JP3427689B2 - Automobile body side assembly method and assembly apparatus - 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 body side assembling method and an assembling apparatus for use in assembling a body side such as assembling various inner parts to a body side outer.

[0002]

2. Description of the Related Art On the body side of an automobile, a body side outer is composed of a front part, which is a front part of a vehicle body, and a rear fender part, which is a rear part of the vehicle body. These parts are welded to each other. There is one that can be assembled by welding and joining various inner parts to the joined parts.

In such an assembling operation, as shown in FIG. 46, as shown in FIG. 46, a front device 201 and a rear fender component 203 are carried in a lying state, for example, as disclosed in Japanese Patent Application Laid-Open No. 7-96397. 20
5 is provided, and on the side of the transport device 205,
Each part 201, 203 is welded to each other and each part 20
A plurality of welding robots 207 for welding and joining the inner parts to 1, 203 are arranged for each work process.

The transfer device 205 includes two transfer bars 20 which extend in the transfer direction and can move back and forth in this direction.
9 is provided, and on the transfer bar 209, a finger 211 that serves as a work receiver that supports the components 201 and 203 is provided so as to project upward. A table 213 arranged below the transfer bar 209
On the upper part, a jig 215 that raises the respective components 201 and 203 to separate them from the fingers 211 and fixes and holds them for positioning during welding work is provided by a lifter so as to be movable up and down. With the jig 215 descending to release the fixed holding of the components 201 and 203, the fingers 211 holding the components 201 and 203 are held.
However, the parts 201 and 203 are transported by moving forward as the transfer bar 209 moves.

As a first step in the assembly work, the front part 201 and the rear fender part 203 are put on the transfer line and fixedly held by the jig 215 in an ascending state. The welding robot 207 is used to perform temporary welding. As the second step, welding is performed by additional hammering on the connecting portion between the components 201 and 203 and the small components already assembled to the components 201 and 203. Next, as a third step, various inner parts are attached to the above-mentioned parts 201, 20.
After performing welding by provisional hammering after setting to 3, welding by additional hammering is performed as a fourth step, whereby the welding work on the body side is completed.

Finally, in a fifth step, the body side, on which the welding work has been completed, is erected by an erection device having a hydraulic cylinder or the like as a drive mechanism, and then lifted by a lifter to be carried out to a subsequent step.

[0007]

However, the conventional body side assembling method described above has the following problems.

(1) A plurality of dedicated jigs 215 and fingers 211 for respectively holding and holding the laid work (front part 201, rear fender part 203) from the bottom surface are required during welding work and transfer work. Therefore, the equipment cost is required, and in particular, when manufacturing a plurality of vehicle types on the same line, general-purpose jigs and fingers are required, and the equipment cost becomes extremely large. Further, a device for raising the work after the welding work is also expensive.

(2) In welding (over-strike) by a plurality of welding robots, the jigs 215 interfere with each other and the welding robots interfere with each other, resulting in a reduction in work efficiency.

(3) Since the left and right sides are supported by the jigs 215 from the lower surface in a state where the work is laid horizontally with respect to the transfer device, the central portion is flexibly deformed, and the welding work is performed in the deformed state. As a result, the assembly accuracy is lowered. If a jig for supporting the central portion is provided in order to prevent the central portion from bending, the cost is increased and the operating range of the welding robot is narrowed.

Therefore, an object of the present invention is to reduce the cost and the working efficiency in assembling the body side, and to improve the assembling accuracy.

[0012]

In order to achieve the above object, the invention of claim 1 is such that the body side outer is erected so that the roof rail side is the upper side and the side sill side is the lower side, and in this state, In the method of assembling a body side of an automobile, the lower end of the side sill is positioned and fixed, and the body side is assembled by welding.
The side outer is positioned on the left at a right angle to the transport direction.
For the right and up and down directions, carry the bottom edge of the side sill.
Clamping and fixing by the clamp means provided on the moving body of the feeding line
On the other hand, regarding the transport direction,
The notch formed at the lower end is used for positioning the moving body.
This is an assembly method that is performed by inserting the projection .

According to the above-mentioned method for assembling the body side of an automobile, the lower ends of the side sills can be made to have the same shape even in different vehicle types. Therefore, the lower ends of the side sills are positioned and fixed while the body side outer is erected. By doing so, a dedicated jig for fixing the body side outer is not required for each vehicle type, and the fixture for positioning and fixing the body side outer can be simplified and generalized easily. Further, by performing the welding work by the plurality of welding robots on the body side outer body in the standing state from both sides, the interference between the robots is avoided and the work efficiency is improved. Furthermore, since the body side outer is conveyed and welded in a standing state, which is the direction in which the bending rigidity of the workpiece cross section is the maximum with respect to the direction of action of its own weight, the body side outer is deformed compared to the state of lying horizontally. Difficulty, improved assembly accuracy, and less work space. That
The above-mentioned positioning of the body side outer
Left and right, up and down, and transport direction
About the simple configuration, it is surely done.

According to the second aspect of the present invention, the body side outer is erected so that the roof rail side is the upper side and the side sill side is the lower side.
Positioning and fixing the lower end of the
In the method of assembling the body side of a car that performs standing work,
Position the body side outer with respect to the transport direction.
The right side and right side
The lower end of the V-shaped recess on the moving body of the transfer line.
While inserting, regarding the transport direction,
Press the front and rear sides of the inner peripheral edge in the transport direction
This is an assembling method that is performed by pressing in a direction in which the steps separate from each other .

According to the above assembling method, the lower end of the side sill can have the same shape even in different vehicle types. Therefore, by positioning and fixing the lower end of the side sill in a state where the body side outer is erected, A dedicated jig for each vehicle model for fixing and holding the side outer is not required, and the fixture for positioning and fixing the body side outer can be easily simplified and generalized. Further, by performing the welding work by the plurality of welding robots on the body side outer body in the standing state from both sides, the interference between the robots is avoided and the work efficiency is improved. Furthermore, since the body side outer is conveyed and welded in a standing state, which is the direction in which the bending rigidity of the workpiece cross section is the maximum with respect to the direction of action of its own weight, the body side outer is deformed compared to the state of lying horizontally. Difficulty, improved assembly accuracy, and less work space. And the above-mentioned body side out
The positioning of the data
Reliable with a simple configuration in the direction and the vertical direction
Done.

According to a third aspect of the present invention, in the assembly method according to the first or second aspect of the invention, the body side outer member includes a front part and a rear fender part, and each of these parts is positioned and fixed. This is an assembling method in which the above parts are conveyed, and the welding and joining work of the above-mentioned respective parts, and the setting and welding of the inner parts to the respective parts are carried out at a predetermined position on the conveying line.

According to the above assembling method, the welding and joining of the front component and the rear fender component and the welding and joining work of the inner component with respect to each component can be carried out without increasing the cost.
It is highly efficient and accurate.

According to a fourth aspect of the invention, in the assembling method of the third aspect of the invention, the positioning jig disposed on the side of the transfer line is directed toward the front part and the rear fender part positioned on the transfer line. This is an assembling method of advancing, positioning these parts from the side, and setting the inner parts and welding and joining work in this state.

According to the above assembling method, the setting of the inner parts and the welding and joining work can be performed more accurately.

[0020]

[0021]

[0022]

[0023]

According to a fifth aspect of the present invention, the body side outer is erected so that the roof rail side is the upper side and the side sill side is the lower side, and the positioning fixing means for fixing and positioning the lower end of the side sill is moved in the transport line. A body side assembling apparatus for an automobile, in which a welding robot for performing a body side assembling work by welding on a body side outer positioned on the body and positioned by the positioning and fixing means is arranged on a side of the transfer line is provided.
The positioning and fixing means constitutes a body side outer.
Each of the front and rear fender parts
Carry the lower end of the side sill of the
Clamping hand that clamps and fixes from right and left at right angles to the feeding direction
A step and a notch formed at the lower end of the side sill, and
Provided on the moving body and inserted in the notch to convey direction
And a positioning protrusion for positioning the.

According to the above body side assembling apparatus, the lower end of the side sill is fixed and positioned in a state where the body side outer is erected by the positioning and fixing means, and the body line outer is in the standing state to the side of the carrying line. Welding work is performed by the welding robot. this
The front parts and rear
The bottom end of each side sill of the
And in the horizontal direction at right angles to the vertical direction and the transport direction.
When the positioning is done,
By inserting it into the notch at the bottom of the sill, the position in the transport direction
A decision is made.

[0026]

[0027]

According to the invention of claim 6, the body side outer
The roof rail side is the top and the side sill side is the bottom.
The lower end of the side sill while standing upright
Positioning and fixing means for positioning the
It is provided on the moving body and is positioned by this positioning and fixing means.
The body side outer that has been
Welding robot that performs id assembly work
The body side assembly equipment of the car placed on the side of
The positioning and fixing means includes a side sill receiver having a V-shaped recess into which the lower ends of the side sills of the front component and the rear fender component that form the body side outer are inserted, and the inner peripheral edge of the door opening of the front component. And a pair of pressing means for pressing the front side and the rear side in the conveyance direction in directions away from each other.

According to the above-mentioned assembling apparatus, positioning and fixing
In the state that the body side outer is erected by the means
Position and secure the lower end of the side sill, and
Side welding welding robot on the side of the conveyor line
Welding work is performed. At this time, by inserting the lower end of the side sill into the V-shaped concave portion, the vertical positioning is performed, and at the same time, the pair of pressing means moves the front side and the rear side in the transport direction in the door opening of the front part to each other. By pressing in a direction away from the sheet, the carrying direction and the lateral direction at right angles to the carrying direction are positioned.

According to a seventh aspect of the present invention, in the structure of the sixth aspect , one of the pair of pressing means is fixed, and the other is movable in the longitudinal direction of the vehicle body. is there.

According to the above assembling apparatus, the body side outer is set so that the inner peripheral edge of the door opening is located in the vicinity of the pressing direction of one of the pair of pressing means, and the other one is pressed. By moving in a direction away from the one, both pressing means press the inner peripheral edge to the front side and the rear side, respectively, to position and fix it.

According to an eighth aspect of the present invention, in the structure of the sixth aspect , the pair of pressing means extend in the left-right direction at right angles to the conveying direction and press the inner peripheral edge of the door opening. It is configured to include a pressing portion having a shape.

According to the above-described assembling apparatus, the saw-toothed pressing portion extending in the left-right direction orthogonal to the conveyance direction is used for various vehicle bodies in which the inner peripheral edge of the door opening is located at different positions in the left-right direction. Positioning becomes possible.

According to a ninth aspect of the present invention, in the structure of the sixth aspect , the lower end of the flange on the vehicle rear side of the side sill portion of the rear fender component received by the side sill receiver is received on the moving body and is perpendicular to the conveying direction. The structure is provided with a saw-toothed flange receiver extending in the left-right direction.

According to the assembling apparatus described above, the lower end of the flange of the rear fender component is supported by the serrated flange receiver, so that the vibration of the body side outer that occurs during transportation is suppressed. Further, since the flange receiver has a saw-tooth shape extending in the left-right direction orthogonal to the transport direction, it can be applied to various vehicle bodies.

According to a tenth aspect of the present invention, positioning fixing means for fixing and positioning the body side outer by suspending and supporting the roof rail side with the roof rail side being the upper side and the side sill side being the lower side. Is provided so as to project downward from the moving body in the transfer line, and a welding robot that performs assembly work on the body side by welding is provided on the side of the transfer line with respect to the body side outer positioned by the positioning and fixing means. In the arranged vehicle body side assembly device, the position
The fixing means is a CFC that constitutes the body side outer
Roof tray for the rear parts and rear fender parts
With a V-shaped recess into which the lower end of the flange of the
-Place the rail support and the front and rear ends of the center pillar in the transport direction.
It is configured to be sandwiched and fixed .

According to the above structure, the body side outer is erected by the positioning and fixing means, and its roof rail side is suspended and supported and fixed to position the body side outer side with respect to the body side outer in the upright state. Welding work is performed by the welding robot. At this time, the roof
Roof rail with a V-shaped recess at the bottom of the flange
By inserting it in the tray receiver,
And vertical positioning is performed,
The center pillar from the front and back in the transport direction.
Then, the positioning in the carrying direction is performed.

According to a fourteenth aspect of the present invention, in the configuration of the thirteenth aspect, the positioning and fixing means has a V-shape into which the lower ends of the flanges of the roof rails of the front part and the rear fender part forming the body side outer are inserted. The roof rail receiver is provided with a recessed portion, and a sandwiching portion that sandwiches and fixes both front and rear ends of the center pillar in the transport direction.

According to the above-described assembling apparatus, the lower end of the flange of the roof rail is inserted into the roof rail receiver having the V-shaped recess, so that the left and right directions at right angles to the carrying direction and the vertical direction are determined, and at the same time, the nipping is performed. The center pillar is sandwiched and fixed by the section from the front and the rear in the transport direction, so that the positioning in the transport direction is performed.

According to an eleventh aspect of the invention, in the configuration of the tenth aspect of the invention, the roof rail receiver is such that one of the front component and the rear fender component is provided so as to be movable in the vertical direction.

According to the above-described assembling apparatus, by moving the movable roof rail receiver up and down, the respective roof rail receivers for receiving the front parts and the rear fender parts can properly regulate the body side outer of different vehicle types. Positioning is possible in this posture.

According to a twelfth aspect of the present invention, in the construction of the tenth aspect of the invention, one of the holding portions is fixed, and the other one is movable in the front-rear direction of the vehicle body.

According to the above-described assembling apparatus, the body side outer is set such that one end of the center pillar in the carrying direction is located near one of the holding parts in the holding direction and the other of the other is held. By moving one in the direction of approaching the other, the two sandwiching parts sandwich the center pillar and position and fix it.

According to a thirteenth aspect of the present invention, in the configuration of the tenth aspect of the present invention, the sandwiching section is extended in the right-and-left direction perpendicular to the conveying direction to press the center pillar from both sides. Is provided.

According to the above-described assembly apparatus, the center pillar can be positioned with respect to various vehicle bodies having different positions in the left-right direction by the saw-tooth pressing portion extending in the left-right direction orthogonal to the conveying direction. .

The fourteenth aspect of the invention is the fifth, sixth, and tenth aspects.
In any one of the configurations of the inventions, a positioning jig for laterally positioning the parts is provided which is advanced to the side of the transfer line toward the front parts and the rear fender parts positioned on the transfer line. A work set robot that sets inner parts to the front parts and the rear fender parts is arranged on the side opposite to the positioning jig with the transfer line as a boundary.

According to the above assembling apparatus, the work set robot moves the inner parts to the front parts and the rear fender parts positioned on the transfer line in a state where the positioning jig advances and the side parts are positioned. To the front and rear fender parts.

The invention of claim 15 is the invention of claims 5, 6, and 10.
In the configuration of any one of the inventions, the moving body is provided with cam followers at both front and rear ends of both left and right sides that are perpendicular to the carrying direction, is movable along the carrying direction while being supported by the cam followers, and A pair of guide rails for restricting displacement in the left-right direction and the up-down direction with respect to the transport direction are arranged on the fixed side of the transport line on both left and right sides orthogonal to the transport direction.

According to the above assembling apparatus, since the cam follower attached to the moving body is supported by the guide rail while being restricted from being displaced in the left-right direction and the vertical direction with respect to the carrying direction, the positioning accuracy of the body side is improved. Is reliably maintained, and the load on the body side is applied to the guide rails, so even if a chain is used as the transfer device, the load does not reach the chain and stable welding and transfer work is performed. Is done.

According to a sixteenth aspect of the present invention, in the structure of the fifteenth aspect , the cam followers are arranged on the front left and right sides and the rear side left and right sides of the moving body so as to sandwich the guide rails from above and below. It is as a configuration.

According to the above-described assembling apparatus, the cam followers arranged so as to sandwich the upper and lower sides of the guide rail restrict the displacement of the moving body in the left-right direction and the up-down direction with respect to the carrying direction, and thus stable welding work and Transport work is performed.

According to a seventeenth aspect of the present invention, in the configuration of the fifteenth aspect of the invention, the guide rails are disposed so as to sandwich the upper and lower sides of the cam followers provided on the front left and right sides and the rear side left and right sides of the moving body. It is configured as

According to the above assembling apparatus, the guide rails arranged so as to sandwich the upper and lower sides of the cam follower restrict the displacement of the moving body in the left-right direction and the up-down direction with respect to the carrying direction, and stable welding work and Transport work is performed.

[0054]

According to the invention of claim 1 or 5 , the lower end of the side sill which can be formed in the same shape among different vehicle types is positioned and fixed in a state where the body side outer is erected, and in this state. Since the body side assembly work is performed by welding, a dedicated jig for fixing the body side outer is not required, and the fixture for positioning and fixing the work can be simplified and generalized easily, resulting in a large equipment cost. It can be lowered. Further, by performing the work by the welding robot from both sides of the body side outer in the upright state, interference between the robots can be avoided and the work efficiency can be improved. Further, since the carrying and welding work is performed with the body side outer member standing upright, the body side outer member is less likely to be deformed than the horizontally lying condition, the assembling accuracy is improved, and the working space is small. Then, position the body side outer to
Left and right, up and down, and transport direction
Can be reliably performed with a simple configuration.

According to the second or sixth aspect of the present invention, when the body side outer is erected, it is installed between different vehicle types.
Position the lower end of the side sill that can be made into the same shape by
Body side assembly by welding in this state
I fixed the body side outer because
Positioning and fixing of the work is unnecessary because a dedicated jig for grouting is not required
It is easy to simplify and generalize the fixing tool to
Can be significantly reduced. Also, standing up
Welding robot works from both sides of the body side outer
By doing the work, interference between robots is avoided and work
The efficiency can be improved. Furthermore, the body side
For carrying and welding work with the outer erected.
Therefore, it is less likely to be deformed than when it is laid horizontally and
In addition to improving the degree of work, it requires less work space. That
Position the body side outer with respect to the transport direction.
The horizontal and vertical directions and the transport direction.
And can be reliably performed with a simple configuration.

According to the third aspect of the present invention, the welding and joining of the front parts and the rear fender parts and the welding and joining of the inner parts to the respective parts can be performed with high efficiency and accuracy without increasing the cost. it can.

According to the fourth or fourteenth aspect of the present invention, the positioning jigs arranged on the side of the transfer line advance to the front parts and the rear fender parts positioned on the transfer line to perform positioning from the side. Since it is performed, the setting of the inner parts and the welding and joining work can be performed more accurately.

[0058]

[0059]

According to the seventh aspect of the present invention, the body side outer is set so that the inner peripheral edge of the door opening is positioned near the pressing direction of one of the pair of pressing means, and the other one is set. Positioning and fixing can be surely performed by moving in the direction of approaching one.

According to the eighth aspect of the present invention, since the pressing portion has a saw-tooth shape extending in the left-right direction orthogonal to the conveying direction, the inner peripheral edge of the door opening is located at a position different in the left-right direction. Positioning can be easily performed on various vehicle bodies.

According to the ninth aspect of the invention, the lower end of the flange of the rear fender component is supported by the serrated flange receiver, so that the vibration of the body side outer can be suppressed, and the flange receiver is orthogonal to the conveying direction. Since it has a saw-tooth shape that extends in the direction in which it extends, it can be applied to various vehicle bodies.

According to the invention of claim 10 , the body side
Suspend and support the roof rail side with the outer stand upright.
Since it is held and positioned and fixed, the body side outer is fixed.
There is no need for a dedicated jig for each vehicle type to maintain a fixed
Simplified fixture for positioning and fixing the body side outer
And it is easy to generalize. At this time, by inserting the lower end of the flange of the roof rail into a roof rail receiver having a V-shaped recess, it is possible to position in the left-right direction and the up-down direction at right angles to the carrying direction, and at the same time, the sandwiching part moves the center pillar from the front and rear in the carrying direction. By pinching and fixing, it is possible to position in the carrying direction.

According to the invention of claim 11 , by moving the movable roof rail receiver up and down, the roof rail receivers for receiving the front parts and the rear fender parts respectively have different body side outer bodies. Positioning can be performed in a regular posture.

According to the twelfth aspect of the present invention, the body side outer is set so that one end of the center pillar in the carrying direction is located near the holding direction of one of the holding parts, and the other of the two is held. By moving one in the direction of approaching the other, the two holding portions hold the center pillar, and thereby the positioning and fixing can be surely performed.

According to the thirteenth aspect of the present invention, since the pressing portion has a saw-tooth shape extending in the left-right direction orthogonal to the conveying direction, the center pillar can be applied to various vehicle bodies having different positions in the left-right direction. Positioning can be performed with respect to each other.

According to the fifteenth aspect of the present invention, the cam follower attached to the movable body is supported by the guide rail while being restricted from being displaced in the left-right direction and the up-down direction with respect to the carrying direction. The accuracy can be reliably maintained, and the load on the body side is applied to the guide rails, so even if a chain is used as the transfer device, the load does not reach the chain, and stable welding work and transfer are possible. You can do the work.

[0068] According to claim 16 the invention, the arranged cam follower so as to sandwich the upper and lower guide rails, the moving body is restricted displacement such as lateral and vertical directions with respect to the conveying direction, claim 15 In the same manner as in the above invention, stable carrying work and welding work can be performed.

According to the seventeenth aspect of the present invention, the displacement of the moving body in the left-right direction and the vertical direction with respect to the carrying direction is restricted by the guide rails arranged so as to sandwich the upper and lower sides of the cam follower. Similar to the fifteenth invention, stable carrying work and welding work can be performed.

[0070]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view showing a part of an automobile body side assembly apparatus according to an embodiment of the present invention.
The body side 1 is positioned and fixed on a transfer device 3 that constitutes a transfer line in an upright state such that the roof rail side is an upper part and the side sill side is a lower part. The welding robots 5 are provided on both side parts of the transfer device 3. Multiple are arranged. As shown in FIG. 2, the body side 1 is provided with a front part 9 on the front side of the vehicle body and a rear fender part 11 on the rear side of the vehicle body as components forming the body side outer 7, and these are welded to each other. As shown in FIG. 3, a front inner component 13 and a wheel house / rear aligner component 15 are welded to the body side outer 7, respectively.

FIG. 4 is a schematic work process diagram showing the entire line of the assembly apparatus, and the transport direction is from the right side to the left side in the figure indicated by the arrow A. The first step I corresponds to FIG. 2 described above, and after the front part 9 and the rear fender part 11 are put on the transfer device 3 by the work set robot 16,
The welding robot 17 welds and joins the joints K of the parts 9 and 11 to each other by temporary driving. A guide post 18 for positioning the work setting robot 16 at the time of setting a work is installed at a position opposite to the work setting robot 16 with respect to the transport device 3.

FIG. 5 shows a specific structure in the first step I, and corresponds to a view of the front side in the carrying direction from the right side in FIG. The work set robot 16 is provided with a grip portion 16a at the top and bottom, and is provided at the center with a positioning arm 16b that is positioned by inserting the tip into a guide portion 18a at the upper end of the guide post 18. In FIG. 5, on the right side of each of the robots 16 and 17, there is installed a temporary placing table 19 on which the front part 9 and the rear fender part 11 are placed, and on the right side thereof, the above-mentioned steps from the previous step. A transfer robot 20 for setting the parts 9 and 11 on the temporary stand 19 is installed.

In the second step II, a welding robot 21 is arranged on both sides of the transfer device 3 to perform welding work by over-pressing the body side outer 7 constructed by welding and joining the respective parts 9 and 11. By.

In the third step III, the inner parts including the front inner part 13 and the wheel house / rear liner liner part 15 shown in FIG. 3 are added to the body side outer 7 reinforced in the second step II. Assemble by temporary fixing welding. Here, the body side outer 7
The inner parts 13, 15 by the work set robot 27 provided on the opposite side of the tetrahedron positioning device 23 in a state of being positioned from the side by the positioning jig 25 of the tetrahedron positioning device 23 that has advanced to the transport device 3 side. Set and inner parts 13, 15 by the welding robot 29
Perform temporary tack welding.

The tetrahedron positioning device 23 has a second step II.
As shown in FIG. 6 corresponding to the view seen from the side toward the carrying direction, the positioning jig 2 is arranged on the lateral side of the carrying device 3.
5 is slidable on the base 31 between an advanced position indicated by B and a retracted position indicated by C by a hydraulic cylinder 33, and is rotatable around a support shaft 35. In the positioning jig 25, a plurality of jig arms 37 are projected so that the body side outer 7 having a different shape depending on the vehicle type can be positioned in each of the four sides.
The body side outer 7 is positioned by the tips of the pair of upper and lower jig arms 37 at a predetermined rotation position.

The fourth step IV corresponds to FIG. 1, and the welded inner parts 13, 1 temporarily fixed in the third step III.
5 and the body side outer 7 are over-welded by a plurality of welding robots 5 arranged on both sides of the transfer device 3,
Here, all welding work is completed, and the body side outer 1 is obtained.

In the fifth step V, the body side 1 obtained in the fourth step IV is lifted by the lifter 41 and conveyed to the subsequent step. As shown in FIG. 7, the lifter 41 is composed of a drop lifter in which two support arms 41a are suspended from an overhead conveyor (not shown) and can be raised and lowered.
The body side 1 is lifted and carried out by the hook portion at the lower end of the support arm 41a.

The work on the above-mentioned transfer device 3 is
The lower ends of the side sills 43 and 45 below the front part 9 and the rear fender part 11 respectively are
Clamping means 4 as a positioning and fixing means provided on 7
The sheet 9 is conveyed while being positioned and fixed by 9. The moving body 47 moves together with the clamp means 49 along the pair of guide rails 51 extending in the transport direction.

The clamp means 49 has a lower end fixed to the moving body 47 as shown in FIG. 8 which is an enlarged perspective view of the fixed portion on the rear side in FIG. 7 and FIG. 9 which is a sectional view of FIG. And a movable plate 59 which is connected to the fixed plate 55 by a spring 57 and is pressed against the fixed plate 55 so that the state of FIG. 9 is maintained. At the upper end of the movable plate 59, the hook portion 59a is attached to the fixed plate 5.
Recesses 55a are formed on the upper end of the side sill 5, and the side sill 45 (4
The bent portion 45a (43a) at the lower end of 3) is clamped and fixed.

Bend portion 45a of the side sill 45 (43)
The shape of (43a) is the same even if the vehicle type is different. Specifically, the angle θ and the length L in the vehicle width direction are common to all vehicle types. The lower side of the movable plate 59 is bent and formed in a direction away from the fixed plate 55 to form an operating portion 59b,
By pressing the operating portion 59b against the spring 57 from the state shown in FIG. 9, the holding and fixing to the side sill 45 (43) is released. It is assumed that the pressing operation on the operation portion 59b is performed by an operation rod or the like (not shown) provided outside the transport device 3 protruding at a predetermined position.

As shown in FIG. 8, a work fall prevention member 63 is attached to a side portion of the fixed plate 55 via a support shaft 61. When the front part 9 and the rear fender part 11 are loaded onto the transfer device 3 in the first step I, the work fall prevention device 63 clamps these parts 9, 11 respectively.
The tilting is performed in a state of being tilted to the side opposite to the inner component mounting side rather than the state where it is clamped by the. Raise to the proper standing position (clamping position) and clamp. Guide plates 65 are fixed to both sides of the fixed plate 55 to guide the movable plate 59.

In FIG. 7, the work fall prevention member 63 has a rear fender component 11 which is heavier than the front component 9.
Only the side is provided, but rear fender parts 1 if necessary
It may be provided on the front component 9 side in addition to the one side.

The above-mentioned clamping means 49 performs positioning in the left-right direction and the up-down direction at right angles to the carrying direction of the work. As for positioning in the carrying direction, as shown in FIG. Notch 45b (43b) is formed in the lower end of 43), and the positioning protrusion 47a provided on the moving body 47 side is inserted into this notch 45b (43b).

Moving body 47 moving on the guide rail 51
Is a horizontal plate 67, side plates 69 whose upper ends are fixed to the lower ends of the horizontal plate 67 in the lateral direction, and side plates 6.
And a cam follower 71 formed of a roller rotatably attached to an outer portion of the roller 9. Two cam followers 71 are attached to each of the front and rear portions of each side plate 69 so as to sandwich the guide rails 51 from above and below.

FIG. 11 is a cross-sectional view of the portion of the moving body 47, to which the cam followers 71 are attached, taken at a right angle to the conveying direction. A flange 71a is formed at the inner end of each cam follower 71. By locating the flange 71a inside the guide rail 51, the displacement of the moving body 47 in the left-right direction and the displacement in the up-down direction in FIG. 11 are both regulated.

The upper end of the chain mounting portion 73 is fixed to the lower surface of the horizontal plate 67 of the moving body 47, and the lower end of the chain mounting portion 73 is shown in FIG. As shown, the chain 77 is attached via the attachment 75. The chain mounting portion 73 and the attachment 75 can be rotated by a pin 79.

The carrier device 3 constituted by the chain 77, the moving body 47, the guide rail 51 and the like is shown in FIG.
As shown in the side view of its overall structure, the chain 7
7 is hung on the sprockets 81 and 83 at both ends and moves in the direction indicated by arrow Y in the figure.

Next, the operation of the above-mentioned automobile body side assembly apparatus will be described. In the first step I in the process diagram of FIG. 4, the work set robot 16 inserts the front part 9 and the rear fender part 11 onto the transfer device 3 with their connecting portions K abutted against each other.

At this time, the clamp means 49 uses the movable plate 5
The operation portion 59b of 9 is pressed and the clamp portion is released. As a result, the inserted parts 9 and 11 have the lower ends of the side sills 43 and 45 inserted into the clamp portions in the released state. Further, as shown in FIG. 10, the side sills 43, 45 have a notch 43 at the lower end.
By inserting the positioning protrusions 47a into b and 45b, positioning in the carrying direction is performed. In this state, each of the parts 9 and 11 is shown in FIG.
It is tilted toward the front side of the drawing, and this tilted state is held by a work fall stop 63 that supports the rear fender component 11. Since the front part 9 is lighter than the rear fender part 11, the front part 9 is supported by the rear fender part 11 at the connecting portion K.

The parts 9 and 11 held by the work fall prevention device 63 are moved by a servo motor (not shown) or the like.
In FIG. 2, the bent portions 4 at the lower ends of the side sills 43 and 45 are released by pressing and raising them from the front side of the paper surface and releasing the pressing operation on the operating portion 59b of the clamp means 49.
3a and 45a are clamped and fixed as shown in FIG. As a result, the components 9 and 11 are positioned in the left-right direction and the up-down direction with respect to the transport direction. After the positioning is completed, the welding robot 17 welds and joins the joints K of the parts 9 and 11 to each other to obtain the body side outer 7.

When the first step I is completed, the conveyor 3 is driven to move the chain 77 in the direction of arrow Y in FIG. 13, whereby the body side outer 7 is conveyed in the same direction as the moving body 47, Move to step II of 2. In the second step II, the welding operation by additional hammering on the body side outer 7 obtained in the first step I is performed by the welding robots 21 arranged on both sides of the transport device 3.

After the completion of the second step II, the carrier device 3 is driven in the same manner as described above to move the body side outer 7 to the third position.
Move to step III. In the third step III, the positioning jig 25 of the tetrahedral positioning device 23 is advanced from the retracted position C to the advanced position B shown in FIG. Position and fix from the side. In this state, the work set robot 27
Thus, after the inner parts 13 and 15 shown in FIG. 3 are set on the body side outer 7, the welding robot 29 performs temporary fixing welding of the inner parts 13 and 15.

After the end of the third step III, the body side outer 7 to which the inner parts 13, 15 are temporarily fixed is further moved to the fourth step IV by driving the transport device 3. In this fourth step IV, as shown in FIG. 1, the welding robot 5 performs additional welding from both sides of the transfer device 3, whereby all welding operations are completed and the body side 1
Is obtained.

In the following fifth step V, the above-mentioned fourth step IV
The body side 1 obtained in 1 is conveyed by driving the conveying device 3, and the conveyed body side 1 is lifted by the support arm 41a of the lifter 41 as shown in FIG.

Here, the side sill 43 of the body side 1,
As shown in FIG. 9, 45 is a bent portion 43a, 45 at the lower end.
The angle θ at a and the length L in the vehicle width direction are the same regardless of the vehicle type.
As shown in FIG. 4, a plurality of different vehicle types P, Q, R, S, etc. can be clamped in the upright state, a jig dedicated to each vehicle type is not required, and the clamping means 49 can have a simple structure. Since an inexpensive conveyor using the chain 77 is used as the transfer device 3 used to transfer the work, the equipment cost can be significantly reduced.

In the second step II and the fourth step IV, the welding work is performed by the welding robots 21 and 5 arranged on both sides of the carrier device 3, so that the robots 21 and 5 interfere with each other. Welding work can be carried out at multiple points without waiting, and the operating range can be maximized without waiting for interlocks. The robot can be made smaller and faster, and the number of processes can be reduced. You can

FIG. 15 is a sectional view taken along line EE in FIG. 15A, which shows the work posture of the work W corresponding to the front part of the body side outer, which is caused by its own weight when the work W is in the standing state applied in the present invention. 16B is a schematic view of FIG. 16B, and FIG. 16 shows the work posture by bending the work W by its own weight in a lying state, which is applied in the conventional example. It is what was modeled as (b) which is sectional drawing.

In the case where the work is erected in FIG. 15, the second moment of area about the X axis is large, the bending rigidity is large, and the bending deformation due to the gravity G is small. On the other hand, in FIG. 16 in the state where the work is laid down, the second moment of area about the Z axis is small, the bending rigidity is small, and the bending deformation due to the gravity G is large.

As described above, according to the present invention, since the work is carried and the welding work is performed in a standing state in which the bending rigidity of the cross section of the work is maximized with respect to the direction of action of its own weight, the work is laid horizontally. It is less likely to be deformed than in the closed state, and this improves the assembly accuracy. Further, by setting the work upright, the work space can be reduced.

In carrying out the body side 1 in the final fifth step V, it is not necessary to use a conventional apparatus for standing up the body side from a lying state, so that the equipment cost can be reduced accordingly.

In the carrying device 3, the eight cam followers 71 attached to the moving body 47 sandwich the upper and lower sides of the guide rail 51 as shown in FIG.
Since it is arranged so that the displacement in the left-right direction is also restricted by a, the axial displacement α in the transport direction A, the axial displacement β in the vertical direction, and the horizontal direction perpendicular to the transport direction A as shown in FIG. The axial displacement γ, the vertical displacement δ, and the lateral displacement ε with respect to the transport direction A are all regulated, whereby vibrations and meandering of the work during transport are reliably prevented, and during welding work. Also, since the positioning accuracy is improved, highly accurate welding work can be performed.

As shown in FIG. 11, the load of the work is received by the guide rail 51 from the fixed plate 55 of the clamp means 49 through the horizontal plate 67 of the moving body 47, the side plate 69 and the cam follower 71, and the chain 77. Since the chain 77 does not act, elongation is avoided, vibration is prevented, and a long life is achieved, and a low-priced chain can be used as the chain to be used, and the cost can be reduced.

Since the chain 77 is structured so as to be hung by the moving body 47 to prevent it from hanging down, a guide shoe or a sprocket for holding the chain is not required, and an impact caused by the slack of the chain at the time of starting / stopping is eliminated. Can be prevented.

FIG. 18 shows another example of the clamp means shown in FIG. This clamping means 85 is shown in FIG.
The fixed plate 87 provided on the moving body 47 shown in FIG. 7 and the fixed plate 87 clamp and fix the flange 89 of the work corresponding to the lower ends of the side sills 43 and 45 of the front part 9 or the rear fender part 11. And a rotating plate 91. The lower end of the flange 89 comes into contact with the upper end of the positioning plate 93 provided on the side portion of the fixed plate 87, thereby performing vertical positioning. A rotation support flange 93a is formed on the positioning plate 93, and the rotation plate 91 is rotatable on the rotation support flange holder 93a via a rotation support pin 95.

On the other hand, below the rotating plate 91, a nut 99 is fixed to the lower end side of the fixed plate 87 via an intermediate member 97, and is connected to the tip of a screw 101 screwed to the nut 99 from below. The material 103 is fixed. The upper end of the connecting member 103 and the rotating plate 91 are rotatably connected via connecting pins 105 and 107.

In the structure shown in FIG. 18, the screw 101 is used.
When the screw is moved upward with respect to the nut 99, the rotary plate 91 rotates clockwise around the rotary support pin 95 in the figure to clamp and fix the flange 89 with the fixed plate 87. As a result, the work is positioned in the left-right direction and the up-down direction with respect to the conveyance direction.

19 to 21 show another example of the cam follower and guide rail structure in the carrying device 3. In FIG. 19, eight cam followers 109 are used as in FIG. 11, and the guide rails 111 are arranged so as to sandwich the guide rails 111 from above and below. However, the cam followers 109 are provided with a V-shaped groove at the center. It has a pulley shape, and the guide rail 111 is arranged so as to be aligned with the V-shaped groove.

In FIG. 20, the cam follower 113 is
A total of four cam followers 113 are provided, one on each of the left and right side plates 69 on the front side and the rear side in the conveying direction.
Is arranged so that the upper and lower portions are sandwiched by the vertically divided guide rails 115 and 117. Each guide rail 115, 117 has a cutout recess 11
5a and 117a are respectively formed, and the respective cutout recesses 1 are formed.
The cam follower 113 moves in by entering into 15a and 117a.

The cam follower 113 shown in FIG. 21 has the same structure as that shown in FIG. 20, but the guide rails 115 and 117 in FIG. 20 are integrated with each other to form a guide rail 119. .

Also in the above-mentioned examples of FIGS. 19 to 21,
Similar to the one shown in FIG. 11, the moving body 47 is provided with the guide rails 111, 11 via the cam followers 109, 113.
Since the displacement is held with respect to 5, 117, and 119, the stable conveying operation is performed and the welding work can be performed with high precision as in the example of FIG. 11.

Incidentally, in the third step III in FIG. 4, the inner parts 13, 1 are positioned with the body side outer 7 positioned from the side surface by the tetrahedral positioning device 23.
The temporary fixing welding work of 5 was performed, but the tetrahedral positioning device 2
Instead of 3, as shown in FIG. 22, the positioning robot 1
A robot hand-type jig in which a jig 123 dedicated to each vehicle type for positioning the body side outer 7 is replaceably attached to the end of the robot hand 21 may be used.

FIG. 23 is a front view of the jig 123 as seen from the work side. The jig 123 has a frame body 124 that matches the side surface shape of the body side outer 7.
A plurality of work restraint gauges 125 are provided at predetermined locations. The work restraint gauge 125 is clamped and held by the operation of the cylinder 125a, as shown in FIG. 24, which is an enlarged schematic right side view of FIG. What is denoted by reference numeral 127 in FIGS. 23 and 24 is
Locating pin for positioning.

However, the positioning robot 121 is arranged on the opposite side of the tetrahedron positioning device 23 in the process diagram of FIG. 4 with the transfer device 3 as a boundary, and the body side outer 7 has front and back surfaces. It is assumed that the components are positioned on the transport device 3 in an inverted state, that is, in a state where the front part 9 and the rear fender part 11 are mounted from the side opposite to the example of FIG. That is, here, the work is performed on the body side outer 7 on the right side of the vehicle body,
In the work process of FIG. 4, the body side outer 7 on the left side of the vehicle body
To work on.

[0115] Figure 25 is the body side outer 7 shows a site to be bound by the work constraint gauge 125 by a two-dot chain line. In FIG. 26, the welding spot positions are indicated by black circles with respect to the restrained portion of FIG.

FIG. 27 shows a positioning device 129, 131, 133 provided at four positions on the carrier device 3 at the lower end of the body side outer 7 in an automobile body side assembly device showing another embodiment of the invention. And 135 are shown to be positioned. FIG. 28 is an enlarged view of the arrow H in FIG. 27. It should be noted that the body side outer 7 here is located on the right side of the vehicle body, similar to the one positioned by the positioning robot 121.

The body side outer 7 shown in FIG. 27 corresponds to the first step I in FIG. 4, and at this position, the front component 9 and the rear inner component 11 are fixed to the carrier device 3. Arms 137 and 13
It is supported by 9 from the back side of the paper in FIG.
The support arms 137 and 139 are the base portion 3 of the transfer device 3.
lower horizontal rods 137a, 139 whose one end is fixed to a
a, vertical rods 137b and 139b whose lower ends are connected to the other ends of the lower horizontal rods 137a and 139a, and upper horizontal rods 137c and 139c whose base ends are connected to the upper ends of the vertical rods 137b and 139b. The roof rails of the front component 9 and the rear inner component 11 are supported by the tips of the upper horizontal rods 137c and 139c.

FIG. 29 is a view showing the positioning portion 129 shown in FIG.
In an enlarged view of the arrow J, a side sill receiver 141 having a V-shaped recess 141 a is fixed on the moving body 47 via an L-shaped attachment 142. By inserting the flange lower end 43c of the side sill 43 into the recess 141a, the front component 9 is vertically positioned.

FIG. 30 is a view showing the positioning section 133 shown in FIG.
In an enlarged view of the arrow L, a side sill receiver 143 having a V-shaped recess 143 a similar to the side sill receiver 141 is fixed on the moving body 47 via an L-shaped attachment 144. , The recess 143 of the side sill receiver 143
By inserting the flange lower end 45c of the side sill 45 into a, the rear fender component 11 is vertically positioned.

The positioning portion 131 is shown in FIG. 31, which is an enlarged view of the arrow M in FIG. 27, and in FIG.
As shown in FIG. 7, a front pressing portion 145 and a rear pressing portion 147 that press the front side and the rear side of the inner peripheral edge of the front door opening 9a are provided. Front side pressing portion 14
5 has saw teeth 145a extending in the left-right direction perpendicular to the carrying direction on the front side in the carrying direction, and the front side flange 149 in the inner peripheral edge is inserted into a predetermined portion of the saw teeth 145a. On the other hand, the rear-side pressing portion 147 has a sawtooth 147 extending rearward in the transport direction in the left-right direction perpendicular to the transport direction.
a, and the rear side flange 151 at the inner peripheral edge is inserted into a predetermined portion of the saw tooth 147a.

The front side pressing portion 145 is fixed to the support bracket 153 which is fixed adjacent to the side sill receiver 141 on the moving body 47 in the positioning portion 129 shown in FIG.
It is fixed to the upper end of the by a bolt 155. On the other hand, the rear side pressing portion 147 includes a connecting plate 159 fixed to the tip of the piston rod 157 of the air cylinder 156,
It is fixed by a bolt 163 via a mounting plate 161 fixed to the end of the connecting plate 159. The connecting plate 159 includes
The tip of the guide rod 165 is fixed, and the guide rod 1
Reference numeral 65 denotes a brake unit 1 for braking and positioning the guide rod 165 at a predetermined position in the left-right direction in the drawing.
67 is provided.

The air cylinder 156 and the brake unit 167 are connected and fixed by a common support bracket 169, and the lower end of the support constant bracket 169 is mounted on the moving body 47.

The air cylinder 156 is the piston rod 15
32 is operated to move to the right in FIG. 32, whereby the guide rod 165, the connecting plate 159 and the mounting plate 1 are moved.
61 moves in the same direction integrally with the rear side pressing portion 147 and presses the flange 151 with the saw teeth 147a.
By this pressing operation, the sawtooth 145 of the front side pressing portion 145 is
Since a also presses the front flange 149, the pressing portions 145 and 147 form a pair of pressing means for pressing the inner peripheral edge of the front door opening 9a in the directions away from each other. The saw teeth 145
By pressing the flanges 149 and 151 by a and 147a, respectively, the workpiece is positioned in the conveying direction and in the lateral direction perpendicular to the conveying direction.

FIG. 33 is a view showing the positioning portion 135 shown in FIG.
In an enlarged P arrow view of FIG. 33, a support bracket 173 protruding obliquely to the upper right is attached on the moving body 47, and a tip of this support bracket 173 is attached with a Q in FIG.
As shown in FIG. 34, which is an arrow view, the air cylinder 175
Is installed. A mounting plate 179 is fixed to the tip of the piston rod 177 of the air cylinder 175.
79 has saw teeth 18 extending in a direction perpendicular to the conveying direction.
A flange receiver 181 having 1a is attached by a bolt 183. The saw teeth 181 a of the flange receiver 181 are attached to the lower end 18 of the flange of the rear fender component 11.
5 enters.

The guide rod 18 is attached to the mounting plate 179.
The tip of 7 is fixed, and the guide rod 187 has
A brake unit 189 which is braked and positioned at a predetermined position in the extension direction of the guide rod 187 and fixed to the support bracket 173 together with the air cylinder 175.
Is provided.

The air cylinder 175 is replaced by the piston rod 17
34 is operated to move diagonally upward to the left in FIG. 34, the guide rod 187 and the mounting plate 179 move integrally with the flange receiver 181 in the same direction, and the saw blade 1
The flange lower end 185 is pressed by 81a. This pressing operation prevents the rear fender component 11 from vibrating.

Also in the body side assembling apparatus shown in FIG. 27, since the welding operation is performed with the body side outer 7 standing upright, it is less likely to be deformed as compared with a state in which the body side outer 7 is laid down horizontally, which contributes to improvement in assembly accuracy. . In addition, the side sill receivers 141 and 143 that perform vertical positioning and the pressing portions 145 and 147 that perform lateral positioning that is orthogonal to the transportation direction include V-shaped recesses 141a,
Since the flange ends of the workpiece are inserted into the 143a and the saw teeth 145a and 147a, respectively, different vehicle types can be easily dealt with and are highly versatile.

FIGS. 35 and 36 relate to a vehicle body side assembling apparatus showing still another embodiment of the present invention, in which the carrying device 3 is located above the body side outer 7 which is a work. Four positioning tools 191, 19 as positioning fixing means for positioning and fixing the body side outer 7 by suspending and supporting the body side outer 7 on the moving body 47 which is located and moves along the guide rail 51.
3, 195 and 197 are provided so as to project downward.
FIG. 35 shows a state in which the body side outer 7 of a sedan vehicle is suspended and supported, and FIG. 36 shows a state in which the body side outer 7 of a wagon vehicle is suspended.

[0129] Fig. 37 is an overall configuration diagram of the transfer device 3 in which a guide rail 51 is installed along a monorail beam 199. The work is sequentially transported by the moving body 47 moving on the guide rail 51.

FIG. 38 is an enlarged RR sectional view of FIG. 37. Guide rails 51 are fixed to the left and right sides of the monorail beam 199 via brackets 221.
The moving body 47 is the horizontal plate 6 as in the above-described embodiment.
Side plates 69 are provided on both left and right sides of the cam plate 7, and a cam follower 71 is rotatably provided on the side plate 69 so as to sandwich the guide rail 51 from above and below.

A chain 77 is attached to the chain attaching portion 73 provided on the upper surface of the moving body 47 via an attachment 75. Chain receivers 223 and 225 are provided on the upper and lower portions of the monorail beam 199, respectively.

FIG. 39 is a schematic diagram of the 4 mounted on the moving body 47.
The positioning unit 227 in which the one positioning tool 191, 193, 195, 197 is integrated is shown as a perspective view. The positioning unit 227 is provided with a base frame 229 fixed to the lower surface of the moving body 47, and the support rods 231, 233, 235, 237 are downwardly arranged along one side of the base frame 229 with a predetermined interval. The support rods 231, 233, 2 are provided so as to project toward
The positioning devices 191 and 19 are provided on the lower portions of 35 and 237.
3,195,197 are provided.

A horizontal rod 239 is attached to the lower end of the support rod 231 provided with the positioning tool 191.
A roof rail receiver 241 having a V-shaped recess 241a is mounted on the side surface of the front end of the horizontal rod 239 on the front side in the transport direction. This roof rail receiver 241 is, as shown in FIG. 40, a body side outer 7 (front part 9).
The lower end 243 of the flange of the roof rail in is inserted and the work is positioned in the vertical direction and the horizontal direction orthogonal to the transport direction.

As shown in FIG. 41, which is an enlarged plan view of the positioning tool 193, the positioning tool 193 serves as a pair of work receiving parts which serve as a holding part for holding the vicinity of the upper end of the center pillar 245 of the body side outer 7 from both front and rear sides in the transport direction. 247,249
Saw teeth 247a and 249a as pressing portions extending in the left-right direction perpendicular to the transport direction are formed at the portions of the work receivers 247 and 249 that face each other.

One pressing portion 247 on the rear side in the carrying direction is
It is fixed to the side surface of the support rod 233 on the rear side in the transport direction via the support bracket 251. Support rod 233
A side surface on one end side of the support bracket 253 is fixed to a side surface on the front side in the conveyance direction of, and an air cylinder 255, a brake unit 257, and a linear bush 259 are attached to the support bracket 253 in order from the other end side. There is. One end of the mounting plate 263 is fixed to the tip of the piston rod 261 of the air cylinder 255, and the pressing portion 249 is attached to the other end of the mounting plate 263 in the longitudinal direction of the mounting plate 263 (see FIG. It is attached so as to be movable in the up and down direction in 41.

The tip of the guide rod 267 that slides on the brake unit 257 for braking operation and the tip of the guide rod 269 that slides on the guide shoe 259 are fixed to the mounting plate 263. ing. The air cylinder 255 operates so as to pull in the piston rod 261, so that the mounting plate 263 and the pressing portion 249 are integrated to form the guide rods 267 and 269.
41, the center pillar 245 is clamped from both ends as shown in FIG. 42 by moving and displacing in the right direction in FIG. The fixed state is held by the operation of the brake unit 257, and positioning in the transport direction is performed.

L-shaped attachments 271 are fixed to the attachment plates 63 near both ends of the pressing portion 249 in the longitudinal direction with a predetermined distance from the pressing portion 249. Fixture 2
A bolt 273 is movably inserted into 71, and its tip is screwed and fixed to the pressing portion 249. Fixture 2
71 and the adjusting nut 274 screwed to the bolt 273, a spring 275 is interposed, which allows the pressing portion 249.
Together with the two bolts 273, will be elastically held by the fixture 271.

An air cylinder 279 is mounted adjacent to the support rod 235 on the support plate 277 fixed to the lower end of the support rod 235 to which the positioning portion 195 is attached. The tip of the piston rod 281 of the air cylinder 279 is It is fixed to a mounting plate 283 extending in the left-right direction orthogonal to the transport direction. A movable rod 287 that is vertically movable with respect to a side surface of the support rod 235 via a linear guide 285 is provided on an upper surface of a substantially central portion of the mounting plate 283 in the longitudinal direction.
The lower end of is fixed. Further, an upward bent portion 283a formed on the rear side in the transport direction on the tip side of the mounting plate 283.
A roof rail receiver 289 having a V-shaped recess 289a is mounted on the. This roof rail receiver 289
Similarly to the roof rail receiver 241 in the above-described positioning portion 191, the lower end 243 of the roof rail flange of the body side outer 7 (rear fender component 11) is inserted as shown in FIG. Is positioned.

A horizontal rod 291 is fixed to the lower end of the support rod 237 to which the positioning portion 197 is attached.
On the side surface of the horizontal rod 291 on the rear side in the transport direction, a flange receiver 293 for supporting the roof rail portion of the rear portion of the body side outer 7 in the wagon vehicle shown in FIG. 36 is mounted. The flange receiver 293 has saw teeth 293a formed on the receiving portion, and the saw teeth 293a are formed on the saw teeth 293a as shown in FIG.
As shown in, the lower end 295 of the flange of the roof rail is inserted, whereby positioning in the vertical direction and the horizontal direction perpendicular to the transport direction is performed.

Also in the body side assembling apparatus shown in FIGS. 35 and 36, since the welding work is performed with the body side outer 7 standing upright, it is less likely to be deformed as compared with a state in which the body side outer 7 is laid down, and the assembling accuracy is improved. Can contribute to.

During the above assembling work, the body side outer 7 is positioned by the positioning portions 191, 195 and 197 in the vertical direction and in the horizontal direction at right angles to the transport direction, and by the positioning portion 193 in the transport direction. Since each of these positioning portions has a configuration in which the flange end portion of the work enters the V-shaped recesses 241a and 289a, the saw tooth 293a, and the saw tooth teeth 247a and 249a, even different vehicle types can be easily accommodated. It is possible and highly versatile. In particular, since the saw teeth 247a, 249a, and 293a are extended in the left-right direction orthogonal to the transport direction, even a vehicle model in which the center pillar 245 and the roof rail flange lower end 295 are displaced in this direction is easy. Can handle.

V-shaped concave portion 2 in the positioning portion 195
Roof rails received 289 equipped with 89a are the vertically movable by an air cylinder 279, each roof rail receiving 241 and hula front and rear
It is possible to deal with the case where the vertical receiving position of the work by the change receiving device 293 differs depending on the vehicle type.

When the body side outer 7 is set on the positioning unit 227, the positioning portion 193 separates the front side pressing portion 249 from the rear side pressing portion 247 by a predetermined distance, and in this state, the rear side The center pillar 245 is located near the pressing portion 247, and the front pressing portion 249 is moved rearward by the operation of the air cylinder 255 to sandwich the center pillar 245. At this time, the pressing portion 249 on the front side is elastically supported by the springs 275 at both ends in the left-right direction orthogonal to the transport direction, so that the sawtooth 249a at the end of the center pillar 245 does not enter the groove. It is easily done by moving in the left and right directions. The positioning operation is reliably performed.

The moving body 4 in FIGS. 35 and 36 described above.
Regarding positioning of 7 in each working step in FIG. 4 along the carrying direction, as shown in FIG. 44 which is a schematic plan sectional view seen from above the carrying device 3, a horizontal plate in the moving body 47 is shown. This is dealt with by providing a concave portion 297 on the side surface of 67 and providing a tapered pin 299 to be inserted into the concave portion 297 so as to be able to move forward and backward from the side of the conveying device 3.

FIG. 45 shows another example of the carrying device 3 utilizing the chain shown in FIG. The transport device 3 includes a drive shaft 305 via a support member 303 on a fixed side bracket 301 attached to a lower portion of a monorail beam 199.
Is provided. The drive shaft 305 is arranged in the transport direction (see FIG.
It is extendedly arranged along the direction (perpendicular to the paper surface) and is rotatable with respect to the support member 303.

On the other hand, on the moving side bracket 307 provided on the horizontal plate 67 on the moving body 47 side, the guide wheel holder 309 is rotatably provided via the shaft 311, and the guide wheel holding jig 3 is provided.
A guide wheel 313, which comes into contact with the drive shaft 305 while being pressed by, for example, a spring, is rotatably held via a shaft 315 at 09. This guide car 313
Is made of, for example, urethane rubber having a large friction coefficient, and is rotated obliquely on the drive shaft 305 by rotating the drive shaft 305 with the guide wheel maintenance jig 309 being appropriately angularly displaced from the state of FIG. Rolling displacement causes the moving body 47 provided with the guide wheel 313 to move in the carrying direction along the drive shaft 305, thereby carrying the work.

The transport system 3 shown in FIGS. 13 and 27 may employ the drive system shown in FIG. 45, or may employ a linear motor other than this drive system. .

[Brief description of drawings]

FIG. 1 is a perspective view showing a part of a vehicle body side assembly device according to an embodiment of the present invention.

FIG. 2 is a perspective view showing a state in which front and rear parts are put on the transfer line of the assembly apparatus of FIG.

FIG. 3 is a perspective view showing a state in which inner parts are set on the body side outer assembled on the transfer line of the assembly apparatus of FIG.

4 is a work process diagram of the assembling apparatus of FIG. 1. FIG.

5 is a side view showing a specific configuration of a first work process I in the work process of FIG. 4. FIG.

6 is a side view showing a specific configuration of a third work process III in the work process of FIG.

FIG. 7 is a perspective view showing a state in which the body side obtained after the welding work is completed by the assembling apparatus of FIG. 1 is carried out.

8 is a perspective view showing details of a portion for clamping and conveying a work in the assembling apparatus of FIG.

9 is a cross-sectional view showing details of the clamp means in FIG.

10 is a positioning mechanism diagram for positioning in the work transfer direction in the assembly apparatus of FIG.

FIG. 11 is a cross-sectional view of the moving body of FIG. 8 taken at a right angle to the carrying direction.

12 is a cross-sectional view taken along the line DD of FIG.

13 is a front view showing the overall configuration of a carrying device in the assembly device of FIG. 1. FIG.

14 is an explanatory diagram showing a clamping operation by a clamping means in the assembling apparatus of FIG. 1 for a plurality of vehicle types.

FIG. 15 (a) is a schematic view of a workpiece in a standing state, (b).
Indicates a bending operation due to its own weight at that time.
FIG.

FIG. 16A is a schematic view of a work piece in a laid state,
(B) is FF sectional drawing of (a) which shows the bending operation | movement by the own weight at that time.

17 is an explanatory diagram showing a displacement operation of the moving body in FIG.

18 is a cross-sectional view showing another example of the clamp means in FIG.

19 is a cross-sectional view showing another example of the displacement restricting structure of the moving body in FIG.

20 is a cross-sectional view showing still another example of the displacement restricting structure of the moving body in FIG.

21 is a cross-sectional view showing a modified example of the displacement regulation structure of FIG.

22 is an explanatory diagram showing a work positioning operation by a positioning robot which replaces the tetrahedral positioning device used in the work process of FIG. 6. FIG.

23 is a front view of a positioning jig at the tip of the robot hand in the positioning robot of FIG.

FIG. 24 is an enlarged right side view of FIG. 23.

FIG. 25 is a side view of the work showing a portion positioned by the positioning robot of FIG. 22.

FIG. 26 is an explanatory diagram showing welding point positions of a work.

FIG. 27 is a side view showing a state where a work is set on the transfer device in the vehicle body side assembly device according to another embodiment of the present invention.

28 is an enlarged H arrow view of FIG. 27. FIG.

FIG. 29 is an enlarged J arrow view of FIG. 27.

30 is an enlarged L arrow view of FIG. 27. FIG.

31 is an enlarged view of arrow M in FIG. 27. FIG.

32 is an enlarged N arrow view of FIG. 27. FIG.

FIG. 33 is an enlarged P arrow view of FIG. 27.

FIG. 34 is a view on arrow Q in FIG. 33.

FIG. 35 is a side view showing a state in which a work, which is a body side outer of a sedan vehicle, is set on the transfer device in the vehicle body side assembly device according to still another embodiment of the present invention.

36 is a side view showing a state in which a work, which is the body side outer of the wagon, is set in the transfer device in the body side assembly device of FIG. 35.

FIG. 37 is an overall configuration diagram of the transport device 3 of FIGS. 35 and 36.

38 is an enlarged RR sectional view of FIG. 37. FIG.

FIG. 39 is a perspective view of a positioning unit used in the transport device of FIGS. 35 and 36.

40 is an operation explanatory view showing a state in which the roof rail portion of the front part is supported in the positioning unit of FIG. 39.

41 is a plan view showing details of a positioning tool that supports the center pillar of the front component in the positioning unit of FIG. 39. FIG.

42 is an operation explanatory view showing a state where the center pillar is supported by the positioning tool of FIG. 41. FIG.

43 is an operation explanatory diagram showing a state in which the roof rail portion of the wagon vehicle is supported in the positioning unit of FIG. 39.

FIG. 44 is a plan sectional view of a positioning mechanism that positions the moving body in the carrying direction in the carrying device of FIGS. 35 and 36.

FIG. 45 is a cross-sectional view corresponding to FIG. 38, showing another example of the transport device.

FIG. 46 is a schematic perspective view of a body side assembly device for a vehicle showing a conventional example.

[Explanation of symbols]

1 Body Side 3 Conveyors 5, 17, 21, 29 Welding Robot 7 Body Side Outer 9 Front Parts 9a Front Door Opening 11 Rear Fender Parts 13 Front Inner Parts (Inner Parts) 15 Wheel House / Rear Piliner Parts (Inner Parts) 25 Positioning Jig 27 Work set robot 43, 45 Side sill 43b, 45b Notch 43c, 45c Flange lower end 47 Moving body 47a Positioning protrusion 49, 85 Clamping means 51, 111, 115, 117, 119 Guide rail 71, 109, 113 Cam follower 77 Chain 141, 143 Side sill receivers 141a, 143a V-shaped recess 145 Front pressing part (pressing means) 145a Saw tooth (pressing part) 147 Rear pressing part (pressing means) 147a Saw tooth (pressing part) 181 Flange receiver 91,193,195,197 positioners (positioning and fixing means) 241,289 roof rail receiving 241a, 289a V-shaped recesses 247,249 work receiving (sandwiching part) 247a, 249a serrations (pressing portion)

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kohei Ueda 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. (72) Shoichi Takahashi 2 Takara-cho, Kanagawa, Yokohama, Kanagawa Pref. Nissan Motor Co., Ltd. In-company (72) Inventor Setsuo Nakamura 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. (72) Inventor Kazuo Urakami 2 Takara-cho, Kanagawa-ku, Yokohama, Kanagawa (72) Invention Shin Kinoshita 2 Takara-cho, Kanagawa-ku, Yokohama-shi, Kanagawa Nissan Motor Co., Ltd. (72) Inventor Hiroshi Seki 2 Takara-cho, Kanagawa-ku, Yokohama-shi, Kanagawa Nissan Motor Co., Ltd. (72) Hiroro Habe Kanagawa 2 Takaracho, Kanagawa-ku, Yokohama-shi Nissan Motor Co., Ltd. (56) Reference JP-A-7-52821 (JP, A) JP-A 58-199276 (JP, A) JP-A-5-301616 (JP, A) JP-A-62-160970 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B62D 65 / 00 B23K 11/11 593 B23K 37/00 B23K 37/04 B23P 21/00 305

Claims (17)

(57) [Claims] 1. A body side outer (7) is erected such that a roof rail side is an upper part and a side sill (43, 45) side is a lower part, and in this state, a lower end of the side sill (43, 45) is positioned and fixed. In the method of assembling a body side (1) of a vehicle, which is performed by welding, the body side outer (7)
Positioning of the side sill (43, 45) at a right angle in the right-and-left direction and the vertical direction with respect to the carrying direction is performed by a clamp means (49, 85) provided on the moving body (47) of the carrying line (3). While sandwiching and fixing, the positioning protrusion (47a) provided on the moving body (47) is inserted into the notch (43b, 45b) formed at the lower end of the side sill (43, 45) in the carrying direction. A method for assembling an automobile body side, which is characterized in that 2. The body side outer (7) is erected such that the roof rail side is the upper side and the side sill (43, 45) side is the lower side, and the lower end of the side sill (43, 45) is positioned and fixed in this state. In the method of assembling a body side (1) of a vehicle, which is performed by welding, the body side outer (7)
Is positioned in the left-right direction and the up-down direction at right angles to the transport direction, the V-shaped concave portion (141a, 141a, 143a), the pressing means (145, 1) is provided on the front and rear sides of the inner peripheral edge of the door opening (9a) in the carrying direction.
47) The method of assembling the body side of an automobile, characterized in that the steps are performed by pressing them in directions away from each other. 3. The body side outer (7) comprises a front part (9) and a rear fender part (11),
Each of these parts (9, 11) is conveyed on the transfer line (3) in a state of being fixedly positioned, and at the predetermined position on the transfer line (3), the above-mentioned parts (9, 11) are welded and joined to each other. The method for assembling a vehicle body side according to claim 1 or 2, characterized in that the inner parts (13, 15) are set to the respective parts (9, 11) and the welding and joining work is performed. 4. A positioning jig (25) arranged laterally of the transfer line (3) is directed toward the front part (9) and the rear fender part (11) positioned on the transfer line (3). After moving into the market, each of these parts (9, 1
4. The method for assembling a vehicle body side according to claim 3, wherein 1) is positioned from the side, and the inner parts (13, 15) are set and welded and joined in this state. 5. The body side outer (7) is erected such that the roof rail side is the upper side and the side sills (43, 45) side is the lower side, and the side sill (43, 4).
Positioning and fixing means for fixing and positioning the lower end of 5) is provided on the moving body (47) in the transport line (3), and the body side outer (7) positioned by this positioning and fixing means is welded to the body. Welding robots (5, 17, 21, 29) that perform side (1) assembly work
In the body side assembling apparatus for an automobile, which is arranged on the side of the transfer line (3), the positioning and fixing means includes a front part (9) and a rear fender part (11) that form a body side outer (7). Clamping means (49, 85) for clamping and fixing the lower end of the side sill (43, 45) of the side sill (43, 45) from right and left at right angles to the transport direction in a state where the vertical direction is positioned, and the side sill (4).
3, 45) Notches (43b, 45b) formed at the lower end
And the notch (4) provided on the moving body (47).
3b, 45b) and a positioning protrusion (47a) for positioning in the carrying direction, a body side assembly device for an automobile. 6. The side sill (43, 4) in a state where the body side outer (7) is erected so that the roof rail side is the upper side and the side sill (43, 45) side is the lower side.
Positioning and fixing means for fixing and positioning the lower end of 5) is provided on the moving body (47) in the transport line (3), and the body side outer (7) positioned by this positioning and fixing means is welded to the body. Welding robots (5, 17, 21, 29) that perform side (1) assembly work
In the body side assembling apparatus for an automobile, which is arranged on the side of the transfer line (3), the positioning and fixing means includes a front part (9) and a rear fender part (11) that form a body side outer (7). Side sill (43, 45) side sill receiver (14a, 143a) is inserted into the lower end of the side sill (14, 45)
5, 147) and a pair of pressing means (145, 147) for pressing the front side and the rear side in the conveyance direction at the inner peripheral edge of the door opening (9a) in the front part (9) in directions away from each other. A body side assembly device for an automobile, which is characterized in that: 7. The pair of pressing means (145, 147) comprises:
7. The body side assembly device for a vehicle according to claim 6, wherein one is fixed and the other is movable in the front-rear direction of the vehicle body. 8. The pair of pressing means (145, 147) comprises:
The saw-tooth-shaped pressing portion (145a, 147a) that extends in the left-right direction at right angles to the transport direction and presses the inner peripheral edge of the door opening portion (9a) is provided. Body side assembly equipment for automobiles. 9. A rear fender part (11) received by side sill receivers (145, 147) on a moving body (47).
A saw tooth-shaped flange receiver (181) extending in the left-right direction perpendicular to the transport direction, which receives the flange lower end (45c) on the vehicle rear side of the side sill (45). 6. The vehicle body side assembly device according to item 6. 10. The body side outer (7) is fixedly positioned by suspending and supporting the roof rail side with the roof rail side being the upper side and the side sills (43, 45) side being the lower side. Positioning and fixing means (191, 193, 195, 197) are provided so as to project downward from the moving body (47) in the transfer line (3), and the positioning and fixing means (191, 193, 19) are provided.
5,197), a welding robot for assembling the body side (1) is welded to the body side outer (7) positioned on the side of the transfer line (3). In the assembling apparatus, the positioning fixing means (191, 193, 195, 19
7) is provided with V-shaped recesses (241a, 289a) into which the lower ends (243) of the flanges of the roof rails of the front part (9) and the rear fender part (11) constituting the body side outer (7) are inserted. Roof rail receiver (241,289) and center pillar (24
5) A sandwiching part (24) for sandwiching and fixing both front and rear ends in the transport direction.
7, 249) and a vehicle body side assembling device. 11. Roof rail receivers (241,289)
Are front parts (9) and rear fender parts (1
11. The body side assembly device for a vehicle according to claim 10, wherein one receiving any one of 1) is provided so as to be vertically movable. 12. The body of an automobile according to claim 10, wherein one of the holding portions (247, 249) is fixed, and the other one is movable in the longitudinal direction of the vehicle body. Side assembly device. 13. The sandwiching portions (247, 249) are extended in the left-right direction at right angles to the conveying direction and press the center pillar (245) from both sides in a serrated pressing portion (2).
47a, 249a). The vehicle body side assembling device according to claim 10, further comprising: 14. A part of the front part (9) and the rear fender part (11) positioned on the transfer line (3) are advanced to the side of the transfer line (3) to move the front part (9) and the rear fender part (11). 11)) is positioned laterally, and a positioning jig (25) is arranged, and the front part (9) and the front part (9) are provided on the side opposite to the positioning jig (25) with the transfer line (3) as a boundary. A vehicle body side assembly according to any one of claims 5, 6 and 10, characterized in that a work set robot (27) for setting the inner part (13, 15) is arranged on the rear fender part (11). apparatus. 15. The moving body (47) has cam followers (71, 1) at both front and rear ends on both left and right sides at right angles to the carrying direction.
09, 113) is installed, and this cam follower (71,
The guide rails (51, 111, 109, 113) are movable along the carrying direction while being supported, and restrict the displacement of the cam followers (71, 109, 113) in the left-right direction and the up-down direction with respect to the carrying direction. 115, 11
7. A vehicle body side assembling apparatus according to claim 5, wherein a pair of (7, 119) are arranged on the fixed side of the conveying line (3) on both the left and right sides orthogonal to the conveying direction. . 16. The cam followers (71, 109) are arranged so as to sandwich the upper and lower sides of the guide rails (51, 111) on each of the front left and right sides and the rear side left and right sides of the moving body (47). The vehicle body side assembling apparatus according to claim 15, wherein: 17. Guide rails (115, 117, 11)
9) is a cam follower (11) provided on each of the front left and right sides and the rear side left and right sides of the moving body (47).
The body side assembling apparatus for an automobile according to claim 15, wherein the apparatus is arranged so as to sandwich the upper and lower sides of 3).