JP2797893B2 - Transfer transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a compact transfer and transfer device for transferring a work between a work positioning and fixing device for positioning and fixing a plurality of types of works at predetermined positions and a shuttle conveyor for transferring the work. The present invention is particularly suitable for application to a body frame assembling facility of a passenger car.

[0002]

2. Description of the Related Art In a single production line in which many types of vehicles are mixed in an automobile production line, a part of production equipment can be shared. Equipment can be made compact.

[0003] Japanese Patent Laid-Open Publication No. 1-3 proposed for such a purpose.
The work positioning and fixing device disclosed in Japanese Patent No. 10827 is a facility in which a plurality of sets of table bases each having a positioning locator and a clamp jig attached thereto corresponding to a plurality of types of works are radially mounted on a rotatable rotating shaft,
A table base corresponding to the type of work to be positioned represented by a body panel or the like is indexed and rotated, and after the above-described work is fixed to the table base in a positioning state, a predetermined work is performed on the work. ing.

In a conventional work positioning and fixing apparatus, a turning axis is arranged on a side of an automobile production line so as to be parallel to a work transfer direction, and a table base and an overhead transfer machine which are in an upward state are disposed between the table base and an overhead transfer machine. In addition to the delivery of the work, it is common for the operator to directly attach and detach the work to and from the table base.

[0005]

In a production line for an automobile or the like, a shuttle conveyor of a type in which a work such as a vehicle body panel is picked up from below and transferred by a shuttle beam requires a very simple transfer mechanism and power source. For this reason, it is most often used as a means for transferring works in line equipment.

[0006] The work positioning and fixing device disclosed in Japanese Patent Application Laid-Open No. 1-310827 has its turning axis set parallel to the production line to facilitate the transfer of the work between the table base and the production line. However, it is difficult to arrange the shuttle beam of the shuttle conveyor close to the work positioning and fixing device because the table base rotates around the rotation axis, and the work is directly transferred between them. Was virtually impossible.

[0007] For this reason, the use of the work positioning and fixing device has necessitated the necessity of newly preparing an overhead transport device and the like, and has not been free from problems in terms of capital investment and the like.

[0008]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a rational and compact transfer / transport device capable of directly transferring a work between a shuttle conveyor and a work positioning / fixing device.

[0009]

According to the present invention, there is provided a transfer / conveying apparatus in which both ends are rotatably supported via bearings, and a plurality of sets are protruded radially from both ends of the turning shaft. A pair of left and right table bases, work positioning fixing means respectively mounted on the plurality of sets of table bases corresponding to the types of work, A rotary shaft indexing means for indexing and rotating the rotary shaft; a shuttle beam extending in a direction intersecting the rotary axis and positioned between the pair of left and right table bases at the work exchange position; and a shuttle beam attached to the shuttle beam. Work receiving means capable of holding the work by hand, and the pair of left and right tables located at the work receiving means and the work exchange position. Is characterized in that comprises a shuttle beam driving means for passing the workpiece between the over scan of the workpiece positioning and fixing means.

[0010]

By operating the turning axis indexing means, a predetermined table base is indexed and rotated at the work changing position. At this time,
Since the shuttle beam is located between the pair of left and right table bases, there is no problem that the presence of the shuttle beam hinders the turning operation of the table base.

Then, the shuttle beam is operated by the shuttle beam driving means, and the work, which is held in the work receiving means and is located in the previous process, is transferred onto a predetermined table base indexed to the work exchange position. The work is positioned and fixed to the table base by the work positioning and fixing means attached to the table base. In this state, predetermined work is performed on the work, and after the function of the work positioning and fixing means is released, the shuttle beam driving means is operated again to remove the work which has been worked by the work receiving means of the shuttle beam. Lift from a predetermined table base and carry out to the next process.

When the work already worked is lifted from the table base by the shuttle beam, the turning axis indexing means operates again, and the table base corresponding to the work located in the preceding process is indexed to the work exchange position and rotated. Then, with the operation of the shuttle beam described above, a new work is transferred onto a predetermined table base that has been indexed to a work replacement position from the previous process, and such work is continuously repeated.

It is not necessary to carry out all the loading and unloading of the work to and from the work changing position by the shuttle beam, and it is also possible to perform only one of the work loading and unloading operation by the shuttle beam.

[0014]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
Plane structure of one embodiment applied to the assembly line of the floor
1 and 2 showing the structure and FIGS. 3 and 4 showing the side structure.
As shown in FIG.
A pair of rear side members W _SAnd these rear sidemen
Ba W_SCross member W that interconnects_CThe main part is composed
Rear frame W to be formed_RFAnd this rear frame W_RFUp
Floor pan W overlaid on_FPAnd roughly composed of
ing.

[0015] Also, assembly line of the present embodiment, the vehicle type cross member W _C there is only one in the central portion as described above, these intervals there crossmember W _C is on the front portion and the central portion is narrow vehicles When, with these wide interval models there crossmember W _C is on the front portion and the central portion, the cross member W _C is the total four types of the vehicles in each of the front end portion and the central portion and the rear end vehicle There is a form to be produced in mixed form, the rear side member W _S having a shape corresponding to these four models, the cross member W _C, according to the rear floor pan W _FP production plan respectively, each carrying a predetermined work station It is supposed to be. The work stations are set at regular intervals along the assembly line, and as will be described later, a frame assembling position P ₁ , a frame temporary assembling position P ₂ , additional frames assembling positions P ₃ and P ₄ , and a floor pan assembling position P ₅ ,
They are disposed in a straight line in the order of the floor pan tacking position P _6.

[0016] Then, as the transfer means of the workpiece between these work stations, the unloading position P ₀ of the rear side members W _S which is processed into a predetermined shape corresponding to the model in accordance with production plan, the frame assembly position P ₁ between a first overhead conveyor 11 for transferring the workpiece between these reciprocates, reciprocates between a position P ₁ and the frame tacking position P ₂ assembled frame Overhead transfer machine 12 for transferring a workpiece between
When a single shuttle conveyor 13 which performs all the transfer of the workpiece between these work stations simultaneously over a rear floor widening strike position P ₇ which beat increasing rear floor from the frame tacking position P ₂ adjacent to extend and the unloading position (not shown) of the rear floor pan W _FP processed into a predetermined shape corresponding to the model in accordance with production plan, rear floor pan among them reciprocates between the floor pan assembly position P ₅ etc. the third overhead conveyor 14 is deployed for transferring the W _FP.

The above-mentioned three overhead transporters 1
1, 12 and 14 have the same basic structure, and have a reciprocating drive mechanism for repeatedly moving between an elevating mechanism and an adjacent work station. A predetermined positioning locator according to the form of the overhead transfer machine 11,
While the work is positioned with respect to 12, 14, a predetermined clamp jig according to the form of the work can selectively grip the work from a plurality of clamp jigs (not shown) incorporated in advance.

[0018] wherein the first frame assembly position P ₁ where the overhead conveyor 11 pair of left and right rear side members W _S is conveyed, the work platform 15 assembled rear frame
There are placed on the work floor 16, around the working table 15 assembled the rear frame, a plurality of pallets (not shown) which is placed in each alignment the cross member W _C of more corresponding to each model Are located. Therefore, the operator selects the cross member W _C models corresponding to the rear side member W _S is carried into the working table 15 assembled rear frame from the pallet described above, workbench assembled rear frame it with rear side member W _S 15 is temporarily assembled accurately. For this reason, a positioning locator (not shown) which is movable in a three-dimensional direction in accordance with the type of vehicle to be carried in is assembled to the rear frame assembling work table 15.

Similarly, the third overhead conveyor 14
Rear floor pan W _FP to the floor pan assembly position P ₅ which is carried is placed on the workbench 17 is working floor 16 assembled rear floor, a workbench 17 assembling this rear floor is carried here by A positioning locator or the like (not shown) that can move in a three-dimensional direction corresponding to a vehicle type is assembled.

Further, at the above-mentioned additional frame striking positions P ₃ , P ₄ , a pair of frame holders 18, 19 installed on the work floor 16, and a pair of left and right opposed to each other across the frame holders 18, 19. Welding robots 20 and 21 are arranged, and these frame holding tables 18 and 19 are provided.
, A positioning locator, a clamp jig, and the like (not shown) that can move in a three-dimensional direction corresponding to the type of vehicle carried here are assembled.

In this embodiment, a pair of left and right welding robots 2 is further provided between adjacent frame refill positions P ₃ and P _4.
2 deployed, by respectively increasing strike welding predetermined locations of the rear frame W _RF on the frame widening strike position P _3, P _4, depending on the type of the rear frame W _RF, so that it can follow the conveying speed of the assembly line We are careful about.

Similarly, the rear floor additional hitting position P ₇
, A floor holding table 23 installed on the work floor 16 and a pair of right and left welding robots 24 opposed to each other with the floor holding table 23 interposed therebetween are arranged. A positioning locator, a clamp jig, and the like (not shown) that can move in a three-dimensional direction according to the type of vehicle to be carried in are assembled.

The rear frame temporarily assembled by the rear frame W _RF at the frame assembly position P ₁ is the second in the frame tacking position P ₂ which is carried by an overhead conveyor 12 in this state, to be described later a positioning and fixing device 25, and opposite and the rear frame positioning and fixing device gripped 25 the rear frame W tacking pair of left and right frame for the tack welding of the _RF welding robot 26 by sandwiching the rear frame positioning and fixing device 25 Is arranged.

Similarly, the rear floor temporarily assembled at the floor pan assembling position P ₅ is moved to the floor pan temporary assembling position P _6, which is carried in by the shuttle conveyor 13 as it is, to the rear floor positioning and fixing device 27. And a pair of left and right floor temporary welding robots 28 which perform temporary welding of the rear floor gripped by the rear floor positioning / fixing device 27 with the rear floor positioning / fixing device 27 interposed therebetween.

As shown in FIG. 5 showing the planar structure of the portion of the rear frame positioning and fixing device 25 in this embodiment, and FIGS. 6 and 7 showing the front and side shapes thereof, the work floor 16 is moved along the production line. A pair of gantry 30 facing in a direction perpendicular to the production line with a pit 29 dug in
Above, both ends of the turning shaft 32 are rotatably supported via bearings 31. Swivel axis 3 crossing the pit 29
The central portion of 2 is formed in a rectangular shape, and a pair of left and right table bases 33 are fixed radially at both ends of the rectangular portion in this embodiment, respectively.

On the upper surface of each of these table bases 33,
A plurality of positioning locators 34 laid in accordance with the rear frame W _RF mode, a plurality of clamp jig 35 for fixing the rear frame W _RF at the positioning state is fixed, respectively.

Positioning locator 34 in this embodiment
Is a conical projection which fits into positioning holes (not shown) formed in the rear frame W _RF, is integrally projected from the upper surface of the table base 33. Further, as shown in FIG. 8 showing an example of the appearance of the clamp jig 35 in the present embodiment and FIG. 9 showing the plan shape thereof, each clamp jig 35 has a clamp arm 37 that can be opened and closed by a fluid pressure cylinder 36. The clamp jig 35 corresponding to each vehicle type is provided with a frame temporary welding robot 26.
Base 3 that does not interfere with tack welding by welding
3 are attached to the respective surfaces.

[0028] That is, on the table base 33 are protruded receiving gold 38 for holding the rear frame W _RF is, the clamp arm 37 to the receiving gold 38 over the link 39
Is pivotally attached to the center of the piston rod 40 of the fluid pressure cylinder 36 connected to the receiving metal 38. The piston rod 40 is pinned to the base end of the clamp arm 37.

The above-described overhead transporter 1
The basic structure of the main parts of the clamp jigs mounted on the frame holders 1, 12, and 14 and the clamp jigs assembled respectively to the frame holders 18, 19 and the floor holder 23 are shown in FIGS. It is substantially the same as the jig 35.

Jig turning motor 4 fixed to pit 29
1 is a driving sprocket 4 connected via a speed reducer 42
3, the a driven sprocket 44 fixed to one end of the pivot shaft 32 is connected through a drive chain 45 of the endless, corresponding to the rear frame W _RF carried into the position P ₁ assembled frame table Indexing rotation of the pivot 32 is performed so that the base 33 is located at the uppermost position, which is the work exchange position of the present invention. In this case, the accurate indexing rotation position of the turning shaft 32 is determined by setting the fitting cylindrical portion 47 into which the distal end portions of the not-shown piston rods of the pair of right and left knock cylinders 46 provided on the gantry 30 can fit tightly. And are compensated for by these fittings.

That is, prior to the operation of the jig turning motor 41, the piston 37 of the knock cylinder 46 is pulled out of the fitting cylinder 47 of the table base 33, and the turning shaft 32 can be rotated with respect to the gantry 30. Migrate. In this state, the jig turning motor 41 is driven so that the predetermined table base 33 moves to the work changing position so that the turning shaft 3 is moved.
After performing the indexing rotation of 2, the knock cylinder 46
Is actuated to fit the piston into the fitting cylinder portion 47 of the table base 33, thereby fixing the turning shaft 32 at the correct indexing position.

The rear floor positioning and fixing device 27 installed at the floor pan temporary attachment position P ₆ is indexed to be orthogonal to the assembly line, and is rotatably mounted on the revolving shaft 4.
A plurality of pairs (four in this embodiment) of a pair of left and right table bases 49 are fixed radially on both sides of each of the eight, and a plurality of positioning locators 50 laid out according to the form of the rear floor are provided on the upper surface of each table base 49. Clamp jigs 5 for fixing the rear floor in a positioning state
1 are fixed to each other, and have basically the same configuration as the above-described rear frame positioning and fixing device 25. Therefore, further description is omitted.

As shown in FIGS. 2 and 4 and FIG. 10 showing the conceptual structure of the shuttle conveyor 13 in the present embodiment, a pair of left and right table bases 33 located at the work exchange position extend along the assembly line. A shuttle beam 52 is located, and a plurality of guides, which hold the shuttle beam 52 reciprocally along the assembly line, are provided on top of a column 53 installed in the pit 29 between adjacent work stations. A beam holder 55 on which a roller 54 is rotatably mounted is provided so as to be movable up and down. In the middle of the shuttle beam 52, a rack (not shown) is engaged with a drive gear (not shown) that meshes with a forward / reverse rotation motor (not shown) via a speed reducer, and the shuttle beam 52 is assembled by the forward / reverse operation of the forward / reverse rotation motor. It reciprocates a distance corresponding to the distance between adjacent work stations along the line.

An ejector beam 56 extending parallel to the shuttle beam 52 is provided at the upper end of the support column 53. At one end of the ejector beam 56, the ejector beam 56 is reciprocated along an assembly line. A beam drive actuator (not shown) that can be operated is connected. A drive pinion 60 integral with a pinion shaft 59 rotatably held in a pinion case 58 attached to the upper end of the column 53 meshes with a rack 57 engraved in the middle of the ejector beam 56. A driven pinion 61 provided on a pinion shaft 59 coaxially with the drive pinion 60 is engaged with a rack 63 engraved on the lower end of a lifting rod 62 projecting downward from the lower surface of the beam holder 55 described above. .

Therefore, the operation of the above-described beam drive actuator and the forward / reverse rotation motor is alternately switched to sequentially repeat the ascending, advancing, descending, and reversing of the shuttle beam 52 to transfer the work between the adjacent work stations. The shuttle beam 52, the support column 53, the beam holder 55, the forward / reverse rotation motor, the ejector beam 56, the rack 57, the pinion case 58,
A pinion shaft 59, a drive pinion 60, a driven pinion 61,
The shuttle conveyor 13 of the present invention includes the lifting rod 62, the rack 63, the beam driving actuator, and the like.

On the upper surface of the shuttle beam 52, work receiving means 64 capable of changing the gripping position according to the type of the work are attached at regular intervals corresponding to the intervals of the work stations. 11 shows the planar structure of the work receiving means 64 in FIG. 11 and the side shape thereof is shown in FIG. 12, and the sectional view taken along the line XIII-XIII in FIG.
13 and 14 show cross-sectional structures taken along arrows IV-XIV, respectively.

That is, the work receiving means 6 in this embodiment.
Reference numeral 4 denotes a movable positioning locator 66 for a cross member provided with a locator pin 65 that can be fitted into a positioning hole W _HF formed in a cross member W _C located at the front end of the rear frame W _RF ; Positioning locator 6
Located behind the 6 and left and right rear side members W positioned is formed in the _S hole W side members movable positioning locator 68 includes a locator pin 67 capable of fitting to _HS, the side members movable positioning locator 68 a clamp jig 69 for gripping the cross member W _C provided in the center portion of the position is and the rear frame W _RF backwards, further disposed on the rear side of the clamp jig 69 to the rear end of the rear frame W _RF and it comprises a vertically movable positioning locator 70 for receiving a cross member W _C provided.

The movable positioning locator 66 for the cross member is slidably mounted on the shuttle beam 52 along the assembly line and has a positioning hole W formed in the cross member W _C located at the front end of the rear frame W _RF. A slider 71 having a locator pin 65 that can be fitted to the _HF and projecting upward;
Major portions in the slider drive cylinder 72 to switch back and forth depending on the relative positions of the type of the rear frame W _RF is configured.

[0039] Also, the side members movable positioning locator 68, the positioning hole W _HS formed in the rear side member W _S of and the right and left mounted reciprocably on the assembly line and a direction perpendicular to the shuttle beam 52 A pair of locator holders 73 each having a projecting locator pin 67 that can be fitted thereto, and a pair of locator holder driving cylinders mounted on the shuttle beam 52 in left and right opposite directions to simultaneously drive these locator holders 73 in left and right opposite directions. 74 constitutes a main part.

On the other hand, the clamp jig 69 is
Rear frame W by conveyor 13 _RFDuring transport
From Le Beam 52 to Rear Frame W_RFWill fall off
This is to prevent such dangers before they occur.
The basic structure is almost the same as the clamp jig 35 described above.
That is, the rear frame W_RFCross-mesh provided in the center of the
Member W_CReceiving money 75 and this receiving money 75
Clamp arm 76, which can be opened and closed
A fluid pressure cylinder 77 for opening and closing the lamp arm 76
And the main part is constituted. Furthermore, the clans of this embodiment
The jig 69 has a rear frame W_RFLocated in the center of
Ross Member W_CPositioning hole W formed in_HCCan be fitted to
Locator pin 78 is provided.

[0041] Incidentally, the receiving gold driving cylinder 81 which receives money 79 for receiving the cross member W _C provided at the rear end of the rear frame W _RF is attached to the shuttle beam 52 integral with the bracket 80 for positioning the locator 70 another mounted vertically movably through, locator pin 82 is provided capable of fitting into the positioning hole W _HR formed in the cross member W _C that is located at the rear end portion of the rear frame W _RF.

[0042] Then, the slider driving cylinder 72 and the locator holder driving cylinders 74 or receiving payments drive cylinder 81 is actuated in accordance with the type of the rear frame W _RF, the switching movement and locator pins 78 and the receiving gold 79 of locator pin 67 Evacuation movement is performed.

[0043] Therefore, the rear frame assembly workbench 15 in the position P ₁ assembled frame, from an unillustrated unloading position of the rear side members W _S which is processed into a predetermined shape so as to correspond to each vehicle type, the first overhead The rear side member W _S according to the production plan is carried in by the carrier 11, the first overhead carrier 11 returns to the above-described carry-out position again, and here stands by for the carry-out operation of the next rear side member W _S. . On the other hand, the operator selects the cross member W _C models corresponding to the rear side member W _S which has been carried on the work table 15 assembled rear frame from the pallet, the rear side member W _S on worktable 15 assembled rear frame and the cross member W _C accurately temporarily assembled. The temporarily assembled rear frame W _RF is the second overhead carrier 1
2 The lifted as it is from the top work table 15 assembled rear frame, it is carried out to the frame tacking position P _2.

The second overhead transporter 1
2 in synchronization with the unloading operation of the rear frame W _RF by, so that the loading operation of the rear side member W _S is performed by the first overhead conveyor 11 described above.

[0045] Prior to temporarily assembled to the rear frame W _RF from the work platform 15 assembled rear frame is carried to the frame tacking position P ₂ by the second overhead conveyor 12, the rear frame of the frame tacking position P ₂ positioning and fixing device 25 performs indexing rotation of the pivot shaft 32 table base 33 corresponding to the type of the rear frame W _RF is to be positioned at the work replacement position by the jig turning motor 41. Then, by the second overhead conveyor 12 and placed on the table base 33 in the rear frame W _RF on the work replacement position, the second overhead conveyor 12 returns to the frame assembly P ₁ again, following where to wait for the carry-out operation of the rear side members W _S. On the other hand, the rear frame W _RF became positioned state relative to the table base 33 by a positioning locator 34 is further integrally fixed by a clamp jig 35 relative to the table base 33, a pair of right and left temporary frame at this state tack welding of the rear frame W _RF is performed by welding robots 26 with.

When indexing rotation of the rotary shaft 32 is performed, the shuttle beam 52 is moved to the table base 3 at the workpiece exchange position before the indexing rotation of the rotary shaft 32.
The work receiving means 64 from 3 located in the middle transport from the raised position to lift the workpiece above the frame widening strike position P ₃ side, shuttle beam 5 with respect to the rotation of the pivot shaft 32
No interference occurs at all. Further, prior to tack welding of the rear frame W _RF by a pair of left and right frames tack welding robot 26, a standby state during the table base 33 to a work receiving means 64 of the shuttle beam 52 is in the work replacement position in the lowered position Has become.

Rear frame W_RFTack welding is completed
And the rear frame W by the clamp jig 35_RFIs fixed
The tabletop at the workpiece change position at this point is released.
Shuttle beam 5 in standby state during course 33
The second work receiving means 64 operates the ejector beam 56.
Ascends from the lowered position to the raised position, as described above.
Rear frame W on the table base 33
_RFLift. And the second overhead transporter
12 is the frame mounting position P₁From the frame tacking position
P_TwoTo the frame mounting position P again₁While returning to
When the forward / reverse motor rotates forward, the shuttle beam 52
The receiving means 64 is for the temporarily attached rear frame W._RFFree
Additional stroke position P_ThreeTo the side. And Ejek
From the raised position to the lowered position by the operation of the tab beam 56
Lowering, frame additional strike position P _ThreeFrame holder 1
Rear frame W temporarily attached on 8_RFTransfer. Only
After the motor rotates forward and reverse, the frame rotates
Place P_ThreeThe work receiving means 64 located at the lower end
In the work exchange position of the
Return to the table base 33 and wait as described above
State.

The rear tack has been rear frame W _RF is became when carried onto the frame holding table 18 of the frame widening strike position P ₃ by the shuttle conveyor 13, and the positioning state with respect to the frame holder 18 by a positioning locator The frame _WRF is further integrally fixed to the frame holding base 18 by a clamp jig. In this state, a pair of right and left welding robots 20 and, if necessary, a pair of right and left welding robots 22 form a rear frame. W _RF of increased strike welding is performed.

[0049] When the rear frame W _RF of increased strike welding at the frame widening strike position P ₃ ends, the rear frame W _RF transport operation from the position P ₂ tacking frame by shuttle conveyor 13 to the frame widening strike position P ₃ in synchronization, which is the frame widening beating position P ₃ as the transport of the rear frame W _RF to the next frame widening beating position P ₄ is performed.

The increased beating welding of the rear frame W _RF by welding robots 21 and 22 of the frame holder 19 in the frame widening beating position P ₄ is substantially the same as the increased beating welding operation in the previous frame widening strike position P ₃ It is performed at the timing, with the end of the growing strike welding, conveying of the rear frame W _RF from the frame widening beating position P ₄ to the floor pan assembly position P ₅ is performed by the shuttle conveyor 13.

[0051] The rear floor assembly workbench 17 in the floor pan assembly position P _5, from an unillustrated unloading position of the rear floor pan W _FP processed into a predetermined shape so as to correspond to each vehicle type, the third overhead conveyor rear floor pan W _FP in accordance with the production plan at 14 is loaded, returns to the third unloading position in which an overhead conveyor 14 described above again, here to wait for the unloading operation of the next rear floor pan W _FP.
Temporarily assembled been rear floor is lifted as it is from the top work table 17 assembled rear floor by the shuttle conveyor 13, are carried out to the floor pan tacking position P _6.

Before the rear floor temporarily assembled from the rear floor assembling work table 17 is carried into the floor pan temporary attaching position P ₆ by the shuttle conveyor 13, the rear floor positioning and fixing device 27 at the floor pan temporary attaching position P ₆ is
The indexing rotation of the turning shaft 48 is performed so that the table base 49 corresponding to the type of the rear floor is located at the work changing position. The rear floor, which has been positioned with respect to the table base 49 by the positioning locator 50, is further moved by the clamp jig 51.
In this state, a pair of left and right floor tack welding robots 28 perform tack welding of the rear floor.

Incidentally, the positioning of the rear frame described above.
As in the case of the fixing device 25, the indexing rotation of the turning shaft 48 is performed.
When performing the rotation, the shuttle beam 52 determines the rotation axis 48.
Table at the workpiece change position before rotation
The work is lifted upward from the base 49 by the work receiving means 64
From the raised position to the rear floor additional striking position P ₇
Is in the middle of conveyance to the
The interference of the beam 52 does not occur at all. Also, a pair of left and right
Temporary mounting of rear floor by floor temporary welding robot 28
Prior to welding, the shuttle beam 52 in the lowered position
When the work receiving means 64 is at the table exchange position
In a standby state during the period 49.

When the tack welding of the rear floor is completed, the fixing of the rear floor by the clamp jig 51 is released, and the work receiving of the shuttle beam 52 which is in a standby state between the table base 49 at the work changing position at this time is performed. The means 64 is raised from the lowered position to the raised position by the operation of the ejector beam 56, and raises the temporarily attached rear floor on the table base 49 as described above. Next, the forward / reverse rotation motor operates forward and backward, and the shuttle beam 52
The work receiving means 64 transports the tack has been rear floor to the rear floor widening beating position P ₇ side. Then, it lowered from the raised position by actuation of the ejector beam 56 to the lowered position, to transfer the tack has been rear floor on the floor holding table 23 of the rear floor widening beating position P _7. Thereafter, reverse rotation motor returns between the table base 49 in the work replacement position of the workpiece receiving means 64 is again a rear floor positioning and fixing device 27 located at the lowered end at rear floor widening beating position P ₇ and reverse operation, the above-described It will be in a standby state.

[0055] Once tack been rear floor is carried on the floor holding table 23 of the rear floor widening beating position P ₇ by the shuttle conveyor 13, the rear floor having a positioning state with respect to the floor holding table 23 by a positioning locators not shown Further, the rear floor is additionally fixed to the floor holding table 23 by a clamp jig (not shown), and in this state, additional welding of the rear floor is performed by the pair of right and left welding robots 24. This case, if the time required for increasing strike welding rear floor is longer than the transport period of the rear floor according to the shuttle conveyor 13, as in the case of increased beating of the rear frame W _RF described above, a plurality of rear floor widening beating position It is necessary to set and assign a plurality of work stations to the rear floor overstrike position, and perform the rear floor overstrike welding in multiple stages.

In this manner, the rear floor after the completion of the additional welding at the rear floor additional position P ₇ is carried out to the next work station (not shown) by the shuttle conveyor 13.

In this embodiment, the transfer and transfer apparatus of the present invention is applied to the assembling work of the rear floor of a passenger car. it can.

[0058]

According to the transfer / transport apparatus of the present invention, the shuttle beam and the turning axis of the work positioning / fixing jig are set to intersect with each other, and the shuttle beam is positioned between the pair of left and right table bases. Because of this, the rotation axis can be indexed and rotated regardless of the existence of the shuttle beam, and the work can be directly transferred between the shuttle beam and the table base. The equipment can be made compact and rational equipment can be improved.

[Brief description of the drawings]

FIG. 1 is a plan view of an embodiment in which the transfer device according to the present invention is applied to an assembly line of a rear floor portion of a passenger car together with FIG.

FIG. 2 is a plan view of an embodiment in which the transfer and transfer apparatus according to the present invention is applied to an assembly line of a rear floor portion of a passenger car together with FIG.

FIG. 3 is a side view of the present embodiment corresponding to FIG.

FIG. 4 is a side view of the present embodiment corresponding to FIG.

FIG. 5 is a plan view of a part of a work positioning and fixing device according to the present embodiment.

6 is a front view of a portion of the work positioning and fixing device corresponding to FIG.

FIG. 7 is a side view of a portion of the work positioning and fixing device corresponding to FIG. 6;

FIG. 8 is a front view illustrating an example of a clamp jig according to the present embodiment.

FIG. 9 is a plan view of the clamp jig corresponding to FIG.

FIG. 10 is a conceptual diagram illustrating a drive mechanism of a shuttle conveyor according to the present embodiment.

FIG. 11 is a plan view of a part of a work receiving means of the shuttle conveyor in the embodiment.

FIG. 12 is a side view of a portion of the work receiving means corresponding to FIG.

13 is a sectional view taken along the arrow line XIII-XIII in FIG.

14 is a sectional view taken along the line XIV-XIV in FIG.

[Explanation of symbols]

11 and 12 are overhead conveyors, 13 is a shuttle conveyor, 14 is an overhead conveyor, 15 is a rear frame assembly work table, 16 is a work floor, 17 is a rear floor assembly work table, 18 and 19 are frame holding tables, 20 , 21,
22 is a welding robot, 23 is a floor holding table, 24 is a welding robot, 25 is a rear frame positioning and fixing device, 26
Is a frame tack welding robot, 27 is a rear floor positioning and fixing device, 28 is a floor tack welding robot, 29
Is a pit, 30 is a gantry, 31 is a bearing, 32 is a pivot, 3
3 is a table base, 34 is a positioning locator, 35 is a clamp jig, 36 is a hydraulic cylinder, 37 is a clamp arm, 38 is a catch, 39 is a link, 40 is a piston rod, 41 is a jig turning motor, 42 is Reduction gear, 43 is a driving sprocket, 44 is a driven sprocket, 45 is a driving chain, 46 is a knock cylinder, 47 is a fitting cylinder,
48 is a rotating shaft, 49 is a table base, 50 is a positioning locator, 51 is a clamp jig, 52 is a shuttle beam, 53 is a support, 54 is a guide roller, 55 is a beam holder, 56 is an ejector beam, 57 is a rack, 58 Is a pinion case, 59 is a pinion shaft, 60 is a drive pinion, 61 is a driven pinion, 62 is a lifting rod, 63 is a rack, 64 is work receiving means, 65 is a locator pin, 6
6 is a movable positioning locator for a cross member, 67 is a locator pin, 68 is a movable positioning locator for a side member, 69 is a clamp jig, 70 is a positioning locator, 7
1 is a slider, 72 is a slider drive cylinder, 73 is a locator holder, 74 is a locator holder drive cylinder, 7
Reference numeral 5 denotes a catch, 76 denotes a clamp arm, 77 denotes a fluid pressure cylinder, 78 denotes a locator pin, 79 denotes a catch, 80 denotes a bracket, 81 denotes a catch drive cylinder, and 82 denotes a locator pin. P ₀ is the unloading position of the rear side member, and P ₁
Is the frame mounting position, P ₂ is the frame temporary mounting position,
P ₃ , P ₄ are additional frame positions, P ₅ is a floor pan assembly position, P ₆ is a floor pan temporary mounting position, P ₇ is a rear floor additional position, W _HF is a positioning hole, W _HS is a positioning hole,
W _HC is positioning hole, W _HR is positioning hole, W _C is cross member, W _FP is rear floor pan, W _RF is rear frame, W
_S is a rear side member.

Claims (1)

(57) [Claims] 1. A rotating shaft having both ends rotatably supported via bearings, a pair of left and right table bases projecting radially from both ends of the rotating shaft, and a pair of left and right table bases. A plurality of sets of table bases correspondingly mounted on the plurality of table bases; a plurality of sets of table bases; a plurality of sets of table bases connected to the plurality of table bases; A shuttle beam extending in a direction intersecting with the shuttle beam and being positioned between the pair of left and right table bases at the work exchange position, work receiving means attached to the shuttle beam and capable of gripping the work, The work is fixed between the work receiving means and the work positioning and fixing means of the pair of table bases at the work exchange position. And a shuttle beam driving means for transferring a workpiece.