JP2658670B2 - Body panel assembly equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to related <br/> the assembly equipment of the vehicle body panel contemplates the improvement and automation of workability and working efficiency, particularly utilized in the vehicle body front panel unit such as a passenger car It is suitable.

[0002]

2. Description of the Related Art When an automobile is formed of a car body having a monocoque structure, a large number of panels constituting the car body are divided into a plurality of units, and the car body panels are connected to each unit in advance. Are connected to each other to form a vehicle body. For example, in a passenger car or the like, a vehicle body is divided into three units, a front portion, a center portion, and a rear portion, and assembled, and these three units are mutually connected to form a vehicle body.

[0003] Of the three units of the vehicle body panel described above, a unit forming the front part of the vehicle body (hereinafter, referred to as a front end assembly) is usually a lamp support upper panel (hereinafter, simply referred to as a lamp support assembly). Upper panel), a lamp support lower panel (hereinafter simply referred to as a lamp support lower), left and right fender shield panels (hereinafter simply referred to as a fender shield), and a dash panel. Generally, each body panel is in a state where a reinforcing material or the like is already joined.

[0004] When assembling such a conventional front end assembly, a work table on which a plurality of positioning jigs (hereinafter, referred to as locators) is mounted at a temporary mounting position on a vehicle body panel. An operator individually carries a lamp support upper and a lamp support lower, left and right fender shields and dash panels on the work table. Then, these vehicle body panels are positioned relative to each other via a locator on the workbench. In this case, a heavy dash panel or the like is carried on the workbench using a lifting device such as a weightless hoist.

Next, after the front end assembly is temporarily attached by an operator using a portable spot welding machine or the like, the front end assembly is temporarily attached to a worktable at a final welding position set next to the temporary attachment position. Carry in the front end assembly.

Liftable lifters are provided at the tacking position and the main welding position, respectively. Above the tacking position and the main welding position, an overhead conveying device reciprocating between the two positions is provided. Is arranged. In other words, when carrying the tacked front end assembly from the tacking position to the main welding position, lift the delivery lifter at the tacking position and lift the tacked front end assembly from the worktable. The front-end assembly is gripped by the transfer device and transported above the main welding position. The front-end assembly is transferred to the delivery lifter that is waiting to be lifted at the main welding position, and the delivery lifter is lowered by lowering the delivery lifter. A front end assembly temporarily mounted on a worktable at a welding position is placed in a positioning state.

A dedicated automatic welding machine is arranged at the main welding position, and the main welding operation is performed by the automatic welding machine on the front end assembly temporarily attached to the work table at the main welding position. .

[0008]

In the conventional assembling apparatus, it is necessary to arrange a locator for positioning around the tacking position. Therefore, it is difficult for the worker to approach the tacking position and, consequently, to work poorly. There is a defect.

In the case of the conventional assembling apparatus, an operator carries each vehicle body panel onto a work table to perform temporary assembly, and then performs a temporary assembling operation using a portable spot welding machine or the like. Unless the tacking work on the workbench is completed, the next new front-end assembly cannot be temporarily assembled, and it is necessary to grip heavy body panels and welding guns. It is difficult to improve work efficiency in conjunction with the fact that the work itself is physically heavy work.

[0010]

SUMMARY OF THE INVENTION The present invention aims to provide an automatic assembling equipment of the vehicle body panel which can be assembled to the vehicle body panel with high efficiency.

[0011]

According to a first aspect of the present invention, there is provided an apparatus for assembling a vehicle body panel according to the present invention, wherein a plurality of vehicle body panels are temporarily mounted in a positioning state, and are disposed adjacent to the mounting position. A temporary attachment position for temporarily attaching the temporarily placed vehicle body panel is set, and the plurality of body panels have a plurality of locators temporarily placed in a positioned state, and the assembly position and the temporary attachment position are set. A reciprocating bogie jig, and the body panel, which is provided above and below the temporary attaching position so as to be movable up and down and is carried into the temporary attaching position, cooperates with the locator of the bogie jig so as to be pressed from above and below. A lifting jig having a plurality of locators that can be positioned and gripped by the lifting jig, wherein the lifting jig is provided with a gripping device that grips the temporarily attached body panel from the bogie jig. Is shall.

Further, a second body panel assembling apparatus according to the present invention provides an assembling position in which a plurality of body panels are temporarily placed in a positioning state, and an adjoining and temporarily disposed assembling position. A temporary attachment position for temporarily attaching the vehicle body panel, and a main welding position for adjoining the temporarily attached body panel, which is disposed adjacent to the temporary attachment position, are set at predetermined intervals, and A first bogie jig having a plurality of locators for temporarily placing the panel in a positioning state and reciprocating between the assembly position and the temporary mounting position, and placing the temporarily attached body panel in a positioning state; A second bogie jig having a locator to be moved and reciprocating between the tacking position and the main welding position in synchronization with the first bogie jig; And this A lifting / lowering jig having a plurality of locators capable of positioning and holding the body panel carried into the attaching position in a pressure state from above and below in cooperation with the locator of the first bogie jig; The tool is provided with a holding device for picking up the temporarily attached body panel from the first bogie jig.

[0013]

[0014]

A plurality of vehicle body panels are temporarily placed in a positioning state on the bogie jig moved to the mounting position via the locator. When the bogie jig moves to the temporary attachment position in this state,
The elevating jig descends, and the locator of the elevating jig and the locator of the bogie jig position and grip the vehicle body panel brought into the temporary attachment position from above and below in a state of being pressed. Thereafter, the vehicle body panels are temporarily attached to each other in this state, the gripping device provided on the elevating jig is operated, and the elevating jig is raised to grasp the temporarily attached body panel from the bogie jig. The empty jig is conveyed again to the assembling position, and the temporarily attached body panel gripped by the elevating jig is unloaded from the temporary attaching position.

Here, in the second aspect of the present invention, the second bogie jig is moved in synchronism with the first bogie jig reciprocating between the assembling position and the temporary mounting position. Reciprocate with the position. In other words, in the state where the first jig cart is in the assembling position, the second jig cart is in the temporary attaching position, and the elevating cart in a state where the temporarily attached body panel is grasped is lowered, and The gripping device is operated to transfer the vehicle body panel temporarily attached on the second jig cart in a positioning state via the locator of the second jig cart.

In the state where the first carriage jig is at the temporary attachment position, the second jig carriage is at the permanent attachment position, and the temporary attachment on the second jig carriage carried into this permanent attachment position is performed. The body panel that has been welded is fully welded.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A body panel unit assembling apparatus according to the present invention.
Application to the front-end assembly of passenger cars
1 and 2 showing the planar structure of the embodiment and the side structure thereof.
As shown in FIG. 3 and FIG.
Door assembly (hereafter referred to as full assembly)
) W_FIs a pair of left and right fender shields W_FL, W
_FRAnd lamp support W_LOr lamp support upper
W_LUAnd lamp support lower W_LLAnd dash panel W
_DAnd sill inner front W_SL, W_SRAnd five types of panels
It is roughly composed of

Then, a first end WM in which the sill inner fronts W _SL and W _SR are not temporarily assembled (hereinafter referred to as a main assembly) W _M is carried into the assembly position P ₁ . and transferred onto a truck jig 101, transported the first carriage jig 101 to the tacking position P ₂ lifting jig 201 is waiting, the main assembly I W _M and the lifting jig 200 first after positioning fixed in a state sandwiched from above and below and one bogie jig 101, tack welding the main assembly I W _M.

Next, raised gripping tack has been the main assembly I W _M in the elevation jig 201, the present welding position P ₃ with back to position P ₁ assembled a first carriage jig 101 became empty the second carriage jig 102 waiting carried into tacking position P _2, the main assembly I W _M that are gripped by the lifting jig 201 is transferred onto the second carriage jig 102.

[0020] Thereafter, a second carriage jig 102 returned to the welding position P _3, the second carriage jig at this main welding position P ₃ 10
2 on tack has been the main assembly I W _M sill inner front W _SL as well as the welding, tack the W _SR to the main assembly I W _M, the welding full assembly I W _F thus obtained The lifter 601 for the main welding position provided at the position P ₃ lifts the jig 102 above the second bogie jig 102.

[0021] In this state, carried a third carriage jig 103 waiting at the position P ₄ retrofit with sending the second carriage jig 102 to the tacking position P ₂ to the welding position P _3, the Lower the lifter 601 for welding position to lower the sill inner front W _SL , W
_SR is to transfer the full assembly I W _F, which is temporarily attached on the third carriage jig 103.

[0022] Then, a third put back into position P ₄ rear dolly jig 103 at a position P ₄ retrofit this third carriage jig 103
Post welded to the rest of the welding points of the full assembly I W _F above, so that sending the next step raised gripping the full assembly I W _F by the transfer device 702 overhead.

[0023] Therefore, the assembly position P ₁ and tacking the position P ₂ and the welding position P ₃ and retrofitted position P _4, in the present embodiment along the conveying direction of the front end assembly I W at predetermined intervals It is arranged in a straight line, and the assembly position P
Across the ₁ on the opposite side of the tacking position P ₂ is running rail 301 extending in the opposite side of the tacking position P ₂ is laid in a straight line. In this embodiment, a pair of left and right fender shields W _FL and W _FR respectively corresponding to two types of vehicles and lamps corresponding to the first type of the two types of vehicles are provided on both sides of the traveling rail 301. and support W _L, and the second lamp support upper W _LU and the lamp support lower W palette total eight _{of LL} and the housing, respectively S ₁ to S ₈ corresponding to vehicle type are arranged, the pallet S _1, S _2, S ₅ , S
₆ corresponds to the first vehicle type, and pallets S ₃ , S ₄ , S _{5 to} S ₈
Corresponds to the second model.

[0024] That is, the lamp support W _L of the first vehicle model in the present embodiment, which has assembled a lamp support upper and the lamp support lower not previously shown,
According production order of two kinds of vehicles, houses in alignment with a previously lamp support W _L and the lamp support lower W _{L L} to the pallet S _5, S _6.

The traveling rail 301 has a shape corresponding to the type of vehicle.
A pair of left and right fender shields from a given pallet
W_FL, W_FRAnd lamp support W_LOr lamp support
Upper W _LUAnd lamp support lower W_LLAnd mounting position P
₁To load the first bogie jig 101
Robot 302 moves along the traveling rail 301
It is provided freely.

In this embodiment, the fender shield W
_FL, upon gripping the W _FR and lamp support W _L or lamp support upper W _LU and lamp support lower W _LL,
The hand unit 303 of the setting robot 302 is exchanged. The one common to the two models for the fender shields W _FL and W _FR and the lamp support W of the first model are used.
And one for _L, lamp support upper W _LU of the second car model
And are arranged stand 304, 305, 306 of the lamp support lower W sum of those for _LL three hand portion 303 on the side of the running rail 301.

First bogie jig 101 at the assembling position P ₁
Fender shields W _FL , W _FR
And a pair of left and right fender lifters 401 that can temporarily move up and down, respectively, are arranged. As shown in FIG. 5 showing the front shape of one of the fender lifters 401 and FIG.
401 is an elevating cylinder 403 attached to a support 402,
An elevating base 404 provided at the upper end of the elevating cylinder 403, and an evacuation cylinder horizontally attached to the left and right fender lifters 401 in a direction opposite to the elevating base 404 (vertical direction in FIG. 1). 405 and a fender receiving fitting 406 which is attached to the tip of the retraction cylinder 405 and receives the fender shields W _FL and W _FR respectively.

In this embodiment, a pair of guide rods 407 parallel to the retracting cylinder 405 are provided on the fender receiving bracket 406 in order to smoothly move the fender receiving bracket 406 with the operation of the retracting cylinder 405. On the other hand, a pair of left and right guide bushes 408 through which the guide rods 407 slidably penetrate are provided on both sides of the lifting base 404.

The first carriage jig 101 which reciprocates between the assembly position P ₁ and the temporary attachment position P ₂ is connected to a forward / reversely movable carriage conveyor 104 provided between them. , on the left and right sides of the truck conveyer 104, a pair of welding robots 501 and 502 to tack welded to the main assembly I W _M on the first carriage jig 101 that has been carried into the tacking position P ₂ is arranged Have been.

In this embodiment, the pair of welding robots
One of the welding robots 501 and 502 (hereinafter, referred to as an assembling / welding robot) 501 has a tip that can be replaced with a welding gun (not shown) and an assembling hand unit 503. the first carriage jig 10 in the replacement state carried into the position P ₁ assembled with a dash panel W _D
One is to be carried in. Therefore, on the side of the assembly and welding robots 501 are disposed and stand 505 of cradle 504 and assembling the hand portion 503 of the welding gun, also pallet S ₉ housing the dash panel W _D is arranged ing.

As shown in FIG. 7 representing the tacking appearance position P ₂ in the state in which the first carriage jig 101 is transported, the first carriage jig 101 fitted into the main assembly I W _M A large number of locators 105 for assembling the locator 105 are assembled, and FIG. 8 showing the external appearance of the locator 105 of this embodiment, FIG. 9 showing the internal front structure thereof, and FIG. 10 showing the internal side structure thereof and FIG. As shown in FIG. 11 showing a planar structure,
A base 106 of a locator 105 is fixed to an upper surface of the carriage jig 101.

A first guide rail 107 is provided horizontally on the base 106, and a first saddle 109 is attached to the first guide rail 107 via a slide metal 108 so as to be reciprocally movable. The base 106 has a first guide rail 107
Left and right ends of the first ball screw 110 extending in parallel with the first ball screw 110 are rotatably supported. A first servomotor 112 is connected to one end of the first ball screw 110 via a speed reducer 111, and a first ball nut 113 screwed with the first ball screw 110 is fixed to the first saddle 109. Have been.

Therefore, by driving the first servo motor 112, the first ball screw 110 and the first ball nut 1
The first saddle 109 moves along the first guide rail 107 via 13. A first electromagnetic brake 114 for stopping rotation of the first ball screw 110 is provided between the base 106 and the other end of the first ball screw 110.

The first saddle 109 has a first guide rail 1
A second guide rail 115 extending in a horizontal direction orthogonal to 07 is provided.
A second saddle 117 is movably attached via 16. The first saddle 109 rotatably supports left and right ends of a second ball screw 118 extending parallel to the second guide rail 115. A second servo motor 120 is connected to one end of the second ball screw 118 via a speed reducer 119, and a second ball nut 121 screwed with the second ball screw 118 is fixed to the second saddle 117. Have been.

Therefore, by driving the second servo motor 120, the second ball screw 118 and the second ball nut 1
The second saddle 117 moves along the second guide rail 115 via 21. Note that a second ball screw 118 is provided between the first saddle 109 and the other end of the second ball screw 118.
A second electromagnetic brake 122 for stopping the rotation of the motor is provided.

The column 123 erected on the second saddle 117
Is provided with a third guide rail 124 extending in a direction perpendicular to the moving direction of the first saddle 109 and the second saddle 117, and the third guide rail 124 has a slide metal 1
An elevating table 127 having a clamp pin 126 is movably supported via 25. Upper and lower ends of a third ball screw 128 extending in parallel with the third guide rail 124 are rotatably supported on the column 123, and a third ball nut 129 screwed with the third ball screw 128 is moved up and down. It is fixed to.
Further, the column 123 is provided with a third servomotor 131 having a speed reducer 130, a drive pulley 132 fixed to the output side of the speed reducer 130, and a driven pulley 133 fixed to the lower end of the third ball screw 128. , An endless drive belt 134 is wound.

Accordingly, by driving the third servo motor 131, the third ball screw 128 and the third ball nut 1 are driven.
The elevator 127 moves via 29. The column 123 is provided with a third electromagnetic brake 135 for stopping the rotation of the third ball screw 128.

In this manner, the first servo motor 112, the second servo motor 120, and the third servo motor 131 are driven, and the clamp pin 126 is optionally set via the first saddle 109, the second saddle 117, and the elevator 127. And further operate the first electromagnetic brake 114, the second electromagnetic brake 122, and the third electromagnetic brake 135 to restrict the rotation of the first ball screw 110, the second ball screw 118, and the third ball screw 128. Thus, the position of the clamp pin 126 with respect to the first bogie jig 101 is fixed. This operation was carried out in response to the position of the locator holes (not shown) formed in the main assembly I W _M for each locator 105, positioned state of the main assembly I W _M to a predetermined supporting position of the first carriage jig 101 To support.

[0039] For the main assembly I W _M of different vehicle types, to release the actuation of the first electromagnetic brake 114 and a second electromagnetic brake 122, and the third electromagnetic brake 135 of the locator 105, and the first servomotor 112 Second servo motor 120
And the third was appropriately driven servo motor 131, a new main assembly I W _M locator hole and a position corresponding to the move the clamp pins 126 of again first electromagnetic brake 114 and a second electromagnetic brake 122, and the third electromagnetic brake By operating the 135 to restrict the rotation of the first ball screw 110, the second ball screw 118 and the third ball screw 128, the position of the clamp pin 126 with respect to the first bogie jig 101 is fixed.

The locator 105 described above has its clamp pins 126 movable in three directions orthogonal to each other. However, the locator capable of moving only in two directions or one direction is also a first bogie jig. It is provided alongside 101, and these are used in an appropriate combination.

As described above, since the position of the clamp pin 126 can be arbitrarily changed, the first bogie jig 101 in this embodiment can perform positioning support for many types of vehicle body panels.

On the other hand, above the tacking position P ₂ position the main assembly I W _M carried into the position P ₂ with the provisional state sandwiching from above and below with the locator 105 of the first carriage jig 101 the main assembly I W _M of tack at the tacking position P ₂ is completed to fix the first carriage jig 1
An elevating jig 201 for grasping above 01 is provided.

FIG. 12 showing the front shape of the lifting jig 201.
As shown in FIG. 2, a lifting plate 204 is suspended via a lifting cylinder 205 on a cross beam 203 whose left and right ends extend over the upper ends of a pair of left and right columns 202. A pair of left and right balancing cylinders 206 for maintaining the horizontality of the lift plate 204 is provided on the left and right sides of the cylinder.
Therefore, the balance wires 207 are provided on both left and right sides of the lift plate 204.
Are fixed, and the upper ends of these balance wires 207 are connected to a pair of left and right tension sensors 208 provided on the cross beam 203. That is, the left and right tension sensors 208
The pulling force of the pair of left and right balancing cylinders 206 is controlled so that the outputs from the cylinders become equal.

[0044] In order to prevent the elevating plate 204 in the present embodiment in damage to the lift cylinder 205 drops into tacking position P _2, facing the left and right end portions of the elevating plate 204 just below the lifting plate 204 A pair of left and right stoppers 209
02 is protruding respectively.

[0045] On the lower surface of the lift plate 204, substantially the same configuration of locator 210 and the main portion of the locator 105 shown in FIGS. 9 to 11 described above having a clamping claw which can grip the predetermined portion of the main assembly I W _M, Main assembly W _M
A large number of locators 210 having the same configuration as the above-described locator 105 having a clamp pin that can be fitted into a locator hole (not shown) formed on the upper side are mounted downward,
These elevating plate 204 side of the two types of locator 210 in cooperation with the first carriage jig 101 side of the locator 105 narrowing sandwiched main assembly I W _M from above and below, so as to position and fix the main assembly I W _M It has become.

As shown in FIG. 13 showing the appearance of one locator 210 having a clamp claw, a base 211 of the locator 210 is fixed to the lower surface of the lifting plate 204. This base
The first guide rail 212 is provided horizontally on the 211, and a first saddle 214 is attached to the first guide rail 212 via a slide metal 213 so as to be reciprocally movable. Further, a first servomotor 216 is connected to the first saddle 214 via a speed reducer 215 connected to a linear feed mechanism (not shown), and by driving the first servomotor 216,
The first saddle 214 moves along the first guide rail 212.

The first saddle 214 has a first guide rail 2
A second guide rail 217 extending in a horizontal direction orthogonal to 12 is provided, and the second guide rail 217 has a slide metal 2
A second saddle 219 is movably attached via 18. Further, the second servo motor 221 is connected to the second saddle 219 via a speed reducer 220 connected to a linear feed mechanism (not shown).
The second saddle 219 moves along the second guide rail 217 by driving the second servo motor 221.

The column 222 erected on the second saddle 219
A frame 224 having a pivot 223 extending in a direction parallel to the first guide rail 212 is fixed to a lower end of the
The plate 223 is provided with four plate-like raising and lowering levers 225 rotatably. These distal end of the raised or lowered lever 225, the main assembly I W _M at the tip portion of the raised or lowered lever 225
Clamp pawls 226 capable of holding predetermined portions are pivotally attached to each other so as to be openable and closable. Piston rods 228 of pawl opening / closing cylinders 227 respectively attached to the elevating levers 225 are provided at the base ends of these clamp pawls 226. Are linked.
A piston rod 230 of a lever lowering cylinder 229 pivotally attached to the frame 224 downward is pinned to a base end of the lowering lever 225.

Accordingly, the piston rod 230 of the lever raising / lowering cylinder 229 to be used in accordance with the type of vehicle is extended, and the pawl opening / closing cylinder 227 attached to the downwardly protruding raising / lowering lever 225 is thereby operated. , so that the switch the grip or the opening operation for the main assembly I W _M. Note that by retracting the piston rod 230 of the lever caused倒用cylinder 229 is not used, a state in which raisably lever 225 is retracted sideways, and to avoid interference with the main assembly I W _M.

As described above, the position of the clamp pawl 226 and the position of the clamp pin of the locator 210 provided on the elevating plate 204 of this embodiment can be arbitrarily changed.
In combination with the locator 105 provided on the first bogie jig 101, positioning support for many types of vehicle body panels can be performed.

[0051] Incidentally, the locator 210 is disposed on the periphery of the lower surface of the lift plate 204 is one having a clamping claw 226 as shown in Figure 13 for saddled the main assembly I W _M, main these clamp jaws 226 by engaging the assembly I W _M, so that the lift of the main assembly I W _M with increasing lift plate 204.

[0052] The between the tacking position P ₂ and the welding position P _3, the main assembly I W at a position P ₂ temporarily attached together with assembly and welding robot 501 and the welding robot 502 described above
While tacking the _M, two sets of articulated welding robot 506, 507 to the welding tack has been the main assembly I W _M at the welding position P ₃ are arranged.

[0053] Also, the the second carriage jig 102 reciprocating between the tacking position P ₂ and the welding position P _3, the locator holes (not shown) formed on the lower side of the main assembly I W _M A number of locators (not shown) having substantially the same configuration as the locator 105 shown in FIGS.

Similarly, the third bogie jig 103 which reciprocates between the main welding position P ₃ and the retrofitting position P _{4 in} conjunction with the reciprocating motion of the second bogie jig 102 has a full assembly. I W _F
8 to 11 having a locator pin (not shown) that can be fitted into a locator hole (not shown) formed on the lower side of the locator.
A number of locators (not shown) having substantially the same configuration as the locator 105 shown in FIG.

[0055] Incidentally, since the present welding position P ₃ and retrofit position P ₄ is carried in a state in which the main assembly I W _M, a full assembly I W _F has already been welded, a second carriage jig 10
The number of locators installed on the second and third bogie jigs 103 is set smaller than the number of installed locators 105 on the first bogie jig 101, respectively.

[0056] The right and left sides of the welding position P _3, the full assembly I W _F, which is the welded a second jig carriage 102 from lifting may liftable pair of the welding position lifter 601, Two Sill inner front W _SL , W _SR for two models
Pallets S ₁₀ , S ₁₁ ,
_{S 12, S 13, S 14} , S 15, and S _16, S _17, these pallets S
_A pair of right and left transfer robots 508 and 509 for transferring predetermined sill inner fronts W _SL and W _SR from _{10 to} S ₁₇ onto a pair of left and right temporary holding jigs 801 are provided. The welding robot of this book welding position P ₃ of the above temporary holding jig 801 by the main assembly I W _M positioned and held against the sill inner front W _SL, overhead (not shown) for temporarily attached to W _SR is provided Have been.

The main welding position lifter 601 has substantially the same structure as the fender lifter 401 described above, and can perform operations such as lifting and lowering without interfering with the reciprocating movement of the bogie jigs 102 and 103. It is possible.
Further, the pallet _{S 10, S 11, S 12} , S 1 3 corresponds to the first model, the pallet _{S 14, S 15, S 16} , S 17 are those corresponding to the second model.

Between the post-attachment position P ₄ and the next step (not shown), there is an overhead conveying rail connecting them.
701 is provided, the conveying apparatus for unloading to this the transfer rail 701 retrofitted at a position P ₄ retrofit after the welding welded full assembly I W _F are raised gripping from the third jig carriage 103 follows step 702 is suspended.

[0059] Hereinafter, the sequentially described procedure of assembling the full assembly I W _F, from the position P ₁ assembled jig carriage 101 mounted on the tacking position P ₂ in the positioned state of the main assembly I W _M of temporarily assembled state After being conveyed, the retraction cylinder 405 of the fender lifter 401 advances leftward in FIG. 6, and in this state, the setting robot 302 moves the pair of left and right pallets S ₁ , S ₂ or pallets S ₃ , S ₄ . The fender shields W _FL and W _FR are sequentially grasped and transferred onto the fender receiving brackets 406 of the pair of left and right fender lifters 401. When the fender shields W _FL , W _FR are carried into the fender receiving bracket 406, the lifting cylinder 403 of the fender lifter 401 operates, and the lifting base is lifted.
404 moves to its rising end and fender shields W _FL , W
Stand by with the _FR evacuated.

[0060] empty jig carriage 101 is operated lifting cylinders 403 Fender lifter 401 is reversed when it is carried into the position P ₁ assembled from tacking position P _2, by elevating base 404 is lowered fender The pair of left and right fender shields W _FL and W _FR held by the lifter 401 are transferred onto the jig cart 101. In this state, the fender shields W _FL and W _FR are moved to the first jig cart 1 by the clamp pins 126 of the locator 105.
01 is fixed in a positioning state, and then the retracting cylinder 405 of the fender lifter 401 retreats rightward in FIG.
Fender receiving metal 406 becomes retracted state relative to the tacking position P _2.

During this time, the setting robot 302
Remove the hand section 303 for the ender shield and
Correspondingly one of the two hand parts 303 for lamp support
Replace with And pallet S_Five~ S₈From ramp sapo
Auto W_LOr lamp support upper W_LUAnd lampsa
Port lower W_LLAnd fender shield W
_FL, W_FRIs carried into the jig cart 101 to which is fixed.

[0062] On the other hand, during the loading operations of the lamp support W _L or lamp support lower W _LL and lamp support upper W _LU by setting robot 302, assembly and welding robot 501 raises gripping the dash panel W _D from the pallet S _9, the dash panel W _D fender shield W _FL, W _FR is transfer the positioning state on the first carriage jig 101 fixed. The replacement assembly hand portion 503 to the welding gun at the time of completion of this task, waiting to move to the tacking position P ₂ side.

Thus, the main assembly W
Assembling position P _{1 of} first bogie jig 101 in which _M is assembled
While carrying tacking to the position P ₂ from retracting cylinder 405 of the fender lifter 401 again at this point in FIG. 6, advanced to the left, the work described above in the assembled position P ₁ is repeated.

[0064] On the other hand, when the first carriage jig 101 provided with a main assembly I W _M described above is carried into the tacking position P _2, the lifting jig waiting in above the tacking position P ₂ elevator plate 204 of the 201 is lowered by the operation of the elevating cylinder 205, the locator 210 and its clamping claw 226 is attached to the lifting plate 204, the positioning and fixation of the main assembly I W _M on the first carriage jig 101 Is surely done. In this state, the assembly and welding robots 501 and welding robots 502 and articulated welding robot 506 and 507 is activated, tack welding the main assembly I W _M.

[0065] Then, after completing the tacking work of the main assembly I W _M, by the lift cylinder 205 of the lifting jig 201 is possible to raise the elevating plate 204 in operation, through the clamp jaws 226 of the locator 210 tack has been the main assembly I W _M Te is lifted from the first carriage jig 101. Carriage carrying conveyor 104 is operated in this state, it conveys the first carriage jig 101 became empty position P ₁ assembled as described above. At this time, the hand of the assembly and welding robot 501 having been subjected to the welding operations at the tacking position P ₂ is replaced in the assembled hand portion 503 from the welding gun, the second carriage jig emptied Concurrently 102 There is returned to the welding position P ₃ from the position P ₄ retrofitted third carriage jig 103 with back to the position P ₂ temporarily attached from the welding position P _3.

The second bogie jig 102 emptied in parallel with the conveyance of the vacant first bogie jig 101 to the assembling position P ₁ .
When There is conveyed to the position P ₂ temporarily attached from the welding position P _3, the lifting plate of the lifting jig 201 waiting tacking over the position P ₂ in a state in which the tack grips the main assembly I W _M ended 204 is lowered by the operation of the lifting cylinder 205, and the lifting plate
Clamp jaws 226 of the locator 210 which is attached to the 204 is the result of opening the gripping of the main assembly I W _M, main assembly I W _M having been subjected to the tack on the second carriage jig 102 is transferred by the positioning state You.

Then, the elevating plate 204 of the elevating jig 201 is raised again by the operation of the elevating cylinder 205, and the main assembly W _M on the newly assembled first bogie jig 101 is moved.
Wait for. Further, a second carriage jig 102 tacking has been the main assembly I W _M is transferred by the positioning state is carried out again to the welding position P ₃ from the position P ₂ temporarily attached together with the main assembly I W _M During this time, the main welding position P ₃
In right and left pair of transfer robots 508 and 509 pallets S ₁₀
Predetermined sill inner front W _SL from to S _17, are carried on a pair of right and left temporary holding jig 801 at the transfer position (not shown) W _SR.

Thus, the main assembly W
When the second carriage jig 102 provided with the _M is loaded into the main welding position P _3, the main welding work main assembly I W _M is performed by the multi-joint type welding robot 506 and 507, in parallel to this sill inner front W _SL provisional pressing jig 801 is moved from the transfer position, the W _SR positioning and holding to the main assembly I W _M. Further, by welding robot overhead, not shown in this state it is temporarily attached sill inner front W _SL, a W _SR to the main assembly I W _M, full assembly I W _F is formed.

[0069] In the time of completion of this welding operation of the welding position P ₃ on the main assembly I W _M, articulated welding robot 506 and 507 on the first carriage jig 101 that has been carried into the tacking position P ₂ tack work main assembly I W _M performed with assembly and welding robot 501 and the welding robot 502.

[0070] During tack welding of the main assembly I W _M at the tacking position P _2, the full assembly I W _F on the second carriage jig 102 having been subjected to the welding operations at the welding position P ₃
Is, the present welding position lifter 601 is lifted from the second carriage jig 102, waiting above the present welding position P _3. When the tack welding of the main assembly I W _M at the tacking position P ₂ is completed, the second carriage jig emptied 102
There moved to the tacking position P _2, take over a tack has been the main assembly I W _M, the third carriage jig 103 is present welding position P ₃ where emptied from the position P ₄ retrofit this task at the same time moving, by the lowering operation of the welding position lifter 601, a full assembly I W _F held by the present welding position lifter 601 is transferred in a positioned state on the third carriage jig 103.

[0071] Thereafter, tack has been the main assembly I W with a second jig carriage 102 mounted with _M is tentative position P ₂
At the same time returning to the welding position P ₃ from sill inner front W _SL, W _SR full assembly I W _F in the tacking state
The third carriage jig 103 mounted with the return to the position P ₄ retrofitted from the welding position P _3, post welded full assembly I W _F on the third carriage jig 103. In this retrofit weld it is placed around the position P ₄ retrofitted automatic welding apparatus not such shown articulated welding robot 506 and 507 described above, and performs the post-welded by automatic welding apparatus.

In [0072] Retrofit position P ₄ full assembly I W _F
At the time of completion of the post-welded, lowered conveying device 702 waiting above the retrofitted position P _4, the third carriage jig 1
After unloading the next step by increasing grasp the full assembly I W _F of the rear welded already from 03, the conveying device 702 enters a standby state waiting descends retrofitting upper position P ₄ again.

[0073] In this state, it carried a third carriage jig 103 waiting at the position P ₄ retrofit with sending the second carriage jig 102 to the tacking position P ₂ to the welding position P _3, the lifter the is lowered to transfer the sill inner front W _SL, full assembly W _SR is temporarily attached I W _F on the third carriage jig 103.

[0074]

According to the apparatus for assembling a vehicle body panel of the present invention, the temporary assembly position and the temporary attachment position of the vehicle body panel are divided, and the assembled vehicle body panel is clamped from above and below at the temporary attachment position. At the same time, the accessibility to the work location is improved, and the work efficiency is greatly improved.

Further, since the welding work and the transfer of the vehicle body panel can all be automated, the physical labor of the operator can be reduced, and the working environment can be improved.

[0076]

[Brief description of the drawings]

FIG. 1 is a conceptual diagram showing a planar structure of an embodiment in which an apparatus for assembling a vehicle body panel according to the present invention is applied to assembling a front end assembly of a vehicle body together with FIG.

FIG. 2 is a conceptual diagram showing a planar structure of an embodiment in which the apparatus for assembling a vehicle body panel according to the present invention is applied to the assembly of a front end assembly of a vehicle body together with FIG.

FIG. 3 is a layout diagram showing a side structure of the present embodiment together with FIG. 4;

FIG. 4 is a layout diagram showing a side structure of the present embodiment together with FIG. 3;

FIG. 5 is a front view of a fender lifter in the present embodiment.

FIG. 6 is a plan view of a fender lifter in the present embodiment.

FIG. 7 is a perspective view illustrating a tacking operation state at a tacking position according to the present embodiment.

FIG. 8 is a perspective view illustrating an appearance of a locator according to the present embodiment.

FIG. 9 is a front view showing the internal structure of the locator.

FIG. 10 is a left side view corresponding to FIG. 9 showing the internal structure of the locator.

FIG. 11 is a plan view of the locator.

12 is a front view showing an example of the temperature border instrument used in this example.

FIG. 13 is a perspective view illustrating an appearance of a locator according to the present embodiment.

[Explanation of symbols]

 W_MIs the main assembly, W_FIs a full assembly
I, W_FL, W_FRIs a fender shield, W_LIs lamp support
, W_LUIs the lamp support upper, W_LLIs lamp support
-Troy, W_DIs the dash panel, W_SL, W_SRIs sill in
Nafront, P ₁Is the mounting position, P_TwoIs the tacking position, P_Three
Is the actual welding position, P_FourIs the retrofit position, S₁~ S₁₇Is a palette
G, 101 is the first bogie jig, 102 is the second bogie jig, 103
Is a third carriage jig, 104 is a carriage conveyor, 105 is
Caterer, 106 is base, 107 is first guide rail, 108, 116,
125 is slide metal, 109 is first saddle, 110 is first
Screw, 111, 119, and 130 are reduction gears, and 112 is the first servo mode.
TA, 113 is the first ball nut, 114 is the first electromagnetic brake,
115 is the second guide rail, 117 is the second saddle, 118 is the second button
Screw, 120 is the second servo motor, 121 is the second burner
, 122 is the second electromagnetic brake, 123 is the column, 124 is the second
Three guide rails, 126 is a clamp pin, 127 is a lifting platform, 128
Is the third ball screw, 129 is the third ball nut, 131 is the third
Servo motor, 132 is a driving pulley, 133 is a driven pulley, 13
4 is the drive belt, 135 is the third electromagnetic brake, 201 is the lifting jig
Fixture, 202 is column, 203 is cross beam, 204 is lift plate, 2
05 is the lifting cylinder, 206 is the balancing cylinder, and 207 is loose
Wire, 208 is a tension sensor, 209 is a stopper, 210 is
Locator, 211 is base, 212 is first guide rail, 213 is
Slide metal, 214 is the first saddle, 215 is the reducer, 216
Is the first servo motor, 217 is the second guide rail, 218 is the slide
Idmetal, 219 is the second saddle, 220 is the reducer, 221 is the second
Two servo motors 221, 222 are columns, 223 is pivots, 224 is
Frame body, 225 is a lifting lever, 226 is a clamp claw, 227 is a claw open
Closing cylinder, 228 is piston rod, 229 is lever up / down
Cylinder, 230 is a piston rod, 301 is a running rail,
302 is a setting robot, 303 is a hand unit, 304 to 306
Is a stand, 401 is a fender lifter, 402 is a support, 403
Is the lifting cylinder, 404 is the lifting base, and 405 is the evacuation cylinder.
, 406 is a fender receiving bracket, 407 is a guide rod, 40
8 is a guide bush, 501 is an assembly and welding robot, 502 is a welding
Bot, 503 is the assembly hand section, 504, 505 is the table, 506, 50
7 is an articulated welding robot, 508 and 509 are transfer robots,
601 is a lifter for the main welding position, 701 is a transport rail, and 702 is a transport
A feeding device 801 is a temporary holding jig.

Claims (2)

(57) [Claims] 1. A mounting position where a plurality of vehicle body panels are temporarily placed in a positioning state, and a temporary mounting position where the vehicle body panel which is disposed adjacent to the mounting position and temporarily placed is temporarily set. A bogie jig having a plurality of locators in which the plurality of vehicle body panels are temporarily placed in a positioning state and reciprocating between the assembly position and the temporary attachment position; A lifting / lowering jig provided with a plurality of locators capable of positioning and holding the body panel carried into the temporary attachment position in a state of being pressed from above and below in cooperation with the locator of the bogie jig; An assembling apparatus for a vehicle body panel, wherein the lifting jig is provided with a holding device for holding the temporarily attached body panel from the bogie jig. 2. A mounting position where a plurality of vehicle body panels are temporarily placed in a positioning state, a temporary mounting position where the vehicle body panels which are disposed adjacent to the mounting position and temporarily placed are temporarily mounted, There is a plurality of locators that are arranged adjacent to the temporary attachment position and are set at a predetermined interval from a final welding position where the actually attached temporary body panel is welded, and the plurality of vehicle body panels are temporarily placed in a positioning state. A first bogie jig that reciprocates between the assembling position and the temporary attaching position, and the first bogie jig having a locator on which the temporarily attached body panel is placed in a positioned state. A second bogie jig that reciprocates between the temporary attachment position and the main welding position in synchronization with the vehicle body panel, which is provided above and below the temporary attachment position so as to be movable up and down, and is carried into the temporary attachment position; The first platform A lifting jig having a plurality of locators which can be positioned and gripped in a pressure state from above and below in cooperation with the locator of the vehicle jig; An assembly device for a vehicle body panel, comprising: a holding device for picking up from a bogie jig.