JP2620889B2 - Method and apparatus for supplying vehicle lid member - Google Patents
Method and apparatus for supplying vehicle lid memberInfo
- Publication number
- JP2620889B2 JP2620889B2 JP2051796A JP5179690A JP2620889B2 JP 2620889 B2 JP2620889 B2 JP 2620889B2 JP 2051796 A JP2051796 A JP 2051796A JP 5179690 A JP5179690 A JP 5179690A JP 2620889 B2 JP2620889 B2 JP 2620889B2
- Authority
- JP
- Japan
- Prior art keywords
- assembling
- jig
- cover member
- lid member
- bonnet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Intermediate Stations On Conveyors (AREA)
- Specific Conveyance Elements (AREA)
- Automatic Assembly (AREA)
Description
【発明の詳細な説明】 （産業上の利用分野） 本発明は、車体に上方から組付けるボンネット等の蓋
部材を、組付ステーションに配置する組付ロボットに取
付けた組付治具に供給する車両用蓋部材の供給方法及び
装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention supplies a cover member such as a bonnet to be mounted on a vehicle body from above to a mounting jig mounted on a mounting robot arranged at a mounting station. The present invention relates to a method and an apparatus for supplying a cover member for a vehicle.
（従来の技術） 従来、特開昭62−99272号公報により、車体を定置す
る組付ステーションに、ボンネットを位置決め保持する
組付治具を搭載した組付ロボットを配置して、ボンネッ
トの自動組付けを行うようにしたものは知られている。2. Description of the Related Art Conventionally, according to Japanese Patent Application Laid-Open No. 62-99272, an assembling robot equipped with an assembling jig for positioning and holding a bonnet is arranged at an assembling station where a vehicle body is fixed to automatically assemble a bonnet. It is known to provide the attachment.
当該公報には、組付治具にボンネットをどのように供
給するかは記載されていないが、一般的にはボンネット
を台車に段積みして組付ステーションに搬送し、台車か
ら移載機によってボンネットを１枚宛取出して組付治具
にセットする方法が考えられる。The publication does not describe how to supply the bonnet to the mounting jig, but in general, the bonnet is stacked on a truck, transported to the mounting station, and transferred from the bogie by a transfer machine. A method is conceivable in which one bonnet is taken out and set on an assembly jig.
（発明が解決しようとする課題） 然し、上記の方法ではラインサイドに台車の走行路を
確保したり、組付ステーションの側部に移載機の据付ス
ペースを確保する必要があって、スペース効率が悪くな
る。かかる不具合を解消すべく、ハンガコンベアにより
ボンネット等の蓋部材を組付ステーションの上方位置に
搬入して、これをドロップリフタを介して組付治具に供
給することも考えられる。(Problems to be Solved by the Invention) However, in the above-described method, it is necessary to secure a traveling path of the bogie on the line side or secure a space for installing the transfer machine on the side of the assembly station. Gets worse. In order to solve such a problem, a cover member such as a bonnet may be carried into a position above the assembling station by a hanger conveyor and supplied to an assembling jig via a drop lifter.
ところで、蓋部材はその閉じ状態で車体に対しての位
置精度が確保されるようにする必要があり、そのため組
付治具により蓋部材を略水平の閉じ姿勢で車体にセット
することが望まれ、そこで蓋部材をハンガコンベアによ
り水平姿勢で搬送して、ドロップリフタを介して水平姿
勢のまま組付治具に供給することが考えられるが、蓋部
材は大形の板状ワークであるため、これを水平姿勢で搬
送する場合はハンガコンベアのハンガが大型化して設備
費が嵩む不具合を生ずる。By the way, it is necessary to ensure the positional accuracy of the lid member with respect to the vehicle body in the closed state. Therefore, it is desirable to set the lid member on the vehicle body in a substantially horizontal closed posture by using an assembling jig. Therefore, it is conceivable to transport the lid member in a horizontal posture by a hanger conveyor and supply the lid member to the assembling jig in a horizontal posture via a drop lifter, but since the lid member is a large plate-like work, When this is transported in a horizontal posture, the hanger of the hanger conveyor becomes large, causing a problem that the equipment cost increases.
本発明は、スペース効率を向上すべく、ハンガコンベ
アとドロップリフタとを介して蓋部材を供給すると共
に、ハンガの小型化を図れるよう蓋部材をハンガコンベ
アにより略垂直姿勢で搬送して、且つ組付治具に蓋部材
を水平姿勢で供給し得るようにした蓋部材の供給方法及
び装置を提供することをその目的としている。The present invention provides a lid member via a hanger conveyor and a drop lifter in order to improve space efficiency, and transports the lid member in a substantially vertical position by a hanger conveyor so as to reduce the size of the hanger. It is an object of the present invention to provide a method and an apparatus for supplying a lid member capable of supplying the lid member to a jig in a horizontal posture.
（課題を解決するための手段） 上記目的を達成すべく、本発明方法は、車体に上方か
ら組付けるボンネット等の蓋部材を、組付ステーション
に配置する組付ロボットに取付けた組付治具に供給する
方法であって、組付ステーションの上方のワーク搬入位
置にハンガコンベアにより蓋部材を略垂直姿勢に保持し
て搬入する工程と、蓋部材をハンガコンベアからドロッ
プリフタに移載する工程と、蓋部材を略垂直姿勢で下方
のワーク供給位置に下降させる工程と、車体への組付時
に車幅方向及び車長方向に沿う蓋部材の方向を夫々横方
向及び縦方向として、横方向及び縦方向に間隔をあけた
蓋部材の複数箇所を姿勢変換装置により保持した状態で
蓋部材を略水平姿勢に姿勢変換する工程と、姿勢変換さ
れた蓋部材をその上方に位置させる組付治具に受取らせ
る工程とから成ることを特徴とする。(Means for Solving the Problems) In order to achieve the above object, a method of the present invention provides an assembling jig in which a cover member such as a bonnet to be attached to a vehicle body from above is attached to an assembling robot arranged at an assembling station. A step of transferring the lid member from the hanger conveyor to the drop lifter while holding the lid member in a substantially vertical position at the work loading position above the assembly station and transporting the lid member from the hanger conveyor to the drop lifter. Lowering the lid member to a lower work supply position in a substantially vertical posture, and, when assembling to the vehicle body, defining the direction of the lid member along the vehicle width direction and the vehicle length direction as the horizontal direction and the vertical direction, respectively, A step of changing the position of the cover member to a substantially horizontal position while holding a plurality of portions of the cover member spaced apart in the vertical direction by the position changing device, and an assembling jig for positioning the cover member having the changed position above the cover member And a step of receiving the information.
また、本発明装置は、車体に上方から組付けるボンネ
ット等の蓋部材を、組付ステーションに配置する組付ロ
ボットに取付けた組付治具に供給する装置であって、組
付ステーションの上方のワーク搬入位置に蓋部材を略垂
直姿勢に保持して搬入するハンガコンベアと、該ハンガ
コンベアから蓋部材を受取って下方のワーク供給位置に
下降させるドロップリフタとを備え、該ドロップリフタ
に、車体への組付時に車幅方向及び車長方向に沿う蓋部
材の方向を夫々横方向及び縦方向として、横方向及び縦
方向に間隔をあけた蓋部材の複数箇所を保持した状態で
蓋部材を略垂直姿勢から略水平姿勢に姿勢変換する姿勢
変換装置たる起伏自在な反転治具を取付けたことを特徴
とする。Further, the apparatus of the present invention is a device for supplying a lid member such as a bonnet for assembling to a vehicle body from above to an assembling jig attached to an assembling robot arranged at an assembling station. A hanger conveyor for holding the cover member in a substantially vertical position at the work carry-in position and carrying in the work, and a drop lifter for receiving the cover member from the hanger conveyor and lowering the work to a lower work supply position; At the time of assembling, the direction of the lid member along the vehicle width direction and the vehicle length direction is defined as the horizontal direction and the vertical direction, respectively, and the lid member is substantially held while holding a plurality of portions of the lid member spaced apart in the horizontal direction and the vertical direction. An upside-down reversing jig, which is a posture changing device for changing the posture from a vertical posture to a substantially horizontal posture, is attached.
（作 用） 本発明装置の作用を説明する。(Operation) The operation of the device of the present invention will be described.
ハンガコンベアにより蓋部材が略垂直姿勢で組付ステ
ーションの上方のワーク搬入位置に搬入されると、ドロ
ップリフタの反転治具がハンガコンベアのハンガから蓋
部材を受取り、次いでドロップリフタの作動で蓋部材が
ワーク供給位置に略垂直姿勢で下降される。次に、反転
治具の倒伏で蓋部材が略水平姿勢に姿勢変換される。こ
の際、蓋部材は横方向及び縦方向に離間した複数箇所で
反転治具に保持されているから、蓋部材を略水平姿勢に
安定して支持できる。そして、組付治具が姿勢変換され
た蓋部材の上方位置に移動してこれを受取り、その後組
付治具がワーク供給位置から下降して蓋部材を車体に水
平姿勢で組付ける。When the lid member is carried into the work loading position above the assembly station by the hanger conveyor in a substantially vertical position, the reversing jig of the drop lifter receives the lid member from the hanger of the hanger conveyor, and then operates the lid member by operating the drop lifter. Is lowered to the work supply position in a substantially vertical posture. Next, the posture of the lid member is changed to a substantially horizontal posture by the fall of the reversing jig. At this time, since the lid member is held by the reversing jig at a plurality of locations separated in the horizontal and vertical directions, the lid member can be stably supported in a substantially horizontal posture. Then, the assembling jig moves to a position above the lid member whose posture has been changed and receives it, and then the assembling jig descends from the work supply position and assembles the lid member to the vehicle body in a horizontal posture.
尚、ドロップリフタとは別の姿勢変換装置を設けて、
該装置によりワーク供給位置での蓋部材の姿勢変換を行
うことも可能であるが、これでは設備費が嵩むと共に、
ドロップリフタから姿勢変換装置への蓋部材の移載が必
要となってサイクルタイムが長くなり、設備費の削減及
びサイクルタイムの短縮を図るには、本発明装置の如く
ドロップリフタに反転治具を設けた方が有利である。In addition, an attitude conversion device different from the drop lifter is provided,
It is also possible to change the posture of the lid member at the work supply position by using the device, but this increases equipment costs,
It is necessary to transfer the lid member from the drop lifter to the posture changing device, and the cycle time becomes longer.In order to reduce the equipment cost and the cycle time, a reversing jig is used for the drop lifter as in the present invention. It is more advantageous to provide them.
また、反転治具を、組付治具を受入れ可能な略コ字状
に形成し、その開口部が倒伏状態において組付ロボット
側を向くようにしておけば、組付治具に蓋部材を受取ら
せた後、組付治具を退避動作させずに反転治具を上昇さ
せても治具同士の干渉は生じず、サイクルタイムの短縮
を図れる。Further, if the reversing jig is formed in a substantially U-shape capable of receiving the assembling jig, and the opening thereof is directed to the assembling robot in the lying state, the lid member can be attached to the assembling jig. After receiving the jig, even if the reversing jig is raised without retreating the assembling jig, no interference occurs between the jigs, and the cycle time can be reduced.
（実施例） 第１図を参照して、（１）は自動車車体ａの搬送路、
（２）は該搬送路（１）の途中に設けた組付ステーショ
ンを示し、該ステーション（２）の左右両側に設けた各
基台（３）上に、前方から順にフロントフェンダｂの組
付ロボット（４）とフロントドアc1の組付装置（51）と
リヤドアc2の組付装置（52）とを配置すると共に、該ス
テーション（２）の天井枠（６）を架設して、該天井枠
（６）に、ボンネットｄの組付ロボット（７）とトラン
クリッドｅの組付ロボット（８）とを配置し、更に該ス
テーション（２）に天井枠（６）より上方にのびるドロ
ップリフタ用の機枠（９）を立設して、該機枠（９）の
左右両側に、フロントフェンダｂ及びドアc1,c2用の第
１ドロップリフタ（10）（10）と、その前側にボンネッ
トｄ用の第２ドロップリフタ（11）と、その後側にトラ
ンクリッドｅ用の第３ドロップリフタ（12）とを夫々昇
降自在に設け、組付ステーション（２）の上方の左右両
側を通る１対の第１ハンガコンベア（13）（図面には片
側のみを図示）のハンガ（13a）に吊持されるフロント
フェンダｂとドアc1,c2とを第１ドロップリフタ（10）
を介してフロントフェンダ用の組付ロボット（４）とド
ア用の各組付装置（51）（52）に受渡し、又組付ステー
ション（２）の上方中央部を通る第２ハンガコンベア
（14）のハンガ（図示せず）に吊持されるボンネットｄ
とトランクリッドｅとを夫々第２と第３のドロップリフ
タ（11）（12）を介してボンネット用とトランクリッド
用の組付ロボット（７）（８）に受渡し、これらロボッ
ト等によりフロントフェンダｂ、ドアc1,c2、ボンネッ
トｄ、トランクリッドｅを単一の組付ステーション
（２）で自動車車体ａに組付けるようにした。(Embodiment) Referring to FIG. 1, (1) is a transport path of an automobile body a,
(2) shows an assembling station provided in the middle of the transport path (1), and assembles front fenders b in order from the front on each of the bases (3) provided on the left and right sides of the station (2). with arranging the robot (4) and the assembling device of the front door c 1 (5 1) and assembling device rear door c 2 (5 2), and erection roof frame of the station (2) to (6) An assembling robot (7) for the hood d and an assembling robot (8) for the trunk lid e are arranged on the ceiling frame (6), and further extend above the ceiling frame (6) at the station (2). and erected machine frame for dropping lifter (9), the left and right sides of該機frame (9), a front fender b and the first drop lifter door c 1, c for 2 (10) (10), A second drop lifter (11) for the hood d is provided on the front side, and a second drop lifter (11) for the trunk lid e is provided on the rear side. A three-drop lifter (12) is provided so as to be able to move up and down respectively, and a pair of first hanger conveyors (13) (only one side is shown in the drawing) of a pair of first hanger conveyors (13a) passing on both left and right sides above the assembling station (2). ), The front fender b and the doors c 1 and c 2 are connected to the first drop lifter (10).
The second hanger conveyor (2) passes through an assembling robot (4) for the front fender and each assembling device (5 1 ) (5 2 ) for the door through the center of the assembling station (2). 14) bonnet d suspended from a hanger (not shown)
And the trunk lid e are transferred to the assembling robots (7) and (8) for the hood and the trunk lid via the second and third drop lifters (11) and (12), respectively, and the front fender b is The doors c 1 and c 2 , the hood d and the trunk lid e are assembled to the vehicle body a at a single assembly station (2).
尚、各ドア用の組付装置（51）（52）は、ドアのセッ
トロボット（5a）とドアヒンジの締付ロボット（5b）と
で構成されている。The assembling device (5 1 ) (5 2 ) for each door includes a door setting robot (5a) and a door hinge tightening robot (5b).
本発明に関係するのは、ボンネットｄとトランクリッ
ドｅの組付ロボット（７）（８）と第２第３ドロップリ
フタ（11）（12）と第２ハンガコンベア（14）であり、
以下これらについて詳述する。Related to the present invention are the assembling robots (7) (8) for the hood d and the trunk lid e, the second and third drop lifters (11) and (12), and the second hanger conveyor (14).
Hereinafter, these will be described in detail.
前記ボンネット組付ロボット（７）は、車幅方向をＸ
軸、車長方向をＹ軸、車高方向をＺ軸として、第２図乃
至第４図に示す如く、天井枠（６）のＸ軸方向両側の梁
（6a）（6a）に跨って該各梁（6a）上のガイドレール
（15a）に沿ってモータ（15b）によりラックピニオン機
構（15c）を介してＹ軸方向に移動される第１スライド
枠（15）と、該第１スライド枠（15）上のレール（16
a）に沿ってモータ（16b）によりボールねじ機構（16
c）を介してＸ軸方向に移動される第２スライド枠（1
6）と、該第２スライド枠（16）の前面両側のリニアガ
イド（17a）に沿ってモータ（17b）によりラックピニオ
ン機構（17c）を介してＺ軸方向に昇降され且つ該第２
スライド枠（16）に立設した支柱（16d）の上端にピス
トンロッドを連結したバランスシリンダ（17d）を内挿
する昇降コラム（17）と、該昇降コラム（17）の下端に
取付けた３軸構造の手首（18）とから成る６軸ロボット
で構成される。該手首（18）は、本願出願人が先に実願
昭63−150711号で提案したものと基本構造は同じであ
り、昇降コラム（17）に対しＺ軸に平行なθ軸回りにモ
ータ（18a1）によりボールねじ機構（18a2）を介して回
動される回動枠（18a）と、該回動枠（18a）に対しθ軸
に直交するＹ軸方向のＶ軸回りにモータ（18b1）により
ボールねじ機構（18b2）を介して回動される十字ヨーク
（18b）と、該十字ヨーク（18b）に対しＶ軸に直交する
Ｘ軸方向のＷ軸回りにモータ（18c1）によりボールねじ
機構（18c2）を介して回動されるヘッド枠（18c）とで
構成され、該ヘッド枠（18c）にボンネットｄを保持す
る組付治具（19）を搭載した。The hood assembling robot (7)
As shown in FIG. 2 to FIG. 4, with the axis, the vehicle length direction as the Y axis, and the vehicle height direction as the Z axis, the ceiling frame (6) straddles the beams (6a) (6a) on both sides in the X axis direction. A first slide frame (15) that is moved in the Y-axis direction by a motor (15b) via a rack and pinion mechanism (15c) along a guide rail (15a) on each beam (6a); (15) Upper rail (16
a) Along with the motor (16b), the ball screw mechanism (16
c) is moved in the X-axis direction via the second slide frame (1).
6) and the second slide frame (16) is moved up and down in the Z-axis direction by a motor (17b) along a linear guide (17a) on both sides of a front surface of the second slide frame (16) via a rack and pinion mechanism (17c).
An elevating column (17) in which a balance cylinder (17d) with a piston rod connected to the upper end of a support (16d) erected on a slide frame (16), and a three-axis mounted on the lower end of the elevating column (17) It consists of a 6-axis robot consisting of a wrist (18) with a structure. The wrist (18) has the same basic structure as that previously proposed by the applicant of the present application in Japanese Utility Model Application No. 63-150711, and a motor () is provided around the θ axis parallel to the Z axis with respect to the lifting column (17). 18a 1 ) via a ball screw mechanism (18a 2 ) via a ball screw mechanism (18a 2 ), and a motor (about a V axis in the Y-axis direction orthogonal to the θ axis with respect to the frame (18a)). 18b 1 a cross yoke (18b) which is rotated through a ball screw mechanism (18b 2) by), the motor (18c 1 to W axis of the X-axis direction orthogonal to the V axis to the cross yoke (18b) ) And a head frame (18c) rotated via a ball screw mechanism (18c 2 ), and an assembling jig (19) for holding a bonnet d is mounted on the head frame (18c).
該組付治具（19）は、第５図及び第６図に示す如く、
ボンネットｄの前縁下面に係合するようにシリンダ（20
a）で上下方向に揺動される左右１対の第１クランプ部
材（20）であってボンネットｄの前縁を受けるローラ
（20b）を有するものと、ボンネットｄの後縁下面に係
合するようにシリンダ（21a）で上下方向に揺動される
左右１対の第２クランプ部材（21）と、ボンネットｄの
両側縁に当接するようにシリンダ（22a）でラックピニ
オン機構（22b）を介してＸ軸方向に開閉される左右１
対のクランプ片（22c）（22c）から成る前後１対の第３
クランプ部材（22）と、ボンネットｄの後縁中央部を押
圧するようにロッドレスシリンダ（23a）によってＹ軸
方向に進退されるローラ形状の押圧部材（23）と、ボン
ネットｄの外表面即ち上面を吸着するようにシリンダ
（24a）で上下動される複数の吸着部材（24）と、ボン
ネットｄの後端両側のヒンジブラケットd1を下方から押
上げるようにシリンダ（25a）で揺動される左右１対の
ヒンジクランプ部材（25）とを備え、更に組付治具（1
9）の前端に、Ｘ軸方向の枢軸（26a）を中心にしてボン
ネットｄから離間する方向にばね（26b）に抗して揺動
可能なアーム片（26）を枢着し、該アーム片（26）にボ
ンネットｄの前縁中央部に係脱自在で且つ該アーム片
（26）上のシリンダ（27a）により係脱動作されるオー
プナーフック（27）を取付けた。該フック（27）は、前
後方向に位置をずらして左右１対に設けられ、更に前記
第２クランプ部材（21）と後部側方の吸着部材（24）と
ヒンジクランプ部材（25）とを、組付治具（19）の後部
側方のガイドレール（28a）に沿ってシリンダ（28b）に
より進退されるように設けたスライダ（28）に取付け、
第５図に仮想線で示すボンネットｂと１点鎖線で示すボ
ンネットｂ′との機種変更に対処し得るようにした。The assembling jig (19) is, as shown in FIGS. 5 and 6,
The cylinder (20) is engaged with the lower surface of the front edge of the bonnet d.
a) a pair of left and right first clamp members (20) which are vertically swung in (a) and have a roller (20b) for receiving the front edge of the bonnet d, and engage the lower surface of the rear edge of the bonnet d; A pair of left and right second clamp members (21) which are vertically swung by the cylinder (21a), and the cylinder (22a) via the rack and pinion mechanism (22b) so as to abut on both side edges of the bonnet d. Left and right 1 opened and closed in the X-axis direction
A pair of front and rear third pair of clamp pieces (22c) (22c)
A clamp member (22), a roller-shaped pressing member (23) that is advanced and retracted in the Y-axis direction by a rodless cylinder (23a) so as to press a rear edge central portion of the bonnet d, and an outer surface, that is, an upper surface of the bonnet d a plurality of suction members which are vertically moved by a cylinder (24a) so as to adsorb (24), is swung by a cylinder (25a) to the hinge bracket d 1 of the rear end sides of the hood d from below push up so A pair of left and right hinge clamp members (25) is provided.
At the front end of 9), an arm piece (26) swingable against a spring (26b) in a direction away from the bonnet d about a pivot axis (26a) in the X-axis direction is pivotally mounted. An opener hook (27) was attached to (26) at the center of the front edge of the bonnet d so as to be detachable and engaged by a cylinder (27a) on the arm piece (26). The hooks (27) are provided in a pair on the left and right sides with their positions shifted in the front-rear direction. The hook (27) further includes the second clamp member (21), the suction member (24) on the rear side, and the hinge clamp member (25). Attached to the slider (28) provided to be advanced and retracted by the cylinder (28b) along the guide rail (28a) on the rear side of the assembling jig (19).
In FIG. 5, it is possible to cope with a model change between the hood b indicated by a virtual line and the hood b 'indicated by a dashed line.
前記トランクリッド組付ロボット（８）は、ボンネッ
ト組付ロボット（７）と同様に構成されており、ボンネ
ット組付ロボット（７）の構成部材の符号に合わせた符
号を第７図に記入してその省略な説明は省略する。The trunk lid assembling robot (8) is configured in the same manner as the bonnet assembling robot (7), and the symbols corresponding to those of the components of the bonnet assembling robot (7) are written in FIG. The abbreviated description is omitted.
前記第２ハンガコンベア（14）は、第７図に示す如
く、コンベアレール（29）にボンネット用のハンガ（30
1）とトランクリッド用のハンガ（302）とを交互に吊設
して成るもので、該各ハンガ（301）（302）にワークた
るボンネットｄとトランクリッドｅとを安定性を高める
ため起立状態から少許傾いた略垂直姿勢に支持して搬送
し、組付ステーション（２）の上方の各所定のワーク搬
入位置で該各ハンガ（301）（302）を一時停止し、機枠
（９）の上方の天井部分に吊設した天吊枠（31）に設け
られるシリンダ（32a）で起伏される前後１対の各ワー
ク起し部材（321）（322）により各ハンガ（301）（3
02）上のボンネットｄとトランクリッドｅを起立させ
て、これを該各ハンガ（301）（302）のＹ軸方向外方に
対向する第２と第３の各ドロップリフタ（11）（12）に
受取らせるようにした。As shown in FIG. 7, the second hanger conveyor (14) is provided with a hood hanger (30) on a conveyor rail (29).
1 ) and hangers (30 2 ) for the trunk lid are alternately suspended, and the hood d and the trunk lid e serving as works on the hangers (30 1 ) and (30 2 ) are improved in stability. For this reason, the hangers (30 1 ) and (30 2 ) are temporarily stopped at a predetermined work loading position above the assembling station (2) while being supported in a substantially vertical posture slightly inclined from the standing state. Each hanger is provided by a pair of front and rear work raising members (32 1 ) and (32 2 ) which are raised and lowered by a cylinder (32a) provided on a ceiling suspension frame (31) suspended from a ceiling portion above the frame (9). (30 1 ) (3
0 2 ) The upper hood d and the trunk lid e are erected, and the second and third drop lifters (11) opposing outwardly in the Y-axis direction of the hangers (30 1 ) and (30 2 ). (12) to receive.
該各ハンガ（301）（302）は、コンベアレール（29）
に転動自在に吊持されるキャリア（30a）にばね（30b）
に抗してＹ軸方向内方（ボンネット用ハンガ（301）は
後方、トランクリッド用ハンガ（302）は前方）に摺動
自在に支持されており、各ワーク搬入位置の上方の天井
部分に、第８図に示す如くアクチュエータ（33a）によ
りハンガ上の突片（30c）に係脱するように回動されて
且つＹ軸方向に進退されるハンガ逃し部材（33）を取付
け、各ドロップリフタ（11）（12）に各ハンガ（301）
（302）上のワークを保持させた後、該各ドロップリフ
タ（11）（12）を少許上昇させてワークを各ハンガ（30
1）（302）から持上げ、次いで各ハンガ逃し部材（33）
を突片（30c）に係合させて各ハンガ（301）（302）を
ばね（30b）に抗してＹ軸方向内方に引込み、この状態
で各ドロップリフタ（11）（12）を下降させるようにし
た。Each hanger (30 1 ) (30 2 ) is a conveyor rail (29)
The carrier (30a) that is hung so that it can roll freely on the spring (30b)
(The hanger (30 1 ) for the hood is rearward and the hanger (30 2 ) for the trunk lid is slidably supported) in the Y-axis direction, and the ceiling above each work loading position Next, as shown in FIG. 8, a hanger release member (33) which is rotated by an actuator (33a) so as to be disengaged from the protruding piece (30c) on the hanger and is advanced and retracted in the Y-axis direction is attached. Each hanger (30 1 ) in lifter (11) (12)
After holding the work on (30 2 ), raise each of the drop lifters (11) and (12) slightly and move the work to each hanger (30).
1 ) Lift from (30 2 ) and then each hanger release member (33)
Is engaged with the protruding piece (30c), and each hanger (30 1 ) (30 2 ) is pulled inward in the Y-axis direction against the spring (30b). In this state, each drop lifter (11) (12) Was lowered.
該両ドロップリフタ（11）（12）は同様に構成されて
おり、第２ドロップリフタ（11）についてその構成を詳
述し、第３ドロップリフタ（12）は第２ドロップリフタ
（11）の構成部材の符号に合わせた符号を付してその説
明を省略する。The two drop lifters (11) and (12) have the same configuration. The configuration of the second drop lifter (11) will be described in detail, and the third drop lifter (12) will be the configuration of the second drop lifter (11). The reference numerals corresponding to the reference numerals of the members are assigned and the description thereof is omitted.
第２ドロップリフタ（11）は、第７図及び第８図に示
す如く、機枠（９）の前部の左右１対の支柱（9a）（9
a）にこれに取付けたガイドレール（34a）に沿って昇降
自在に支持させた左右１対の昇降枠（34）（34）と、該
両昇降枠（34）（34）に夫々上端の横棒（35a）を介し
て垂設した左右１対の支持枠（35）（35）と、該両支持
枠（35）（35）間に下端両側の軸（36a）を中心にして
シリンダ（36b）により起伏されるように軸支した反転
治具（36）とで構成され、両支持枠（35）（35）間の横
幅を前記天井枠（６）の両側の梁（6a）（6a）間の横幅
よりも狭くして、反転治具（36）を両支持枠（35）（3
5）の昇降動作で上記したワーク搬入位置と天井枠
（６）の下方のワーク供給位置とに昇降自在とし、ワー
ク搬入位置において起立状態の反転治具（36）にハンガ
（301）からボンネットｄを垂直姿勢で受取らせ、ワー
ク供給位置において反転治具（36）を倒伏してボンネッ
トｄを水平姿勢に姿勢変更し、天井枠（６）に搭載した
前記ボンネット組付ロボット（７）に吊設される組付治
具（19）を水平姿勢で該反転治具（36）の直上部に移動
して、該組付治具（19）にボンネットｄを受取らせるよ
うにした。図中（6b）は天井枠（６）の梁（6a）の下面
に取付けた反転治具（36）の反転ストッパである。As shown in FIGS. 7 and 8, the second drop lifter (11) is a pair of left and right columns (9a) (9) at the front of the machine frame (9).
a) a pair of left and right lifting frames (34) and (34) which are supported so as to be able to move up and down along a guide rail (34a) attached to the guide rails (34a); A pair of left and right support frames (35) (35) vertically suspended via a rod (35a), and a cylinder (36b) between the support frames (35) (35) centered on both lower end shafts (36a). ) And a reversing jig (36) pivotally supported so as to be raised and lowered by the support frames (35) and (35). The width of the jig (36) should be narrower than the width between the support frames (35) (3).
The lifting and lowering operation of 5) makes it possible to move up and down between the above-mentioned work loading position and the work supply position below the ceiling frame (6). At the work loading position, the upright jig (36) is moved from the hanger (30 1 ) to the hood. d is received in a vertical position, the reversing jig (36) is lowered at the work supply position to change the position of the bonnet d to a horizontal position, and the bonnet d is suspended by the bonnet assembling robot (7) mounted on the ceiling frame (6). The assembling jig (19) is moved to a position directly above the reversing jig (36) in a horizontal posture so that the assembling jig (19) receives the bonnet d. In the drawing, (6b) denotes a reversing stopper of a reversing jig (36) attached to the lower surface of the beam (6a) of the ceiling frame (6).
該反転治具（36）は、組付治具（19）を受入れ可能な
略コ字状に形成されており、その開口部が倒伏状態にお
いて組付ロボット（７）側即ちＹ軸方向内方を向くよう
にしている。そして、該反転治具（36）に、第９図及び
第10図に示す如く、ボンネットｄの前縁（垂直姿勢では
下縁）を受ける左右１対のワーク受け（37）と、ボンネ
ットｄをＸ軸方向にクランプする左右１対の第１クラン
プ部材（38）と、ボンネットｄの側縁部を表裏からクラ
ンプする夫々シリンダ（39a1）（39b1）で作動される表
側クランプ片（39a）と裏側クランプ片（39b）とから成
る左右の第２クランプ部材（39）とを設け、ボンネット
ｄを該反転治具（36）にその反転によっても安定に支持
し得るようにした。The reversing jig (36) is formed in a substantially U-shape capable of receiving the assembling jig (19). To face. Then, as shown in FIGS. 9 and 10, a pair of left and right work receivers (37) for receiving the front edge (the lower edge in the vertical position) of the bonnet d and the hood d are mounted on the reversing jig (36). A pair of left and right first clamp members (38) for clamping in the X-axis direction and front side clamp pieces (39a) operated by cylinders (39a 1 ) (39b 1 ) for clamping the side edges of the bonnet d from the front and back. A left and right second clamp member (39) comprising a back clamp piece (39b) and a back side clamp piece (39b) is provided so that the bonnet d can be stably supported on the reversing jig (36) by the reversal.
尚、ワーク受け（37）は、組付治具（19）へのワーク
受渡後にボンネットｄから離脱し得るよう、シリンダ
（37a）によりトグルリンク（37b）を介してＸ軸方向に
起伏自在とし、又第１クランプ部材（38）を、ボンネッ
トｄの側縁に当接するクランプピン（38a）を植設した
Ｘ軸方向に摺動自在なスライダ（38b）と、シリンダ（3
8c）によりスライダ（38b）と直交方向に進退されるカ
ムプレート（38d）とで構成し、該カムプレート（38d）
のカム溝（38e）に該スライダ（38b）をその裏面のピン
（38f）を介して係合させて、該カムプレート（38d）の
動きにより該スライダ（38b）即ちクランプピン（38a）
をＸ軸方向外方の離脱位置からＸ軸方向内方のクランプ
位置に前進し得るようにし、且つ図中仮想線で示すボン
ネットｄと１点鎖線で示すボンネットｄ′との機種変更
に対処し得るよう、カム溝（38e）の中間部に段を付け
てクランプ位置を２段階に切換可能とし、更に第２クラ
ンプ部材（39）を機種対応のために２組設けた。The work receiver (37) is made up and down in the X-axis direction via a toggle link (37b) by a cylinder (37a) so that the work receiver (37) can be detached from the bonnet d after delivery of the work to the assembly jig (19). Further, the first clamp member (38) is provided with a slider (38b) slidable in the X-axis direction having a clamp pin (38a) abutting on a side edge of the bonnet d, and a cylinder (3).
8c) comprising a slider (38b) and a cam plate (38d) advanced and retracted in the orthogonal direction.
The slider (38b) is engaged with the cam groove (38e) through a pin (38f) on the back surface thereof, and the slider (38b), that is, the clamp pin (38a) is moved by the movement of the cam plate (38d).
Can be moved forward from the detached position in the X-axis direction to the clamping position inward in the X-axis direction, and the hood d shown by the phantom line in FIG. To achieve this, a step is provided in the middle part of the cam groove (38e) so that the clamp position can be switched in two stages, and two sets of second clamp members (39) are provided for model compatibility.
又、当然のことではあるが、ワーク受け（37）、第１
クランプ部材（38）、第２クランプ部材（39）は、組付
治具（19）上の上記した各種部材との干渉を生じないよ
うに配置される。Also, as a matter of course, the work receiver (37), the first
The clamp member (38) and the second clamp member (39) are arranged so as not to interfere with the various members described above on the assembly jig (19).
組付治具（19）へのワーク受渡しに際しては、上記の
如く倒伏状態の反転治具（36）の直上部に組付治具（1
9）を移動した後、先ず該組付治具（19）の第１クラン
プ部材（20）と第２クランプ部材（21）とを作動させて
ボンネットｄの前後両縁を支承し、この状態で反転治具
（36）のワーク受け（37）と第１クランプ部材（38）と
をボンネットｄから離脱させると共に、第２クランプ部
材（39）の各クランプ片（39a）（39b）を開き、この状
態で反転治具（36）を起立させてワーク搬入位置に上昇
させ、次のワーク移載に備える。ここで、反転治具（3
6）は上記の如くコ字状に形成されているため、組付治
具（19）をＹ軸方向に退避させずに反転治具（36）を起
立させても組付治具（19）や組付ロボット（７）との干
渉は生じない。When transferring the work to the assembling jig (19), the assembling jig (1) is placed immediately above the inverted jig (36) in the laid-down state as described above.
After moving 9), first, the first clamp member (20) and the second clamp member (21) of the assembling jig (19) are operated to support both front and rear edges of the bonnet d. The work receiver (37) of the reversing jig (36) and the first clamp member (38) are separated from the bonnet d, and the clamp pieces (39a) (39b) of the second clamp member (39) are opened. In this state, the reversing jig (36) is raised and raised to the work loading position to prepare for the next work transfer. Here, the reversing jig (3
6) is formed in a U-shape as described above, so that the assembling jig (19) can be raised even if the inverting jig (36) is raised without retracting the assembling jig (19) in the Y-axis direction. And interference with the assembling robot (7) does not occur.
一方、組付治具（19）では、反転治具（36）の起立
後、押圧部材（23）を作動させてボンネットｄをＹ軸方
向前方に押圧し、ボンネットｄの前縁を第１クランプ部
材（20）のローラ（20b）に当接させてボンネットｄの
Ｙ軸方向の位置決めを行い、次いで第３クランプ部材
（22）を作動させてボンネットｄのＸ軸方向の位置決め
を行った後、吸着部材（24）を作動させてボンネットｄ
を吸着し、更にヒンジクランプ部材（25）を作動させて
ヒンジブラケットd1をクランプすると共に、オープナー
フック（27）をボンネットｄの前縁に係合させる。On the other hand, in the assembling jig (19), after the reversing jig (36) is erected, the pressing member (23) is operated to press the bonnet d forward in the Y-axis direction, and the front edge of the bonnet d is clamped by the first clamp. After the bonnet d is positioned in the Y-axis direction by contacting the roller (20b) of the member (20), the third clamp member (22) is operated to position the bonnet d in the X-axis direction. Activate the suction member (24) and bonnet d
Adsorbs, further with actuate the hinge clamp member (25) for clamping the hinge bracket d 1, engage the opener hook (27) to the front edge of the bonnet d.
次に、組付ステーション（２）に設けた図示しない位
置センサで検出される車体ａのＸ軸とＹ軸方向の位置ず
れ及びＹ軸方向におけるＸ軸方向の傾きとＸ軸方向にお
けるＺ軸方向の傾きに合わせて、組付治具（19）のＸ軸
及びＹ軸方向の位置補正とθ軸及びＶ軸回りの傾動補正
とを行い、次いで車体ａのＺ軸方向の位置ずれに合わせ
て補正したＺ軸方向の所要のセット位置に組付治具（1
9）を下降させ、車体ａにボンネットｄを水平の閉じ姿
勢でセットする。尚、ヒンジクランプ部材（25）は組付
治具（19）がセット位置に下降する直前でアンクランプ
するが、この位置ではヒンジブラケットd1が車体側の取
付面に充分近付いているため、ヒンジブラケットd1が垂
れ下るようなことはなく、セット位置への下降で該ブラ
ケットd1は該取付面に確実に重合する。Next, the displacement of the vehicle body a in the X-axis and Y-axis directions, the inclination in the X-axis direction in the Y-axis direction, and the Z-axis direction in the X-axis direction detected by a position sensor (not shown) provided in the assembly station (2). In accordance with the inclination of the mounting jig (19) in the X-axis and Y-axis directions and the tilt correction around the θ-axis and the V-axis, and then in accordance with the displacement of the vehicle body a in the Z-axis direction. At the required set position in the corrected Z-axis direction,
9) is lowered, and the hood d is set on the vehicle body a in a horizontal closed posture. Incidentally, the hinge clamp member (25) is unclamped immediately before the assembly jig (19) is lowered to the set position, the hinge bracket d 1 is approaching sufficient mounting surface of the vehicle body side in this position, the hinge bracket d 1 is never as down hanging, the bracket d 1 in descending to the set position is reliably polymerized surface with said mounting.
ところで、該ブラケットd1は後端と前端とに１対の締
付穴d1a、d1bを備えるもので、ボンネットのｄの閉じ状
態で後端の締付穴d1aがボンネットｄの後縁後方に露出
するようになっており、前記天井枠（６）の各側の梁
（6a）に、第１図に示すように、ナットランナを搭載し
た締付ロボット（40）を吊設しておき、該ロボット（4
0）によりヒンジブラケットd1の後端の締付穴d1aを車体
ａに締結する。Incidentally, the bracket d 1 at the rear end and the front end and a pair of clamping holes d 1 a, but with a d 1 b, fastening holes d 1 a of the rear end in the closed state of d of bonnet hood d As shown in FIG. 1, a fastening robot (40) equipped with a nut runner is suspended from a beam (6a) on each side of the ceiling frame (6). Keep the robot (4
0) by fastening the fastening hole d 1 a of the rear end of the hinge bracket d 1 to the vehicle body a.
次に、第１乃至第３クランプ部材（20）（21）（22）
をアンクランプすると共に押圧部材（23）を退去させて
オープナーフック（27）のみをボンネットｄに係合させ
た状態とし、組付治具（19）にＹ軸移動とＺ軸移動とＷ
軸回りの回動との合成動作を与えて該フック（27）をボ
ンネットｄの前縁の回動軌跡に沿って移動し、ボンネッ
トｄを開放する。Next, the first to third clamp members (20), (21), (22)
And the pressing member (23) is withdrawn so that only the opener hook (27) is engaged with the bonnet d. The assembly jig (19) is moved in the Y-axis, Z-axis and W directions.
The hook (27) is moved along the rotation locus of the front edge of the hood d by giving a synthesizing operation with the rotation around the axis, and the hood d is opened.
以上の如くしてボンネットｄを開放した後、フロント
フェンダｂを上記した組付ロボット（４）により車体ａ
に組付けるが、該ロボット（４）に搭載する組付治具に
フロントフェンダ用のナットランナに加えてボンネット
用のナットランナを取付けておき、このナットランナに
よりヒンジブラケットd1の前端の締付穴d1bを車体ａに
締結し、その後ボンネット用の組付治具（19）を上記と
は逆に動作させてボンネットｄを閉じ、次いでオープナ
ーフック（27）をボンネットｄから離脱させて組付治具
（19）を上昇させ、１回の組付作業を完了する。After the hood d is opened as described above, the front fender b is moved to the vehicle body a by the assembling robot (4).
Assembled on it, the robot (4) previously attached to the nut runner for the bonnet in addition to the nut runner for the front fender to the assembling jig mounted on the clamping hole d 1 of the front end of the hinge bracket d 1 by the runner b is fastened to the vehicle body a, and then the bonnet assembly jig (19) is operated in the reverse of the above to close the bonnet d, and then the opener hook (27) is detached from the bonnet d to assemble the assembly jig. (19) is raised, and one assembly operation is completed.
以上、ボンネットｄの移載及び組付けについて説明し
たが、トランクリッドｅも第３ドロップリフタ（12）の
反転治具（36）を介して組付ロボット（８）の組付治具
（19）に水平姿勢で受渡され、該組付治具（19）により
車体ａに水平姿勢でセットされ、天吊枠（６）の梁（6
a）の後部に吊設した締付ロボット（41）によりトラン
クリッドｅのヒンジ部が車体に締結される。The transfer and assembly of the bonnet d has been described above. However, the trunk lid e is also connected to the mounting jig (19) of the mounting robot (8) via the reversing jig (36) of the third drop lifter (12). To the vehicle body a by the assembling jig (19) in a horizontal posture, and the beams (6) of the ceiling suspension frame (6) are
a) The hinge part of the trunk lid e is fastened to the vehicle body by the fastening robot (41) suspended from the rear part.
又、トランクリッドｅに代えてテルゲートも同様の手
段で搬送組付けすることができる。Also, instead of the trunk lid e, the telgate can be transported and assembled by the same means.
尚、前記各締付ロボット（40）（41）には、第１ドロ
ップリフタ（10）に第７図に示す如く前後１対に設けた
垂直軸線回りに揺動自在な第１のアーム（42）を介して
ボルトナット等の締具を供給するものとし、更に第１ド
ロップリフタ（10）にドア用の各締付ロボット（5b）に
締具を供給する第２のアーム（43）をＹ軸方向の水平軸
線回りに揺動自在に設け、第１ドロップリフタ（10）を
下降途中で一旦停止して、各アーム（42）（43）を第８
図に示す如くＸ軸方向外方に張出すように揺動させ、機
枠（９）の側方に配置した各パーツフィーダ（44）（4
5）から各アーム（42）（43）上の受具（42a）（43a）
に締具を供給し、次いで第１のアーム（42）をＹ軸方向
に沿うように揺動すると共に、第２のアーム（43）を下
方に揺動し、第１ドロップリフタ（10）の下降端位置で
各締付ロボット（5b）（40）（41）に締具を受取らせる
ようにした。Each of the tightening robots (40) and (41) has a first arm (42) provided on the first drop lifter (10) as shown in FIG. ), And a second arm (43) for supplying a fastener to each of the fastening robots (5b) for the door to the first drop lifter (10). The first drop lifter (10) is temporarily stopped in the middle of descent, and each arm (42) (43) is moved to the eighth axis.
As shown in the figure, each part feeder (44) (4) is swung so as to protrude outward in the X-axis direction and arranged on the side of the machine frame (9).
5) From each arm (42) (43) on the holder (42a) (43a)
Then, the first arm (42) is swung along the Y-axis direction, and the second arm (43) is swung downward, so that the first drop lifter (10) is rotated. At the lower end position, each tightening robot (5b) (40) (41) receives the fastener.
（発明の効果） 以上の説明から明らかなように、請求項１の発明によ
れば、ハンガコンベアとドロップリフタとを介して組付
治具に蓋部材を供給するため、立体空間を活用できてス
ペース効率が向上し、更にハンガコンベアにより蓋部材
を略垂直姿勢で搬送するため、ハンガが小型のもので足
りて設備費の削減を図れると共に、ドロップリフタに略
垂直姿勢で受取らせた蓋部材を姿勢変換して組付治具に
略水平姿勢で受取らせるため、蓋部材を水平姿勢で車体
に精度良く組付けることができる。(Effects of the Invention) As is apparent from the above description, according to the first aspect of the present invention, since the lid member is supplied to the mounting jig via the hanger conveyor and the drop lifter, the three-dimensional space can be utilized. Space efficiency is improved, and the lid is transported in a substantially vertical position by a hanger conveyor.Thus, a small hanger is sufficient to reduce equipment costs. Since the posture is changed and the assembling jig is received in a substantially horizontal posture, the lid member can be accurately assembled to the vehicle body in the horizontal posture.
又、請求項２の発明によれば、ドロップリフタに蓋部
材の姿勢変換を行う反転治具を取付けることで別の姿勢
変換装置が不要となり、設備費の削減を図れると共に、
蓋部材を移載せずに姿勢変換を行い得られてサイクルタ
イムの短縮を図れ、更に請求項３の発明によれば、組付
治具への蓋部材の受渡し後、組付治具を退避動作させず
に反転治具を上昇させて、直ちに組付治具による蓋部材
の組付作業を行い得られ、サイクルタイムの一層の短縮
を図れる効果を有する。According to the second aspect of the present invention, by attaching a reversing jig for changing the position of the lid member to the drop lifter, another position changing device is not required, and the equipment cost can be reduced.
According to the third aspect of the present invention, after the cover member is delivered to the assembling jig, the evacuation operation of the assembling jig is performed. By raising the reversing jig without performing this operation, the lid member can be immediately assembled by the assembling jig, and the cycle time can be further reduced.
第１図は本発明装置を具備する組付ステーションの斜視
図、第２図はボンネット組付ロボットのＹ軸方向前方か
ら見た正面図、第３図はその平面図、第４図は第２図の
IV−IV線截断側面図、第５図はボンネット用の組付治具
の底面図、第６図はこの組付治具のＸ軸方向から見た側
面図、第７図はハンガとドロップリフタと組付ロボット
を示す組付ステーションの截断側面図、第８図は第７図
の左側面図、第９図は第８図のIX−IX線から見た反転治
具の拡大平面図、第10図は第９図のＸ−Ｘ線截断側面図
である。 ａ……車体、ｄ……ボンネット ｅ……トランクリッド、（２）……組付ステーション （７）……ボンネット組付ロボット （８）……トランクリッド組付ロボット （11）……ボンネット用ドロップリフタ （12）……トランクリッド用ドロップリフタ （14）……ハンガコンベア、（19）……組付治具 （36）……反転治具1 is a perspective view of an assembling station provided with the apparatus of the present invention, FIG. 2 is a front view of the bonnet assembling robot viewed from the front in the Y-axis direction, FIG. 3 is its plan view, and FIG. In the figure
FIG. 5 is a bottom view of an assembling jig for a bonnet, FIG. 6 is a side view of the assembling jig viewed from the X-axis direction, and FIG. 7 is a hanger and a drop lifter. FIG. 8 is a left side view of FIG. 7, FIG. 9 is an enlarged plan view of a reversing jig viewed from line IX-IX in FIG. FIG. 10 is a sectional side view taken along line XX of FIG. a ... body, d ... bonnet e ... trunk lid, (2) ... assembly station (7) ... bonnet assembly robot (8) ... trunk lid assembly robot (11) ... bonnet drop Lifter (12) Drop dropper for trunk lid (14) Hanger conveyor (19) Assembly jig (36) Reverse jig
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 庁内整理番号 ＦＩ 技術表示箇所 Ｂ６５Ｇ 47/90 Ｂ６５Ｇ 47/90 Ｄ ──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. 6 Identification code Agency reference number FI Technical display location B65G 47/90 B65G 47/90 D
Claims (3)
部材を、組付ステーションに配置する組付ロボットに取
付けた組付治具に供給する方法であって、組付ステーシ
ョンの上方のワーク搬入位置にハンガコンベアにより蓋
部材を略垂直姿勢に保持して搬入する工程と、蓋部材を
ハンガコンベアからドロップリフタに移載する工程と、
蓋部材を略垂直姿勢で下方のワーク供給位置に下降させ
る工程と、車体への組付時に車幅方向及び車長方向に沿
う蓋部材の方向を夫々横方向及び縦方向として、横方向
及び縦方向に間隔をあけた蓋部材の複数箇所を姿勢変換
装置により保持した状態で蓋部材を略水平姿勢に姿勢変
換する工程と、姿勢変換された蓋部材をその上方に位置
させる組付治具に受取らせる工程とから成る車両用蓋部
材の供給方法。1. A method for supplying a cover member such as a bonnet for assembling to a vehicle body from above to an assembling jig attached to an assembling robot arranged at an assembling station, wherein a work is loaded above the assembling station. A step of carrying the cover member in a substantially vertical position by a hanger conveyor and carrying in the position, and a step of transferring the cover member from the hanger conveyor to the drop lifter,
A step of lowering the lid member to a lower work supply position in a substantially vertical posture; and, when assembling to the vehicle body, the directions of the lid member along the vehicle width direction and the vehicle length direction are set to the horizontal direction and the vertical direction, respectively. A step of converting the position of the cover member to a substantially horizontal position while holding a plurality of portions of the cover member spaced apart in the direction by the position conversion device, and an assembling jig for positioning the position of the cover member after the position change. Receiving the vehicle cover member.
部材を、組付ステーションに配置する組付ロボットに取
付けた組付治具に供給する装置であって、組付ステーシ
ョンの上方のワーク搬入位置に蓋部材を略垂直姿勢に保
持して搬入するハンガコンベアと、該ハンガコンベアか
ら蓋部材を受取って下方のワーク供給位置に下降させる
ドロップリフタとを備え、該ドロップリフタに、車体へ
の組付時に車幅方向及び車長方向に沿う蓋部材の方向を
夫々横方向及び縦方向として、横方向及び縦方向に間隔
をあけた蓋部材の複数箇所を保持した状態で蓋部材を略
垂直姿勢から略水平姿勢に姿勢変換する姿勢変換装置た
る起伏自在な反転治具を取付けたことを特徴とする車両
用蓋部材の供給装置。2. An apparatus for supplying a cover member such as a bonnet for assembling a vehicle body from above to an assembling jig attached to an assembling robot arranged at an assembling station, wherein the work is carried in above the assembling station. A hanger conveyor for holding the cover member in a substantially vertical position at the position, and carrying the cover member, and a drop lifter for receiving the cover member from the hanger conveyor and lowering the work to a lower work supply position. At the time of attachment, the direction of the lid member along the vehicle width direction and the vehicle length direction is set to the horizontal direction and the vertical direction, respectively, and the lid member is held substantially vertically in a state where a plurality of portions of the lid member spaced apart in the horizontal direction and the vertical direction are held. A supply device for a lid member for a vehicle, wherein an upside-down reversible jig, which is a posture changing device for changing a posture from a horizontal posture to a horizontal posture, is mounted.
能な略コ字状に形成されていて、その開口部が蓋部材を
略水平姿勢とする倒伏状態において前記組付ロボット側
を向いていることを特徴とする請求項２に記載の車両用
蓋部材の供給装置。3. The assembly robot according to claim 1, wherein the reversing jig is formed in a substantially U-shape capable of receiving the assembling jig. The supply device for a vehicle lid member according to claim 2, wherein the supply device is directed toward the vehicle.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2051796A JP2620889B2 (en) | 1990-03-05 | 1990-03-05 | Method and apparatus for supplying vehicle lid member |
| CA002032182A CA2032182C (en) | 1989-12-20 | 1990-12-13 | Method of and apparatus for assembling exterior parts of a motorcar |
| GB9027300A GB2240406B (en) | 1989-12-20 | 1990-12-17 | Method for assembling body parts to a motorcar shell |
| DE4040536A DE4040536A1 (en) | 1989-12-20 | 1990-12-18 | METHOD AND DEVICE FOR ASSEMBLING EXTERNAL PLATE PARTS OF A MOTOR VEHICLE |
| US07/628,880 US5150506A (en) | 1989-12-20 | 1990-12-18 | Method of assembling exterior parts of a motorcar onto a motorcar body |
| FR909015932A FR2655937B1 (en) | 1989-12-20 | 1990-12-19 | METHOD AND APPARATUS FOR ASSEMBLING THE EXTERIOR PARTS OF THE BODY OF A MOTOR VEHICLE. |
| US07/900,710 US5203073A (en) | 1989-12-20 | 1992-06-15 | Apparatus for assembling exterior parts of a motorcar |
| GB9324200A GB2271651B (en) | 1989-12-20 | 1993-11-23 | Apparatus for assembling parts to a motorcar shell |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2051796A JP2620889B2 (en) | 1990-03-05 | 1990-03-05 | Method and apparatus for supplying vehicle lid member |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03256625A JPH03256625A (en) | 1991-11-15 |
| JP2620889B2 true JP2620889B2 (en) | 1997-06-18 |
Family
ID=12896896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2051796A Expired - Fee Related JP2620889B2 (en) | 1989-12-20 | 1990-03-05 | Method and apparatus for supplying vehicle lid member |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2620889B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104860014A (en) * | 2014-01-09 | 2015-08-26 | 何良双 | Full-automatic conveying device of automobile body-in-white production line |
| CN107986009A (en) * | 2017-12-26 | 2018-05-04 | 深圳连硕自动化科技有限公司 | A kind of remover-and-replacer all-in-one machine |
| JP7061898B2 (en) * | 2018-03-06 | 2022-05-02 | 三菱電機株式会社 | Work-mounted device, work-mounted device unit and unit |
| CN215438635U (en) * | 2021-07-13 | 2022-01-07 | 浙江宏日自动化科技有限公司 | Clamping piece conveying device of clothes rack clamp and automatic assembling equipment |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5628826U (en) * | 1979-08-03 | 1981-03-18 | ||
| JPS6348753A (en) * | 1986-08-14 | 1988-03-01 | Fuji Electric Co Ltd | Manufacture of electrode catalyst layer for fuel cell |
-
1990
- 1990-03-05 JP JP2051796A patent/JP2620889B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03256625A (en) | 1991-11-15 |
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