JP2884980B2 - Automatic loading device for seats in the car body - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for automatically loading a sheet into a vehicle body.

[0002]

2. Description of the Related Art Conventionally, an operation of carrying a front seat of an automobile into an automobile is performed by an operator in an in-vehicle carrying-in process section. Specifically, as shown in FIG. 9, the worker holds the right front sheet 2R and the left front sheet 2L from the state of being delivered on the pallet 1 as they are delivered from the sheet manufacturer. They are removed manually and carried into the car body.

[0003]

When a sheet is carried into a vehicle body, it is a difficult operation for the operator to transport the sheet across the vehicle body transport line, and the burden on the operator is large.

[0004] Accordingly, an object of the present invention is to provide a means capable of reducing the burden on an operator when a seat is carried into a vehicle cabin.

[0005]

In order to achieve the above object, the present invention is configured as follows.

An apparatus for automatically carrying a sheet having a seat rail provided at a lower portion into a vehicle body, comprising: a vehicle body transport means for transporting the vehicle body to a sheet loading station; and a left-right direction crossing a vehicle body passing area of the vehicle body transport means. Sheet supply means provided on one side of the one side and the other side, for supplying a pair of left and right sheets to be carried into the vehicle body to a predetermined position in the sheet carry-in station; provided on the one side; A slide beam that can move back and forth between one side and the other side,
A sheet positioning device that is provided on the slide beam and moves between a lowering position set on the one side and a gripping position set on the other side by advancing and retracting drive of the slide beam; A first robot that grips one of the pair of sheets and conveys the sheet to the sheet positioning device at the lowering position; and a robot that is provided on the other side and that is together with the slide beam from the lowering position to the gripping position. A second robot that grabs the sheet on the moved sheet positioning device and carries it into the vehicle body stopped at the sheet carrying-in station, wherein the sheet positioning device directly mounts the seat rail. A receiving table for supporting the sheet in a state of being inclined forward, and a sheet abutting against the seat back of the sheet on the receiving table. A vertical pushing means for moving the forward direction,
Vertical positioning means for positioning the sheet in the vertical direction by contacting the front end of the seat rail moved by the vertical pressing means, and contacting one side of the seat rail on the receiving table with the sheet; Lateral pushing means for moving a sheet in a lateral direction, and lateral positioning means for abutting the other side of the seat rail moved by the lateral pushing means to position the sheet in a lateral direction. It was decided.

[0007]

[0008]

[0009]

[0010]

[0011]

One of the pair of left and right sheets is moved by a slide beam from one side in the left and right direction across the vehicle body passing area of the vehicle body conveying means to the other side at a sheet carry-in station. It is automatically carried into the vehicle body by the robot.

[0012]

FIG. 1 shows a pair of front seats 2R,
2L is fed in a direction indicated by an arrow on a sheet conveying line 23 as a sheet feeding means. A swivel table 24 is arranged near the end of the transfer line, receives the pallet 1 flowing on the line, and moves the pallet 1 to a state shown by a solid line in order to make it easy for the robot to grasp.
Rotate 0 °. The swivel 24 also forms a part of the sheet supply means.

A vehicle body transfer line 25 as a vehicle body transfer means
Are provided in parallel with the sheet conveying line 23, and the vehicle bodies 26-1 and 26-2 are sent in the direction opposite to the direction in which the pallet 1 is conveyed, as indicated by arrows.

These vehicle bodies are mounted on a bogie 100 (see FIGS. 2 and 6).
) And travel on rails of the vehicle body transfer line. Along the car body transfer line 25,
At a required interval, a work station for performing work on the vehicle body is provided.

Among these work stations, a work for carrying a sheet into the vehicle body is a sheet carry-in station. The position of the vehicle body indicated by reference numeral 26-2 in FIG. 6 and its peripheral area correspond to the station. The vehicle is controlled to be stopped at the position shown in the figure, and when the work of loading the sheet is completed, the sheet is sent in the direction shown by the arrow and is transported to the next work station.

As shown in FIG. 1, the sheet conveying line 23
Is one side of the vehicle body transfer line 25 in the vehicle body flow direction indicated by an arrow and across the vehicle body passage area, that is,
It is located on the left side when viewed downstream in the vehicle body flow direction.

At the sheet loading station, a first robot 27 is provided on the side opposite to the side where the sheet transporting line 23 is provided, so as to face each other with the body transporting line 25 interposed therebetween. On the side where the sheet transport line 23 is provided, the second robots 28 are arranged.

The first robot 27 is for carrying the right front seat 2R into the vehicle body, and the second robot 28 is for moving the left and right seats to the revolving table 24, as will be described later.
It also has the function of taking it out of the device and temporarily placing it in a predetermined position.

Further, near the end of the sheet conveying line 23,
That is, the sheet positioning device 31 for the left front seat 2L is fixedly located near the second robot 28.

A cross rail 29 as a sheet transfer means is provided at a position between the second robot 28 and the swivel table 24 in the vehicle body transport direction.

As shown in FIGS. 2 and 3, the cross rail 29 includes a frame base 29-1 and a slide beam 29.
-2. The frame base 29-1 is a gantry-like structure fixed to the floor surface and having a sliding rail 29-1D on the upper surface.

The slide beam 29-2 is a movable body slidably fitted on the rail 29-1D of the frame base 29-1. I have. These frame bases 29-
1. Each of the slide beams 29-2 has a length in a direction indicated by an arrow A which is a direction crossing the vehicle body transfer line 25 (see FIG. 1), and the slide beam 29-2 moves forward and backward in the A direction.

In FIG. 4 (an enlarged view in a two-dot chain line circle in FIG. 3) illustrating the sliding fitting portion at the time of this movement, reference numeral 2 is used.
9-2U denotes a concave movable body integrally provided on the lower surface of the slide beam 29-2, and reference numeral 29-1D denotes a convex guide fixed to the upper surface of the frame base 29-1.

Here, as shown in FIG. 4, a groove having a length in a direction penetrating the paper surface is formed on the rail 29-1D at an intermediate position in the height direction on the opposing surface. By placing the rail including these grooves and the slide beam 29-2 in a mating relationship, the slide beam with respect to the frame base when in a cantilever support state when the slide beam advances across the vehicle body passage area. To prevent the falling off.

As shown in FIG. 4, the slide beam 29-
A rack 29-2L having a length in the A direction is fixed to a side portion of the rack 2. On the other hand, a motor 29-1M with a reduction gear is fixed to the frame base 29-1 side, and a gear G fixed to the shaft of the motor is mounted on the rack 29-1.
-2L.

Therefore, by driving the motor 29-1M, the slide beam 29 is moved together with the rack 29-2L.
-2 is moved forward and backward across the vehicle passage area. A sheet positioning device 3 is provided at the tip of the slide beam 29-2.
0 is set.

In the original position, the positioning device 30 is at a fixed position retracted from the vehicle body passage area as shown by a solid line in FIGS.

Since the moving range of the slide beam 20-2 crosses the vehicle body passing area of the vehicle body transfer line 25, the sliding beam 20-2 is moved backward so that the two do not interfere with each other.
The two are set to be spatially displaced from each other.

As shown in FIGS. 2 and 5, the positioning of the slide beam 29-2 at the time of retreat is performed by disposing the slide beam 29-2 on the frame 50 raised from the side at the rear end of the frame base 29-1. Proximity switches SW-1, SW-
2, SW-3, and a combination of a dog 51 provided integrally with 29-2 so as to pass together with the slide beam in the vicinity of these proximity switches.

In such a configuration, the slide beam 29-2
Move backward, and when the proximity switch SW-1 detects the dog 51, the power of the motor 29-1M is turned off. Further, when the slide beam 29-2 advances in the backward direction due to inertia and the proximity switch SW-2 detects the dog 51,
The brake of the motor 29-1M operates, and the slide beam stops retreating at that position.

The proximity switch SW-3 functions as an emergency, and when the switch detects a dog, a warning is issued to an operator by a lamp, a buzzer, or the like.

Although not shown, a proximity switch is provided at the front end of the frame base for controlling the positioning of the slide beam at the time of forward movement in accordance with the configuration at the rear end. Is equipped with a dog.

At the front and rear ends of the frame base 29-1,
Stoppers 51 and 52 are provided, respectively. The stopper 51 is connected to the slide base 2 via the cushion 60.
The rear end of 9-2 is abutted, and the stopper 52 also abuts the abutment piece 53 via the cushion 60.

In any of these methods, when the slide base overruns abnormally, the abutment member is brought into contact with the stopper via the cushion to stop the slide base.
At the time of such a stop, the proximity switch SW-3 operates to issue a warning.

As shown in FIG. 1, when the pallet 1 is fed, the swivel table 24 is set in a state shown by a two-dot chain line on the extension of the sheet conveying line 23. When the pallet moves on the swivel table 24, the swivel table 24 is turned by 90 ° to be in a state shown by a solid line, and stops turning. When the sheet is carried in, the left front sheet 2L on the revolving base 24 that has been turned 90 ° as shown by the solid line in FIG. 1 is once transferred onto the sheet positioning device 31 by the first robot 28, and It is positioned on the sheet positioning device 31.

On the other hand, the right front seat 2R on the swivel table 24 is transferred by the first robot 28 onto the sheet positioning device 30 on the slide beam, where it is positioned.

The front seat 2L on the seat positioning device 31 is grasped again by the first robot 28 and is carried into a predetermined position of the stopped vehicle body 26-2. On the other hand, the front sheet 2R on the positioning device 30 passes through the front position of the vehicle body 26-2 stopped at the sheet conveying station, and as shown by a two-dot chain line in FIG. It is transferred to the specified position. Note that the sheet loading station may be set at a position behind the vehicle body 26-2.

It is assumed that the specified position is specifically set in consideration of the workability of the second robot 27, the layout, and the like.

Then, the front seat 2R is taken out of the seat positioning device 30 by the second robot 27 and carried into the vehicle body 26-2. The empty sheet positioning device 30 is moved back together with the slide beam by the drive of the motor 29-1M, returns to the position indicated by the solid line in FIGS. 1 and 2, and is ready for the next front sheet loading.

As described above, the sheet positioning device 30
In the vicinity of the first robot 28, the forward, stop, return, and stop movements from the "unloading position" indicated by a solid line to the "gripping position" indicated by a two-dot chain line as a predetermined specified position crossing the vehicle body transfer line 25 Control is provided.

The cross rail 29 is connected to the sheet conveying line 2
It has a function of receiving one of a pair of sheets supplied by the rotary table 3 and the revolving base 24 on one side of the vehicle body transfer line and transferring the sheet to a specified position on the other side.

Here, the configuration of the sheet positioning device and the sheet positioning process will be described. In FIG. 7 showing the entire sheet positioning device, reference numeral 3 denotes a rectangular block-shaped cradle, on which a seat rail (hereinafter simply referred to as a rail) 4 is directly put, and the seat is tilted forward as shown in FIG. This is what we support. In FIG. 7, one of the two cradles supporting the rear portion of the seat is hidden behind the seat and cannot be seen, but a total of four cradles are provided.

Reference numeral 5 denotes a sheet 2 placed on the cradle 3.
The vertical pressing means which abuts on the R back sheet and moves the sheet on the receiving table in the front-rear direction of the sheet, that is, in the vertical direction Y is shown.

The vertical pushing means is driven by an air cylinder, and by swinging thereof, can contact the seat back and move the seat 2R on the receiving base 3 in the Y direction.

In FIG. 7, vertical positioning means 9, 9 are provided at positions in the vertical direction Y, which face the front ends of the respective rails 4 of the seat. These vertical positioning means 9 and 9 have a common configuration, and come into contact with the rail 4 and are pressed and fixed to the receiving stand.

Each receiving table 3 is fixed on a common moving table 15, and the moving table 15 is moved in the left and right directions, that is, in the horizontal direction X by a horizontal sliding means such as a rail 17 interposed between the moving table 15 and the base 16. It can slide freely.

The lower part of the rail 17 is fixed to the base 16,
The upper part of the rail is slidably fitted to a rail fitting part (not shown) provided on the back surface of the movable base 15, and this configuration constitutes a horizontal sliding means.

In FIG. 7, a stopper 18 as a lateral positioning means is provided integrally with a stationary member at a position facing the side of the rail 4 in the lateral direction X.

At a position facing the stopper 18, a lateral pusher 2 as lateral push means for abutting against the side of the other rail 4 to push the sheet toward the lateral positioning means.
0 is located.

The lateral pusher 20 is provided at the tip of a plunger of an air cylinder 19 fixed on a gantry 21 provided on a stationary member. In addition, between the gantry 21 and the movable base 15, a spring 22 of elasticity is hung,
The moving table 15 is always subjected to a force pulling toward the air cylinder, and the movement of the moving table by this force is prevented by stopper means (not shown).

The sheet positioning operation is performed as follows. Before the sheet positioning device receives the sheet, the state of each member is adjusted to the following state. First, the vertical pushing means 5 is in a state of being rotated backward.

As shown in FIG. 8, the positioning piece 11 constituting the vertical positioning means is also
Of the positioning piece 11 by retracting the plunger
Of the circumferential surface 1
1b is located at the arrival of the rail 4.

Further, as shown in FIG. 7, the plunger of the air cylinder 19 is retracted, and
0 is sufficiently retracted from the position where the rail 4 will be located.

Operation 1 Under such a condition, the front sheet on the pallet is gripped by the hand of the robot and carried to the sheet positioning device, and the rail 4
Put on top.

This mounting position may be relatively rough,
The seat rails need only be on the cradle 3. The position in the vertical direction Z is determined by the rail portion riding on the cradle 3.

Operation 2. When the front seat is placed on the cradle 4, the air cylinder is operated, and the vertical pushing means 5 comes into contact with the back seat of the front seat 2R and pushes the entire seat forward. The movement of the seat is performed by the rail 4 sliding on the cradle 3.

As shown in FIG. 8, when the front end of the rail 4 comes into contact with the circumferential surface 11b of the positioning piece 11, the pushing of the front seat 2R by the vertical pushing means 5 stops.
By pressing the front end of the rail against the positioning piece 11, the position of the sheet in the vertical direction Y is determined.

Operation 3. In FIG. 8, by driving the air cylinder 12 and rotating the positioning piece 11 around the axis 10, the front end of the rail 4 is pressed from above as shown by the solid line. The sheet is fixed on the receiving table 3 by this pressing.

Operation 4. In FIG. 7, the air cylinder 19
The front seat 2R is moved in the lateral direction X together with the movable base 15 by pressing the horizontal pusher 20 against the rail 4 and further protruding the plunger of the air cylinder 19.

This movement is performed until the rail 4 comes into contact with the stopper 18. By bringing the rail 4 into contact with the stopper 18, the position of the front seat 2R in the lateral direction X is determined. As described above, the position of the front seat in the space is set to the specific position.

Next, a description will be given of a process of carrying a sheet from the sheet conveying device into the vehicle body by the robot.

The seat positioning device 30 on which the front seat 2R is placed is moved from the lowered position shown by the solid line in FIG.
Move to the gripping position indicated by the chain line and stop.

That is, the sheet positioning device is fixed at this position. In addition, the vehicle body 26 to which the sheet is to be carried
-2 is stopped at a position shown in the figure, which is predetermined as a sheet carry-in position, and stands by.

In FIG. 1, the hand 27 of the robot 27 is
H is the front seat 2R on the seat positioning device 30
, And the hand 28H of the robot 28 grips the front sheet 2L of the sheet conveying device 31.

The mechanism by which each hand grips the front seat is exactly the same. As shown in FIG. 8, the air cylinder 32 is provided integrally with the hand 27H, and a pin 33 is provided at the tip of the air cylinder. On the other hand, the two rails 4 of the front seat 2R
Is formed with a mounting hole to the vehicle body.

When the hand 27H grasps the front seat 2R, the air cylinder 32 is driven and the pin 33 is inserted into the mounting hole 34 on the front end side of the rail on the door side.

As a result, even if the gripping position is displaced by gripping the soft sheet portion, no deviation occurs in the positional relationship between the hand and the front seat, so that the position positioned on the sheet positioning device 31 is determined. By driving the robot as a reference, the front seat can be properly conveyed to a predetermined position of the vehicle body as shown in FIGS. 1 and 6, and can be carried into a position matching the mounting hole on the vehicle body. The same procedure is applied to the left front seat 2L.

Therefore, even if the accuracy of the pallet itself and the position accuracy of the sheet on the pallet are not sufficient,
Since the position of the sheet positioned by the sheet positioning device is determined by the pin 33 relative to the hand 27H, the sheet can be accurately conveyed to a predetermined seat attachment position in the vehicle body stopped at a predetermined position on the line.

Further, the sheets on the sheet conveying line provided along one side of the vehicle body conveying line are distributed to both sides of the vehicle body conveying line by a cross rail together with a sheet positioning device, and stopped at a predetermined position. Therefore, the sheet can be grasped by the robot provided on each side and carried into the vehicle body.

In this example, the vehicle body transporting means, the sheet feeding means, the sheet transferring means, the first and second robots, etc. can all be arranged at a position not so high on the floor.
It is so arranged.

Therefore, when compared with a system in which a sheet is conveyed along the ceiling of a factory and lowered at a sheet loading station and loaded, there are advantages such as easy construction of equipment, low equipment cost, and easy maintenance. .

Further, looking at the sheet transport path, it is possible to follow the carry-in path with little vertical movement, so that the time required for carry-in can be reduced, and the sheet supply means can be moved to one side of the vehicle body carry line. Thus, the space on the other side can be effectively used.

[0073]

According to the present invention, the work of carrying a sheet into a vehicle interior across a vehicle body transfer line is automated to reduce the burden on the operator, and a part of the transfer route is moved across the vehicle body passing area. By using a slide beam that can move forward and backward, it is possible to provide a path with less movement in the vertical direction, shorten the time required for carrying in the vehicle interior, and use the seat positioning device provided on the slide beam. By positioning the seat and then loading the seat into the passenger compartment, the seat can be properly loaded into a predetermined position in the passenger compartment,
It is possible to provide an automatic in-vehicle loading apparatus for a sheet with high mass production efficiency, which can reduce the cycle time of the assembling work.

[Brief description of the drawings]

FIG. 1 is a plan view of an apparatus for automatically loading a seat into a vehicle body according to the present invention.

FIG. 2 is a front view of a cross rail according to the present invention.

FIG. 3 is a side view of a cross rail according to the present invention.

FIG. 4 is a partial explanatory view of a sliding guide portion between the cross rail and the seat positioning device according to the present invention.

FIG. 5 is a plan view of the rear end of the cross rail according to the present invention.

FIG. 6 is a side view of the apparatus for automatically loading a seat into a vehicle body according to the present invention.

FIG. 7 is a perspective view illustrating a sheet positioning device according to the present invention.

FIG. 8 is a diagram illustrating a rail holding portion of the sheet positioning device according to the present invention.

FIG. 9 is a diagram illustrating a conventional work of loading a seat into a vehicle body.

[Explanation of symbols]

23 Sheet transfer line (as sheet supply means) 24 Swivel table (as sheet supply means) 25 Body transfer line (as body transfer means) 27 Second robot 28 First robot 29-2 Slide beam

Claims (1)

(57) [Claims] 1. A device for automatically carrying a sheet having a seat rail provided at a lower portion into a vehicle body, comprising: a vehicle body transporting means for transporting a vehicle body to a sheet loading station; and a vehicle body passing area of the vehicle body transporting means. Sheet supply means provided on one side of the left and right sides and the other side, for supplying a pair of left and right sheets to be carried into the vehicle body to a predetermined position in the sheet carry-in station; provided on the one side A slide beam that can move back and forth between the one side and the other side; and a grip provided on the slide beam and set on the one side by the forward / backward drive of the slide beam and a grip set on the other side. A sheet positioning device that moves between the position and the sheet positioning device that is located at the lowering position by grasping one of the pair of sheets supplied to the predetermined position. A first robot for feeding, and the first robot which is provided on the other side and stops at the sheet loading station by gripping the sheet on the sheet positioning device moved from the lowering position to the gripping position together with the slide beam. A second robot to be carried into the vehicle body, wherein the seat positioning device directly supports the seat rail and supports the seat in a forwardly inclined state;
Vertical pushing means for abutting the seat back of the sheet on the cradle to move the sheet in the forward direction; and a longitudinal direction of the sheet abutting on the front end of the seat rail moved by the vertical pushing means. Vertical positioning means for positioning the sheet, lateral pressing means for abutting one side of the sheet rail on the receiving table to horizontally move the sheet, and the sheet moved by the horizontal pushing means An automatic loading apparatus for a seat in a vehicle, comprising: lateral positioning means for abutting the other side of the rail to position the seat in a lateral direction.