JP3168672B2 - How to mount automotive seats - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automobile seat for a vehicle.
Regarding how to mount automatically .

[0002]

2. Description of the Related Art Seats for automobiles are mounted on an outfitting line with respect to a painted vehicle body. A robot is used to automatically perform this mounting. Conventionally, the mounting of the seat is performed using a robot having a robot hand as shown in FIG. FIG. 2 shows an automobile front seat to be gripped by the robot hand. As shown in FIG. 2, the front seat W for an automobile has a seat cushion A and a seat back B, and the seat W is gripped at a portion indicated by an arrow in FIG.

A conventional robot hand 10 shown in FIG.
Has a substantially frame-shaped main body frame 11 formed of a plurality of shaped steel materials, and is connected to a robot arm (not shown) at this frame 11 portion. A clamp member 13 operated by a hydraulic cylinder 12 is provided on a frame 11 of the main body, and a hydraulic cylinder 16 for operating a clamp member 15 is mounted on a bracket 14 mounted on an upper end of the frame 11. I have. The seat back B of the seat W is clamped from front and rear by the clamp members 13 and 15. Further, a clamp member 18 operated by a hydraulic cylinder 17 is mounted on the frame 11, and a clamp member 20 operated by a hydraulic cylinder 19 is mounted on the frame 11. The seat cushion A is clamped from above and below by these clamp members 18 and 20.

Further, a seat back B is sandwiched between a clamp member 23 which is operated via a link mechanism 22 by a fluid pressure cylinder 21 mounted on the frame 11 and the bracket 14, and is clamped in the front-rear direction. It has become.

[0005]

A seat W using such a robot hand 10 is used in a vehicle assembly line.
Is mounted on the vehicle, the sheet W conveyed to the position of the robot by the conveyor is held by the robot hand 10 while being placed on a dedicated pallet. However, since the seat cushion A is soft, When gripping, it is not possible to secure a stable gripping posture, which may lead to a gripping error of the seat.Furthermore, even if mounting to a vehicle is possible, the mounting state and position are not The bolting work of the sheet after the seating cannot be performed automatically. Further, since an abnormality in the posture of the sheet at the time of gripping the sheet cannot be detected, there is a problem that the mounting apparatus often stops abnormally when the sheet is conveyed in an abnormal posture.

The present invention has been made in view of the above-mentioned problems of the prior art, and even when a sheet is conveyed on a conveyor with rough positioning accuracy, the sheet is securely held , and Secured the grip of the seat so that the seat can be automatically bolted to the vehicle .
It is an object of the present invention to obtain a method for mounting an automobile seat .

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a robot hand for gripping a seat, which is mounted on an end of a robot arm for gripping an automobile seat having a seat cushion and a seat back. Using
In the method of mounting the seat on a vehicle, a frame of a hand main body attached to an arm of the robot may include the frame.
Side that can be opened and closed while holding both sides of the back
Hold the arm and the back of the seat back and open it.
A seat back arm that can be closed and the seat cushion
A lower arm that can hold the lower surface of the
Fits on the seat rail attached to the seat cushion
And a positioning gauge that can be fitted and moved.
And the vehicle seat is attached to the side arm and the front.
The seat back arm and the lower arm
Hold the positioning gauge on the seat rail while holding
When the mating is completed and the mating is completed, the side arm
And the seat back arm and the lower arm.
A method for mounting a vehicle seat, characterized in that the vehicle seat is gripped .

[0008]

The sheet conveyed to the gripping position by the conveyor is moved by the robot hand to the gripping position, and is gripped by the side arm, the seat back arm, and the lower arm. In this way, the sheet is conveyed to the seat rail positioning device while being temporarily held by the above-described arm, where the positioning gauge is fitted to the seat rail. Thereby, the position of the seat with respect to the robot hand is secured with high accuracy, and the seat is mounted on the vehicle in that state.

[0009]

FIG. 3 is a side view showing a robot hand 30 for gripping a sheet according to the present invention. The hand 30 is adapted to be attached to a robot arm (not shown).
The hand main body frame 31 of the hand 30 has a base portion 32 extending substantially in the horizontal direction and a vertical portion 33 rising vertically to the base portion 32. Base 32 of frame 31
A cushion position detector 34 for detecting the floating angle of the seat cushion A is attached to the seat. A rod 35 is attached to the detector 34 so as to be extendable and contractible, and a contact 36 is provided at the tip of the rod 35. Further, an angle detector 37 for detecting the inclination angle of the seat back B is attached to the vertical portion 33 of the frame 31. A rod 38 is attached to the detector 37 so as to be extendable and contractible, and a contact 39 is provided at the tip of the rod 38.

On both sides of the vertical portion 33, side arms 41 for gripping the side surface of the seat back B are provided so as to be able to move forward and backward in the left and right direction of the seat W. Although one side arm 41 is shown in FIG. 3, two side arms 41 are provided on the frame 31 so as to be movable toward and away from each other as shown in FIG. A guide rod 42 is attached to each side arm 41, and is slidably fitted in a sleeve (not shown) fixed to the frame 31, and the two side arms 41 are driven synchronously by a cylinder (not shown). It is supposed to be. The seat W is formed by these two side arms 41.
The seat back B is gripped from both sides.

A fluid pressure cylinder 44 is rotatably mounted on the base 32 of the frame 31 by a pin 43, and a lower arm 46 is attached to the base 32 so as to be swingable about the pin 45. The rod 47 of the hydraulic cylinder 44 is pin-connected to a lever 48 integrated with the lower arm 46. Therefore, the seat W is gripped by the lower arm 46 at the lower part of the seat cushion A. A hydraulic cylinder 51 is rotatably mounted on a vertical portion 33 of the frame 31 around a pin 52.
2, a seat back arm 54 for clamping the back surface of the seat back B is attached to the rod 53 of the cylinder 51. Further, the fluid pressure cylinder 51 is swingable in a direction indicated by an arrow by a driving unit (not shown). This seat back arm 54
Grips the seat back B from the back side.

FIG. 5A is a view showing a seat W gripped by the robot hand 30 shown in FIG. 3, and includes a seat cushion A and a seat back B similar to the seat shown in FIG. The sheet W is configured. The seat rails 55, 5 and 5 are provided on the lower surface of the seat back B.
6 are attached extending in the front-rear direction. FIG. 5B shows the details of one seat rail 55, and FIG. 5B shows the details of the other seat rail 56.
(C).

In the present invention, the seat rail 5
5 and 56 are used for positioning the sheet W. As shown in FIG. 3, fork-shaped positioning gauges (gauge cones) 57 fitted to the respective rails 55 and 56 are mounted on the frame 31 so as to be able to move back and forth in the front-rear direction by driving means (not shown). The positioning gauge 57 has a gauge 57a fitted to one seat rail 55 and a gauge 57b fitted to the other seat rail 56. Each gauge 57a
A taper portion 58 is formed at the tip of each of the first and second members 57b. A plurality of types of sheets W to be gripped are mixed and conveyed by a conveyor according to the type of vehicle and the type of vehicle, and the seat rails 55 and 56 provided on the lower surface of the sheet W have different sizes depending on the type of vehicle and the like. Are different.
Therefore, the positioning gauge 57 is provided on the plurality of types of frames 31 and any one of them is selected.

A procedure for mounting the seat W on a vehicle using the robot provided with the above-described hand 30 will be described. First, all the clamp arms 41 described above,
The hands 30 are moved to the sheet holding position by setting the 46 and 54 to the open state and operating the robot. The sheet W is conveyed to this gripping position while being placed on a pallet by a conveyor (not shown). When the hand 30 moves to this gripping position, the contacts 36 and 39 of the detectors 34 and 37 come into contact with a predetermined portion of the seat W, and the rising position of the seat cushion A and the inclination angle of the seat back B are detected. Is done. In this way,
The posture of the seat W can be detected in a state where the seat W is gripped, and it is possible to determine whether or not the mounting position of the seat W with respect to the vehicle is appropriate. If it is determined that the seat W is in the predetermined posture, the side arm 41 moves the seat back B while the hand 30 is moved to the grip position.
, The seat back B is clamped from the back side by the seat back arm 54 for the seat back, and the back side of the seat cushion A is clamped by the lower arm 46 for the seat cushion.

In this way, while the sheet W is temporarily held on the pallet by the hand 30, the robot moves the sheet W to the seat rail positioning device. In the positioning device for the sheet W, which is positioning, and select the positioning gauge corresponding to vehicle type and vehicle type, inserting the gauge to the seat rail 55, 56. When the insertion is completed, all the arms are clamped and gripped again.

After the clamping is completed in this way,
The seat W is mounted in the vehicle by the robot. Since this mounting position is positioned at a predetermined position with high accuracy, when the operator screw-connects the seat W to the vehicle at the metal fittings (not shown) provided on the seat rails 55 and 56, the work is performed. Can be performed smoothly,
This operation can be automatically performed using a robot.

[0017]

As described above, according to the present invention, the seat rail is also used as a positioning member for the robot hand, so that the seat can be positioned with high accuracy, and the robot can be used. This makes it possible to screw the seat to the vehicle. Ma
Further, when the sheet is gripped by the robot hand, the sheet can be mounted without positioning the sheet with high accuracy. Furthermore, since the posture of the sheet can be detected, it is possible to judge whether the assembly position is appropriate.

[Brief description of the drawings]

FIG. 1 is a side view showing a conventional sheet gripping hand.

FIG. 2 is a perspective view showing a front seat gripped by the conventional hand shown in FIG. 1,

FIG. 3 is a side view showing a sheet gripping hand according to one embodiment of the present invention;

FIG. 4 is a sectional view showing the side arm shown in FIG. 3;

5 (A) is a perspective view showing a front seat gripped by the hand shown in FIGS. 3 and 4, FIG. 5 (B) is an enlarged view of a portion 5a in FIG. 5 (A), and FIG. (C) is an enlarged view of a portion 5b in FIG.

[Explanation of symbols]

30: Robot hand, 31: Hand body frame, 3
4 ... Cushion position detector, 37 ... Angle detector, 41 ...
Side arm, 46: Lower arm, 54: Seat back arm, 55, 56: Seat rail, 57: Positioning gauge, A: Seat cushion, B: Seat back, W:
Sheet.

Claims (1)

(57) [Claims] With 1. A robot hand for sheet gripping mounted on the arm tip of the robot to grip the sheet for a motor vehicle having a seat cushion and a seat back
In the method of mounting the seat on a vehicle, the frame of the hand body attached to the arm of the robot
Grips both sides of the seat back and opens and closes automatically.
The side arm and the back of the seat back.
Seat back arm that can be freely opened and closed, and the seat
Lower arm that can be opened and closed while holding the lower surface of the cushion
And a seat rest attached to the seat cushion.
Positioning gauge that can be fitted and moved freely
And the vehicle seat is provided with the side arm and the seat
Temporarily gripped by the back arm and the lower arm
In this state, the positioning gauge is fitted to the seat rail, and when the fitting is completed, the side arm and the
The seat back arm and the lower arm
A method for mounting a seat for an automobile, comprising: