JP2944257B2 - Vehicle parts assembly 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 vehicle component assembly for automatically mounting an axle to a vehicle body after an engine has been assembled in an automobile assembly process by an industrial robot. The present invention relates to an attachment device.

[0002]

2. Description of the Related Art The front wheels of a front wheel drive type automobile are connected via a drive shaft to a transaxle in which an engine and a transmission are unitized.
As shown in FIG. 11, the drive shaft (1) is composed of a slide type first constant velocity joint (2), a fixed type second constant velocity joint (3), and first to third shafts ( 4), (5) and (6).

The rear end of the first shaft (4) is provided with a spline (4a) which engages with a spline hole provided in a differential gear incorporated in the transaxle. The input side of the speed joint (2) is set. The rear end of the second shaft (5) is set to the output side of the first constant velocity joint (2), and the front end is set to the input side of the second constant velocity joint (3). The rear end of the third shaft (6) is adapted to be the input side of the second constant velocity joint (3).

An axle hub (7), a disk rotor (8) and the like are fixed around the third shaft (6), and a knuckle (10) is mounted via a bearing (9). is there. Each of the above-described members forms a front axle (A). A link (12) for forming a suspension is also attached to the knuckle (10) via a ball joint (11).

By the way, the assembly of the front axle (A) including the drive shaft (1) to the vehicle body is generally performed manually by an operator.

As a method for preventing the front axle (A) from being detached after being connected to the transaxle at the rear end of the drive shaft (1) at the time of assembling the vehicle to the vehicle body, as shown in FIG. A ring-shaped groove is formed in a part of the spline (4a) at the rear end of the first shaft (4), and a circlip (13) is pressed into the groove.
Then, spline (4a) and transaxle (20)
Is inserted into the spline hole (24) provided in the differential gear (23) from the guide hole (22) provided in the casing (21), and further, a ring-shaped groove (25) provided in the spline hole (24). The rear end of the drive shaft (1) is prevented from falling off by fitting the circlip (13) into the drive shaft.

As another method, a bracket (not shown) is arranged on the outer periphery of the first shaft (4) via a bearing, and a spline (4a) at the rear end of the first shaft (4) is provided. ) Is engaged with the spline hole (24) of the differential gear (23), and then the bracket is fixed to the vehicle body to prevent the bracket from coming off.

[0008]

As described above, if the worker manually attaches the front axle (A) to the vehicle body, this mounting place is located on the bottom surface of the vehicle body where workability is extremely poor. At the same time as the front axle (A)
Since the work is relatively heavy, if the above work is performed manually, there is a problem that a heavy load is imposed on the worker, and the work efficiency is very poor. In order to automate the above operation, means for holding and transporting a front axle (A) having a complicated shape and having a large number of movable parts in a stable state is required. Since there is no means for satisfying the above, automation of the above operation has conventionally been very difficult.

[0009]

A drive shaft comprising first to third shafts, first and second constant velocity joints located between the shafts, and a third shaft side of the drive shaft Plate for fixing an axle having axle hub, disk rotor, knuckle and link as main components to a vehicle body side at an end of an arm of an industrial robot, and a support plate A slide base composed of a slide plate and a second support, which is slidably supported by a first support standing upright and constantly pulled toward the support plate by the elastic force of a spring; and a slide plate of the slide base. A first chuck device rotatably supported via a rotating mechanism for gripping a knuckle of an axle; and a second chuck device of a slide base. For gripping and fixedly as a pair to the post, the second chuck device for gripping a link axle, the second shaft constituting the axle of the drive shaft, a slide base 2
And a third chuck device slidably supported by the support of the axle, and a first shaft constituting the drive shaft of the axle, slidably supported by the second support of the slide base, and A fourth chuck device connected to the third chuck device via a connecting rod and a spring, and an axle held by the first to fourth chuck devices, together with a slide base supporting each of the chuck devices. In order to slide with respect to the first support, the first support is integrated with a punch held on the support plate side integrated with the first support.

[0010]

[Function] By constructing the vehicle component assembling device mounted on the end of the arm of the industrial robot as described above, the axle having a complicated shape can be held and transported in a stable state by the industrial robot. It is to be.

[0011]

FIG. 1 shows a vehicle part assembling apparatus (4) according to the present invention.
0) shows the overall configuration. The vehicle part assembling apparatus (40) shown in this figure includes a support plate (41) fixed to the tip of an arm (31) of an industrial robot (30) and a support plate (4).
A slide base (43) slidably supported by a first support (42) erected on 1), and a front axle rotatably supported on the slide base (43) via a rotation mechanism (44). (A) a first chuck device (45) for holding a knuckle (10) and a second chuck device for holding a link (12) extending from the knuckle (10) fixed to a slide base (43). Chuck device (46),
It is slidably supported on the slide base (43), and third and fourth chuck unit for holding the drive shaft (1) (47) (48) as main components.

As shown in FIGS. 1 and 2, the slide base (43) is integrated with a slider (50) slidably supported by a guide rail (49) fixed to the first support (42). By doing so, the second support (51) slidably supported on the first support (42) and the lower end of the second support (51) in FIG. )
And a sirado plate (52) fixed so as to be orthogonal. In addition, a shaft (53) whose leading end penetrates the support plate (41) protrudes from the back surface of the slide plate (52),
Further, a spring (54) is press-fitted between the shaft (53) and the support plate (41), and the slide base (43) including the slide plate (52) is provided with an elastic force of the spring (54). And the stopper (55) provided on the slide plate (52) of the slide base (43) comes into contact with the contact surface (56) provided on the support plate (41). It is made to stand still.

The slide plate (52) of the slide base (43)
Knuckle holding first chuck device (4
As shown in FIGS. 1 to 3, a bearing (6) is provided on the outer periphery of a cylindrical holding cylinder (60) fixed to the slide plate (52), as shown in FIGS.
2) Rotary table (63) held rotatably via
A pair of first chuck claws (66) and (66) rotatably opposed to a first bracket (64) fixed to the rotary table (63) via shafts (65) and (65); First
Supported by a second bracket (67) extending rearward of the first bracket (64), and both first chuck claws (66).
(66) and first cylinders (69) and (69) connected via link mechanisms (68) and (68), respectively. By simultaneously expanding and contracting the two first cylinders (69) (69), a pair of first chuck claws (6
6) The (66) is opened and closed to grip the knuckle (10) of the front axle (A).

The rear end of the shaft (65) (65), which is integrated with the pair of chuck claws (66) (66) and penetrates the first bracket (64), is shown in FIG. As shown in
Gears (70) and (70) are fixedly provided, and the two gears (70) and (70) are meshed with each other. Accordingly, the first chuck claws (66) (66) are always opened and closed in a synchronized state.

A rotary mechanism (44) for rotating a rotary table (63) supporting the first chuck device (45) is provided on the back surface of the rotary table (63) as shown in FIG. At the same time, a first gear (71) is fixedly mounted on the slide plate (52), and a second gear (72) meshing with the first gear (71) is arranged on the slide plate (52). ) Is connected to a shaft of an air motor (73) fixed to the back surface of the slide plate (52).

Then, the second gear (72) is rotated by the air motor (73) to thereby rotate the first gear (7).
The rotary table (63) integrated with (1) is rotated around the holding cylinder (60) as the center of rotation. The reason why the first chuck device (45) is held by the rotary table (63) is that the positions of the knuckles (10) are reversed in the right and left front axles (A).

A punch (74) is slidably inserted into the hollow holding cylinder (60) via a bush. The rear end of the punch (74) is supported by a support plate (41). )
Second cylinder (75) for press-fitting a circlip fixed to a cylinder
A spring (76) is press-fitted between the punch (74) and the second cylinder (75). And this spring (76)
The punch (74) is brought into contact with the end of the drive shaft (1) of the front axle (A) by the second cylinder (75) while the punch (74) is in contact with the end of the drive shaft (1) by the elastic force of the drive shaft (1). When pressed to the side, the front axle (A) can move upward in FIG. 1 together with the slide base (43).

The link (1) extending from the knuckle (10)
As shown in FIGS. 4 and 5, the second chuck device (46) for gripping the 2) is supported on the upper back side of the second support (51) of the slide base (43) via the bracket (80). I have. As shown in the drawing, the second chuck devices (46) are disposed one by one on the left and right of the second support (51).
Each chuck device supports a pair of chuck claws (81) and (81) with swing arms (82) and (82), and swings the swing arms (82) and (82) with a third cylinder (83). Thus, the chuck pawls (81) and (81) are opened and closed. The second chuck device (4
6) The left and right front axles (A) are arranged one by one on the left and right of the second support (51), as in the case of the knuckle (10), and the position of the link (12) is reversed. Because it becomes.

As shown in FIGS. 5 and 6, a third chuck device (47) for chucking the second shaft (5) of the front axle (A) includes a second support (51) of the slide base (43). And a chuck body (87) slidably supported on the second support (51) by being integrated with a slide (86) slidably supported by a guide rail (85) fixed to the second support (51). A pair of open / close arms (88) and (88) supported on both sides of the chuck body (87) by the open / close mechanism of the chuck body (87), and a pair of open / close arms (88) and (88) fixed to the ends of the open / close arms (88) and (88). Chuck claw (89)
(89).

[0020] The opening and closing mechanism, as shown in FIGS. 7 and 8, a pinion (89) which is inserted rotatably into the chuck body (87), meshes with the pinion on (89) rack (90a)
And two opening / closing rods (90) and (90) penetrating through the chuck body (87), which are arranged to face each other with the pinion (89) interposed therebetween;
Further, it is constituted by two guide rods (91) (91) arranged so as to penetrate the chuck body (87) and an opening / closing cylinder (92) located below the chuck body (87).

Then, one end of each of the opening and closing rods (90) and (90) and the guide rods (91) and (91) is fixed to the opening and closing arms (88) and (88), respectively, and the other ends are free. The main body side of the opening / closing cylinder (92) is fixed to one opening / closing arm (88), and the rod side is fixed to the other opening / closing arm (88). When the opening / closing cylinder (92) is expanded and contracted, the racks (90a) (90a) and the pinion (89) act to open and close the opening / closing arms (88) (8).
8) is designed to open and close at a constant speed.

The main body of a fourth cylinder (94) for switching models is fixed to the side of the chuck body (87) of the third chuck device (47) via a bracket (93).
The rod (94a) of the fourth cylinder (94) is connected to the fifth cylinder (96) for spline alignment and insertion, the main body of which is fixed to the second support (51) via the bracket (95). It is connected to the rod (96a).

Then, by expanding and contracting the fourth cylinder (94), the third chuck device (47) and a fourth chuck device (48) described later are connected to the drive shaft (1) chucked by both. It is arranged to be located at one of two positions corresponding to the type. When the fifth cylinder (96) is extended, the third and fourth chuck devices (47) and (48) slide upward in FIG.

A fourth chuck device (48) shown in FIG. 9 and located above the third chuck device (47) in FIG.
The guide rail (8) fixed to the second support (51) of the slide base (43), similarly to the third chuck device (47).
The chuck body (101) slidably supported by the second support (51) and the opening / closing mechanism for the chuck body (101) by being integrated with the slide (100) slidably supported by 5). By the chuck body (101)
A pair of open / close arms (10
2) (102) and a pair of chuck claws (103) (103) fixed to the tip of the opening / closing arm (102) (102). The opening and closing mechanism is the same as that shown in FIGS. 7 and 8, and a description thereof will be omitted.

As shown in FIG. 6, the third chuck device (47) and the fourth chuck device (48) having the above-described structures are provided with through holes formed in both chuck bodies (87) and (101). (87a) They are connected by a connecting rod (104) through which (101a) is inserted. The lower end of the connecting rod (104) is connected to a rod of a sixth cylinder (105) for confirming the removal of a circlip fixed to the lower surface of the chuck body (87) of the third chuck device (47). At the top,
A flange (104a) is provided which comes into contact with a step (101a ') provided in the through hole (11a) of the chuck body (101) of the fourth chuck device (48).
A flange (104b) is provided at a substantially intermediate portion of 4). Then, a spring (106) is press-fitted between the flange portion (104b) and the lower surface of the chuck body (101) of the fourth chuck device (48), whereby the flange portion (104) of the connecting rod (104) is pressed.
a) into the step (10) of the through hole (101a) of the chuck body (101).
1a ') is elastically pressed.

In FIG. 6, reference numeral (107) denotes a proximity switch for checking the spline alignment held on the chuck body (101) of the fourth chuck device (48) via the bracket (108). The switch (107) is connected to the flange (104
a) faces the flange (104b) of the connecting rod (104) in contact with the step (101a ') of the through hole (101a), and the chuck body (101) and the connecting rod ( 104)
A change in the relative position with respect to can be detected.

In the fifth chuck device (110) disposed at the upper end of the second support (51), the drive shaft (1) includes the first shaft (4) and the second shaft (5). ) Is used only when holding the front axle (A) of the type divided by the portion (1). The structure includes a swing arm (112) swingably supported by a second support (51) via a bracket (111) as shown in FIG. 9, and a swing arm (112).
A seventh cylinder (113) having a main body side supported at the upper end of the second support (51) and a rod side connected to the swing arm (112) side; and a chuck body (114) attached to the tip of the swing arm (112). ).

The chuck body (114) includes a support (115) fixed to the swing arm (112) and a support (11).
5) is supported at the tip end by a pin (116) so that it can be opened and closed freely.
And a pair of chuck claws (118) (118) constantly pressed in the opening direction by the elastic force of the spring (117);
An opening and closing rod (119) slidably inserted into the support (115) and having a tapered surface (119a) at its tip for closing the chuck claws (118) and (118);
19), and an eighth cylinder (120) for opening and closing the chuck jaws (118) and (118). The opening and closing rod (119) is moved by the extension movement of the eighth cylinder (120). Advance the chuck jaws (118) (11
8) By contacting the tapered surface (119a) of the opening / closing rod (119) with the rear end, the chuck claws (118) (118) are closed against the elastic force of the spring (117).

When the fifth chuck device (110) is not used, as shown in FIG.
2) The chuck body (114) is retracted to the side of the second support (51) by the action of the seventh cylinder (113).

In the above configuration, the drive shaft (1), the axle hub (7), the disk rotor (8), the knuckle (10), and the link ( In order to assemble the front axle (A) composed of 12) and the like to the vehicle body after the engine has been assembled, as shown in FIG. 10, a vehicle part assembly is attached to the tip of the arm (31) of the industrial robot (30). supporting lifting plate biasing device (40) (4
By mounting the 1), integrated industrial robot (30) vehicle component assembling apparatus and (40), the industrial robot (30), a work supply position where front axle (A) is positioned and held (A) and front axle (A)
To set between the workpiece embedded position location (b) positioning and holding a vehicle body is incorporated.

In this state, the work supply position (a)
In addition, for example, a slide type first constant velocity joint (2)
The right front axle (A) is supplied in a shortened state, and the front axle (A) is turned up by the first rod (4) by the work stand (32) installed at the work supply position (a). When the industrial robot (30) is supported in an upright state, the industrial robot (30) is operated, and the chuck claws (66) of the first to fourth chuck devices (45), (46), (47), and (48)
(81) (89) (103) is opened and the first chuck device (45) is rotated by the rotating mechanism (44) at a position corresponding to the right front axle (A).
0) is located immediately before the front axle (A).

Next, first to fourth chuck devices (45)
(46) (47) (48) chuck jaws (66) (81) (89)
By closing (103), the first chuck device (4
The knuckle (10) is moved to the second chuck device (4) by 5).
The link (12) is connected by the third chuck device (4
By gripping the second shaft (5) by 7) and the first shaft (4) by the fourth chuck device (48), the front axle (A) is mounted by the vehicle component assembling device (40). Keep it stable. Next, the vehicle component assembling device (40) holding the front axle (A) is moved to the work assembling position (b), and during this movement, the vehicle component assembling device (40) is moved from the vertical state. By changing the posture to the horizontal state, the front axle (A) is held in the horizontal state. The end of the first axle (4) of the front axle (A), which is held horizontally, on which the spline (4a) is formed, is connected to a spline provided on a differential gear (23) of the transaxle (20). The front axle (A) is inserted into the guide hole (22) connected to the hole (24), and the front axle (A) is once held stationary.

The above series of operations is performed by the action of the industrial robot (30) equipped with the vehicle component assembling device (40). Next, after releasing only the chuck of the second shaft (5) by the third chuck device (47), the entire vehicle component assembling device (40) is moved by the industrial robot (30) to the first shaft ( The first shaft (4) having the spline (4a) by swinging the rotation about the rotation center 4).
Is rotated in the guide hole (22). In parallel with the above operation, the fifth cylinder (96) of the vehicle component assembling device (40) is extended, and the third chuck device (47) is slid toward the guide hole (22), Further, by pressing the fourth chuck device (48) connected to the third chuck device (47) via the connecting rod (104) toward the guide hole (22), the fourth chuck device ( The first shaft (4) gripped by (48) is pressed toward the spline hole (24) connected to the guide hole (22).

At this time, if the spline (4a) of the first shaft (4) does not match the spline of the spline hole (24) of the differential gear (23), the end of the first shaft (4) Cannot move into the spline hole (24), the fourth chuck device (48) chucking the first shaft (4) cannot move toward the guide hole (22), and the spring (106) is compressed. Meanwhile, only the third chuck device (47) and the rod (104) move toward the guide hole (22).

In the meantime, the spline (4a) and the spline hole (24) of the first shaft (4) are rotated by the rotation of the first shaft (4) by the industrial robot (30).
When the splines of the first shaft (4) coincide with each other, the pressing force in the direction of the guide hole (22) applied to the fourth chuck device (48) for chucking the first shaft (4) is used. Slides in the direction of the guide hole (22) together with the fourth chuck device (48), and the end of the first shaft (4) is connected to the spline hole (24) of the differential gear (23).
Is inserted into.

The insertion of the spline (4a) into the spline hole (24) after insertion into the spline hole (24) is determined by the change in the relative device of the fourth chuck device (48) of the connecting rod (104) with respect to the chuck body (101). Is detected by the proximity switch (107). That is, during the above operation, the connecting rod (104) moves toward the guide hole (22) while compressing the spring (106), and the flange (1) provided on the connecting lot (104) is moved.
04b) once moves away from the proximity switch (107), and moves to the guide hole (22) side of the chuck body (101), so that the flange (104b) is again positioned immediately before the proximity switch (107). The detection is performed by the proximity switch (107).

In this way, when the right front axle (A) is conveyed and positioned below the vehicle body and inserted into the spline hole (24) at the end of the first shaft (4), First, second and fourth chuck devices (45)
(46) The chuck of each part of the front axle (A) by (48) is released, and thereafter, the vehicle component assembling device (40) is again positioned immediately before the work stand (32) at the work supply position (a). . Then, the next work supplied to the work stand (32), that is, the left front axle (A) is chucked in the same manner as described above, and transported to the lower part of the vehicle body.

[0038] Incidentally, after the transport of the front axle for the right (A), when conveying the front axle (A) of for left, the workpiece supply position from the vehicle with the component assembly device (40) is a work built see position (b) until returning to (b), rotates the first chuck device (45) by a rotating mechanism (44), the first switch <br/> catcher Tsu front axle of the click device (45) to the right What is necessary is just to move from the position corresponding to (A) to the position corresponding to the left front axle (A).

In the case of a front axle (A) in which a circlip (13) is press-fitted into a spline (4a) of the first shaft (4), the first shaft is subjected to a series of operations described above. (4) Spline at the end (4
a) and the spline holes (2
After inserting the first shaft (4) into the spline hole (24) until the circlip (13) comes into contact with the open end of the spline hole (24),
The front axle (A) is once held in this state. Next, the second cylinder (75) of the vehicle component assembling device (40) is once released, and the distal end surface of the punch (74) is moved by the elastic force of the spring (76) to the front axle (A).
Abut on the end face of the third shaft (6).

Next, the second cylinder (75) is extended, and the front axle (A) and the slide base (43) holding each chuck device for chucking the front axle (A) by the punch (74). The whole is pressed toward the spline hole (24), and the circlip (13) is provided in the spline hole (24) by using the inertia force of the entire front axle (A) and slide base (43). (twenty five)
Pressed into.

In the case of a front axle (A) in which a circlip (13) is press-fitted into a spline (4a) of the first shaft (4), the first shaft is subjected to a series of operations described above. (4) Spline at the end (4
a) and the spline holes (2
After inserting the first shaft (4) into the spline hole (24) until the circlip (13) comes into contact with the open end of the spline hole (24),
The front axle (A) is once held in this state.

Next, the second cylinder (75) of the vehicle component assembling device (40) is once released, and the distal end surface of the punch (74) is moved to the front axle (A) by the elastic force of the spring (76). 3 is brought into contact with the end face of the shaft (6). Next, the second cylinder (75) is extended, and the entire slide base (43) holding the front axle (A) and each chuck device for chucking the front axle (A) by the punch (74) is splined. Press toward the hole (24) and use the inertia of the entire front axle (A) and slide base (43) to apply the circlip (13).
And pressure entering the city <br/> in the spline hole the groove (25) provided in the (24). After this press-fitting operation, the sixth cylinder (10
6) is driven in the shortening direction and the fourth chuck device (48) is pulled by pulling the connecting rod (104),
Pull the first shaft (4) with the circlip (13).

At this time, the circlip (13) is in the groove (25).
If it is press-fitted correctly, the first shaft (4) will not move, so the fourth chuck device (48) and the connecting rod (104) will not move, and the sixth cylinder (106) will be shortened. And if the circlip (13) is not press-fitted correctly, the first shaft (4) moves with the fourth chuck device (48) and the connecting rod (104) and the sixth cylinder Since (104) is shortened, the press-fitting of the circlip (13) is confirmed by the movement of the sixth cylinder (106).

Thereafter, similarly to the above, the chuck of the front axle (A) by the component assembling device (40) is released, and the vehicle component assembling device (40) is moved to the work supply position (a).
And returns to the position immediately before the work stand (32), and thereafter repeats the above operation.

The vehicle which is transported to the work incorporating position (D) is a four-wheel drive vehicle, and the front axle (A) incorporated in the vehicle is the first axle of the drive shaft (1).
In this work station, the circlip (13) is press-fitted into the spline (4a) and the first shaft (4) is divided into two. ) Only, the front axle (A) is conveyed by the vehicle part assembling device (40) and pressed into the groove (25) provided in the spline hole (24) of the circlip (13). In order to balance the time, a dummy work corresponding to a portion other than the first shaft (4) of the front axle (A) is prepared, and the dummy work is attached to the first through the fourth parts of the vehicle component assembling device (40). The first shaft (4) is chucked by the third chuck devices (45), (46), (47), and the fourth and fifth chuck devices (48), (11).
0), and thereafter, in the same manner as above,
Supply the front axle (A) to the vehicle.

When using the fifth chuck device (110), the seventh cylinder (113) is shortened, and the swing arm (112) is rotated counterclockwise in FIG. (118) (118)
With the chuck jaws (103) (1) of the fourth chuck device (48).
03), the fifth chuck device (11)
0) chucking of the first shaft (4).

[0047]

As described above, the vehicle component assembling apparatus according to the present invention includes the first to fourth components mounted on the slide base.
The front axle can be held in a stable state by the operation of the chuck device, so if this vehicle parts assembly device is installed at the end of the arm of the industrial robot, the front axle will be held in a stable state by the industrial robot. And can be transported, which allows
This makes it possible to automatically supply the front axle to the vehicle body, which has been very difficult in the past.

Also, when the vehicle component assembling apparatus according to the present invention is used, when the spline of the first shaft of the front axle is inserted into the spline hole of the differential gear,
The automatic insertion of the spline into the spline hole can be performed by the swing of the entire vehicle component assembling apparatus by the industrial robot and the elastic pressing operation of the first shaft toward the spline hole side by the third and fourth chuck devices. At the same time, when the circlip is press-fitted into the spline, the pressing operation of the slide base holding the first to fourth chuck devices causes the slide base to be pressed into the concave groove provided in the spline hole of the circlip. Since the press-fitting work can be automated, the work of assembling various types of front axles to the vehicle body can also be fully automated.

[Brief description of the drawings]

FIG. 1 is a partial cross-sectional side view showing the entire configuration of a vehicle component assembling apparatus according to the present invention.

FIG. 2 is a bottom view

FIG. 3 is a partial sectional front view showing the chuck device of FIG. 1;

FIG. 4 is a rear view of the chuck device of FIG. 2;

FIG. 5 is a partial cross-sectional plan view of the second and third chuck devices.

FIG. 6 is a front view showing a relationship between a third chuck device and a fourth chuck device.

FIG. 7 is a longitudinal sectional view showing a chuck body of the third and fourth chuck devices.

FIG. 8 is a longitudinal sectional view and a transverse sectional view showing chuck bodies of third and fourth chuck devices.

FIG. 9 is a partial cross-sectional plan view of the fourth and fifth chuck devices.

FIG. 10 is a plan view showing a state in which the vehicle parts assembling apparatus according to the present invention is mounted on an industrial robot.

FIG. 11 is a side view showing an example of a front axle.

FIG. 12 is a schematic diagram illustrating a relationship between a first shaft end of a front axle and a spline hole of a differential gear.

[Explanation of symbols]

 A Front axle 1 Drive shaft 2 First constant velocity joint 3 Second constant velocity joint 4 First shaft 4a Spline 5 Second shaft 6 Third shaft 7 Axle hub 8 Disk rotor 10 Knuckle 12 Link 30 Industrial robot 31 arm 40 vehicle component assembling device 41 support plate 42 first support 43 slide base 44 rotating mechanism 45 first chuck device 46 second chuck device 47 third chuck device 48 fourth chuck device 51 second Post 52 Slide plate 54 Spring 74 Punch 104 Connecting rod 106 Spring

──────────────────────────────────────────────────続 き Continuation of the front page (56) References Japanese Utility Model Sho 59-160121 (JP, U) Japanese Utility Model 63-193993 (JP, U) Japanese Utility Model Sho 57-197427 (JP, U) (58) Field (Int.Cl. ⁶ , DB name) B62D 65/00

Claims (1)

(57) [Claims] 1. A drive shaft including first to third shafts, first and second constant velocity joints located between the shafts, and a third drive shaft of the drive shaft.
A support plate for fixing an axle having axle hub, disk rotor, knuckle and link as main components mounted on the shaft side to the vehicle body side, and a vehicle component assembling device to an arm end of an industrial robot; A slide base comprising a slide plate and a second support, which is slidably supported by a first support erected on the support plate and is constantly pulled toward the support plate by the elastic force of a spring; A first chuck device for gripping a knuckle of an axle, which is rotatably supported on a slide plate via a rotation mechanism, and fixedly mounted on a second support of a slide base as a pair of left and right sides. A second chuck device for gripping an axle link, and a second chuck device for gripping a second shaft constituting an axle drive shaft. A third chuck device slidably supported by a second support of the slide base; and a second support of the slide base slidably supported by a second support of the slide base to grip a first shaft constituting a drive shaft of the axle. And a fourth chuck device connected to the third chuck device via a connecting rod and a spring; and an axle held by the first to fourth chuck devices, supporting each of the chuck devices. To slide against the first column together with the slide base
A device for assembling a vehicle component, comprising: a first support and a punch held on a support plate integrated with the first support.