2 positioned and clamped by the component setting jig 5A and the vehicle body 1 are welded and assembled.

In this state, the handling robot 12 is retracted from the main jig 3 as shown in FIG. 3A, and the vehicle body (B vehicle type) next to the vehicle body (A vehicle type) 1 currently being welded and assembled. In preparation for the welding and assembling of No. 1), the handling robot 12 carries out the work for holding the component setting jig in parallel with the welding and assembling work on the main jig 3 side. That is, the handling robot 12 installs the component set jig for the E vehicle model, which has been welded and assembled one unit before the vehicle body 1 of the A vehicle model currently being welded and assembled, into the component set jig storage rack 11.
On the other hand, a new parts set jig for the next car (B model) is newly selected from the parts set jig storage rack 11 and gripped by the chucking head 16 of the tool changer 15.

The assembling order of the vehicle body 1 on the vehicle body assembly line is controlled by a production control device (not shown), and the handling robot 12 operates in response to a vehicle type instruction from the production control device.

When the welding and assembling work on the main jig 3 is completed, as shown in FIG. 3B, the parts setting jig 5A for the vehicle type A on the main jig 3 releases the rear panel 2. Since the parts setting jig positioning device 6 is retracted together, the handling robot 12 picks up the parts setting jig 5A for the vehicle type A. Then, the handling robot 12 holds the parts setting jig 5B for vehicle type B by the tool changer 15 while holding the parts setting jig 5A for vehicle type A on the parts setting jig positioning device 6. Remove from tool 3. As a result, the handling robot 12 can simultaneously use the two component setting jigs 5
A and 5B will be gripped.

Parts setting jig 5A on the main jig 3
When the vehicle is taken out by the handling robot 12, as shown in FIG. 3 (C), the vehicle body 1 of the vehicle type A for which welding and assembly has been completed is sent out from the main jig 3 by a vehicle body conveying device (not shown), while the vehicle body of the next vehicle type B is delivered. The vehicle body 1 is loaded onto the main jig 3 to replace the vehicle body 1, and the vehicle body 1 of the B vehicle type is positioned on the main jig 3.

The handling robot 12 is preparing the rear panel 2 for the following vehicle types in parallel with the replacement work of the vehicle body 1 by the main jig 3, and the handling robot 12 is prepared as shown in FIG. Rear panel 2 of vehicle type B on component carrier 10 at component standby position S while holding two component setting jigs 5A and 5B for vehicle types A and B
Is clamped with a parts set jig 5B for B car model.

When the positioning of the vehicle body 1 of the B vehicle type on the main jig 3 is completed, the handling robot 12 clamps the rear panel 2 as shown in FIG. The tool 5B is positioned on the parts setting jig positioning device 6, and the parts setting jig 5 is positioned.
After B is released, it is evacuated. At this time, the handling robot 12 still holds the component setting jig 5A for the A vehicle type.

When the handling robot 12 retreats, the parts setting jig positioning device 6 on the main jig 3 advances as shown in FIG. The rear panel 2 clamped to the component setting jig 5B is positioned with respect to the vehicle body 1, and spot welding is performed by a spot welding gun (not shown).

In parallel with the welding and assembling work with the main jig 3, the handling robot 12 carries out the work for holding the component setting jig 5, and as shown in FIG. For the first time, the parts set jig 5A of the car type A for which the welding and assembly work has been completed is returned to the parts set jig storage rack 11 for the first time, and in preparation for the welding and assembling work of the car body 1 of the next car type C, the car type C The component setting jig 5C for use is selected from the component setting jig storage racks 11 and gripped by the tool changer 15.

When the welding and assembling work of the vehicle body 1 of the B type on the main jig 3 is completed, as shown in FIG. 4A, the parts setting jig 5B for the B type on the main jig 3 is formed. Releases the rear panel 2 and retreats together with the parts setting jig positioning device 6, so that the handling robot 12 holds B on the parts setting jig positioning device 6 while holding the parts setting jig 5C for C vehicle type. The parts set jig 5B for the vehicle type is taken out, and the parts set jig 5B for the B type is taken out of the main jig 3.

In the meantime, as shown in FIG. 4B, the main jig 3 is used to switch the vehicle body 1 from the B vehicle type to the C vehicle type, while the handling robot 12 is used for the B and C vehicle types. C on the component carrier 10 at the component standby position S while holding the one component setting jig 5B, 5C
Set the rear panel 2 of the car model to the parts setting jig 5 for the C car model.
Clamp with C.

When the positioning of the vehicle body 1 of the C vehicle type on the main jig 3 is completed, the handling robot 12 clamps the rear panel 2 as shown in FIG. The jig 5C is positioned on the component setting jig positioning device 6, and then retracted while holding the component setting jig 5B for the B vehicle type.

When the handling robot 12 retreats, a welding and assembling work with a spot welding gun (not shown) is performed on the main jig 3 side. In parallel with this welding and assembling work, the handling robot 12 carries out a work for holding the component setting jig. As shown in FIG. 7D, the welding robot 12 has already completed the welding assembly work B before.
The vehicle part set jig 5B is returned to the part set jig storage rack 11. At this time, as is apparent from FIG. 2, since the body 1 of the C vehicle type, which is currently undergoing the welding and assembling work, is next to the body 1 of the C vehicle type, the handling robot 12 is the same as that of the B vehicle type as described above. Parts set jig 5B
Is returned to the component set jig storage rack 11, and a new component set jig is not gripped.

After that, as shown in FIG. 4E, when the welding and assembling work for the C vehicle type on the main jig 3 is completed,
The handling robot 12 moves to the main jig 3 side without having any part setting jig, and once takes out the part setting jig for the C vehicle type on the part setting jig positioning device 6. Then, as shown in FIG. 5A, while the vehicle body 1 is being exchanged on the main jig 3 side, the handling robot 12 prepares the C for the welding and assembling work of another C vehicle type. The rear panel 2 of the C vehicle type on the component carrier 10 is clamped by the vehicle component setting jig 5C.

When the replacement of the vehicle body 1 on the main jig 3 is completed, the handling robot 12 causes the parts setting jig 5C of the C vehicle type which clamps the rear panel 2 to be carried out as shown in FIG. After being positioned on the parts setting jig positioning device 6, it is retracted. Then, while welding and assembling the vehicle body 1 of the C vehicle type on the main jig 3, the handling robot 12 prepares for the welding and assembling of the vehicle body 1 of the next D vehicle type as shown in FIG. Parts set jig storage rack 11 to D parts set jig 5D
After selecting and gripping, the same operation as above is repeated thereafter.

[0035]

As described above, according to the present invention, the handling robot is provided with the tool changer capable of simultaneously gripping two component setting jigs, and the component setting jig on the main jig on which the welding operation is completed is handled by the robot. Since the handling robot was allowed to have a parts setting jig for the next vehicle when he went to pick up, the holding of the parts setting jig for the next vehicle was a welding operation on the main jig. It can be done in parallel with. Therefore, when the vehicle body of the next vehicle is put into the main jig, the handling robot only has to go to the component standby position to pick up the vehicle body component for the next vehicle. As a result, like the conventional method that requires continuous operation of holding the parts set jig and going to pick up the car body parts,
The inconvenience that the vehicle body on the main jig is kept waiting for a long time is solved. Also, unlike the case where the assembly line is independent for each vehicle type, there is no increase in equipment cost and lengthening of the assembly line, and thus the tact time of the assembly line is greatly shortened to improve productivity. It is possible to plan.

[Brief description of drawings]

FIG. 1 is a perspective view of essential parts showing a configuration example of a vehicle body assembly apparatus to which the present invention is applied.

FIG. 2 is an explanatory plan view of the entire vehicle body assembly line including the vehicle body assembly apparatus of FIG.

FIG. 3 is an operation explanatory view showing a procedure of a method of holding and holding a component set jig according to the present invention.

FIG. 4 is an operation explanatory view showing the procedure after (E) in FIG.

FIG. 5 is an operation explanatory view showing the procedure after (E) in FIG.

FIG. 6 is a perspective view of a main part showing an example of a conventional vehicle body assembly apparatus.

FIG. 7 is an enlarged perspective view of the component setting jig shown in FIG.

8 is an enlarged perspective view of essential parts showing the relationship between the component setting jig of FIG. 7 and a handling robot.

[Explanation of symbols]

 1 Body 2 Rear Panel (Body Parts) 3 Main Jig 5 Parts Setting Jig 5A Parts Setting Jig 5B Parts Setting Jig 5C Parts Setting Jig 5D Parts Setting Jig 5E Parts Setting Jig 10 Parts Transfer Cart 11 Parts Setting Jig Tool storage rack 12 Handling robot 13 Robot arm 15 Tool changer S Parts standby position

Claims (1)

(57) [Claims] 1. A parts set jig for a corresponding vehicle type is selected from a parts set jig storage rack in which a plurality of parts set jigs corresponding to the vehicle type are stored, and the handling robot switches the jigs to a predetermined part. The body parts of the corresponding vehicle type in the standby position are clamped by the parts setting jig, the parts setting jig is positioned with respect to the main jig on which the car body is positioned, and the body parts after the positioning of the parts setting jig is completed. With the parts setting jig left on the main jig side, the handling robot is evacuated, the body parts are welded to the vehicle body, and after the welding is completed, the handling robot again sets the parts setting jig on the main jig. A tool for assembling two parts setting jigs on the wrist of the handling robot at the same time in a body assembly device that grips and takes out If a changer is provided and the vehicle type of the vehicle body to be welded next is different from the vehicle type of the vehicle body currently being welded,
After the handling robot has evacuated and before taking out the parts set jig on the main jig, select the parts set jig for the next car from the parts set jig storage rack and grasp it in advance by the handling robot. , After welding is completed,
The handling robot gripping the parts setting jig for the next vehicle grips and takes out the parts setting jig on the main jig, and the next vehicle with the parts setting jig taken out from the main jig held Clamp the car body parts of the next car in the parts standby position with the parts set jig of (1), wait for the completion of the replacement of the car body on the main jig, and the parts set jig taken out from the main jig. A method of holding a parts set jig for a vehicle body assembly apparatus, wherein a parts set jig for a next vehicle held by a handling robot is positioned with respect to the main jig together with a body part of the next vehicle.