JP2851586B2 - Motorcycle frame manufacturing equipment and frame holding 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 motorcycle frame manufacturing apparatus and a frame holding apparatus which are most suitable for small-lot production of many models.

[0002]

2. Description of the Related Art Conventionally, motorcycle frames have been manufactured by:
The right and left panel-shaped welding bases each having a fixing jig to be described later and having the frame center as the base surface (the surface of the welding base) are arranged side by side by the number of welding workers, and each welding operation is performed. A worker assembles a plurality of members such as a plurality of pipes constituting a frame on each welding base using a fixing jig so that the surface of the welding base becomes a frame center, and temporarily connects the pipes on the welding base. After the welding and the temporary welding are completed, the fixing jig for the temporary welding is released and removed from the welding base, and is again fixed to the fixing jig for the main welding. When the main welding is completed, the fixing jig for the main welding is removed, and the right or left portion of the frame assembled by welding is transferred to a final assembling table called a final jig by a transfer means such as a trolley conveyor or an operator. I do. And the final assembler has a head pipe,
The right and left portions of the frame are set in a predetermined state on the final assembly table to which the cross member (cross pipe and bracket) is fixed, and the right and left portions of the frame are temporarily welded via the head pipe and the cross member. And temporarily assembled into an integrated motorcycle frame. When the temporary welding is completed, it is removed from the final assembly table, fixed with a fixing jig for final welding, the final welding is performed, and finally the motorcycle frame is completed. I do.

[0003] Then, the motorcycle frame finally assembled is removed from the final assembly table by an operator,
Inspection of welded parts, manual corrections as necessary, motorcycle frame assembly (manufacturing) is completed, head pipe drilling (fiboring),
It is passed on to subsequent processes such as painting.

However, in the case of the above-described manufacturing method, assembly of members such as pipes using a fixing jig for temporary welding to a welding base, provisional welding, release of the fixing jig, and subsequent main welding Fixing with a fixing jig for main welding and release of the above fixation, furthermore, setting and fixing the right and left parts of the frame and the cross member to the final assembly table, temporary welding and subsequent release of fixation, and Manufactured through a very large number of manual processes, such as setting in a jig for welding and main welding, and requiring a lot of time for handling such as transportation between each process, and a large number of skilled workers Requires workers. Furthermore, every time the model of the motorcycle changes, a large number (about 50 models) of welding bases are taken out from the place where they are collectively stored using a handcart or a forklift and set and adjusted to a predetermined state. Since the used welding base must be returned to the storage area using a wheelbarrow or a forklift, considerable preparation time is required when changing the model. Has become.

[0005] In addition, it is difficult to continue the present manufacturing method described above in the future, for example, there is a tendency for motorcycles to produce various kinds in small quantities due to diversification of user needs.

In view of such a situation, the present applicant has provided a motorcycle frame manufacturing apparatus suitable for various small-quantity production (Japanese Patent Application No. 5-109039; Japanese Patent No. 25205).
No. 61). In the case of this manufacturing apparatus, a welding base for the right part and a welding base for the left part are arranged facing each other along the manufacturing line, and four parts are manually assembled to the welding base. A temporary welding robot supported from the ceiling travels on the welding base after the assembly is completed, performs temporary welding, and then raises the left and right welding bases in the center and joins them again with the left and right joined. Another temporary welding robot travels to temporarily weld the left and right integrated frames. That is, the temporary welding robot travels to each welding base to be temporarily welded at the same position as it is, and performs temporary welding work. In addition, the welding bases of the above-mentioned respective models are stored in a stock yard, and if necessary, are taken out by an operator using an overhead traveling crane and taken out at a predetermined position on the production line (one of the four above-mentioned ones is arranged). (Position) to manufacture different models.

Therefore, the above-mentioned manufacturing apparatus makes it possible to perform automatic welding by a robot, which has been almost manual work in the past, and to some extent rationalize the change to a different model. This is a revolutionary manufacturing device.

[0008]

However, the above manufacturing apparatus has the following technical problems.

That is, (1). At the time of temporary welding, since each temporary welding robot travels overhead on a considerable distance range (for example, the distance range for four welding bases in the above embodiment) on each welding base to be temporarily welded, the traveling operation is Since there is a large difference between the positioning accuracy of the stop and the target size of the positioning accuracy when specifying the temporary welding point, that is, 20 m
Since there is a large difference between the allowable error in running and the allowable error in the positioning of temporary welding that is only about 1 mm or less, the positioning accuracy obtained by running the temporary welding robot is unsatisfactory for the temporary welding. Only positioning accuracy can be obtained. Therefore, in the case of the related art, it is necessary to perform manual rework in a post-process.

(2). When the target model to be manufactured is changed, the control data for that model is automatically input from the control device to the various robots and the like in order to perform control appropriate for that model, but the parts that make up the frame are not Since the operator transports the parts from the parts shelf to the position near the welding base by himself, if there is a model change, the worker needs to recognize the changed model and take out the appropriate parts box from the parts shelf. There is. In other words, the worker must use nerves every time the model is changed, and in the case of a production line that handles many types (for example, 20 to 50 types), a great deal of mental labor is forced accordingly. In other words, it is necessary to take out or store the parts box to the parts shelf, which lowers the work efficiency.

Further, (3). When replacing a welding base to be manufactured with a model change, in the case of the above manufacturing equipment, the welding base must be replaced each time across the manufacturing line using an overhead traveling crane from a stock yard. The work of exchanging the table itself becomes a serious work, and as a result, the production work must be temporarily stopped.

(4). During the main welding, the frame is performed in a fixed posture in an upright state, so that only the robot-side operation limits the places that can be welded.
Since at most 60% of the whole parts can be fully welded, as a result, at the present state, the parts that could not be fully welded by the operator after the actual welding by the robot are manually welded. Therefore, the operator, the remaining main welding location,
The robot has to perform two types of work, that is, a work of correcting a portion where welding has been shifted, which impairs automation.

SUMMARY OF THE INVENTION The present invention has been made in view of the above situation, and is an apparatus for manufacturing a motorcycle frame, which is capable of streamlining manufacturing and saving labor and is most suitable for small-lot production of many models, and is used in the apparatus. It is an object to provide a frame holding device.

[0014]

According to a first aspect of the present invention, there is provided a motorcycle frame manufacturing apparatus comprising: a welding base for a right side portion and a left side welding portion of a frame; It is arranged so as to be on the front side, and on each welding base, each member constituting the right part or the left part of the frame is temporarily welded inside to form the right part and the left part of the frame, and the temporary welding is performed. In a motorcycle frame manufacturing device that manufactures a desired frame by joining and welding the right and left portions of the completed frame from both sides, a manufacturing line (used as a synonym for “manufacturing device” (Used to emphasize the flow direction.) Storage lines for storing welding bases are provided along the lines at the left and right side edges of each model. Store denoted by the identification mark, on its inner side, a carry-out-carrying line for unloading and loading the desired welding base, arranged in parallel to the storage line,
A temporary welding line is provided along the line parallel to the carry-out / in line from the center thereof, and a part assembling station is provided at the beginning of each line so as to be orthogonal to the line. , between the pre-welded line and out-carrying line, arranged a transfer means for transferring the welding base, and, the corresponding model to be pre-welded
Weld the parts shelf on the back of the parts assembly station.
Upon receiving a component supply device for automatically supplying a component located on the base and an identification signal of a planned model, the corresponding welding base is unloaded and loaded from the storage line. To the parts assembling station through the delivery means from the carry-out / in line, and, with respect to the parts supply device , a parts shelf of a corresponding model to the part assembling station. Rear side
At the position near the worker who places the parts on the welding base ,
And a control device for controlling the arrangement.

According to the motorcycle frame manufacturing apparatus configured as described above, the control apparatus only needs to provide the control apparatus with the identification signal of the model to be manufactured.
The control device discharges the welding base of the model from the storage line onto the carry-in / carry-out line. At a nearby position (for example, on the rear side), the component supply device positions a component shelf of the corresponding model. Therefore, even if the worker does not particularly know which model is going to be manufactured, he takes each part from the parts shelf located on his back and places it at a predetermined position on the welding base on the front. Only by this, it becomes possible to manufacture a frame of a desired model. And, at the time of the model change, since it is transported to the parts assembling station by the unloading / loading line parallel to the temporary welding line different from the temporary welding line, even if the temporary welding work is temporarily performed on the temporary welding line, It is possible to prepare the next type of welding base without stopping the operation. In addition, since the storage line of the welding base is located on each of the left and right sides of the production line, even for models that are not prepared for the storage line, it is easy to use a forklift, etc., from outside the production line. Can be supplied on a storage line. After the desired assembly work of the parts is completed at the part assembling station, the parts are conveyed to the temporary welding line via the delivery means.

According to a fifth aspect of the present invention, there is provided an apparatus for manufacturing a frame for a motorcycle, wherein the welding bases for the right and left portions of the frame are arranged such that each joining side of the both sides of the frame faces the front side. On the respective welding bases, the members constituting the right or left side of the frame are temporarily welded inside to form the right and left portions of the frame, and the right side of the temporarily welded frame is completed. In a motorcycle frame manufacturing apparatus that manufactures a desired frame by joining and welding the part and the left part from both sides, a storage line for storing a welding base is provided at each of the left and right side ends of the manufacturing line, A plurality of types of welding bases are stored with an identification mark for each type, and the carry-in / out line for carrying out / in the desired welding base is stored inside the storage. Jirain provided in parallel to, the carry-out -
A temporary welding line is provided along the line parallel to the carry-in line from the center thereof, and a component assembly station is provided at the beginning of each line so as to be orthogonal to the line. A delivery means for delivering the welding base is provided between the welding line and the carry-out / in line, and the temporarily welded frame is inclined to the downstream side of the temporary welding line in accordance with a welding position. Upon receiving the identification signal of the main welding device for performing the main welding and the expected model, the corresponding welding base is discharged from the storage line to the unload / in line, and the delivery is performed from the unload / in line. To the parts assembling station through the means, and to the above-mentioned main welding apparatus, to specify a welding site in accordance with a corresponding model, and to make the main site easy to perform the main welding. Characterized by comprising a control device for controlling so as to be welded while appropriately inclined.

According to the manufacturing apparatus for a motorcycle frame according to the manufacturing apparatus configured as described above, the control apparatus only needs to provide the control apparatus with an identification signal of a model to be manufactured. , The welding base of the model is delivered to a carry-out / in line, and the welding base is conveyed to a component assembling station via a delivery means. Then, in the temporary welding line, the work of the temporary welding work corresponding to the model is performed, and in the next main welding apparatus, the portion to be fully welded in accordance with the model is set to be within a weldable area of the welding robot. The welding can be performed while appropriately tilting the frame. Therefore, the desired welding base can be easily dispensed to the component assembling station, and the main welding can be appropriately performed even in the place where the conventional motorcycle frame manufacturing apparatus could not properly perform the main welding. It becomes possible.
Further, similarly to the first aspect of the present invention, when the model is changed, it is transported to the parts assembling station by the carry-out / in line parallel to the temporary welding line, which is different from the temporary welding line. Even if the temporary welding operation is performed above, it is possible to prepare the next type of welding base without stopping the operation. In addition, since the storage line of the welding base is located on each of the left and right sides of the production line, even for models that are not prepared for the storage line, it is easy to use a forklift, etc., from outside the production line. Can be supplied on a storage line.

Furthermore, the motorcycle frame manufacturing apparatus according to the tenth aspect is used for a motorcycle frame manufacturing apparatus for temporarily welding the entire frame and then performing the main welding to manufacture a desired frame. A frame holding device, wherein a spherical surface is formed at one end of a support frame for holding the frame, and a supporting device having a spherical support seat for supporting the spherical surface is provided correspondingly. , One end is swingably held in a three-dimensional direction, and the other end is movably supported in a three-dimensional direction around the spherical surface by a support frame holding robot. It is characterized in that it is tilted in the direction and held so as to weld in an appropriate posture.

According to the frame holding apparatus constructed as described above, the frame can be oriented or inclined in an arbitrary direction during the main welding. It becomes possible to weld. In addition, since one end of the frame is a robot and the other end is held by a holding device in a state of being held in a double-supported state, the positioning of the frame is assured, and even a robot that performs welding by three-dimensional coordinates can be used. It is possible to accurately weld a portion to be fully welded.

[0020]

According to a second aspect of the present invention, in the manufacturing apparatus of the first aspect, the provision of a temporary welding robot above the temporary welding line increases a temporary welding area. This is preferable in terms of compactness and the whole manufacturing apparatus.

Further, as in the manufacturing apparatus according to the third aspect, in the manufacturing apparatus according to any one of the first to third aspects, when a buffer portion is provided at the end of the temporary welding line, the temporary welding is performed. Even if there is a difference between the work time performed by the robot and the work time performed by the main welding robot, particularly a difference due to a variation in the work time, it is preferable in that high efficiency can be obtained as a whole manufacturing apparatus.

Also, as in the manufacturing apparatus according to the fourth aspect,
In the manufacturing apparatus according to any one of claims 1 to 3, when the delivery means is constituted by a rotary table rotating in a plane, the storage line and the temporary welding line, the component assembling station, In this case, even if the direction of the welding base is different (for example, even if it is different by 90 degrees), it is possible to change the direction in the transfer means and transfer the same.

Further, as in the manufacturing apparatus according to the sixth aspect, in the manufacturing apparatus according to the fifth aspect, the main welding apparatus includes a multi-joint robot for heavy use for transferring a frame from a temporary welding line to a main welding station. The articulated robot has a supporting device that cantileverly supports one end of the temporarily welded frame during transport and main welding so as to be able to move the position, and supports the other end of the frame tiltably during main welding. Then, the transfer of the frame from the temporary welding line to the main welding device can be performed quickly and with a simple device, and at the time of the main welding, the frame can always be accurately positioned at a predetermined position.

Also, as in the manufacturing apparatus according to claim 7,
The manufacturing apparatus according to claim 6, wherein the welding apparatus comprises:
With the multi-joint type main welding robot that performs the main welding in the proper posture in cooperation with the above-mentioned heavy multi-joint type robot, the position of the frame and the welding torch can be changed in a very versatile manner. Can be performed, and almost all parts can be fully welded.

Further, as in the manufacturing apparatus according to claim 8,
In the manufacturing apparatus according to the fifth or sixth aspect, if the articulated robot for weight is configured to convey and support the frame via the frame support frame, the frame can be reliably gripped even in various posture changes of the frame. In addition, the position of each welding point on the frame can be accurately determined.

Further, as in the manufacturing apparatus according to the ninth aspect, in the manufacturing apparatus according to the first or fifth aspect, the component assembling station is configured so that the welding base can be placed and tilted toward the worker. When the control device is controlled to tilt the component assembling station toward the worker when assembling the component, even in the case of a large frame, the component is transferred to a part separated from the worker. This is preferable in that the supply can be easily performed and the operation can be performed in a state where the working posture is not unreasonable as a whole.

In the holding device according to the tenth aspect, as in the holding device according to the eleventh aspect, the support frame holding robot is an articulated robot, and the other end is connected to the articulated robot. When the frame is supported by the arm, the frame is suitable for operating the frame in various postures.

Further, in the frame holding device according to the tenth or eleventh aspect, as in the manufacturing device according to the twelfth aspect, if a pair of supporting devices are provided on each of the left and right sides, the frame can be made more flexible during the main welding. This is preferable in that a posture can be taken.

[0029]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a motorcycle frame manufacturing apparatus according to an embodiment of the present invention;

FIG. 1 is a plan view showing the flow of the welding base of the motorcycle frame manufacturing apparatus according to the present embodiment, excluding the welding apparatus part, and FIG. 2 is a motorcycle frame manufacturing apparatus according to the present embodiment. FIG. 2 is a plan view showing the overall arrangement of the apparatus (production line).

In these figures, reference numeral 1 (1A, 1B) denotes a storage line, and the left (upper in FIGS. 1 and 2) storage line 1A of the storage line 1 is connected to the left end of the manufacturing line and to the right (FIG. 1). , 2, lower)
Storage line 1B is disposed at the right end of the production line. The storage line 1 is configured by arranging a plurality of units side by side, and each unit is configured by a chain conveyor in which a chain is arranged on the surface of a gantry, in a direction orthogonal to the longitudinal direction of each unit (the side of the unload / load line 2). In the direction of taking in or discharging to the carry-in / carry-in line 2), the welding base 16 on the transfer surface (see FIG. 8).
Can be transported.

In order to carry out and carry in the welding base inside (inside of the center) of the production line, respectively,
A carry-in line 2 (2A, 2B) is provided in parallel with the storage line 1. This unload / load line 2
(2A, 2B) is composed of a chain conveyor in which chains are arranged in two directions (a line longitudinal direction and a direction orthogonal thereto) on the surface of the gantry, and a welding base is provided in the longitudinal direction and the direction perpendicular to the longitudinal direction of the carry-out / in line 2. Can be transported. That is, the storage line 1
The welding base can be transferred between the welding base and the welding base, and the welding base can be transported in the longitudinal direction of the carry-in / carry-in line 2.

Further, a temporary welding line 3 (3) is provided inside the production line, that is, at the center in the width direction of the production line.
A, 3B) are arranged in two rows. This temporary welding line 3
(3A, 3B) are arranged side by side so as to provide a space to each other in order to secure an operation area of the temporary welding robot in order to perform a temporary welding operation, and are adjacent to the above-mentioned carry-out / in line 2. They are also spaced apart from (2A, 2B) to provide space. The temporary welding line 3 (3A, 3B) is formed of a chain conveyor capable of transporting a welding base in its longitudinal direction.

The temporary welding line 3 (3A, 3B)
As shown in FIG. 2, FIG. 3, and FIG. 5, two sets of temporary welding are performed on the ceiling surface of the frame to temporarily weld the respective parts of the frame assembled to the left and right welding bases. A temporary welding robot 15 for temporarily welding the robot 14 (14A, 14B) and the left and right portions of the frame to be combined is provided.

In the temporary welding robot 3, a welding torch is attached to the end of an arm of a normal articulated robot, and a pre-programmed location in the virtual coordinate space in the temporary welding station is controlled by the control device. It is configured to perform temporary welding. Therefore, the programmed location differs depending on each model, and the control device controls the temporary welding robot 3 according to the model. In addition, in order to cause interference with the frame to be temporarily welded, the articulated robot rotates while the base rotates while being suspended from the ceiling as shown in FIGS. The arm extending from the arm is operable in any direction. Further, in this embodiment, two temporary welding robots 14 are provided at both ends of the front and rear of the frame so that the portion to be temporarily welded of the frame can be temporarily welded from a predetermined direction and can be performed in a short time. Each).

The temporary welding line 3 (3A, 3B)
On the ceiling surface of the part on the terminal side from the center, the left and right parts of the assembled frame, respectively, for temporarily welding the joining part of each of the welding bases that are erected together,
The temporary welding robot 15 is provided. The temporary welding robot 15 is the same as the temporary welding robot 14, and is disposed so as to be movable between two points within the same range. However, only one temporary welding robot 15 is arranged at the center of the production line because the temporary welding robot 15 performs temporary welding in a state where the right and left portions of the frame are combined into one frame.

The temporary welding line 3 (3A, 3B)
Is provided with a buffer portion 17 at the start end, that is, at a portion before the temporary welding operation is performed. This buffer portion 17 is simply provided in addition to the length necessary for performing the temporary welding operation. Specifically, the chain conveyor of one or more units is used to form another temporary welding line. When the work on the downstream side is completed, the base temporarily stored (storage) there is immediately rearranged under the control of the control device. Functions to supply to the downstream side. In other words, provision is made so that the temporary welding operation is not interrupted due to the absence of the target, that is, the left and right temporary welding operations, which are significant factors in the operation time, are most efficiently performed.

Then, the above-mentioned carry-out / carry-in line 2 (2A,
2B) and a traverser specification in which the temporary welding line 3 (3A, 3B) can be moved (traverse) on the rail R on the starting end side (left end side in FIGS. 1 and 2) and the surface is constituted by a rotary table. Delivery station 4 is provided.

At the starting end (the left end in FIGS. 1 and 2) of the delivery station 4, the carry-out / in line 2 (2A, 2B) and the temporary welding line 3 (3
A, 3B), the component assembling stations 5 (5A to 5D) are arranged so as to be orthogonal to each other. The parts assembling station 5 (5A to 5D) is in a state where the welding base is placed on the surface by an operator pressing an operation button (not shown) as shown by a solid line and a two-dot chain line in FIG. Thus, it is configured to be inclined about 40 degrees from the horizontal state toward the near side so that the parts can be easily set at the end of the welding base on the side opposite to the worker.

As shown in FIGS. 1 and 2, a component supply device 6A for supplying a component on the left side of the frame adjacent to the rear of the component assembling stations 5A and 5B.
Is also provided, and a component assembling station 5 is likewise provided.
On the rear side of C and 5D, there is provided a component supply device 6B for supplying a component on the left side of the frame adjacent thereto. In addition,
The cross member connecting the left side and the right side of the frame is considered to be included in either the component supply device 6A or the component supply device 6B in consideration of the location of the member or the connection setup.

The component supply device 6 (6A, 6B) is constituted by a rotating device having an elliptical transport track in plan view, and around the elliptical transport track, in the case of the present embodiment, Six parts shelves 6a are provided.
a is an optional parts shelf 6 controlled by the control device.
a, that is, the component shelf 6a of the model to be assembled can be selected and moved to the rear of the component assembling station 5.

Further, a component rack 7 to be supplied to each component shelf 6a is arranged at the start end of the component supply device 6.

The storage line 1 (1
A, 1B), the carry-out / in line 2 (2A, 2B) and the temporary welding line 3 (3A, 3B) on the downstream side (right end side in FIGS. 1 and 2) of the temporary welding line 3 are provided with the main welding device 8. Have been.

As shown in FIG. 2 (or FIG. 4 showing a line on the left side thereof), the main welding device 8 includes two pairs (two) of main welding robots 9 and a frame holding device 10. I have. Each frame holding device 10 includes a pair of left and right articulated transfer robots 11 (11
A, 11B: "Support frame holding robot" according to claim 11
And a pair of right and left support devices 12 (12A, 12B) provided adjacent to the downstream side, and the transfer robot 11 has an arm distal end as shown in FIG. One end of a support frame 13 for holding the temporarily welded frame is attached via a holding fitting 11a, and a spherical projection 13a protrudes from the other end of the support frame 13. Further, the support device 12 has a spherical support seat 12a (see FIG. 7) for holding the spherical projection 13a so as to be swingable in a three-dimensional direction, such as a universal joint. The projection 13a of the support frame 13 is swingably held as described above during the main welding operation.
More specifically, the transfer robot 11
When the support 3a is positioned at a predetermined position on the spherical support seat 12a which is divided into upper and lower portions of the support device 12, the upper and lower divided spherical support seats 12a are actuated by the actuator of the support device 12 to form the protrusions 13a. It is configured to hold from above and below at a position.

The main welding robot 9 has a welding torch attached to the end of an arm of a normal articulated robot, and is programmed in advance in a virtual coordinate space in the main welding station under the control of a control device. The part is configured to be fully welded. Therefore, the location programmed above differs depending on each model.
The main welding robot 9 is controlled according to the model.
In order to cause interference with the frame F, the multi-joint type main welding robot 9 is disposed on a ceiling, as shown in FIG. 3, and rotates while the base is suspended from the ceiling. The arm extending from the arm is operable in any direction.

In this way, two main welding robots 9 and holding devices 10 are provided on the left and right (two lines on the left and right) because the time required for the temporary welding operation is required for the main welding operation. Since approximately twice the time is required, such a configuration is adopted in consideration of the working efficiency of the entire manufacturing apparatus.

The manufacturing apparatus and the holding apparatus for a motorcycle frame configured as described above operate as follows under the control of the control device when manufacturing the frame.

That is, when the model to be assembled and the number of the models to be assembled are input to the control unit, the control unit changes the direction of the currently used welding base from the parts assembling station 5 to the transfer station 4 by 90 degrees. And the storage line 1 via the unload / load line 2 (2A, 2B).
(1A, 1B) is stored in a predetermined position (unit). At this time, the storage position (storage address) is specified, the identification mark of each model attached to the welding base is confirmed and stored, and the fact is stored in the storage device of the control device.

Next, the control device confirms and selects the welding base of the model by the identification mark attached to the welding base by model, and selects the storage base 1 (1A, 1A).
By driving the corresponding unit of B), the welding base is paid out from the storage line 1 (1A, 1B) to the carry-out / load-in line 2 (2A, 2B), and the delivery station 4
Rotate 90 degrees with each
To supply.

In parallel with the above operation, the control device controls the component supply device 6 to position the component shelf in which the component of the model is stored at the back of the component assembling station 5.

Therefore, even if the worker does not know which type of component is to be assembled next, the welding base of the relevant type is supplied to his / her eyes, and the component shelf is located on the rear side. Therefore, parts may be taken from the parts shelf and placed in a predetermined position on the welding base.

When setting a predetermined part on the corresponding welding base, the operator presses an operation button to bring the part assembling station 5 on which the welding base is mounted on the surface to the front. Inclined about 40 degrees to the side,
The parts are set in this state. Therefore, the worker can take a very comfortable posture and efficiently set the parts also on the end of the welding base opposite to the worker.

When the components are arranged as described above as described above, if the operator presses the completion button, the welding base is transferred from the component assembling station 5 based on the control of the control device. Paid out to station 4,
Here, the 90-degree direction is changed, and the respective temporary welding lines 3
(3A, 3B) are supplied to the buffer portion.

In the buffer portion of the temporary welding line 3 (3A, 3B), the process temporarily waits until the temporary welding operation performed on the downstream side is completed. By performing this temporary standby, the temporary welding operation can be performed without any unnecessary interruption as described above, and a time difference occurs in the operation of assembling the right and left parts of the frame by the operator. Occurs, the difference can be absorbed.

When the controller confirms that the temporary welding operation has been completed, the standby welding base is moved to the temporary welding robot 3 of the temporary welding line 3 (3A, 3B).
4 (14A, 14B), and is conveyed to a predetermined position, where temporary welding is performed.

At the time of this temporary welding, the temporary welding robot 14 (1
4A, 14B) can make use of the characteristics of the articulated robot depending on the portion to be temporarily welded, and can perform temporary welding accurately and accurately from both sides in the front-rear direction in a short time. In other words, compared to the conventional temporary welding robot,
Since the vehicle does not travel, the temporary welding can be accurately performed by the temporary welding robots 14A and 14B on both sides in a short time.

When the temporary welding on the right or left side of the frame is completed, the controller detects that the temporary welding on the right or left side is completed, and the control unit temporarily welds the welding base to the right or left side integrally to form one frame. To form a temporary welding line 3 (3
(A, 3B), the temporary welding line 3 (3A, 3B) is controlled so as to be conveyed to a predetermined position below the temporary welding robot 15.

Here, the pair of welding bases to which the right or left portions of the frame are temporarily welded are erected right and left with the center of the frame facing the center of the production line. Are brought close to each other until a state in which an integral frame is formed (a state in which the cross member comes into contact with a counterpart member to be temporarily welded).

Then, in this state, the main welding robot 15
However, they are temporarily welded via the cross member so that the left and right portions of the frame become an integral frame.

The temporary welding robot 15 travels and performs temporary welding only in the approximate range of the length of the frame. However, since the traveling distance is significantly smaller than that of the conventional one, the right and left portions are moved prior to the main welding operation. Because of the characteristic of merely performing temporary welding, temporary welding can be performed with necessary and sufficient accuracy in that sense.

When all the temporary welding operations of the temporary welding robot 15 are completed, a signal to that effect is received by the control device. Upon receiving this signal, the control device operates the frame take-out mechanism 18 to take out the temporarily welded frame to the position shown by the two-dot chain line in FIGS. The tentatively welded frame is held on the empty transfer robot 11 via the support frame 13 shown in FIG. 7, and the protrusion 13 a at one end of the support frame 13 is attached to the spherical support seat 12 a of the support device 12. The frame is transported to a predetermined position so as to be swingably held in a three-dimensional direction.

In this state, the frame is supported via the support frame 13 at one end by the arm of the transfer robot 11 and at the other end by the support device 12. As a result, the frame is centered on the spherical support portion. Swingable in all directions. In particular, in this embodiment, the pair of support devices 12 are disposed on the left and right, respectively, and at the time of the main welding, one of the left and right support devices 12 is appropriately selected and supported. Frame 13
Can be greatly inclined on either side with respect to the longitudinal direction of the production line.

Next, the control device causes the transfer robot 11 and the main welding robot 9 to cooperate with each other in accordance with a program predetermined for the corresponding model, so that the main welding robot 9 determines the location to be main-welded. Control is performed so that the tip of the can be close to that location and can be fully welded.

As described above, in the main welding apparatus 8, at the time of the main welding, the frame is swung freely and all surfaces are set in an arbitrary direction, for example, the lower surface of the frame is directed upward, or the frame is moved forward by 15 degrees. Can be arbitrarily formed in a state of being inclined at an angle of 40 degrees and left and right, that is, a state of being three-dimensionally inclined. it can. Moreover, the transfer robot 11 and the support device 12
Since the frame is supported in a double-supported state, the position of the frame can be made as stable as possible during the final welding (a state in which the frame is not moved), and thus the final welding can be performed in a desirable state.

By the way, when assembling a model that is not stored in the storage line 1 in a state where the temporary welding and the main welding work are performed as described above, during the execution of the work, Remove the welding base of the model that is least likely to be assembled from the side of the production line (manufacturing equipment) using a forklift, etc., and store the welding base of the model to be assembled separately in the empty position. Using a forklift, etc., remove the product from the storage space, place it, and place it, and input to the control device that the welding base of the corresponding model has been placed at that position. Can be used for assembly work.

As described above, even during the welding work, the setup of the next planned model can be performed without any influence on the work, so that the extremely high operability is exhibited as the whole manufacturing apparatus. It will be.

Further, even when a very large number of models are to be produced in small quantities, the automation can be carried out without any loss, and the temporary welding robot can be moved without moving as in the past or over a long stroke. Therefore, it is possible to easily obtain a necessary and sufficient high positioning accuracy, and it is also possible to perform temporary welding in a shorter time than before.

Further, in the actual welding, the transfer robot and the actual welding robot cooperate with each other to perform the actual welding, so that the actual welding can be performed close to a location where the torch of the conventional welding robot could not approach. Most of the required welding points can be fully welded. In addition, in this full welding, the main welding is performed in a state where the frame itself is supported at both ends via the support frame, so that the positional accuracy of the full welding is reduced. It is extremely high, and as a result, there is almost no need for rework by a manual welding operation, which has been conventionally required.

[0069]

According to the motorcycle frame manufacturing apparatus of the present invention, a very large number of models can be easily manufactured, and at that time, the temporary welding and the main welding can be performed quickly. In addition, positioning can be performed with high accuracy.

Further, even if the worker does not particularly care about the model to be manufactured, since the welding base and the parts shelf of the model are automatically supplied by the control device, mental and
Physical workload is reduced.

Further, it is possible to flexibly respond to a model change, and even when changing the model, preparation work for the change can be performed in parallel without stopping the manufacturing operation.

In addition, during the main welding, the position of the frame can be freely changed, so that it is possible to perform the main welding at a place where it was impossible in the past, and it is possible to drastically reduce the work of the operator by manual welding. .

[Brief description of the drawings]

FIG. 1 is a plan view showing a flow of a welding base of a motorcycle frame manufacturing apparatus according to an embodiment, excluding a main welding apparatus portion.

FIG. 2 is a plan view showing the overall arrangement of the motorcycle frame manufacturing apparatus (production line) according to the present embodiment.

FIG. 3 is a side view taken along the line II of FIG. 2 and shows a configuration of the motorcycle frame manufacturing apparatus according to the embodiment when viewed from the side.

FIG. 4 is a view taken in the direction of arrows II-II in FIG. 2 showing a configuration of the welding apparatus according to the embodiment.

FIG. 5 is a view taken in the direction of arrows III-III in FIG. 2 showing the configuration of the temporary welding apparatus according to the present embodiment.

FIG. 6 is a view of the component assembling station according to the present embodiment as viewed from the side of arrow IV-IV in FIG.

FIG. 7 is a perspective view showing a support structure of the support frame according to the embodiment.

FIG. 8 is a perspective view illustrating a schematic configuration of a welding base according to the present embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Storage line 2 ... Unloading / loading line 3 ... Temporary welding line 4 ... Delivery station (delivery means) 5 ... Parts assembly station 6 ... Parts supply device

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Keiichi Nishimoto 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Inside the Akashi Factory (56) References JP-A-63-264274 (JP, A) Hei 2-220776 (JP, A) JP-A-53-84839 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B23K 9/00 501 B23K 9/12 331 B23K 37/00 B23K 37/04

Claims (12)

(57) [Claims] 1. A welding base for a right side portion and a left side portion of a frame are arranged such that each joint side of both side portions of the frame faces the front side, and a right side portion or a left side portion of the frame is placed on each welding base. Each member constituting the portion is temporarily welded inside to form the right and left portions of the frame, and the right and left portions of the temporarily welded frame are joined and welded from both sides to obtain a desired frame. In the motorcycle frame manufacturing apparatus, a storage line for storing a welding base is provided along each of the left and right side ends of the manufacturing line to identify a plurality of types of welding bases for each model. With the mark attached, keep it inside, and carry it in and out to carry out and carry in the desired welding base.
A carry-in line is provided in parallel with the storage line, and a temporary welding line is provided along the line in parallel with the carry-out / in line at a position from the center thereof, and a part perpendicular to the line is provided at a start end of each line. An assembling station is provided, and a delivery means for delivering a welding base is arranged between the part assembling station and the temporary welding line and the carry-out / in line . Parts shelf
Parts are placed on the welding base behind the assembly station.
Upon receiving the component supply device that automatically supplies the product to the position near the worker to be installed and the identification signal of the expected model, the corresponding welding base is discharged from the storage line to the unload / load line, The parts are supplied from the carry-out / in line to the parts assembling station via the delivery means, and a parts shelf of a corresponding model is supplied to the parts supply device by the part.
Parts are placed on the welding base behind the assembly station.
In the vicinity of the worker to location, the manufacturing apparatus of a motorcycle frame, characterized in that it comprises a control device for controlling so as to arrange. 2. The motorcycle manufacturing apparatus according to claim 1, wherein a temporary welding robot is disposed above the temporary welding line. 3. The motorcycle frame manufacturing apparatus according to claim 1, wherein a buffer portion is provided at a start end of the temporary welding line. 4. A motorcycle frame manufacturing apparatus according to claim 1, wherein said delivery means comprises a rotary table rotating in a plane. 5. A welding base for a right side portion and a left side portion of a frame are arranged such that each joint side of both side portions of the frame faces the front side, and a right side portion or a left side portion of the frame is placed on each welding base. Each member constituting the portion is temporarily welded inside to form the right and left portions of the frame, and the right and left portions of the temporarily welded frame are joined and welded from both sides to obtain a desired frame. In the motorcycle frame manufacturing apparatus, a storage line for storing a welding base is provided along each of the left and right side ends of the manufacturing line to identify a plurality of types of welding bases for each model. With the mark attached, keep it inside, and carry it in and out to carry out and carry in the desired welding base.
A carry-in line is provided in parallel with the storage line, and a temporary welding line is provided along the line parallel to the carry-out / in line at a portion from the center thereof, and a part is provided at a starting end of each line so as to be orthogonal to the line. An assembling station is provided, and a delivery means for delivering a welding base is provided between the part assembling station and the temporary welding line and the carry-out / in line, and a downstream side of the temporary welding line is provided. To
The main welding device that performs the main welding by inclining the temporarily welded frame appropriately to the welding location, and upon receiving the identification signal of the expected model, the corresponding welding base from the storage line is transferred to the unloading / loading line. To the parts assembling station from the carry-out and carry-in line via the delivery means. And a control device for controlling welding so that the frame is appropriately inclined so that welding is easily performed. 6. The main welding apparatus includes a heavy articulated robot for transferring a frame from a temporary welding line to a main welding station, and the articulated robot is temporarily welded during the transfer and the main welding. 6. The motorcycle frame manufacturing apparatus according to claim 5, further comprising a support device that cantileverly supports one end of the frame so as to be movable, and supports the other end of the frame so that it can be tilted at the time of main welding. 7. The main welding apparatus according to claim 1, wherein the main welding apparatus includes a multi-joint main welding robot that performs a main welding in an appropriate posture in cooperation with the weight multi-joint robot. 7. The motorcycle manufacturing apparatus according to claim 6. 8. The motorcycle frame manufacturing apparatus according to claim 5, wherein the heavy articulated robot conveys and supports the frame via a frame support frame. 9. The component assembling station is configured to be capable of tilting to a worker side with a welding base placed thereon, and the controller assembling the component assembling station when the controller assembles components. The motorcycle manufacturing apparatus according to claim 1, wherein the motorcycle is controlled to be inclined. 10. A frame holding device for use in a motorcycle frame manufacturing apparatus for manufacturing a desired frame by temporarily welding the entire frame and subsequently performing main welding, the frame holding device supporting the frame. A spherical surface is formed at one end of the frame, and a supporting device having a spherical support seat for supporting the spherical surface is provided correspondingly, so that one end is swingably held in a three-dimensional direction, The other end is supported movably in the three-dimensional direction around the spherical surface by a support frame holding robot, and at the time of main welding, the frame held by the support frame is tilted in an arbitrary direction and held so as to be welded in an appropriate posture. A frame holding device characterized by the above-mentioned. 11. The frame holding device according to claim 10, wherein the support frame holding robot is an articulated robot, and the other end is supported by an arm of the articulated robot. 12. The frame holding device according to claim 10, wherein a pair of the support devices is provided on each of right and left sides.