JP2672825B2 - Positioning method and device for sunroof unit - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a method and an apparatus for accurately positioning a sunroof unit on a mounting portion of a vehicle body.

(Prior Art) Sunroofs, which are equipped with openable glass windows on the roof of vehicles, especially passenger cars, to enjoy the direct contact with nature are becoming popular.

As shown in FIG. 1, the sunroof is a roof 1 of the vehicle body 100.
A sunroof unit 101 is attached to the inside of the vehicle 00a, and an opening 100b of the roof is closed by a glass window 102 of the sunroof unit.

The sunroof unit 101 is a sunroof frame 103,
Sunroof motor 1 mounted on the end of this frame 103
04 and cables 104a and 104b, and the glass window 102 moves along the frame 103 by the action of the cables 104a and 104b.

Conventionally, the sunroof unit 101 is lifted upon acquisition, and the flanges 103a of the sunroof frame 103 are pressed against the mounting portions 100c, 100d, 100e protruding from the roof 100a, positioned, and then bolted by another worker's hand. To do.

(Problems to be solved by the invention) However, in recent years, the sunroof unit has become large in size and weighs 15 to 20 kg. Even if an appropriate auxiliary tool is used together, alignment such as bolt hole alignment must be done by input. However, since it is necessary to use separate workers for positioning and bolting, the number of workers is large and the burden on the workers is large and the efficiency of assembly work is poor.

And recently, various robot assembly has been tried,
The robot arm must be delicately aligned with the vehicle body and the sunroof unit, which makes the robot expensive and expensive.

(Means for Solving the Problems) In order to solve the problems described above, the present invention provides a machine frame horizontally movably attached to the end of a robot arm, and a plurality of tapered taper pins erected from the machine frame. A positioning device for a sunroof unit is formed from a plurality of cylinder units that stand upright from a machine frame and support and lift the sunroof unit.

(Operation) Place the sunroof unit on the machine frame, insert it into the vehicle from the front window frame of the vehicle, and raise it so that the machine frame can move horizontally when the tip of the tapered pin engages with the reference hole on the vehicle body side Fully inserted,
The cylinder unit raises the sunroof unit and presses it against the vehicle body to enable bolt fastening.

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

FIG. 1 is a perspective view and an operation view of a sunroof unit positioning device according to the present invention, and FIG. 2 is a side view of the device.

The sunroof unit positioning device 1 is roughly classified into a floating mechanism 2 provided on the robot arm 1a.
And a machine frame 3 that engages with the floating mechanism 2.

The floating mechanism 2 has a rectangular bottom plate 2a, gate-shaped members 2b and 2b standing on the bottom plate 2a, and lock cylinders 2c provided on the gate-shaped members 2b and 2b for moving a piston rod forward and backward toward the bottom plate 2a. 2c, the upper surface of the bottom plate 2a and the gate-shaped member 2b,
It consists of spherical rollers 2d arranged on the lower surface of 2b.

The machine frame 3 has a letter-like shape in a plan view and includes a central connecting plate 3a and an outer frame 3b. As shown in FIG. 3, the connecting plate 3a horizontally moves between the gate-shaped members 2b, 2b which are vertically sandwiched by the spherical rollers 2d. As shown in FIG. 4, holes 3c, 3 are formed in the connecting plate 3a.
c is provided, and the machine frame 3 is fixed to the robot arm 1a by fitting the piston rods of the lock cylinders 2c, 2c into these holes 3c, 3c.

As shown in FIG. 1, the outer frame 3b of the machine frame includes two tapered taper pins 4, 4 and three cylinder units 5 ...
Book positioning pins 6,6, front and rear nut runners 7 ...
The six side nutrunner mechanisms 8 ... Are provided upward, respectively.

Two tapered taper pins 4 and 4 are reference holes provided in the vehicle body 100.
Formed to penetrate 105,105.

The piston rods 5a of the cylinder units 5 support the sunroof unit 101 and move back and forth arbitrarily.

The positioning pin 6 is the positioning hole 1 of the sunlou frame 103.
It has a shape to be inserted into 03b.

The side nut runner mechanism 8 ... As shown in FIG. 5 (a), the spring 8 that stands on the placket 3d extending from the outer frame 3b.
a, 8a, a nut runner 8c supported by the springs 8a, 8a via a plate 8b, a chuck portion 9 provided at the tip of the nut runner 8c, and a sleeve material 10 fixed to the placket 3d. , A guide material that penetrates the sleeve material 10
Consists of 11

The chuck portion 9 provided at the tip of the nut runner includes a cylinder 9a pinned to the rotation shaft of the nut runner 8c, a piston 9b and a rod 9c slidably fitted to the cylinder 9a, and a cylinder body pinned to the rod 9c. 9d and a concave portion 9e for chucking the bolt B by a magnet embedded and embedded in the tip of the tubular body 9d. Therefore, the cylindrical body 9d moves forward and backward and rotates. Reference numeral 9f is a proximity switch held by a member standing upright from the plate 8b, and 9g is a band on the cylindrical body 9d side corresponding to the switch 9f.

The sleeve material 10 is arranged in parallel with the nut runner 8c, and has a cylindrical surface 10a and a taper surface 10b that extends downward following the surface 10a.
And

The guide member 11 penetrates the sleeve member 10 and has a cylindrical surface.
It is composed of a small-diameter portion 11a having a diameter smaller than the diameter of 10a and an enlarged portion 11b which rises and fits into the tapered surface 10b, and the tip is fixed to the plate 8b by bolts and nuts.

The operation of the sunroof unit positioning device having the above structure will be described below.

Although the mounting portion 100c and the mounting portion 100d mounted on the lower surface of the roof 100a are formed on a frame that spans the width direction of the vehicle body, the mounting portions 100e ... Are individually arranged.
On the other hand, the positional accuracy of the mounting parts 100e with respect to the vehicle body 100 is not good.

FIG. 6 is an operation diagram of the sunroof unit assembly line, in which the robot arm 1a makes the sunroof unit positioning device 1 stand by at the position X in the drawing.

The sunroof unit 101 is placed on the sunroof unit positioning device while being inverted by the reversing machine 12. On this occasion,
Since the positioning holes 103b, 103b of the sunroof unit 101 are straightened and inserted by the positioning pins 6, 6 standing from the machine frame, the sunroof unit 101 is correctly placed on the robot arm 1a. In addition, the nut runners 7 and 8c of the positioning device have bolts B ...
Are chucked, and these bolts B ... Are inserted into the flanges 103a ... of the sunroof frame. This flange 10
Since the bolt hole of 3a is sufficiently larger than the diameter of the bolt B, the bolt B can be easily penetrated by the correction action of the positioning pins 6,6. The machine frame 3 is fixed to the robot arm 1a as the lock cylinders 2c, 2c move, as shown by the imaginary line in FIG.

Robot arm 1a with sunroof unit 101 mounted
Rotates counterclockwise from the position X in FIG. 6, inserts the arm from the front window frame 100f of the vehicle body 100 waiting on the assembly line, and inserts the sunroof unit 101 into the roof opening 1
Face under 00b.

The robot arm 1a is raised, and the raising is stopped with the tip end 4a of the taper pin 4 engaged with the reference holes 105, 105 provided in the mounting portion 100c fixed to the lower surface of the roof.

The position error between the robot arm 1a and the vehicle body 100 is caused by the tip 4
Although a can be engaged with the reference hole 105, the positional error between the vehicle body 100 and the sunroof unit 101 is not small.

Subsequently, the lock cylinders 2c, 2c shown in FIG. 4 are retracted so that the machine frame 3, that is, the sunroof unit 101 can be moved horizontally with respect to the robot arm 1a.

The tapered taper pins 4, 4 are sufficiently inserted into the reference holes 105, 105, and move the sunroof unit 101 together with the machine frame 3 in the horizontal direction to position the sunroof unit 101.

The above-described operations of rotating, advancing and raising the robot arm 1a are performed in accordance with a robot position control program command called teaching.

Next, the cylinder units 5, 5, 5 are actuated to raise the sunroof unit 101 with respect to the machine frame 3. In this state, the bolts B at the tips of the nut runners 8c are in contact with the lower surface of the roof side mounting portions 100e, as shown in FIG. 5 (a).

When air is supplied from the air supply port 9h of the chuck portion 9 and the piston 9b is moved forward, the spring 8a contracts by the reaction because the tip of the bolt B is in contact with the mounting portion 100e, and the plate 8b, the nut runner 8c, and the guide member 11 And are lowered and become as shown in FIG. 5 (b).

A gap C1 is formed between the small diameter portion 11a of the guide member 11 and the cylindrical surface 10a of the sleeve member 10, and a gap C2 is similarly formed between the enlarged portion 11b and the tapered surface 10b.

When the nut runner 8c is rotated, the tip of the bolt B squeezes into a powdered wood motion, and the nut runner 8c swings horizontally. When the bolt B is aligned with the core of the nut N fixed to the mounting portion 100e in advance, the bolt B is screwed onto the nut N as shown in FIG. The proximity switch 9f detects the band 9g to confirm the fastening state.

Robot arm 1 with cylinder units 5, 5, 5 retracted
Move a down and back.

The nut runner 8c is urged by the springs 8a ... As shown in FIG. 5 (a).
State, that is, the centering state is returned.

The lock cylinders 2c ... Are moved to integrate the machine frame 3 and the robot arm 1a, and stand by at the X position.

In this embodiment, the front and rear roof side mounting portions 100c, 100d have good positional accuracy, and therefore the front and rear nut runners 7 do not move in the horizontal direction. However, the present invention is not limited to this, and the nut runners 7 are provided with a floating mechanism. You may.

The expanded portion 11b of the guide member may be a cone, a disc, a star, or the like that moves forward to fit the tapered surface 10b and retracts to form the gap C2.

(Effects of the Invention) As described above, according to the present invention, the robot arm is provided until the tip of the tapered taper pin is engaged with the reference hole of the vehicle body.
After that, the machine frame was made horizontally movable and the sunroof unit was made to follow the reference hole, so there was no need for strict accuracy requirements for the robot, which facilitated automation by an inexpensive robot. Further, the positioning accuracy is improved and the working time can be shortened.

[Brief description of the drawings]

FIG. 1 is a perspective view and an action view of a sunroof unit positioning device according to the present invention, FIG. 2 is a side view of the device, FIG. 3 is a sectional view taken along line AA of FIG. 1, and FIG. 4 is FIG. 5 is a sectional view taken along line BB in FIG. 5, FIG. 5 is an operation view of the nut runner mechanism, and FIG. 6 is an operation view of the sunroof unit assembly line. In the drawings, 1 is a sunroof unit positioning device, 1a
Is a robot arm, 3 is a machine frame, 4 is a tapered pin,
Reference numeral 5 is a cylinder unit, 100 is a vehicle body, and 105 is a reference hole.

Claims (2)

(57) [Claims] 1. A sunroof unit 101 from a machine frame 3 provided at an end of a robot arm 1a to a cylinder unit 5 standing upright.
And positioning the sunroof unit 101, inserting the sunroof unit 101 into the vehicle from the front window frame of the vehicle 100, raising the robot arm 1a, and making the tip of the tapered taper pin 4 standing upright from the machine frame 3 Side, the step of engaging with the reference hole 105, the step of allowing the machine frame 3 to move horizontally with respect to the robot arm 1a when the tip of the taper pin 4 engages with the reference hole 105, and the robot arm 1a is further raised. At least the taper pin 4
Of the sunroof unit 101 through which the machine frame 3 and the sunroof unit 101 are aligned with the vehicle body by fully inserting the sunroof unit 101 into the reference hole 105, and the cylinder unit 5 lifts the sunroof unit 101 and presses it against the vehicle body Positioning method. 2. A machine frame 3 attached to the end of the robot arm 1a via a floating mechanism 2 so as to be restrained or horizontally movable, and a sunroof unit 101 for positioning the machine frame 3 on the machine frame 3. Positioning pins 6 standing on the machine frame 3, a plurality of tapered taper pins 4 standing on the machine frame 3 for positioning the machine frame 3 on the vehicle body side, and a sunroof unit 101 standing on the machine frame 3 A positioning device for a sunroof unit, comprising a plurality of cylinder units 5 for supporting and ascending.