JP3014465B2 - Automobile assembly method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of assembling a vehicle by assembling a vehicle by assembling various parts using a work robot on a main vehicle body component placed in a state of being transported by a truck.

[0002]

2. Description of the Related Art In a vehicle production line in an automobile manufacturing process, for example, a door formed in a cabin forming portion and an engine hood formed in an engine room forming portion are formed by joining a plurality of members. , The trunk body, which is temporarily fixed to the trunk space forming part, is integrated, and in the coating line section, after the sealing agent is applied, each part from undercoat to topcoat is painted as necessary. After that, the door, engine hood, trunk lid, etc. are removed, and the vehicle body and the door, engine hood, trunk lid, etc., are put into separate work line sections, respectively. After the assembly by the assembly of the various parts, the assembly of the various parts Keganasa doors, engine hood, trunk lid or the like is made to the finished vehicle body mounted on the regular.

[0003] In such a work line section for a vehicle body in a vehicle body production line, the vehicle body is mounted on a trolley or is transported while being supported and conveyed by a conveyor. It is general that the assembly by assembling various parts is performed by using both the work by the worker and the work by the installed work robot in a combined manner. For example, in order to automate
As disclosed in JP 108183 or JP-A-63-265779, a vehicle body is made up of a plurality of vehicle components, for example,
The upper vehicle body component is divided into a floor member or a lower vehicle body component member including the floor member, and the vehicle body components are preassembled by assembling various parts, and then connected to each other to form a vehicle body. It has been proposed to form a body.

[0004]

As described above, a plurality of vehicle bodies which are interconnected to form a vehicle body, such as, for example, an upper vehicle body component and a floor member or a lower vehicle body component including a floor member. In assembling each of the constituent members by assembling various parts therefor, a plurality of work line sections are provided corresponding to each of the plurality of body constituent members, and an upper side of the plurality of body constituent members is provided. A main body component such as a vehicle body component, that is, a main vehicle body component, is placed in a work line section corresponding to the main body component, for example, under a state of being placed on a carriage and transported. Assembling of parts prepared in advance is performed by a work robot fixedly installed in the line section. Accordingly, in such a work line section, when each of a large number of main body components of the same type sequentially fed thereto is conveyed to the position of a fixedly installed work robot, each of the main body components is externally connected to each other. It is difficult to set the position of each main body component with respect to the work robot with sufficient accuracy because the assembly is performed by assembling the parts by the work robot from the beginning. It is required to perform the assembling work by absorbing the displacement of the members, so that a large work load is imposed. In particular, for each work robot, the parts are appropriately assembled to the inside of each main body component. It is a difficult task.

[0005] Further, each work robot performs intermittent work with waiting time for the main vehicle body members conveyed in the work line section, and therefore, the work robot is not operated efficiently. There is a disadvantage of becoming. Furthermore, the ratio of the period in which each main vehicle body component is merely transported by a bogie or the like to the period in which the work robot performs work on each vehicle body component is relatively large, and good work efficiency is achieved. There is a problem that can not be obtained.

[0006] In view of the above, the present invention relates to a method of assembling an automobile by assembling parts to a main vehicle body component carried by a trolley by using a work robot to improve the automation rate. , The work load of the work robot can be reduced, and the work robot can easily assemble the parts properly inside the main vehicle body components, and further effectively improve the operation rate of the work robot. And the ratio of the period during which the main vehicle body components are simply transported by the trolley to the period during which the work robot performs work on the main vehicle body components can be made relatively small, thereby improving work efficiency. It is an object of the present invention to provide a method of assembling a vehicle, which can improve the vehicle.

[0007]

In order to achieve the above object, a method for assembling an automobile according to the present invention comprises a first working robot.
And the second working robot
The main body component member, which is installed outside the bogie and has a floor portion opening, is provided with a first work area and a second work area by the bogie .
The area is being transported and is within the first working area
Te, the first working robot allowed to enter from the floor part opening into the interior of the main body constituting member, causing the first parts assembly work to the main body constituting member to the first working robot
Together with the second work robot in the second work area.
Into the main vehicle body component through the floor opening
The second work robot to the main body components.
To perform the second part assembling work.
For parts assembled to the main body components of the bot
It is assumed that retightening is performed .

[0008]

In the method of assembling an automobile according to the present invention as described above, the main vehicle body components such as the upper vehicle body components carried by the bogie are provided with floor portion openings. In the process of being transported by the bogie to the main vehicle body constituent member having the flat floor opening, each of the first work robot and the second work robot enters the inside from the floor part opening. The first and second work robots assemble various parts to the main vehicle body components. Therefore, according to the method for assembling a car according to the present invention, the first and
With work load of the second working robot respective first and second working robot is set for the mutual positional relationship between the main body constituting member made properly is reduced, first and second <br / > It is assumed that the proper assembling of various parts to the inside of the main body components by the work robot is easily performed.

[0009] Further, a first working robot for working on the main vehicle body components in the first working area is provided on a bogie.
It is installed in the main body components and
The first work robot performs the work on the main vehicle body components without taking a waiting time, so that the operation rate of the first work robot can be effectively improved, and vehicle body component member simply being the first ratio to the time period operation is performed by the work robot is relatively small in the main body components of the period which is just in the state carried by the carriage, for the main vehicle body component member The work efficiency of the entire assembling work is improved.

[0010]

FIG. 1 schematically shows an arrangement of an example of an automobile assembly line on which an automobile assembling method according to the present invention is carried out. In the example of such an automobile assembly line, a main portion of a vehicle body is shown. The upper vehicle body member, which is a main vehicle body constituting member, constitutes a work on which an assembling operation is performed according to the automobile assembling method according to the present invention.

The automobile assembly line shown in FIG. 1 includes a vehicle body carry-in path forming section T1, an upper body member carrying path forming section T2, a floor member carrying path forming section T3, and an exterior member carrying path forming section T.
4, floor member processing line section LF, exterior member processing line section LE1 to LE6, work stations S1 and S
2, component assembly work line sections LP1 and LP2, floor member assembly work line section LFA, and exterior member assembly work line section LEA. The floor member processing line section LF includes a floor member transport path forming unit T3.
The exterior member processing line sections LE1 to LE6 are provided along each of the six branched exterior member transport path forming portions T4.

In the part assembling work line section LP1, a work transport circuit R1 is formed, and a plurality of self-propelled vehicles 5 travel on the work transport circuit R1. Further, the component assembling work line section LP2 is also formed with a work transport circuit R2, and a plurality of self-propelled vehicles 4 travel on the work transport circuit R2. At one end of the portion R1a of the work transport circuit R1,
The terminal end of the upper vehicle body member transfer path forming portion T2 is connected, and the other end of the portion R1a is connected to one end of a portion R2a of the work transfer circuit R2 via a hanger conveyor H1. The other end of the part R2a is connected to one end of a part R2b of the work transport circuit R2,
The other end of b is connected to one end of a portion R1b of the work transport circuit R1 via a hanger conveyor H2. The other end of the portion R1b is connected to the floor member assembling work line section LFA via the hanger conveyor H3, and the floor member assembling work line section LFA.
Are connected to the exterior member assembling work line section LEA. Further, the end of the floor member transport path forming portion T3 is connected to the floor member assembling work line section LFA, and similarly, the six exterior member transport paths are connected to the exterior member assembling work line section LEA. The respective ends of the forming part T4 are connected.

As shown in FIG. 2, a front door 21F, a rear door 21
The vehicle body 20, which is formed by integrating various components including exterior members such as the R, the engine hood 22, and the trunk lid 23, is required to have various parts from undercoating to overcoating after the sealing agent is applied in the coating line section. It is carried in a state where the coating according to the is applied. Then, the vehicle body 20 carried into the vehicle body carry-in path forming section T1 is transported to the work station S1, where the front door 21F and the rear door 2 are arranged as shown in FIG.
It is divided into an upper vehicle body member 24 provided with exterior members such as 1R, engine hood 22, and trunk lid 23, and a floor member 25. Upper body member 2 obtained by such division
4 has a cabin forming part A1 in which the front door 21F and the rear door 21R are arranged, an engine room forming part A2 in which the engine foot 22 is arranged, and a trunk space forming part A3 in which the trunk lid 23 is arranged. The floor member 25 is removed from the bottom surface of the cabin forming portion A1, so that a floor portion opening is provided.

[0014] The upper body member 24 and the floor member 25 obtained in the working station S1, respectively sent to the upper body member conveyance path forming portion T2 and the floor member conveyance path forming section T3, the upper body member 24 the upper body member While being transported to the work station S2 provided in the transport path forming section T2, the floor member 25 is carried into the floor member processing line section LF through the floor member transport path forming section T3. In the floor member processing line section LF, the floor member 25 is subjected to various treatments such as sealing treatment and secondary rust prevention treatment and component mounting, and then to the floor on which various processes and component mounting are performed. The member 25 is transported again to the floor member assembling work line section LFA through the floor member transport path forming unit T3.

In the work station S2, as shown in FIG. 4, the upper vehicle body member 24 carried in from the work station S1 is removed from the cabin forming part A1 by removing the front door 21F and the rear door 21R from the cabin forming part A1, and from the engine room forming part A2. The engine hood 22, the front fender 26 and the front shroud 27 are detached, and the trunk lid 23 and the rear panel 28 are detached from the trunk space forming portion A3. Thereby,
In the work station S2, the upper vehicle body member 24
On the bottom surface and the left and right sides of the cabin forming portion A1,
Floor part opening K1 and center pillar 1 respectively
a, a front door part opening K2 and a rear door part opening K3 are provided, an engine room part A2 is provided with an engine room part opening K4, and a trunk space forming part A3 is provided with a trunk. It is assumed that a space portion opening K5 is provided.

The cabin forming portion A1 obtained at the work station S2 has a floor portion opening K
1 the upper body member 24 is provided, feed upper body member transportable
The front door 21F, the rear door 21R, the engine hood 22, the front fender 26, and the front shroud 27 which have been transported to the component assembling work line section LP1 through the path forming section T2 and have been removed from the upper body member 24 at the work station S2. , Trunk lid 23,
The various exterior members of the rear panel 28 are carried into the exterior member processing line sections LE1 to LE6, respectively, through the exterior member transport path forming unit T4 that branches into six.

In the exterior member processing line section LE1, processing required for the front shroud 27 is performed. In the exterior member processing line section LE2, the trunk lid 23 is processed.
The processing required for the exterior member processing line section LE3
In this case, the necessary processing and attachment of parts to the rear panel 28, the processing required for the engine hood 22 in the exterior member processing line section LE4, and the processing required for the front door 21F and the rear door 21R in the exterior member processing line section LE5 are required. In the exterior member processing line section LE6, processing and mounting of parts are further performed on the front fender 26, and necessary processing and mounting of parts are performed, respectively. 2
3, the rear panel 28, the engine hood 22, the front door 21F and the rear door 21R, and the front fender 26 are respectively transported to the exterior member assembling work line section LEA through the six exterior member transport path forming portions T4.

As described above, the assembling work of the upper body member 24 conveyed to the part assembling work line section LP1 through the upper body member conveying path forming portion T2 according to the automobile assembling method according to the present invention is carried out by the part assembly Work line section LP1 and subsequent parts assembly work line section LP2
In such a case, first, the upper body member 2
4 is mounted on the self-propelled carriage 5 at a work mounting portion P1a provided at one end of the portion R1a of the work transport circuit R1 in the component assembling work line section LP1. And
The upper body member 24 placed on the self-propelled trolley 5 is
Transports the portion R1a of the work transport circuit R1 from one end to the other end thereof in the direction of the arrow X1.
Various components such as a wire harness, a grommet, and a clip are assembled to the upper body member 24. Thereafter, the upper vehicle body member 24 to which various parts are assembled in the part R1a of the work transport circuit R1 is retracted from the self-propelled carriage 5 in the work retreat part Q1a provided at the other end of the part R1a, and the parts are assembled. The work is transferred to the hanger conveyor H1 to be transferred to the work line section LP2, and the work placement provided at one end of the portion R2a of the work transfer circuit R2 in the part assembling work line section LP2 via the hanger conveyor H1. The part P2 is placed on the self-propelled carriage 4.

Then, the upper body member 24 mounted on the self-propelled carriage 4 is conveyed by the self-propelled carriage 4 from one end of the portion R2a of the work transfer circuit R2 to the other end.
Further, the workpiece is transported in the direction of arrow X2 from one end of the portion R2b of the work transport circuit R2 to the other end, and the interior unit, the dashboard unit, the rear seat, the front and the rear are mounted on the upper body member 24 during that time. Assemble various parts such as windshield glass. Subsequently, the upper body member 24 to which various parts are assembled in the portions R2a and R2b of the work transport circuit R2 is moved to the portion R2b.
Is transferred to the hanger conveyor H2 in order to retreat from the self-propelled trolley 4 and transfer it to the component assembling work line section LP1 in the work evacuation section Q2 provided at the other end of Assembly work line division LP1
Is placed on the self-propelled carriage 5 at a work placement part P1b provided at one end of a portion R1b of the work transport circuit R1.

Next, the upper body member 24 mounted on the self-propelled vehicle 5 is again moved by the self-propelled vehicle 5 to the work transport circuit R1.
Is transported from one end to the other end of the portion R1b, and in the meantime, the assembling screw members of the various parts assembled to the upper body member 24 are tightened to complete the assembly work for the upper body member 24. Thereafter, the upper vehicle body member 24, for which the assembling work is completed, is retracted from the self-propelled trolley 5 and transferred to the floor member assembling work line section LFA in the work retracting section Q1b provided at the other end of the portion R1b. To the hanger conveyor H3, and through the hanger conveyor H3, the floor member assembling work line section L
It is conveyed to the upper vehicle body loading section WS provided in the FA.

In this way, the upper body member 24 assembled and reassembled by the various parts in the part assembling work line sections LP1 and LP2 is loaded from the upper body member loading section WS into the floor member set. In the attached work line section LFA, the floor member 25 introduced from the floor member carry-in section FS through the floor member transport path forming section T3 is assembled to the upper body member 24. Then, the upper body member 24 to which the floor member 25 is attached
Is transferred from the floor member assembly work line section LFA to the exterior member assembly work line section LEA.

In the exterior member assembling work line section LEA, the front shroud 2 introduced from the exterior member carry-in section ES1 to the upper body member 24 on which the floor member 25 from the floor member assembling work line section LFA is assembled.
7, the trunk lid 23 introduced from the exterior member entrance ES2, the rear panel 28 introduced from the exterior member entrance ES3, the engine hood 22 introduced from the exterior member entrance ES4, and the front introduced from the exterior member entrance ES5. The door 21F, the rear door 21R, and the front fender 26 introduced from the exterior member carry-in section ES6 are sequentially assembled, and an automobile is assembled.

In the work retreating section Q1a provided at the other end of the part R1a of the work transport circuit R1 in the part assembling work line section LP1, the upper body member 24 placed thereon is removed. The self-propelled trolley 5 moves along the work transport circuit R1 from the work retreat part Q1a to the work placement part P1b provided at one end of the part R1b, and the work in the part assembling work line section LP2. The self-propelled trolley 4 from which the upper vehicle body member 24 placed thereon is removed in the work retreating section Q2 provided at the other end of the portion R2b of the transport circuit R2, along the workpiece transport circuit R2. Moves from the work retreat part Q2 to the work placement part P2 provided at one end of the part R2a, and further moves the part R of the work transport circuit R1 in the part assembling work line section LP1. In workpiece withdrawal unit Q1b provided at the other end of the b, the self-propelled carriage 5 the upper body member 24 has been removed placed thereon, the workpiece conveying traveling route R1
Along the path from the work retreat part Q1b to the work placement part P1a provided at one end of the part R1a.

When the upper body member 24 is assembled as described above, the upper body member 24 is moved along the work transport circuit R1 in the part assembling work line section LP1, and the upper body member 24 is placed thereon. Self-propelled trolley 5 is shown in FIG.
As shown in FIG. 7, the wheels are driven by a motor 6 attached to the pair, and run on a pair of rails 3 forming a work transport circuit R1. Then, on the work supporting surface 5A of the self-propelled carriage 5, a main pallet 7 for positioning the upper vehicle body member 24 to be placed, and a work robot 8A for performing work on the upper vehicle body member 24 positioned by the main pallet 7, 8B, two robot tool placement tables 9A and 9B provided for the work robots 8A and 8B, respectively, and two control units 10A and 10B for controlling the operation of the work robots 8A and 8B, respectively. Have been.

The main pallet 7 is formed in the shape of a frame, and columnar support members 32 are planted at a plurality of locations. The engaging pins 31 provided on the tops of the columnar support members 32 are mounted on the upper body. The upper vehicle body member 24 is supported and positioned by the columnar support member 32 in a state where the upper vehicle body member 32 is engaged with the engagement hole provided in the bottom surface of the member 24.

The working robot 8A has a rotating part 15A mounted on a base 14A fixed on the work supporting surface 5A of the self-propelled carriage 5 so as to be surrounded by the central part of the main pallet 7. A movable arm portion 16A supported by 15A enters the cabin forming portion A1 through a floor portion opening K1 provided on a bottom surface portion of the cabin forming portion A1 of the upper body member 24 positioned by the main pallet 7. It has been. And a rotating portion 15A for supporting the movable arm portion 16A.
Is movable along the longitudinal direction of the upper body member 24 on the base 14A. The sub-pallet 12A on which components are placed is arranged on the base 14A on which the rotating portion 15A of the work robot 8A is arranged in this manner. Various components P such as grommets and wire harnesses to be assembled inside the forming portion A1 are arranged in a predetermined manner.

The work robot 8B has a rotating part 15B on a base 14B fixed on the work supporting surface 5A of the self-propelled carriage 5 so as to be partially surrounded by the U-shaped end of the main pallet 7. The movable arm portion 16B which is installed and supported by the rotating portion 15B is moved to the engine room forming portion A of the upper body member 24 positioned by the main pallet 7.
2 is inserted into the engine room partial opening K4. The rotating portion 15B that supports the movable arm portion 16B can move on the base 14B along the longitudinal direction of the upper body member 24. Thus, the rotating unit 15 of the working robot 8B
A sub-pallet 12B on which components are mounted is disposed on a base 14B on which the components B are disposed at positions corresponding to the inside of the engine room partial opening K4. Engine room forming part A
Various components P ′ such as grommets, wire harnesses, etc. to be assembled inside 2 are arranged in a predetermined manner.

The work robots 8A and 8B are articulated robots, and have respective movable arms 16A or 16A.
B is turned by the turning parts 15A or 15B and can perform bending and stretching operations at a plurality of positions, respectively.
B is provided.

The wrist section 17A provided on the movable arm section 16A of the working robot 8A outside the cabin forming section A1 of the upper body member 24 supported by the main pallet 7 can reach the robot tool placement table 9A. Various tools Q that are arranged at positions and that are removably attached to the wrist section 17A of the working robot 8A are arranged on the tool mounting surface in a predetermined manner. The robot tool placement table 9B is located at a position near the engine room forming section A2 of the upper body member 24 supported by the main pallet 7 and at which the wrist section 17B provided on the movable arm section 16B of the working robot 8B can reach. The work robot 8 is disposed on the tool mounting surface.
Various tools Q 'detachably attached to the wrist portion 17B of B are arranged in a predetermined manner.

The two control units 10A and 10B are:
The work robots 8A and 8B are provided at the ends of the work supporting surface 5A of the self-propelled carriage 5, and supply operation control signals according to a preset control program to each of the work robots 8A and 8B, for example. Perform control.

A part assembly work line section L including a self-propelled carriage 5 on which such work robots 8A and 8B are installed.
At P1, assembling and tightening of various parts of the upper vehicle body member 24 conveyed to the work mounting portion P1a through the upper vehicle body member conveying path forming portion T2 according to the automobile assembling method according to the present invention. In performing the assembling, the upper body member 24 is moved on the pair of rails 3 constituting the work transport circuit R1 in the component assembling work line section LP1 in the work mounting portion P1a. The robot 5A is placed on one of the self-propelled vehicles 5 from above. At this time, the work robot 8A installed on the work supporting surface 5A of the self-propelled vehicle 5 is moved by the movable arm 16A of the cabin of the upper body member 24. While entering into the cabin formation part A1 through the floor part opening K1 provided in the formation part A1,
The work robot 8B installed on the work supporting surface 5A of the self-propelled carriage 5 is moved by the movable arm 16B to the upper body member 2.
4 and set in the main panel 7 installed on the work supporting surface 5A of the self-propelled trolley 5 under the condition that it enters the inside of the engine room partial opening K4 provided in the engine room forming part A2. Plurality of columnar support members 3
2, the upper body member 2
4 by fitting the engagement holes provided in the engine room forming portion A2 and the trunk space forming portion A3 into a plurality of columnar support members 3 as shown in FIG.
2 and positioned.

Next, the motor 6 of the self-propelled carriage 5 on which the upper body member 24 is placed is directed to the parts assembly work line section LP2 on the pair of rails 3 at a predetermined speed. Traveling along the upper body member 24 together with the work robots 8A and 8B.
It is in a state of being transported toward P2.

Subsequently, an operation control signal transmitted according to a preset control program from a control unit 10A installed on the traveling self-propelled vehicle 5 is supplied to the work robot 8A, and the work robot 8A is turned. The base 14A in which the portion 15A is fixed on the work supporting surface 5A of the self-propelled carriage 5
The movable arm 16A moves the wrist 17A provided on the movable arm 16A to the front door portion opening K2 provided on the cabin forming portion A1 of the upper body member 24, or the rear door portion. Opening K
3 to reach the position of the robot tool placement table 9A, and one of the tools Q placed on the robot tool placement table 9A is placed on the wrist section 17A, and then placed. Using the tool Q, various parts P arranged on the sub-pallet 12A are mainly
In a state of performing an operation of sequentially assembling inside the cabin forming portion A1. In such a state, as shown by the solid line and the dashed line in FIG. 6, the work robot 8A uses a tool Q attached to the wrist unit 17A to select a specific one of the various components P arranged on the sub-pallet 12A. Is selected and held, and it is
No. 4 in the cabin forming portion A1 around the sub pallet 12A. When assembling the various parts P to the upper body member 24,
The work robot 8A also performs an operation of appropriately replacing the tool Q mounted on the wrist section 17A with a tool suitable for handling the component P in accordance with the component P assembled to the upper body member 24.

In addition, the traveling self-propelled vehicle 5
An operation control signal transmitted according to a preset control program from a control unit 10B installed in the work robot 8B is supplied to the work robot 8B. The movable arm 16B moves on a base 14B fixed to the
B is made to reach the position of the robot tool placement table 9B, and one of the tools Q 'placed on the robot tool placement table 9B is placed on the wrist section 17B. Using Q ′, a state is established in which the various parts P ′ arranged on the sub-pallet 12B are sequentially assembled mainly inside the engine room forming portion A2 of the upper body member 24. In assembling the various parts P ′ to the upper body member 24, the tool Q ′ mounted on the wrist portion 17B is attached to the work robot 8B by the component P ′ assembled to the upper body member 24.
, An operation of appropriately replacing the device with a device suitable for handling it is also performed.

As described above, it is possible to obtain the upper body member 24 in which the various parts P and P 'have been assembled, and the upper body member 24 is assembled from the self-propelled vehicle 5 with the parts. It is transferred to one of the plurality of self-propelled vehicles 4 which are to travel on the work transport circuit R2 in the work line section LP2.

Thus, the upper body member 24, the sub-pallets 12A and 12B, the work robots 8A and 8
B, the control units 10A and 10B, and the robot tool placement tables 9A and 9B are set on the common self-propelled carriage 5, and are conveyed while the work robots 8A and 8B sub-palette the upper body member 24. 12A and 12B
Of the various parts P and P 'placed in the
In addition, at this time, the work robot 8A mainly installs the various components P on the inside of the cabin forming portion A1 in the upper body member 24, and the movable arm portion 16A arranges the assembly in the cabin forming portion A1 through the floor portion opening K1. The work robot 8B
Is mainly used for assembling the various parts P ′ to the inside of the engine room forming portion A2 of the upper body member 24, and the movable arm portion 16B of the upper body member 24
It is assumed that the positioning is performed with respect to the work robots 8A and 8B with high accuracy during the work of assembling the parts by the work robots 8A and 8B. The work load on the work robots 8A and 8B can be reduced, and the work robots 8A and 8B can assemble the parts P inside the cabin forming portion A1 in the upper body member 24 and form the engine room in the upper body member 24, respectively. Part A
It is an easy task to properly assemble the component P ′ inside the interior 2. Further, the working robots 8A and 8A
The waiting time for B to wait for the arrival of the upper body member 24 is eliminated, and in addition, the necessary tool change for each of the working robots 8A and 8B is performed in a very short time, The operation rate of the robots 8A and 8B is significantly improved.

When the upper body member 24 is assembled, the upper body member 24 moves along the work transport circuit R2 in the part assembling work line section LP2.
As shown in FIG. 7, the self-propelled carriage 4 on which the wheels 37 are driven by the motor 36 attached to the self-propelled carriage 4 and a pair of rails 38 forming a work transport circuit R2. Is provided. Support posts 40 and 41 extending upward are respectively provided on both ends of the substrate 39 in a direction along the pair of rails 38.

The support post 40 is provided with an elevating shaft 42 extending therethrough, and the elevating shaft 42 has a rack 43 formed on one side thereof. ing. The support post 40 includes a pinion gear 44 that engages with a rack 43 formed on the elevating shaft 42, a gear 45 having a common axis with the pinion gear 44, and a gear 46 meshed with the gear 45. The shaft is fixed and built in. Similarly, the support post 41 is provided with an elevating shaft 47 extending therethrough, and the elevating shaft 47 has a rack 48 formed on one side thereof. ing. A pinion gear 49 that engages with a rack 48 formed on the elevating shaft 47, a gear 50 having the same axis as the pinion gear 49, and a gear 51 meshed with the gear 50 are provided on the support post 41. The shaft is fixed and built in.

A rotating shaft 55 and a motor 56 extending in a direction connecting the base of the support post 40 and the base of the support post 41 are built in the center of the substrate 39, and an intermediate portion of the rotation shaft 55 is provided. The driving gear 58 fixed to the shaft of the motor 56 meshes with the gear 57 fixed to the motor 57. Accordingly, the rotation of the rotation shaft 55 is transmitted by the rotation of the shaft of the motor 56 via the drive gear 58 and the gear 57. And
Drive gears 59 and 60 are attached to both ends of the rotating shaft 55, and the drive gear 59 meshes with the gear 46 built in the support post 40, and the drive gear 60 is built in the support post 41. Gear 51. Accordingly, the rotation of the rotating shaft 55 is transmitted to the pinion gear 44 via the driving gear 59, the gear 46 and the gear 45, and transmitted to the pinion gear 49 via the driving gear 60, the gear 51 and the gear 50. , Pinion gears 44 and 49
Are driven by the rotating shaft 55 to be rotated simultaneously and in the same direction. By driving the pinion gears 44 and 49 to rotate simultaneously and in the same direction, the lifting shafts 42 and 47 perform the lifting and lowering movements with respect to the support posts 40 and 41 in synchronization.

At the upper end of the elevating shaft 42, a vehicle body member supporting mechanism 61 is provided. The vehicle body member supporting mechanism 61 is provided with a fixing portion 62, and a rotating member parallel to the rotating shaft 55. And a vehicle body supporting arm member 63 rotatably mounted about a central axis. The body member supporting arm member 63 is provided with a gear 65 formed by annularly disposing a large number of protrusions 64 on a side surface portion facing the fixing portion 62 and a body member engaging portion 66. The joint portion 66 is adapted to be screw-engaged with the vehicle body member. Further, a lock mechanism 67 for the gear 65 as shown in FIG. 8 is provided at the upper end of the fixing portion 62 with its position fixed, and the lock mechanism 67 has an operation rod 68 as shown in FIG. Arrow DR in
Is moved in the direction of
9 engages a projection 64 formed on the gear 65, locks the gear 65, and the operating rod 68 is moved in the direction of arrow DL in FIG. The projections 64 formed on the gear 65 are not held between the gears 65, so that the engagement with the gear 65 is released.

A body member supporting mechanism 71 is also provided at the upper end of the elevating shaft 47. The body member supporting mechanism 71 includes a fixed portion 72 and a rotating shaft 55 attached to the fixed portion 72.
And a vehicle-body-member supporting arm member 73 rotatably mounted with a rotation center axis parallel to. The vehicle body supporting arm member 73 has a disk 7 formed by arranging a large number of protrusions 74 on a side surface facing the fixing portion 72 in an annular manner.
5 and a vehicle body member engaging portion 76 are provided, and the vehicle body member engaging portion 76 is adapted to be screw-engaged with the vehicle body member. Further, the fixed portion 72 is provided at its upper end with a lock mechanism 77 for the disk 75, which is configured similarly to the lock mechanism 67 shown in FIG.

In the part assembling work line section LP2 in which the self-propelled trolley 4 having the above-described configuration travels, a pair of trolley engagement mechanisms as shown in FIG. Reference numerals 81 and 82 are installed at positions above the self-propelled carriage 4 traveling on a pair of rails 38 constituting the work transport circuit R2. Truck engaging mechanism 8
1 is a lifting drive unit 84 fixed with a motor 83
And the engaging portion 8 raised and lowered by the lifting drive portion 84
The engagement unit 85 includes a drive gear 87 that is driven to rotate by a motor 86, and a lock mechanism control unit 89 that is driven by an actuator 88. When the engaging portion 85 assumes the lowered position by the elevation drive portion 84, the engagement portion 85 meshes the drive gear 87 with the gear 65 of the vehicle body member support mechanism 61 provided on the support post 40 of the self-propelled carriage 4. At the same time, the lock mechanism controller 89
7 is engaged. The driving gear 87 is driven and rotated by the motor 86 while being engaged with the gear 65, thereby rotating the gear 65, and accordingly,
Body member supporting arm member 6 in body member supporting mechanism 61
3 is rotated. The lock mechanism control unit 89 engages with the operation rod 68 of the lock mechanism 67 and is driven by the actuator 88 to move the operation rod 68 of the lock mechanism 67 in the direction of arrow DR or arrow DL in FIG. This causes the lock mechanism 67 to assume a locked state or an unlocked state with respect to the gear 65.

On the other hand, the bogie engaging mechanism 82 comprises an elevating drive section 91 provided with a motor 90 and fixed, and an engaging section 92 which is raised and lowered by the elevating drive section 91. And a lock mechanism control unit 94 driven by the control unit. And, the engaging portion 92
When the lowering position is assumed by the lifting drive unit 91, the lock mechanism control unit 94 is moved to the support post 4 of the self-propelled vehicle 4.
1 is engaged with the lock mechanism 77 of the vehicle body member support mechanism 71 provided in the vehicle body 1. The lock mechanism control unit 94 causes the lock mechanism 77 to enter a locked state or an unlocked state with respect to the disk 75 by being engaged with the lock mechanism 77 and driven by the actuator 93.

A part assembly work line section LP including the self-propelled carriage 4 and the pair of carriage engagement mechanisms 81 and 82.
In 2, the assembling of various parts of the upper body member 24 conveyed from the part assembling work line section LP1 to the work mounting portion P2 via the hanger conveyor H1 according to the method of assembling a car according to the present invention. When assembling by performing, the upper vehicle body member 24 is moved from the plurality of self-propelled vehicles 4 which are to run on a pair of rails 38 constituting the work transport circuit R2 in the work mounting portion P2. As shown in FIG. 7, the mounting is performed by mounting both ends of the upper body member 24 in the longitudinal direction on the support post 40 of the self-propelled vehicle 4 as shown in FIG. The vehicle body member engaging portion 66 of the vehicle body member supporting arm member 63 of the support mechanism portion 61 and the vehicle body member supporting arm member 73 of the vehicle body member supporting mechanism portion 71 provided on the support post 41 of the self-propelled carriage 4. Together are respectively supported by definitive body member engaging portion 76 is performed by forming it shall be engaged screw engagement.

Next, the self-propelled vehicle 4 in which the upper body member 24 is engaged and supported by the vehicle body member supporting arm member 63 of the vehicle body member supporting mechanism 61 and the vehicle body member supporting arm member 73 of the vehicle body member supporting mechanism 71 is mounted on the motor. 36, the workpiece is transported intermittently on a pair of rails 38 by the operation control of the work transport circuit R.
And the upper body member 24 includes an interior unit including a seat belt and the like by the time the self-propelled vehicle 4 reaches the work evacuation unit Q2 without moving to the work evacuation unit Q2 provided at the other end of the vehicle 2. , Dashboard unit, rear seat, front and rear windshield glass, etc. At this time, the vehicle body member supporting arm member 63 of the vehicle body member supporting mechanism portion 61 and the vehicle body member supporting arm member of the vehicle body member supporting mechanism portion 71 of the self-propelled bogie 4 in accordance with the parts to be assembled to the upper vehicle body member 24. 73 is rotated by a predetermined rotation angle, and the gear 65 and the disc 75 provided on the vehicle body member support arm members 63 and 73 are respectively connected to the lock mechanism 67 provided on the vehicle body member support mechanism portions 61 and 71 and The rotation is restricted by causing the gear 77 and the disk 75 to be in a locked state with the gear 77, and the upper body member 24 engaged and supported by the body member support arm members 63 and 73 is used for assembling parts. While taking a convenient posture, the motor 56 incorporated in the substrate 39 is operated to rotate the rotating shaft 55, thereby synchronizing the elevating shafts 42 and 47. Tassel so, assume a prone height perform assembling operation of parts to the upper vehicle body member 24 which is engaged supported by the body member supporting arm members 63 and 73.

For example, prior to assembling the seat belt to the upper vehicle body member 24, the self-propelled bogie 4 engaged with and supported by the upper vehicle body member 24 is, as shown in FIG. It stops at a position below the combining mechanisms 81 and 82. Then, the motor 83 of the trolley engaging mechanism 81 and the motor 90 of the trolley engaging mechanism 82 are operated to cause the trolley engaging mechanisms 81 and 82 to assume the lowered position.
The drive gear 87 meshes with the gear 65 provided on the vehicle body member support arm member 63 in an engagement portion 85 provided in the carriage engagement mechanism 81, and the lock mechanism control unit 89 locks the vehicle body member support mechanism 61. The state in which the lock mechanism control section 94 is engaged with the lock mechanism 77 in the vehicle body member support mechanism section 71 is set in the engagement section 92 provided in the bogie engagement mechanism 82. Let me take it. Subsequently, the motor 86 provided on the engaging portion 85 of the bogie engaging mechanism 81 is operated to rotate the drive gear 87, and the gear 65 provided on the vehicle body member supporting arm member 63 is driven to drive the vehicle body member supporting arm. The member 63 is rotated. At this time, the rotation of the vehicle body member support arm member 63 is transmitted to the vehicle body member support arm member 73 via the upper vehicle body member 24, and the vehicle body member support arm member 73 also rotates with the vehicle body member support arm member 63.

By the rotation of the vehicle body member supporting arm members 63 and 73, the upper vehicle body member 24 engaged and supported by the vehicle body member supporting arm members 63 and 73 is brought into a posture that is convenient for assembling the seat belt. When the position is assumed, the operation of the motor 86 provided in the engaging portion 85 of the bogie engaging mechanism 81 is stopped, and the actuator 88 and the bogie provided in the engaging portion 85 of the bogie engaging mechanism 81 are stopped. Actuator 9 provided in engagement portion 92 of engagement mechanism 82
3 by operating the lock mechanism control unit 89 provided in the engagement unit 85 of the bogie engagement mechanism 81 to the vehicle body member support mechanism unit 6.
1 and the lock mechanism 67 in the vehicle body member support mechanism 71, the lock mechanism 67 in the vehicle body member support mechanism 71, and the lock mechanism 67 in the vehicle body member support mechanism 71. Disk 75
To be locked. Thereby, the upper vehicle body member 24 engaged and supported by the vehicle body member supporting arm members 63 and 73 is maintained in a posture convenient for assembling the seat belt.

Next, the motor 56 incorporated in the substrate 39 of the self-propelled carriage 4 is operated to rotate the rotating shaft 55,
Thereby, the elevating shafts 42 and 47 are raised and lowered in synchronization with each other, and the upper body member 24 engaged and supported by the body member supporting arm members 63 and 73 while maintaining the predetermined rotation angle position is attached to the seat belt. Make the height position easy to perform the assembly work. As a result, as shown in FIG. 9, the upper body member 24 supported by the self-propelled carriage 4 has a posture that is convenient for assembling the seat belt and a height position that facilitates the assembling work of the seat belt. It is assumed to have.

Thereafter, the upper body member 24 in a state having a posture convenient for assembling the seat belt and a height position at which the assembling work of the seat belt is easily performed is performed.
As shown in FIG. 9, the movable arm 95A of the work robot 95 installed outside the self-propelled carriage 4 is attached to the upper body member 2.
4 from the floor portion opening K1 provided in the upper body member 24 into the cabin forming portion A1;
The work robot 95 is caused to perform an operation of assembling the seat belt 97 inside the cabin forming portion A1 of the upper vehicle body member 24 by the tool W attached to the distal end portion of the movable arm portion 95A.

Thus, the part assembly work line section LP
2, the assembly of various parts to the upper body member 24 is performed by the upper body member 2 supported by the self-propelled carriage 4.
4 has a posture that is convenient for assembling each part and a height position that facilitates the assembling work of each part, such as a work robot 95 installed outside the self-propelled vehicle 4. The movable arm of the work robot is moved from the floor portion opening K1 provided in the upper body member 24 to the upper body member 24.
The upper part of the cabin forming part A1 of the upper vehicle body member 24 is placed in the cabin forming part A1 of the work robot by the tool W attached to the tip of the movable arm of the work robot. Is assembled, and the work of assembling various parts to the upper body member 24 is performed efficiently.

In the part assembling work line section LP2, the parts for the upper body member 24 are not only performed by the work robot but also by a manual operation by the operator.

Further, in the part R1b of the work transport circuit R1 in the part assembling work line section LP1, the tightening of the assembling screw members for the various parts assembled to the upper body member 24 is performed in the part assembling operation. Part R of work transport circuit R2 in line section LP2
The upper vehicle body member 24 to which various parts are assembled in 2a and R2b is transferred from the work retreating part Q2 provided at the other end of the part R2b via the hanger conveyor H2 to the work transport circuit in the part assembling work line section LP1. R
It is transported to the first portion R1b, and is again mounted on the self-propelled carriage 5 at the work mounting portion P1b provided in the portion R1b.
Also in such a case, the work robot 8A installed on the self-propelled trolley 5 enters the inside of the cabin forming portion A1 of the upper body member 24 from the floor portion opening K1 provided in the upper body member 24. At the same time, the work robot 8B installed on the self-propelled trolley 5 enters the engine room partial opening K4 provided in the engine room forming portion A2 of the upper body member 24.

Then, the upper vehicle body member 24 mounted on the self-propelled carriage 5 is transported by the self-propelled carriage 5 from one end of the portion R1b of the work transport circuit R1 to the other end.
In the meantime, the work robot 8A mainly performs the tightening operation of the assembling screw members for various parts assembled inside the cabin forming portion A1 of the upper body member 24, and the work robot 8B mainly performs the upper body member 2
The tightening operation of the assembling screw members for the various components assembled inside the engine room forming portion A2 of No. 4 is performed.

[0054]

As is apparent from the above description, according to the method for assembling a car according to the present invention, the assembling work of the car by assembling the parts to the main body component carried by the bogie is performed by the work robot. In order to improve the automation rate by using the main body component, it is assumed that the main body component is provided with a floor portion opening, and the main body component having such a floor portion opening is transported by a bogie. The first work robot and the second work
It is assumed that each of the robots enters the interior through the floor portion opening, and the first and second work robots assemble various parts to the main vehicle body components, so that the first and second work are performed. The mutual positional relationship between each of the robots and the main vehicle body components is properly set and the first
In addition, the work load on the second work robot is reduced, and the proper assembly of various components inside the main vehicle body component by the first and second work robots is easily performed.

Further, the first working robot for working on the main vehicle body components in the first working area is provided on the bogie.
Is installed in the main body component, and is carried out with respect to the main body component without waiting time. Therefore, the operation rate of the first work robot is effectively improved, the main body constituting member simply being the first ratio to the time period operation is performed by the work robot is relatively small in the main body components of the period which is just in the state carried by the carriage, a main body structure About components
Thus, the work efficiency of the entire assembling work can be improved.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing an example of a layout of an automobile assembly line in which an automobile assembly method according to the present invention is performed.

FIG. 2 is a perspective view for explaining a working process of an automobile assembly line in which the automobile assembling method according to the present invention is performed.

FIG. 3 is an exploded perspective view for explaining a working process of an automobile assembly line in which the automobile assembling method according to the present invention is performed.

FIG. 4 is an exploded perspective view for explaining a working process of an automobile assembly line in which the automobile assembling method according to the present invention is performed.

FIG. 5 is a side view showing an example of a bogie provided on an automobile assembly line in which the automobile assembling method according to the present invention is performed, together with an upper body member.

FIG. 6 is a cross-sectional view for explaining a working process of an automobile assembly line in which the automobile assembling method according to the present invention is performed.

FIG. 7 is a side view showing an example of a bogie provided on an automobile assembly line in which the automobile assembling method according to the present invention is performed, together with other mechanisms and an upper body member.

FIG. 8 is a partially enlarged view showing a part of the cart shown in FIG. 7;

FIG. 9 is a perspective view for explaining a working process of an automobile assembly line in which the automobile assembling method according to the present invention is performed.

[Explanation of symbols]

 A1 Cabin forming part A2 Engine room forming part K1 Floor part opening K4 Engine room part opening LP1 Parts assembly work line division LP2 Parts assembly work line division LFA Floor member assembly work line division LEA Exterior member assembly work line division R1 Work transport circuit R2 Work transport circuit H1 Hanger conveyor H2 Hanger conveyor H3 Hanger conveyor 4 Self-propelled trolley 5 Self-propelled trolley 8A Work robot 8B Work robot 10A Control unit 10B Control unit 24 Upper body member 25 Floor member 95 Work robot

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-63-247179 (JP, A) JP-A-61-150878 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23P 21/00 303 B62D 65/00

Claims (6)

(57) [Claims] When the first working robot is installed on a trolley,
Together second working robot is installed outside the carriage, the main body structure member floor partial opening is provided by the carriage first working area and second working area state and without being conveyed, the In the first work area, the first work robot is caused to enter the inside of the main vehicle body component through the floor portion opening , and the first work robot is moved to the main vehicle body component by the first work robot. the first part article assembling work performed <br/> was Rutotomoni, in the second working zone, said first
2. Move the work robot from the floor portion opening to the main vehicle
The second working robot is inserted into the body component member.
2nd part assembly work on the main body components
Then, the first work robot is moved to the main body structure.
A method for assembling an automobile, in which a part assembled to a component is retightened . 2. A floor member to be assembled to a main vehicle body component is assembled separately from the main vehicle body component, and the assembled floor member is assembled by the first and second work robots. 2. The method of assembling an automobile according to claim 1, wherein the assembly is performed on a portion of the main vehicle body member where the floor portion opening is provided. 3. A small number of the first and second working robots.
At least one of them must be
Automobile assembly process according to claim 1, wherein the this <br/> forming as to exchange the tool mounted in accordance with the content. 4. In the second work area, a second work is performed.
In addition to the second part assembly work performed by the robot,
Manual assembly of parts to main body components
Automobile assembly process according to claim 1, wherein the cormorants. 5. The main vehicle body structure in the first work area.
The members are transferred to the cart on which the first work robot is
The work robot 1 is connected to the main vehicle through the floor opening.
Placed in a state where it is arranged inside the body constituent member, the second
In the work center region, the main body constituting member, the vehicle body
During rotation supporting components and extending in a predetermined direction
The cart provided with the support means for rotating with the center axis
Automobile assembly process according to claim 1, wherein placing with the state of being supported by the supporting means. 6. A main body component member is supported and a predetermined
Support means to rotate with the rotation center axis extending in the direction
The cart provided is supported by the support means and
Adjust the height position of the main body components that are rotated
Hand to raise or lower the support means
6. The method for assembling an automobile according to claim 5 , wherein the vehicle is provided with a step .