JP2628880B2 - Radiator assembly device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a radiator mounting apparatus for automatically mounting a radiator on a vehicle.

(Prior Art) Conventionally, a radiator assembling operation to a vehicle is performed by manually attaching a plurality of cushion rubbers to a plurality of brackets attached to a lower portion of a front bulkhead and a plurality of pins attached to a lower end of the radiator. This was performed by inserting the fastening bracket with a cushion rubber on the upper surface of the front bulkhead with the fastening bracket with the cushion rubber attached to a plurality of pins at the upper end of the radiator.

(Problems to be Solved by the Invention) In the conventional radiator assembling work by hand, since the radiator is a heavy article, the radiator work is heavy, and it takes a long time to assemble the work.

In recent automation of assembly work, in order to automate this radiator assembling work, for example, when a radiator is mounted on a vehicle, a part of the radiator is assembled in a state close to a lower end of an upper panel of a front bulkhead. For this reason, simply moving the radiator in the engine room in the vertical direction or the longitudinal direction of the vehicle when transporting the radiator may cause the radiator to interfere with the front bulkhead. This has been difficult to realize due to the problem that it is impossible to maintain a fixed mounting position of the radiator with respect to the vehicle.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a radiator assembling apparatus that can mount a radiator on a radiator mounting portion of a vehicle and tighten and fix the radiator in a vehicle positioned at a position within an allowable range.

(Means for Solving the Problems) In order to solve the above problems, the present invention provides a first positioning mechanism that positions the entire mounting on a joint portion between an arm and a machine frame with reference to a through hole of a radiator mounting bracket and a first floating mechanism. And a second positioning mechanism for positioning the nut runner group and the bracket gripping part with reference to the reference hole of the front bulkhead.

(Operation) The radiator is positioned in the horizontal direction by inserting the positioning pins of the first positioning portion into the through holes of the radiator mounting bracket in a state where the entire radiator assembling device holding the radiator is horizontally floated with respect to the arm. The nut runner, the bracket gripping arm and the positioning pin of the second positioning portion are first floated in the horizontal direction, and the positioning pin of the second positioning portion is first inserted into the reference hole of the front bulkhead. After that, a bracket with a cushion rubber attached to a pin at the upper end of the radiator is attached, and bolts are tightened by a nut runner so that the radiator is smoothly attached to the vehicle.

(Example) Hereinafter, an example of the present invention will be described with reference to the accompanying drawings.

First, with reference to FIG. 8, an overall configuration of a radiator assembling process to which the radiator assembling apparatus according to the present embodiment is applied will be described.

FIG. 8 is a plan view showing a work station in a radiator assembling step. In this work station, first, the vehicle C, which is positioned and supported on a carrier B flowing on the assembly line A, is stopped at a fixed position A1 in the flow direction of the assembly line A. On the other hand, a robot R traveling on a traveling platform T extending in a direction perpendicular to the assembly line A connects an arm 2 to one axis of a wrist (not shown), and the radiator assembling device 1 is connected to the arm 2.
Is installed. The radiator W is positioned and seated on the radiator supply stand D with the rear side up, and the brackets E1 and E2 are placed in fixed positions with the bolts V and V inserted therein.
The radiator assembling device 1 grips E2 and the radiator assembling device 1 is inserted into the engine room F by the robot R, the radiator W is positioned on the front bulkhead G, and tightened with the bolt V.

Here, the configuration of the radiator assembling apparatus 1 will be described in detail with reference to FIG. 1 to FIG.

The radiator assembling apparatus 1 includes a first floating mechanism 4 provided at a joint portion between the arm 2 and the machine frame 3 connected to the robot R, a tilt mechanism 5 for tilting the radiator W gripped, and upper and lower ends of the radiator W Radiator gripper 6 for gripping abutting the first and second floating mechanisms 4
The first positioning unit 7 for positioning the horizontal position of the entire radiator assembling apparatus 1 in combination with the second floating mechanism 8 provided at both upper ends of the machine frame 3 and the front bulkhead G are fastened with a plurality of bolts V. Second positioning section 9
And a tie-down plate tightening mechanism 11.

The machine frame 3 has a rectangular shape 3a extending in the horizontal direction and one end welded to the side surface of the rectangular material 3a, and the rectangular materials 3b, 3c extending vertically and downwardly, and the rectangular material 3b, 3c extending horizontally between the rectangular materials 3b, 3c, and having the rectangular material 3a at each end. ,
It is composed of two square members 3d and 3e welded to the side surface of 3c, and a U-shaped frame 3f of square steel members protruding forward from the lower ends of the square members 3b and 3c and welded horizontally.

As shown in FIGS. 2 and 5, the first floating mechanism 4 includes floating tables 40 and 41 which are attached to the lower part of the arm 2 with their surfaces horizontal, and a base 42 which is attached to the rear center of the machine frame 3. , 43. On the machines 42 and 43, a plurality of spherical rollers 44 are provided at the center of the floating tables 40 and 4 respectively.
Spherical roller mounting part 4 that can be mounted up and down in contact with 1
2a, 43a and a plurality of cylinders 45, 46 are connected to piston rods 45a, 4
Cylinder mounting portions 42b and 43b for mounting 6a upward are formed. The floating tables 40, 41 are fitted with original position return members 47, 47 each having a hollow cylindrical shape penetrating in a vertical direction and having through holes 47a, 47a tapered at the bottom in through holes provided respectively. Each of the cylinder mounting portions 42b and 43b has a substantially cylindrical shape, and the upper portion has a tapered shape having the same inclination angle as the inclination angle of the through hole 47a.
45b has a cylindrical portion 45c of the same diameter as the small circle, and the cylindrical portion 45c
The piston rods 45a, 45a whose c is smaller in diameter than the through-hole 47a are fitted into the through-holes 42e, 43e of the guide members 42d, 43d which are inserted into the through-holes 42c, 43c in the vertical direction of the cylinder mounting portions 42b, 43b. The cylinders 45, 45 are fixed to the guide members 42d, 42d. However
43c, 43d, 43e are not shown.

Further, through holes 42f, 43f are provided in the cylinder mounting portions 42b, 42b in the up-down direction, respectively, and the through holes 42g, 43g are formed in these through holes 42f, 43f.
Guide members 42h, 43h forming 43g are fitted, and the through holes
Cylinders 46, 46 composed of piston rods 46a, 46a inserted into 42g, 43g are fixed to guide members 42h, 43h. At the distal ends of the piston rods 46a, 46a, there are provided pressing members 46b, 46b which press and abut against brake members 40a, 41a provided on the lower surfaces of the floating tables 40, 41 when the piston rods 46a, 46a advance. However, 42f, 42g, and 42h are not shown.

Plates 40b and 41b, which are provided vertically on the upper surfaces of the floating tables 40 and 41 and are connected to the arm 2, and the machine base 4
A plurality of dampers 48 in front and rear, left and right directions of machine bases 42 and 43 on 2,43
Install. These dampers 48 are formed by compressing springs 48b for urging the pins 48a in the protruding direction, and the ends of the pins 48a are always connected to the arm 2 by the elastic force of the springs 48b. 43 is in contact with the end face.

The tilting mechanism 5 includes a tilting machine frame 50 assembled in a rectangular shape from a square steel material, and a cylinder 51 for tilting the tilting machine frame 50.

The tilting machine frame 50 is a support shaft 50 of brackets 50a, 50b provided at the same height position on the front surface of each of the downwardly extending square bars 3b, 3c.
It is formed so as to be rotatable around bushes 50e and 50f around c and 50d.

Further, the cylinder 51 is provided with the square members 50g, 50h provided on the tilting machine frame 50.
The column 50 of the bracket 50j attached to the upper surface of the timber 50i extending horizontally between and substantially near the center of the tilting machine frame 50
A piston rod 51a rotatable about k and a column 51c of a bracket 51b mounted on a rear surface of a square bar 3e provided on the machine frame 3.
And a cylinder portion 51d rotatably mounted around the center.

The radiator grip portion 6 includes an upper grip arm 60 that abuts and grips the upper end of the radiator W, a cylinder 61 that moves the upper grip arm 60 up and down, a lower grip arm 62 that abuts and grips the lower end of the radiator W, It comprises a cylinder 63 for moving the gripping arm 62 up and down, and cushion rubber gripping arms 64, 64 fitted into the grooves of the cushion rubbers W3, W3 attached to the pins W1, W1 at the lower end of the radiator W.

The upper gripping arm 60 is located above the tilting machine frame 50, is slidable on a plurality of rails 60a, 60a provided in the vertical direction on the front surface of the horizontally extending square bar 50l, and has a plurality of gripping members 60b, 60b, 60b.

In the cylinder 61, the piston rod 61a is attached to the front surface of the square bar 50l with the piston rod 61a facing downward, and the piston rod 61a is connected to the upper grip arm 60.

The lower gripping arm 62 is located at the lower part of the tilting machine frame 50, and is provided with plates 5 attached to both ends of the front surface of a horizontally extending square bar 50m.
It is slidable on a plurality of rails 62a, 62a provided in the vertical direction at 0n, 50o, and includes a plurality of gripping members 62b, 62b.

In the cylinder 63, the piston rod 63a is attached to the lower surface of the square bar 50i with the piston rod 63a facing downward, and the piston rod 63a is connected to the lower grip arm 62.

The cushion rubber holding arms 64 and 64a are plates 50n and 50
O are provided on the front surface, and concave portions 64a and 64 are formed at the tip.

The first positioning portion 7 includes plates 70a, 70 attached to the upper end of the upper surface of the frame 3f welded to the lower ends of the square members 3b, 3c of the machine frame 3.
b, rail members 71a, 71b provided vertically on the upper surfaces of the plates 70a, 70b, and rails 71 of the rail members 71a, 71b.
The lifting and lowering members 72a and 72b are fitted to the c and 71d and are slidable, and the cylinders 73a and 73b are connected to the lifting and lowering members 72a and 72b to position the entire radiator assembling apparatus 1.

The elevating members 72a and 72b have tapered hook portions 72c and 72d fitted to the rails 71c and 71d, and the cylindrical portions have substantially the same diameter as the through holes Hc and Hd of the radiator mounting brackets Ha and Hb. Locating pins 72e and 72f facing toward the front.

The cylinders 73a and 73b are fixed to the plates 70a and 70b with the piston rods 73e and 73f facing upward.

Although one second floating mechanism 8 is provided symmetrically in each case, since it has the same structure, the mechanism on the left side of the apparatus will be described.

The second floating mechanism 8 includes a plate-shaped floating table 80, a machine base 81 attached to the front end of the square bar 3a of the machine frame 3 and having a horizontal lower surface.
Cylinder that is mounted on the lower surface of 81 and has a plurality of spherical rollers 82 mounted vertically at the center of the floating table 80 with the floating table 80 sandwiched therebetween and a plurality of cylinders 84 and 85 mounted with the piston rods facing downward. And a machine base 87 forming an attachment portion.

The cylinder 84, the cylinder 85, and the home position return member (not shown) have the same structure as the cylinder 45, the cylinder 46, and the home position return member 47 of the first floating mechanism 4, respectively. Furthermore, machine stand
A plurality of dampers 88 attached to the machine 81 and the machine base 87 in the front-back and left-right directions are also formed with the same structure as the dampers 48 of the first floating mechanism 4.

Although one second positioning portion 9 is provided symmetrically in each case, since it has almost the same structure, the mechanism on the left side of the apparatus will be described.

The second positioning section 9 is provided with a floating table 80.
Case 90 attached to the lower surface of
And a cylinder 91 also mounted on the upper surface of the floating table 80, a plate 92 having a horizontal surface shape on the side of the apparatus, and a plurality of rails 92 provided on the plate 92.
a sliding machine plate 93 which is fitted to the a and 92b, is slidable and rotates 90 ° by the operation of the cylinder 91; a cylinder 94 for moving the sliding machine plate 93 up and down;
And a positioning arm 95 provided on the rail fitting surface of the rail, and a bracket 96 mounted on a surface opposite to the surface of the slide machine plate 93 on which the positioning arm 95 is mounted and mounted in a direction in which the square bar 3a extends. Directionally mounted cylinder 97
An elevating plate 99 provided on its upper surface with a sliding support 98a connected to a piston rod 97a of the cylinder 97 and fitted on a plurality of hollow guide members 98 provided on the lower surface of a bracket 96 in a vertical direction; An L-shaped pressing member 100 attached to the side of the member, and a pin 101 having a tapered tip at the tip to be fitted into the through hole of the pressing member 100 are attached facing downward and the hollow guide member 101a is fitted. Bracket holding member 103 forming guide post 102
A spring 104 for compressing the pin 101 in the protruding direction by compressing between the lower surface of the elevating plate 99 and the bracket holding member 103 so as to surround the hollow guide member 101a,
Brackets mounted on the side of the bracket 96
Nut runner for bolt tightening 10 mounted on 105 and 107 respectively
6,108.

In the case 90, a cylinder 90b having a gear 90a at the tip is rotatably inserted via bearings 90c, 90c.

The cylinder 91 is mounted on the upper surface of the floating table 80 with the piston rod 91a penetrating downward,
A rack 91b having a gear 90a as a pinion is provided at the tip of the piston rod 91a, and is formed so as to give a 90 ° rotation to the cylinder 90b.

The positioning arm 95 has a distal end tapered at its distal end, and biases a taper pin 95a having substantially the same diameter as the reference hole G1 of the front bulkhead G by a spring 95b in a protruding direction and is provided downward.

The tie-down plate tightening mechanism 11 is for fully tightening the tightening bolts U, U of the tie-down plates P1, P2 temporarily fastened to the lower front part of the inner wall of the engine room of the vehicle.
The tie-down plate tightening mechanism 11 includes plates 11a, 11b provided on both ends of a front lower portion of the frame 3f and a plurality of rails 11c, 11c provided on the lower surface of the plates 11a, 11b in the longitudinal direction of the frame 3f. , 11d, 11d, sliders 11g, 11h fitted on these rails 11c, 11c, 11d, 11d and having nut runner mounting portions 11e, 11f on the upper surface, and piston rods 11i, 11j on the sliders 11g, 11h. Cylinders 11k, 11l connected to each other and fixed to plates 11a, 11b in the longitudinal direction of frame 3f, and nut runners 11m, 11n for tie-down hook tightening bolts provided in nut runner mounting portions 11e, 11f in the longitudinal direction of frame 3f. And The socket portions 11o and 11p of the nut runners 11m and 11n are formed so as to be able to float in the front-rear and horizontal directions.

The operation of the radiator assembling apparatus configured as described above will be described below.

As shown in FIG. 8, the radiator W is positioned and seated on the radiator supply table D with the rear side up, and the brackets E1 and E2 are placed at fixed positions with the bolts V and V inserted. The radiator assembling device 1 is lowered with respect to the radiator W by the robot R in a state where the front portion is turned down. At this time, the second positioning portion 9 is in a state in which the slide machine plate 93 is raised, and the plate 92 is rotated by 90 ° by the advance of the piston rod 91a, so that the two-dot chain line L shown in FIG.
The bolt tightening nut runner 108 has moved to the position of.

Then, the radiator assembling device 1 is operated by the operation of the robot R.
Is lowered until the respective gripping members 60b, 60b, 60b, 62b, 62b of the upper gripping arm 60 and the lower gripping arm 62 reach the gripping positions of the radiator W. At this time, the pins 101 of the bracket gripping member 103 are closely inserted into the radiator mounting through holes E5 and E6 of the cushion rubbers E3 and E4 mounted on the brackets E1 and E2, and the radiator assembling apparatus 1 is mounted on the brackets E1 and E2.
Is held.

Next, as the piston rod 61a of the cylinder 61 moves forward and the piston rod 63a of the cylinder 63 moves backward, the upper grip arm 60 and the lower grip arm 62 move, and the grip members 60b, 60b, 60b, 62b, 62b are moved by the radiator. Hold W. Further, the socket portions 106a, 108a of the nut runners 106, 108 protrude, and after the fastening bolts V, V are fitted into the socket portions 106a, 108a, the nut runners 106, 108 retreat from the socket portions 106a, 108a.

Then, the robot R inserts the radiator assembling device 1 into the engine room F according to the teaching operation sequence, and the nut runner of the tie-down plate tightening mechanism 11.
Tie down plates P1, P with sockets 11o, 11p of 11m, 11n
2 is aligned with the center position of the bolt U on the upper side of the bolts U, U which have been temporarily tightened, and then the bolt U is connected to the nut runners 11m, 11n.
The final tightening.

At this time, even if the center position of the bolt U is slightly deviated from the center position of the socket portions 11o and 11p, the bolt U can be floated in the surface direction of the tie-down plates P1 and P2 and in the front-rear direction, so that the bolt U is connected to the socket portion 11o. , 11p.

Further, the lower tie-down plate tightening bolts U, U are fully tightened by the same operation.

Next, when the radiator W is inclined as shown in FIGS. 2 and 3 by retracting the piston rod 51a of the cylinder 51, the distance in the height direction is shortened, and the radiator W approaches the rear of the front bulkhead G. To prevent the upper end of the radiator W from interfering with the upper and lower surfaces of the front bulkhead G, and move the entire radiator assembling apparatus 1 in accordance with the teaching operation sequence to move the positioning pins 72e and 72f as shown in FIG. It is located below the through holes Hc, Hd of the mounting brackets Ha, Hb. By this time, the second
The positioning portion 9 moves the nut runner 10 to the position indicated by the two-dot chain line M shown in FIG.
8 are moving.

Then, the piston rods 45a, 45a of the cylinders 45, 45 are retracted to bring the first floating mechanism 4 into a floating state. At this time, the pressing members 46b, 46b are in a state of being separated from the floating tables 40, 41.

Next, as the piston rods 73e, 73f of the cylinders 73a, 73b move forward, the positioning pins 72e, 72f rise and the radiator mounting bracket H attached to the front bulkhead G
a, Hb are inserted into the through holes Hc, Hd. In this state, the piston rods 46a, 46a of the cylinders 46, 46 are advanced and the pressing members 46b, 46b are pressed against the brake members 40a, 41a to stop the floating of the first floating mechanism 4 and the radiator mounting brackets Ha, Hb The entire radiator assembling apparatus 1 is positioned with respect to the through holes Hc and Hd. At this time, the through hole H
Even if the center positions of c and Hd and the center positions of the positioning pins 72e and 72f are slightly displaced, the pins 72e and 72f are guided and inserted by the tapered portions of the positioning pins 72e and 72f, and the machine frame 3 moves to move the apparatus 1. Overall positioning is possible.

Then, after the positioning pins 72e, 72f are separated from the through holes Hc, Hd by the retreat of the piston rods 73e, 73f, the cylinder
The piston rod 51a of 51 is advanced, and the radiator W in the inclined state is returned to the vertical state, so that the cushion rubber W3, W3 attached to the pins W1, W2 at the lower end of the radiator W can be attached to the radiator mounting bracket Ha, the tip of which has a pan-shaped tip. Hb can be automatically fitted.

Next, the second floating mechanism 8 is brought into a floating state by retreating the piston rods of the cylinders 84, 84. At this time, the piston rods of the cylinders 85, 85 are in a retracted state, and the pressing member is in a state of being separated from the floating table 80.

Then, the slide machine plate 93 is lowered by the cylinder 94, and the positioning pins 95a are inserted into the reference holes G1 provided on the upper surface of the front bulkhead G. Then, the piston rod of the cylinder 85 is advanced to press the pressing member against the floating table 80 to stop the floating of the second floating mechanism 8, and the second positioning portion 9 is positioned with respect to the reference hole G1. At this time, even if the center position of the reference hole G and the center position of the positioning pin 95a are slightly shifted, the pin 95a is guided and inserted by the tapered portion of the positioning pin 95a, and the second positioning portion 9 moves to move the reference hole. The positioning of the second positioning section 9 with respect to G1 becomes possible. Up to this point, the piston rod 97a connected to the bracket holding member 103 holding the brackets E1 and E2 has been retracted.

Next, the piston rod 97a of the cylinder 97 moves forward, and the bracket on the left side is shown in FIGS.
The pin fitting hole E5 of the cushion rubber E3 attached to E1 is fitted to the pin W4 provided at the upper end of the radiator W, and the pressing member 100 presses the upper surface of the cushion rubber E3, and the bracket E1 is moved to the front bulkhead G. To the mounting position on the upper surface of. Then, the nut runners 106, 108 move forward and the socket portions 106a, 108a protrude and rotate, and after tightening the bolts V, V, the nut runners 106, 108 retreat.

After the above operation, the piston rod 61a is retracted, the piston rod 63a is advanced, and the gripping members 60b, 60b, 60b, 62b, 62b
From the radiator W. Then, the slide machine plate 93 is raised by the cylinder 94 and the positioning pin 95a is inserted into the reference hole G.
After separating from the first position, the first floating mechanism 4 and the second floating mechanism 8 are returned to the floating state, the radiator assembling device 1 is returned to the original position by the robot R, and the respective floating is stopped, thereby completing one cycle of work.

(Effects of the Invention) As described above, according to the present invention, after positioning the entire device with respect to the through hole of the radiator mounting bracket, the nut runner and the bracket are attached to the upper surface of the front bulkhead with the radiator mounted on the radiator mounting bracket. By tightening the bracket after positioning to the reference hole, even if there is a slight deviation between the radiator mounting part of the vehicle and the radiator mounting device, the mounting can be performed smoothly. The radiator assembling process can be automated.

[Brief description of the drawings]

FIG. 1 is a front view of a radiator assembling apparatus of the present invention, FIG. 2 is a side view similarly showing a partial sectional view, FIG. 3 is a partially enlarged view of FIG. 2, and FIG. 4 is a radiator of the present invention. FIG. 5 is a plan view of the assembling apparatus, FIG. 5 is a view taken along the line II of FIG. 4, and FIG.
FIG. 7 is a view taken in the direction of arrows III-III, and FIG. 8 is a plan view showing a work station in the radiator assembling step. In the drawings, 1 is a radiator assembly device, 2 is an arm, 3
Is a machine frame, 4 is a first floating mechanism, 5 is a tilt mechanism,
6 is a radiator gripping part, 7 is a first positioning part, 8 is a second positioning part.
A floating mechanism, 9 is a second positioning portion, 11 is a tie-down plate tightening mechanism, R is a robot, W is a radiator, G is a front bulkhead, and E1 and E2 are brackets.

Claims (1)

(57) [Claims] 1. A radiator assembling apparatus for mounting a radiator on a vehicle, comprising: a first floating mechanism provided at a joint portion between an arm connected to a robot and a machine frame for floating the entire machine frame; and a positioning pin.
A first positioning portion for positioning the entire radiator assembling device with reference to a through hole of a radiator mounting bracket; a second floating mechanism provided at both upper ends of the machine frame for floating a nut runner and a bracket grip portion; A radiator assembling device comprising: a pin; and a second positioning portion for positioning the nut runner and the bracket holding portion with reference to a reference hole of the front bulkhead.