JP3816252B2

JP3816252B2 - Auto body assembly equipment

Info

Publication number: JP3816252B2
Application number: JP00451199A
Authority: JP
Inventors: 元辻井; 隆嗣久保; 直樹深井; 昭一平田; 健二久寿米木; 二郎菅原; 利男泉名
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 1999-01-11
Filing date: 1999-01-11
Publication date: 2006-08-30
Anticipated expiration: 2019-01-11
Also published as: JP2000203472A

Description

【０００１】
【発明の属する技術分野】
本発明は、左右のサイドパネルをフロアやルーフ等の他の車体構成部材に溶接結合して自動車車体を組立てる自動車車体の組立装置に関する。
【０００２】
【従来の技術】
従来、この種の組立装置として、特開平５−１２４５４９号公報により、フロアやルーフ等のサイドパネル以外の車体構成部材を投入する組立ステーションの左右両側部に夫々横方向外方の待機位置と内方の溶接位置とに進退自在な可動フレームを設け、可動フレームに、サイドパネルを保持するセット治具を着脱自在に取付けると共に、複数の溶接ロボットを前後方向に移動自在に搭載し、更に、サイドパネル用のプリセット治具を待機位置に存する可動フレームの内方の組立ステーションとの間の空間に出し入れするサイドパネル供給装置を設けたものが知られている。
【０００３】
そして、このものでは、プリセット治具に予めセットしたサイドパネルを待機位置に可動フレームを移動した状態でプリセット治具からセット治具に受渡し、その後可動フレームを溶接位置に移動して、可動フレームに搭載した溶接ロボットによりサイドパネルを他の車体構成部材に溶接結合し、自動車車体の組立を行っている。
【０００４】
【発明が解決しようとする課題】
上記従来装置によれば、機種変更で打点位置が変化しても溶接ロボットの動きで対処できるため、セット治具の交換だけで機種変更に対処できる。そして、溶接ガンを多数取付けた溶接治具を用いる場合と異り、セット治具には溶接ガンを取付ける必要がないため、セット治具のコストは安く、セット治具を機種に応じて複数用意しても、設備費は安く抑えられる。
【０００５】
ところで、機種によってはサイドパネルのサイドシルをその上下でフロアに溶接結合することがある。この場合、組立ステーションの側部下方に溶接ロボットを配置し、この溶接ロボットでサイドシルの下側の打点部の溶接を行い、サイクルタイムの短縮を図ることが望まれるが、上記従来装置では、組立ステーションの側部にサイドパネル投入装置の移動スペースを確保する必要があるため、このような溶接ロボットは配置できない。
【０００６】
本発明は、以上の点に鑑み、組立ステーションの側部のサイドパネル供給装置の移動スペースを不要とした、上記従来装置の改良装置を提供することを課題としている。
【０００７】
【課題を解決するための手段】
上記課題を解決すべく、本発明は、左右のサイドパネルをフロアやルーフ等の他の車体構成部材に溶接結合して自動車車体を組立てる装置において、前記他の車体構成部材を投入する組立ステーションの左右両側部に夫々横方向内方の溶接位置と外方の待機位置とに進退自在な可動台を設け、各可動台上に、前後方向の回転軸線回りに回転自在な回転枠を支持し、回転枠に、サイドパネルを保持するセット治具を着脱自在に取付け、可動台を待機位置に移動し、且つ、セット治具を上方を向く上向き姿勢、または、横方向外方を向く外向き姿勢に回転枠の回転により反転した状態でセット治具にサイドパネルをセット自在とすると共に、可動台を溶接位置に移動し、且つ、セット治具を横方向内方を向く内向き姿勢に回転枠の回転により反転した状態でサイドパネルと前記他の車体構成部材とを接合自在とし、更に、回転枠に、サイドパネルと前記他の車体構成部材とを溶接結合する複数の溶接ロボットを前後方向に移動自在に搭載すると共に、これら溶接ロボットに接続するケーブル類を支持するケーブル支持枠を、回転枠に前記内向き姿勢において作用するケーブル支持枠の重量による回転モーメントがセット治具の重量による回転モーメントを打消す方向に作用するように回転枠に取付けている。
【０００８】
本発明によれば、セット治具を上向き姿勢や外向き姿勢にして、サイドパネルを上方や横方向外方からセット治具にセットできるようになり、組立ステーションの側部のサイドパネル供給装置の移動スペースが不要になる。そのため、組立ステーションの側部下方に溶接ロボットを配置し、この溶接ロボットによりフロアに対するサイドパネルの溶接をアシストして、サイクルタイムを短縮することができる。
【０００９】
また、回転枠に搭載した溶接ロボットは回転枠の回転でその回転軸線回りに公転するが、溶接ロボット用のケーブル類は回転枠に取付けたケーブル支持枠に支持されているため、溶接ロボットの公転でケーブル類がからみ合うことはない。更に、ケーブル支持枠が回転枠のバランサとしても機能し、回転枠をスムーズに回転させることができる。
【００１０】
ところで、回転枠に搭載する溶接ロボットとしては、ルーフ等の上部の車体構成部材に対するサイドパネルの溶接を行う上部溶接用ロボットと、フロアに対するサイドパネルの溶接を行う下部溶接用ロボットとが必要になる。この場合、回転枠に前後方向に長手の棒状部材を上下２段に設け、上段の棒状部材に上部溶接用ロボット、下段の棒状部材に下部溶接用ロボットを搭載することも考えられるが、これでは溶接ロボットの搭載位置が回転枠の回転軸線から離れ、回転枠の回転による溶接ロボットの回転慣性力が大きくなって、回転枠の回転停止時に溶接ロボットの回転枠に対する係合部に過大な力が作用する。これに対し、前記回転枠に該回転枠の回転軸線に沿って延在する棒状部材を設け、前記複数の溶接ロボットを２組に分けて、前記内向き姿勢で上方と下方を向く棒状部材の上面と下面とに上部溶接用ロボットとなる一方の組の溶接ロボットと下部溶接用ロボットとなる他方の組の溶接ロボットとを上下逆向きにして搭載すれば、各溶接ロボットの搭載位置が回転軸線に可及的に近付き、回転枠の回転による各溶接ロボットの回転慣性力が小さくなり、回転枠の回転停止時に各溶接ロボットの回転枠に対する係合部に作用する力も小さくなる。従って、係合部の変形による溶接ロボットの位置決め精度の悪化といった不具合を生じず、有利である。
【００１１】
この場合、一方の組の溶接ロボット用のケーブル類と他方の組の溶接ロボット用のケーブル類とがからみ合わないように、前記ケーブル支持枠を、前記内向き姿勢において、前記棒状部材に対し横方向外方、且つ、上方に位置して前後方向に延在する、前記棒状部材の上面側に搭載した一方の組の溶接ロボット用のケーブル類を支持する上枠部と、前記棒状部材に対し横方向外方、且つ、下方に位置して前後方向に延在する、前記棒状部材の下面側に搭載した他方の組の溶接ロボット用のケーブル類を支持する下枠部とを備えるものに構成することが望ましい。
【００１２】
また、前記回転枠に対する静止座標系の前後方向に沿う座標軸をＸ軸、前記内向き姿勢において横方向に沿う座標軸及び上下方向に沿う座標軸を夫々Ｙ軸及びＺ軸として、前記各組の溶接ロボットを、前記棒状部材の上下の各面に設けたＸ軸方向に長手のガイドレールに移動自在に支持されるロボット本体と、ロボット本体にガイドレールからＺ軸方向に離間した位置でＸ軸方向の回転軸線回りに回動自在に支持される関節体と、関節体の回動中立位置でＹ軸に平行になる、関節体に対する静止座標系の座標軸をＵ軸として、関節体にＵ軸方向に移動自在に支持されるＵ軸方向に長手のロボットアームとを備え、ロボットアームのＵ軸方向内方端に手首を介して溶接ガンを搭載して成るものに構成すれば、溶接ロボットを、溶接ガンの可動範囲を等しくした直交座標型ロボットよりも小型軽量化できる。そして、前記各組の溶接ロボットのロボットアームをＵ軸方向外方のストローク端に移動し、且つ、関節体の回動でロボットアームのＵ軸方向外方端がガイドレールからＺ軸方向に離間するような方向の揺動端にロボットアームを揺動した状態におけるロボットアームのＵ軸方向外方端の位置に対しロボットアームの揺動方向外側に位置するように前記ケーブル支持枠の前記上下の各枠部を配置し、
該各枠部から引出されるケーブル類を担持する二次元的に湾曲自在なケーブル担持部材を、各枠部と前記各組の溶接ロボットのロボット本体との間に、Ｘ軸及び前記揺動端におけるＵ軸に平行で、且つ、前記揺動端に存するロボットアームの揺動方向外側に位置する平面上で湾曲するように配置すれば、各枠部から引出されるケーブル類の取回しスペースを、ロボット本体及びロボットアームの動きを阻害することなく可及的に縮小でき、有利である。
【００１３】
【発明の実施の形態】
図１及び図２は、前方に向って順に、フロア投入ステーション１とルーフ投入ステーション２と組立ステーション３とアイドルステーション４とを配置した車体組立ラインを示している。
【００１４】
フロア投入ステーション１にはフロアＷ１用の置台５が設けられており、図示しない上流側のフロア加工ラインから払出されるフロアＷ１を置台５上に立設した複数のワーク受け５ａにより位置決めして支持し得るようにしている。組立ステーション３にも、図３に示す如く、フロアＷ１を位置決めして支持する複数のワーク受け６ａを立設した置台６が設けられており、フロア投入ステーション１の置台５に載置されたフロアＷ１を第１トランスファ装置７₁によりフロア投入ステーション１から組立ステーション３にルーフ投入ステーション２を通過させて搬送し、組立ステーション３の置台６に載置するようにしている。
【００１５】
また、ライン上方に、ルーフ投入ステーション２と組立ステーション３との間に往復動自在な走行枠８を設け、走行枠８にルーフＷ２用とリヤルーフレールＷ３用とダッシュボードアッパＷ４用の各保持具９₁，９₂，９₃を昇降自在に吊設し、図示しない移載機によりルーフ投入ステーション２の側方から投入されるルーフＷ２、リヤルーフレールＷ３、ダッシュボードアッパＷ４の３部材を各保持具９₁，９₂，９₃に受取らせ、走行枠８の組立ステーション３への往動でこれら３部材Ｗ２，Ｗ３，Ｗ４を組立ステーションに搬入するようにしている。
【００１６】
そして、組立ステーション３において、置台６上のフロアＷ１に左右のサイドパネルＷ５，Ｗ５を溶接結合すると共に、リヤルーフレールＷ３及びダッシュボードアッパＷ４の両端部を両サイドパネルＷ５，Ｗ５に溶接結合し、更に、両サイドパネルＷ５，Ｗ５の上縁部間にルーフＷ２を上方から挿入セットして、ルーフＷ２とサイドパネルＷ５とを溶接結合し、かくて組立てられた自動車車体Ｗを第２トランスファ装置７₂により組立ステーション３から図示しない下流側の車体増打ラインにアイドルステーション４を通過させて払出すようにしている。
【００１７】
組立ステーション３の左右両側部には、夫々、図３の左半部に示されている横方向内方の溶接位置と、図３の右半部に示されている横方向外方の待機位置とに進退自在な可動台１０が設けられており、可動台１０に前後１対の支柱１０ａ，１０ａを立設して、両支柱１０ａ，１０ａ間に前後方向の回転軸線１１ａ回りに回転自在な回転枠１１を軸支している。そして、回転枠１１にサイドパネルＷ５用のセット治具１２を取付け、セット治具１２を横方向内方を向く内向き姿勢（図３の左半部の姿勢）と上方を向く上向き姿勢（図３の右半部の姿勢）とに回転枠１１の回転で反転自在としている。セット治具１２は、枠組みした治具枠にサイドパネルＷ５を位置決めして保持する複数のワーク受け１２ａやクランパー１２ｂを取付けて構成される。尚、図１ではセット治具を省略している。
【００１８】
回転枠１１は、回転軸線１１ａに沿って延在する棒状部材１１ｂと、棒状部材１１ｂの前後両端のフランジ部材１１ｃ，１１ｃとを備えており、前記各支柱１０ａに前記回転軸線１１ａ上に位置させてモータ１１ｄと同軸型減速機１１ｅとを取付け、この減速機１１ｅの出力端に各フランジ部材１１ｃを連結して、回転枠１１を回転させるようにしている。そして、前記両フランジ部材１１ｃ，１１ｃに前記セット治具１２の前後両端部を着脱自在に連結し、車体の機種変更に際し機種に応じてセット治具１２を交換し得るようにしている。
【００１９】
また、セット治具１２が前記内向き姿勢となる位相に回転枠１１を回転したときに上方と下方を向く棒状部材１１ｂの上面と下面とに、夫々、動作端に溶接ガンＧを取付けた複数の溶接ロボット１３を上下逆向きにして前後方向に移動自在に搭載している。尚、本実施形態で棒状部材１１ｂは、２本の角パイプ１１ｂ₁，１１ｂ₁を前後複数の連結片１１ｂ₂で結合して成るものに構成されているが、単一のパイプや中実棒で棒状部材を構成しても良い。
【００２０】
回転枠１１には、更に、溶接ロボット１３に接続すべきケーブル類を支持するケーブル支持枠１４が取付けられている。ケーブル支持枠１４は、セット治具１２が内向き姿勢となる位相に回転枠１１を回転した状態において、棒状部材１１ｂに対し横方向外方、且つ、上方に位置して前後方向に延在する、棒状部材１１ｂの上面側に搭載した溶接ロボット１３用のケーブル類を挿通支持するダクト状の上枠部１４ａと、棒状部材１１ｂに対し横方向外方、且つ、下方に位置して前後方向に延在する、棒状部材１１ｂの下面側に搭載した溶接ロボット１３用のケーブル類を挿通支持するダクト状の下枠部１４ｂと、上下の両枠部１４ａ，１４ｂの前後両端部を連結する前後１対のダクト状の縦枠部１４ｃ，１４ｃと、各縦枠部１４ｃの上端部から各支柱１０ａの前後方向外側に張出すダクト状の張出し部１４ｄとを備え、各縦枠部１４ｃにおいて回転枠１１の各フランジ部材１１ｃに連結されている。そして、可動台１０の移動スペースの前後両外側にケーブル担持部材１５を配置して、その一端を張出し部１４ｄに連結し、ケーブル担持部材１５から引出されるケーブル類のうち棒状部材１１ｂの上面側に搭載する溶接ロボット１３用のケーブル類を張出し部１４ｄを通して上枠部１４ａに挿入し、棒状部材１１ｂの下面側に搭載する溶接ロボット１３用のケーブル類を張出し部１４ｄと縦枠部１４ｃとを通して下枠部１４ｂに挿入している。上下の各枠部１４ａ，１４ｂと各溶接ロボット１３との間にはケーブル担持部材１３ａが配置されており、各枠部１４ａ，１４ｂから引出したケーブル類をケーブル担持部材１３ａに担持させて各溶接ロボット１３に接続している。
【００２１】
また、組立ステーション２の左右各側の上下に夫々前後方向に長手の固定フレーム１６，１７を設け、各フレーム１６，１７に、夫々、動作端に溶接ガンＧを取付けた複数の溶接ロボット１８，１９を前後方向に移動自在に搭載している。図中１８ａ，１９ａは夫々溶接ロボット１８，１９用のケーブル類を担持するケーブル担持部材である。尚、図１ではケーブル担持部材１５，１３ａ，１８ａ，１９ａを省略している。
【００２２】
自動車車体Ｗの組立てに際しては、先ず、可動台１０を待機位置に移動すると共に回転枠１１の回転でセット治具１２を上向き姿勢に反転し、この状態で図示しない移載機によりサイドパネルＷ５を上方からセット治具１２にセットすると共に、フロアＷ１とルーフＷ２とリヤルーフレールＷ３とダッシュボードアッパＷ４とを組立ステーション３に搬入する。次に、セット治具１２を内向き姿勢に反転すると共に可動台１０を溶接位置に移動し、フロアＷ１と夫々所定の組付位置に下降させたリヤルーフレールＷ３及びダッシュボードアッパＷ４とにサイドパネルＷ５を側方から接合させ、この状態で回転枠１１の棒状部材１１ｂの下面側に搭載した下部溶接用の溶接ロボット１３によりサイドパネルＷ５をフロアＷ１に溶接結合すると共に、棒状部材１１ｂの上面側に搭載した上部溶接用の溶接ロボット１３によりリヤルーフレールＷ３及びダッシュボードアッパＷ４の端部をサイドパネルＷ５に溶接結合し、更に、左右のサイドパネルＷ５，Ｗ５間に上方からルーフＷ２を挿入セットし、上部溶接用の溶接ロボット１３によりサイドパネルＷ５をルーフＷ２に溶接結合する。
【００２３】
尚、各溶接ロボット１３は夫々複数の打点部の溶接を行うもので、打点数の多い機種ではサイクルタイムが長くなる。この場合には、上下の固定フレーム１６，１７に搭載した溶接ロボット１８，１９によりフロアＷ１とルーフＷ２とに対するサイドパネルＷ５の溶接をアシストし、サイクルタイムの短縮を図る。
【００２４】
以上の如くして自動車車体Ｗの組立てを完了すると、セット治具１２によるサイドパネルＷ５の保持を解き、可動台１０の待機位置への移動と、セット治具１２の上向き姿勢への反転とを行って、セット治具１２に次のサイドパネルＷ５をセットすると共に、組立ステーション３からの自動車車体Ｗの払出しと、組立ステーション３への次のフロアＷ１、ルーフＷ２、リヤルーフレールＷ３、ダッシュボードアッパＷ４の搬入とを行う。そして、以上の作業の繰返しで自動車車体Ｗを連続して組立てる。
【００２５】
尚、セット治具１２を横方向外方を向く外向き姿勢に反転して、セット治具１２に横方向外方からサイドパネルＷ５をセットすることも可能であり、また、サイドパネルＷ５を予め組立てずに、サイドパネルＷ５の構成部材をセット治具１２に所要の位置関係でセットし、回転枠１１に搭載した溶接ロボット１３によりこれら構成部材を溶接結合してサイドパネルＷ５を組立てることも可能である。
【００２６】
ところで、回転枠１１に搭載した溶接ロボット１３は回転枠１１の回転でその回転軸線１１ａ回りに公転するが、溶接ロボット１３用のケーブル類は回転枠１１に取付けたケーブル支持枠１４に支持されているため、溶接ロボット１３が公転してもケーブル類がからみ合うことはない。更に、セット治具１２が内向き姿勢となる位相に回転枠１１を回転した状態において、ケーブル支持枠１４の重心は回転軸線１１ａに対し横方向外方に位置しており、回転枠１１にケーブル支持枠１４の重量による回転モーメントがセット治具１２の重量による回転モーメントを打消す方向に作用する。即ち、ケーブル支持枠１４が回転枠１１のバランサとして機能し、回転枠１１をスムーズに回転させることができる。
【００２７】
また、回転枠１１の回転により発生する溶接ロボット１３の回転慣性力が大きくなると、セット治具１２が上向き姿勢や内向き姿勢になったところで回転枠１１の回転を停止する際、溶接ロボット１３の回転枠１１に対する係合部に大きな力が作用し、係合部の変形を生ずる可能性がある。然し、本実施形態では、回転枠１１の回転軸線１１ａに沿って延在する棒状部材１１ｂの上下両面に上部溶接用と下部溶接用の上下２組の溶接ロボット１３を上下逆向きにして搭載しているため、各溶接ロボット１３の搭載位置が回転軸線１１ａに可及的に近付き、回転枠１１の回転による各溶接ロボット１３の回転慣性力が小さくなる。従って、各溶接ロボット１３の回転枠１１に対する係合部に回転枠１１の回転停止時に作用する力も小さくなり、係合部の変形で各溶接ロボット１３の位置決め精度が悪化するといった不具合は生じない。
【００２８】
図４を参照して、溶接ロボット１３は、回転枠１１に対する静止座標系の前後方向に沿う座標軸をＸ軸、セット治具１２が内向き姿勢となる状態において横方向に沿う座標軸及び上下方向に沿う座標軸を夫々Ｙ軸及びＺ軸として、棒状部材１１ｂの上下各面にＹ軸方向に間隔を存して並設したＸ軸方向に長手の１対のガイドレール１３０，１３０に移動自在に支持されるロボット本体１３１と、ロボット本体１３１にガイドレール１３０からＺ軸方向に離間した位置でＸ軸方向の回転軸線回りに回動自在に支持される関節体１３２と、関節体１３２の回動中立位置でＹ軸に平行になる、関節体１３２に対する静止座標系の座標軸をＵ軸として、関節体１３２にＵ軸方向に移動自在に支持されるＵ軸方向に長手のロボットアーム１３３とを備え、ロボットアーム１３３のＵ軸方向内方端に手首１３４を介して溶接ガンＧを搭載して成るものに構成されている。これによれば、関節体１３２の回動によるロボットアーム１３３の揺動とロボットアーム１３３のＵ軸方向の移動とで溶接ガンＧを広範囲に移動することができ、溶接ロボット１３を、溶接ガンＧの可動範囲を等しくした直交座標型ロボットよりも小型軽量化できる。前記ケーブル支持枠１４の上下の各枠部１４ａ，１４ｂは、上部溶接用と下部溶接用の各溶接ロボット１３のロボットアーム１３３をＵ軸方向外方のストローク端に移動し、且つ、関節体１３２の回動でロボットアーム１３３のＵ軸方向外方端がガイドレール１３０からＺ軸方向に離間するような方向の揺動端にロボットアーム１３３を揺動した状態におけるロボットアーム１３３のＵ軸方向外方端の位置に対しロボットアーム１３３の揺動方向外側に位置するように配置されている。そして、各溶接ロボット１３のロボット本体１３１にロボットアーム１３３の揺動方向外側に突出するケーブル受け１３５を取付け、各枠部１４ａ，１４ｂから引出されるケーブル類を担持する二次元的に湾曲自在な前記ケーブル担持部材１３ａを、各枠部１４ａ，１４ｂと各溶接ロボット１３のケーブル受け１３５との間に、Ｘ軸及び前記揺動端におけるＵ軸に平行で、且つ、前記揺動端に存するロボットアーム１３３の揺動方向外側に位置する平面上で湾曲するように配置している。これによれば、各枠部１４ａ，１４ｂから引出されるケーブル類の取回しスペースを、ロボット本体１３１及びロボットアーム１３３の動きを阻害することなく可及的に縮少できる。
【００２９】
また、各溶接ロボット１３のロボット本体１３１は、図５及び図６に示す如く前記両ガイドレール１３０，１３０に摺動自在に係合する基部１３１ａと、基部１３１ａのＸ軸方向一方の端部からＺ軸方向に立上る立上り部１３１ｂとを有するＬ字形で、且つ、基部１３１ａのＹ軸方向中央部に両ガイドレール１３０，１３０間に凹入する凹部１３１ｃを有するものに形成されている。そして、基部１３１ａ内に、関節体１３２用の駆動モータ１３２ａをＸ軸方向に平行な姿勢で前記凹部１３１ｃに入り込むように収納すると共に、立上り部１３１ｂのＸ軸方向他方を向く側面に、関節体１３２の回転軸線上に位置するハーモニックドライブ型等の同軸型減速機１３２ｂを介して関節体１３２を片持ち支持させ、駆動モータ１３２ａと減速機１３２ｂとを巻掛け伝動手段たるタイミングベルト１３２ｃを介して連結している。更に、関節体１３２をＸ軸方向に扁平な板状に形成して、関節体１３２のＸ軸方向他方を向く側面にロボットアーム１３３をこれに取付けたガイドレール１３３ａにおいてＵ軸方向に摺動自在に支持させている。これによれば、ロボット本体１３１の立上り部１３１ｂからＸ軸方向他方に向けて減速機１３２ｂと関節体１３２とロボットアーム１３３とが順に配置されることになり、ここで、Ｘ軸方向他方は立上り部１３１ｂに対するロボット本体１３１の基部１３１ａの屈曲方向に一致するから、基部１３１ａ内に収納する関節体１３２用の駆動モータ１３２ａに対し減速機１３２ａと関節体１３２とロボットアーム１３３とをＸ軸方向にオーバーラップして配置することが可能になる。また、関節体１３２のロボットアーム支持部分をロボット本体１３１のＺ軸方向に張出させずに済み、且つ、関節体１３２用の駆動モータ１３２ａをロボット本体１３１の基部１３１ａの凹部１３１ｃに入り込ませることで基部１３１ａのＺ軸方向高さを低くできる。かくて、溶接ロボット１３のＸ軸方向寸法及びＺ軸方向寸法を短縮して、溶接ロボット１３を可及的に小型化できる。
【００３０】
尚、ロボット本体１３１のＹ軸方向外側部にはロボット本体１３１用の駆動モータ１３１ｄが取付けられており、該モータ１３１ｄに同軸型減速機１３１ｅを介して連結されるピニオン１３１ｆを棒状部材１１ｂに固定のラック１３１ｇに噛合させて、ロボット本体１３１をＸ軸方向に移動させるようにし、また、関節体１３２にＵ軸方向外方への張出し部を形成して、この張出し部のＸ軸方向一方を向く側面に前記減速機１３２ｂ及び立上り部１３１ｂに対しＸ軸方向にオーバーラップするようにロボットアーム１３３用の駆動モータ１３３ｂをＸ軸方向に平行な姿勢で取付け、該モータ１３３ｂに同軸型減速機１３３ｃを介して連結されるピニオン１３３ｄをロボットアーム１３３に固定のラック１３３ｅに噛合させて、ロボットアーム１３３をＵ軸方向に移動させるようにしている。
【００３１】
前記各溶接ロボット１３の手首１３４は、Ｕ軸回りに回動自在な第１手首部１３４₁と、Ｕ軸に直交するＶ軸回りに回動自在な第２手首部１３４₂と、Ｖ軸に直交するＷ軸回りに回動自在な第３手首部１３４₃とから成る３軸構造のものに構成されており、第３手首部１３４₃に溶接ガンＧを取付けている。そして、ロボットアーム１３３のＵ軸方向外方端に、第１手首部１３４₁用の駆動モータ１３４₁ａと、第２手首部１３４₂用の駆動モータ１３４₂ａとを取付け、駆動モータ１３４₁ａに同軸型減速機１３４₁ｂとギア１３４₁ｃとを介して連結される中空の回転軸１３４₁ｄをロボットアーム１３３の中空部に挿通して、この回転軸１３４₁ｄの先端に第１手首部１３４₁を連結すると共に、駆動モータ１３４₂ａに直結される回転軸１３４₂ｂを回転軸１３４₁ｄの中空部に挿通し、この回転軸１３４₂ｂの先端に第１手首部１３４₁内のベベルギア１３４₂ｃと同軸型減速機１３４₂ｄとを介して第２手首部１３４₂を連結している。また、第２手首部１３４₂に第３手首部１３４₃用の駆動モータ１３４₃ａを取付け、このモータ１３４₃ａに同軸型減速機１３４₃ｂを介して第３手首部１３４₃を連結している。
【００３２】
前記ケーブル担持部材１３ａに担持されるケーブル類のうちロボット本体１３１用の駆動モータ１３１ｄと関節体１３２用の駆動モータ１３２ａとに対するケーブル類は前記ケーブル受け１３５で分岐してこれらモータ１３１ｄ，１３２ａに接続し、残りのケーブル類Ｃは、ケーブル受け１３５と関節体１３２に取付けたケーブル分岐板１３６との間に弛みを付けて配置し、これらケーブル類のうちロボットアーム１３３用の駆動モータ１３３ｂに対するケーブル類をケーブル分配板１３６で分岐して該モータ１３３ｂに接続し、更に、その残りのケーブル類を、ケーブル分配板１３６とロボットアーム１３３のＵ軸方向外方端との間に配置したＵ軸及びＺ軸に平行な平面上で湾曲自在なケーブル担持部材１３７に担持させ、このケーブル担持部材１３７に担持されるケーブル類のうち第１と第２の両手首部１３４₁，１３４₂用の駆動モータ１３４₁ａ，１３４₂ａに対するケーブル類をケーブル担持部材１３７のロボットアーム１３３側の連続端で分岐してこれらモータ１３４₁ａ，１３４₂ａに接続し、その残りの第３手首部１３４₃用の駆動モータ１３４₃ａに対するケーブル類ＣＭと、溶接ガンＧ用のケーブル類ＣＧとを夫々ロボットアーム１３３の外面に形成した各凹溝１３３ｆ，１３３ｇに収容した状態でロボットアーム１３３に沿わせて配置し、これらケーブル類をロボットアーム１３３のＵ軸方向内方端の近傍でロボットアーム１３３から引出して駆動モータ１３４₃ａと溶接ガンＧとに接続している。尚、ロボットアーム１３３のＵ軸方向外方端には、溶接ガンＧ用のケーブル類ＣＧのうち溶接ガンＧの加圧シリンダ用エア配管を接続する切替バルブＧＶが取付けられており、溶接ガンＧと切替バルブＧＶとの間のエア配管長さを短縮して、溶接ガンＧを応答性良く開閉制御し得るようにしている。
【００３３】
また、ロボット本体１３１の基部１３１ａには、ガイドレール１３０用のカバー１３０ａを挿通する透孔部１３１ｈが形成されており、基部１３１ａのＸ軸方向一端に、カバー１３０ａをＺ軸方向両側から挟む１対の挟みローラ１３１ｉ，１３１ｉを取付けると共に、基部１３１ａのＸ軸方向他端にカバー１３０ａをＺ軸方向内側から支える支えローラ１３０ｊを取付け、カバー１３０ａが透孔部１３１ｈの内面に当接しないようにしている。尚、カバー１３０ａは、ガイドレール１３０に搭載する複数の溶接ロボット１３の夫々のＸ軸方向移動範囲に合わせて複数に分割されており、隣接するカバー１３０ａ同士を連結片１３０ｂで連結し、この連結を解いて各溶接ロボット１３をカバー１３０ａと共にガイドレール１３０から取外すことができるようにしている。
【００３４】
前記上方の固定フレーム１６に搭載する溶接ロボット１８は、図７及び図８に示す如く、前後方向をＸ軸方向、上下方向をＹ軸方向、横方向をＺ軸方向として、固定フレーム１６の横側面にＹ軸方向に間隔を存して並設したＸ軸方向に長手の１対のガイドレール１８０，１８０に移動自在に支持されるロボット本体１８１と、ロボット本体１８１にＸ軸方向の第１回転軸線回りに揺動自在に支持される第１ロボットアーム１８２と、第１ロボットアーム１８２の先端部にＸ軸方向の第２回転軸線回りに揺動自在に支持される第２ロボットアーム１８３とを備え、第２ロボットアーム１８３の先端に手首１８４を介して溶接ガンＧを取付けて成るものに構成されている。
【００３５】
ここで、ロボット本体１８１は、ガイドレール１８０，１８０に摺動自在に係合する基板部１８１ａと、基板部１８１ａのＸ軸方向一方の半部においてＺ軸方向に立設したケース部１８１ｂとを有するものに形成されている。そして、ケース部１８１ｂのＸ軸方向他方を向く側面に、前記第１回転軸線上に位置する同軸型減速機１８２ａを介して第１ロボットアーム１８２を片持ち支持すると共に、ケース部１８１ｂの周囲一側部にＸ軸方向に直交する姿勢で第１ロボットアーム１８２用の駆動モータ１８２ｂを取付け、ケース部１８１ｂ内に、図９に示す如く、駆動モータ１８２ｂを減速機１８２ａに連結するベベルギア機構１８２ｃを収納している。また、第１ロボットアーム１８２の先端部のＸ軸方向一方を向く側面に、前記第２回転軸線上に位置する同軸型減速機１８３ａを介して第２ロボットアーム１８３を片持ち支持すると共に、第１ロボットアーム１８２の中間部のＸ軸方向一方を向く側面にＸ軸方向に平行な姿勢で第２ロボットアーム１８３用の駆動モータ１８３ｂを取付けて、該モータ１８３ｂと減速機１８３ａとを巻掛け伝動手段たるタイミングベルト１８３ｃを介して連結している。これによれば、第１ロボットアーム１８２とその駆動機構及び第２ロボットアーム１８３とその駆動機構を共にロボット本体１８１のＸ軸方向幅内に収めることができ、ロボット本体１８１に対するＸ軸方向への張出し部分を無くして、溶接ロボット１８のＸ軸方向寸法を可及的に短縮できる。
【００３６】
尚、ロボット本体１８１のＹ軸方向外側部にはロボット本体１８１用の駆動モータ１８１ｃが取付けられており、該モータ１８１ｃに同軸型減速機１８１ｄを介して連結されるピニオン１８１ｅを固定フレーム１６に固定のラック１８１ｆに噛合させて、ロボット本体１８１をＸ軸方向に移動させるようにしている。また、手首１８４は、上記溶接ロボット１３の手首１３４と同様に、第２ロボットアーム１８３の長手方向たるＵ軸回りに回動自在な第１手首部１８４₁と、Ｕ軸に直交するＶ軸回りに回動自在な第２手首部１８４₂と、Ｖ軸に直交するＷ軸回りに回動自在な第３手首部１８４₃とから成る３軸構造のものに構成されており、第３手首部１８４₃に溶接ガンＧを取付けている。そして、第２ロボットアーム１８３の尾端に第１手首部１８４₁用の駆動モータ１８４₁ａと第２手首部１８４₂用の駆動モータ１８４₂ａとを取付け、駆動モータ１８４₁ａに同軸型減速機１８４₁ｂとギア１８４₁ｃとを介して連結される中空の回転軸１８４₁ｄを第２ロボットアーム１８３の中空部に挿通して、この回転軸１８４₁ｄの先端に第１手首部１８４₁を連結すると共に、駆動モータ１８４₂ａに直結される回転軸１８４₂ｂを回転軸１８４₁ｄの中空部に挿通し、この回転軸１８４₂ｂの先端に第１手首部１８４₁内のベベルギア１８４₂ｃと同軸型減速機１８４₂ｄとを介して第２手首部１８４₂を連結し、また、第２手首部１８４₂に第３手首部１８４₃用の駆動モータ１８４₃ａを取付け、このモータ１８４₃ａに同軸型減速機１８４₃ｂを介して第３手首部１８４₃を連結している。
【００３７】
溶接ロボット１８用のケーブル担持部材１８ａは、ロボット本体１８１に取付けたケーブル受け１８５に連結されており、該担持部材１８ａに担持されるケーブル類のうちロボット本体１８１用と第１ロボットアーム１８２用の駆動モータ１８１ｃ，１８２ｂに対するケーブル類をケーブル受け１８５で分岐してこれら駆動モータ１８１ｃ，１８２ｂに接続し、残りのケーブル類をロボット本体１８１のケース部１８１ｂの第１回転軸線回りの周面に沿わせて配設してから第１ロボットアーム１８２の揺動方向片側の側面に掛け渡し、ここで第２ロボットアーム１８３用の駆動モータ１８３ｂに対するケーブル類を分岐して該モータ１８３ｂに接続し、更に、残りのケーブル類を第１ロボットアーム１８２の揺動方向片側の側面と、次に該アーム１８２の先端部の第２回転軸線回りの周面とに沿わせて配設してから第２ロボットアーム１８３の尾端部に掛け渡し、ここで第１手首部１８４₁用と第２手首部１８４₂用の駆動モータ１８４₁ａ，１８４₂ａに対するケーブル類を分岐してこれらモータ１８４₁ａ，１８４₂ａに接続し、その残りの第３手首部１８４₃用の駆動モータ１８４₃ａに対するケーブル類ＣＭと、溶接ガンＧ用のケーブル類ＣＧとを夫々第２ロボットアーム１８３の外面に形成した各凹溝１８３ｄ，１８３ｅに収容した状態で第２ロボットアーム１８３に沿わせて配置し、これらケーブル類を第２ロボットアーム１８３の先端近傍で該アーム１８３から引出して駆動モータ１８４₃ａと溶接ガンＧとに接続している。尚、溶接ガンＧ用のケーブル類ＣＧは、ロボット本体１８１のケース部１８１ｂの周面から第１ロボットアーム１８２の先端部周面に亘ってこれら面の外側にケーブルクランパ１８６を介して保持され、各駆動モータ１８３ｂ，１８４₁ａ，１８４₂ａ，１８４₃ａ用のケーブル類ＣＭはケース部１８１ｂの周面と第２ロボットアーム１８２の側面及び先端部周面とに形成した凹溝１８１ｇ，１８２ｄに収容されている。
【００３８】
これによれば、ロボット本体１８１と第１ロボットアーム１８２とに沿ってこれらのＸ軸方向幅内に収まるようにケーブル類をスペース効率良く配設でき、また、ロボット本体１８１と第１ロボットアーム１８２との間及び第１ロボットアーム１８２と第２ロボットアーム１８３との間のケーブル掛け渡し部分において、ケーブル類はロボット本体１８１のケース部１８１ｂ周面や第１ロボットアーム１８２の先端部周面から第１ロボットアーム１８２や第２ロボットアーム１８３の揺動方向に延出されるため、この延出部分を第１ロボットアーム１８２や第２ロボットアーム１８３に向けてＵ字状湾曲させて掛け渡し部分の弛みを付けることができ、その結果、第１ロボットアーム１８２や第２ロボットアーム１８３の揺動に追従して掛け渡し部分が規則的に動き、掛け渡し部分でケーブル類が第１ロボットアーム１８２や第２ロボットアーム１８３にからみ付くことを防止できる。
【００３９】
尚、第３ロボットアーム１８３の尾端には、溶接ガンＧ用のケーブル類ＣＧのうち溶接ガンＧの加圧シリンダ用エア配管を接続する切替バルブＧＶが取付けられており、また、ロボット本体１８１の基板部１８１ａに、ガイドレール１８０用のカバー１８０ａを挿通する透孔部１８１ｈを形成し、基板部１８１ａのＸ軸方向一端に、カバー１８０ａをＺ軸方向両側から挟む１対の挟みローラ１８１ｉ，１８１ｉを取付けると共に、基板部１８１ａのＸ軸方向他端にカバー１８０ａをＸ軸方向内側から支える支えローラ１８０ｊを取付けている。これは上記溶接ロボット１３と同様である。
【００４０】
前記下方の固定フレーム１７に搭載する溶接ロボット１９は上記溶接ロボット１３と同一の構造になっており、その詳細な説明は省略する。
【００４１】
前記可動台１０は、図１０に明示する如く、前記各支柱１０ａを立設した前後１対の可動体１００，１００で構成されている。各可動体１００は、組立ステーション３の側部に前後１対に配置した横方向に長手の各固定フレーム１０１上の１対のガイドレール１０２，１０２に摺動自在に係合しており、各固定フレーム１０１上に、モータ１０３により巻掛け伝動手段たるタイミングベルト１０４を介して正逆転される螺杆１０５を設置し、該螺杆１０５に螺合するナット１０６を可動体１００に取付け、かくて、各可動体１００を各モータ１０３で横方向に直線移動させるようにしている。
【００４２】
そして、前後１対の可動体１００，１００を互に同期させて横方向に移動させるための同期装置として、両可動体１００，１００間に中空の同期シャフト１０７を架設し、この同期シャフト１０７の両端に、前後の固定フレーム１０１，１０１に取付けた固定ラック１０８に噛合するピニオン１０７ａ，１０７ａを連結すると共に、同期シャフト１０７を両可動体１００，１００に夫々自動調心軸受１０７ｂ，１０７ｂを介して軸支している。これによれば、両可動体１００，１００の同期がくずれたとき、同期シャフト１０７の両端のピニオン１０７ａ，１０７ａの回転角に差異を生じて同期シャフト１０７が捩られ、この捩り反力で両可動体１００，１００の同期のくずれが修正される。ところで、両可動体１００，１００の同期がくずれると、同期シャフト１０７が可動体１００，１００の移動方向に傾むこうとし、両可動体１００，１００に同期シャフト１０７を通常の軸受を介して軸支していたのでは、同期シャフト１０７に曲げモーメントが作用し、同期シャフト１０７を中空にしたのでは曲げ剛性が不足して同期シャフト１０７が変形してしまう。然し、本実施形態では、自動調心軸受１０７ｂ，１０７ｂによって同期シャフト１０７の傾きが許容されるため、同期シャフト１０７に曲げモーメントは作用せず、同期シャフト１０７に作用するのは捩りモーメントのみになる。従って、同期シャフト１０７を中空にしても同期シャフト１０７は変形せず、同期装置の軽量化、ひいては可動台１０の駆動負荷を軽減できる。
【００４３】
前記第１トランスファ装置７₁は、図１１乃至図１３に示す如く、ルーフ投入ステーション２に設けた基台７０上に昇降自在に配置した昇降枠７１と、昇降枠７１上にライン長手方向たる前後方向に移動自在に支持される可動枠７２と、可動枠７２上に前後方向に移動自在に支持される搬送治具７３とを備えている。搬送治具７３には、フロアＷ１を位置決めして支持する複数のワーク受け７３ａが立設されている。そして、可動枠７２の左右両側の上縁に前後方向に長手のガイドレール７３ｂ，７３ｂを取付けて、搬送治具７３をその下部の左右両側に取付けた多数のローラ７３ｃを介してガイドレール７３ｂ，７３ｂに転動自在に支持させ、更に、可動枠７２に固定のラック７３ｄに噛合するピニオン７３ｅを連結したモータ７３ｆを搬送治具７３に取付け、可動枠７２に対し搬送治具７３を前後動させるようにしている。
【００４４】
また、可動枠７２の左右両側部の下縁に前後方向に長手のガイドレール７２ａ，７２ａを取付けると共に、昇降枠７１の左右両側部の前後複数箇所に立設したブラケット７１ａにガイドレール７２ａを支持するローラ７２ｂを取付け、更に、昇降枠７１に可動枠７２に固定のラック７２ｃに噛合するピニオン７２ｄを連結したモータ７２ｅを取付け、昇降枠７１に対し可動枠７２を前後動させるようにしている。そして、可動枠７２と搬送治具７３とを夫々昇降枠７１と可動枠７２とに対しライン上流側たる後方に移動することにより、搬送治具７３を昇降枠７１から後方にオーバーハングさせてフロア投入ステーション１に復動させると共に、可動枠７２と搬送治具７３とを夫々昇降枠７１と可動枠７２とに対しライン下流側たる前方に移動することにより、搬送治具７３を昇降枠７１から前方にオーバーハングさせて組立ステーション３に往動させるようにしている。フロアＷ１をフロア投入ステーション１から組立ステーション３に搬送する際は、搬送治具７３をフロア投入ステーション１に復動させて昇降枠７１を上昇させることにより、該ステーション１の置台５からフロアＷ１を持ち上げ、次に、搬送治具７３を組立ステーション３に往動させて昇降枠７１を下降させることにより、該ステーション３の置台６にフロアＷ１をセットする。
【００４５】
昇降枠７１には前後複数箇所に脚片部７１ｂが垂設されており、基台７０に前後複数箇所のガイド枠７０ａを立設して、各脚片部７１ｂに取付けた上下方向に長手のガイドレール７１ｃを各ガイド枠７０ａに取付けたリニアガイド７１ｄに摺動自在に係合させて、昇降枠７１を昇降自在に支持している。また、基台７０上に前後方向に延在する回転軸７１ｅを設け、回転軸７１ｅの前後複数箇所に各脚片部７１ｂに固定のラック７１ｆに噛合するピニオン７１ｇを取付け、更に、回転軸７１ｅ用の単一の駆動モータ７１ｈを回転軸７１ｅのライン上流側の軸端たる後端に連結し、該モータ７１ｈによる回転軸７１ｅの正逆転で前後複数箇所のラックピニオン機構７１ｆ，７１ｇから成る運動変換機構を介して昇降枠７１が昇降されるようにしている。基台７０上には、更に、昇降枠７１に連結される前後複数のバランスシリンダ７１ｉと、昇降枠７１の下降位置（図示の位置）と上昇位置とにおいて夫々脚片部７１ｂの上部と下部の各ロック穴７１ｊにロックピン７１ｋを嵌合させて昇降枠７１を該各位置にロックする前後複数のロックシリンダ７１ｌとが設けられている。
【００４６】
ところで、搬送治具７３をフロア投入ステーション１に復動させた状態で昇降枠７１を上昇させる際は、搬送治具７３が昇降枠７１から後方にオーバーハングしているため、昇降枠７１の後端側の運動変換機構を介して回転軸７１ｅの後端側の部分に大きな負荷が作用する。そのため、駆動モータ７１ｈを回転軸７１ｅの前端に連結した場合は、回転軸７１ｅの捩れを生じて昇降枠７１の後端側の部分の上昇が遅れ、昇降枠７１が後方に向って下方に傾き、ガイド枠７０ａに対するこじり、即ち、ガイドレール７１ｃとリニアガイド７１ｄとの間のこじりを生じて、昇降枠７１をスムーズに上昇できなくなる。然し、本実施形態では、回転軸７１ｅの後端に駆動モータ７１ｈを連結しているため、回転軸７１ｅの捩れ、即ち、昇降枠７１の傾きが抑制され、昇降枠７１がガイド枠７０ａに対するこじりを生ずることなくスムーズに上昇される。かくて、昇降枠７１用の駆動源を単一の駆動モータ７１ｈで構成することができ、コストダウンを図れる。
【００４７】
前記第２トランスファ装置７₂も第１トランスファ装置７₁と同様の構造になっており、第１トランスファ装置７₁と同一の部材に上記と同一の符号を付してその説明を省略する。
【００４８】
【発明の効果】
以上の説明から明らかなように、本発明によれば、回転枠の回転でセット治具を上向き姿勢または外向き姿勢に反転してセット治具にサイドパネルをセットできるため、組立ステーションの側部にサイドパネル供給装置の移動スペースを確保する必要がなく、その結果、組立ステーションの側部下方にフロアに対するサイドパネルの溶接をアシストする溶接ロボットを配置してサイクルタイムを短縮することが可能になり、更に、回転枠に搭載した溶接ロボットが回転枠の回転でその回転軸線回りに公転しても、溶接ロボット用のケーブル類は回転枠に取付けたケーブル支持枠に支持されているためからみ合うことはなく、而も、ケーブル支持枠が回転枠のバランサとして機能として、回転枠をスムーズに回転させることができる。
【図面の簡単な説明】
【図１】本発明装置を具備する車体組立ラインの斜視図
【図２】車体組立ラインの側面図
【図３】図２のIII-III線から見た組立ステーションの正面図
【図４】図２のIV-IV線拡大截断面図
【図５】図４のV-V線截断面図
【図６】図５のVI-VI線截断面図
【図７】図２のVII-VII線拡大截断面図
【図８】図７のVIII-VIII線截断面図
【図９】図７のIX-IX線截断面図
【図１０】図３のX-X線拡大截断面図
【図１１】図２とは反対側から見た第１トランスファ装置の拡大側面図
【図１２】第１トランスファ装置の平面図
【図１３】図１１の左方から見た第１トランスファ装置の正面図
【符号の説明】
Ｗ自動車車体Ｗ１フロア
Ｗ２ルーフＷ５サイドパネル
３組立ステーション１０可動台
１１回転枠１１ａ回転軸線
１１ｂ棒状部材１２セット治具
１３溶接ロボット１３ａケーブル担持部材
１３０ガイドレール１３１ロボット本体
１３２関節体１３３ロボットアーム
１３４手首１４ケーブル支持枠
１４ａ上枠部１４ｂ下枠部[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automobile body assembling apparatus for assembling an automobile body by welding and joining left and right side panels to other body components such as a floor and a roof.
[0002]
[Prior art]
Conventionally, as an assembly apparatus of this type, according to Japanese Patent Laid-Open No. 5-124549, a laterally outward standby position and an inner position are respectively provided on the left and right sides of an assembly station for introducing vehicle body components other than side panels such as floors and roofs. A movable frame that can move forward and backward at the welding position is provided, and a set jig that holds the side panel is detachably attached to the movable frame, and a plurality of welding robots are mounted movably in the front-rear direction. 2. Description of the Related Art It is known that a panel preset jig is provided with a side panel supply device that allows a preset jig for a panel to be taken in and out of the space between the movable frame and an assembly station inside the movable frame.
[0003]
In this case, the side panel set in advance on the preset jig is transferred from the preset jig to the set jig in a state where the movable frame is moved to the standby position, and then the movable frame is moved to the welding position to be moved to the movable frame. The side panel is welded and joined to other vehicle body components by the installed welding robot to assemble the car body.
[0004]
[Problems to be solved by the invention]
According to the above-described conventional apparatus, even if the spot position changes due to the model change, it is possible to cope with the movement of the welding robot. Therefore, the model change can be dealt with only by changing the setting jig. Unlike using a welding jig with a large number of welding guns, there is no need to attach a welding gun to the set jig, so the cost of the set jig is low, and multiple set jigs are available depending on the model. Even so, equipment costs can be kept cheap.
[0005]
By the way, depending on the model, the side sill of the side panel may be welded to the floor above and below. In this case, it is desirable to place a welding robot below the side of the assembly station and weld the hitting point on the lower side of the side sill with this welding robot to shorten the cycle time. Since it is necessary to secure a moving space for the side panel loading device at the side of the station, such a welding robot cannot be arranged.
[0006]
In view of the above points, an object of the present invention is to provide an improved apparatus of the above-described conventional apparatus that eliminates the need for a moving space for the side panel supply apparatus at the side of the assembly station.
[0007]
[Means for Solving the Problems]
In order to solve the above-described problems, the present invention provides an assembly station for inserting the other vehicle body components in an apparatus for assembling an automobile body by welding the left and right side panels to other vehicle body components such as a floor and a roof. On each of the left and right sides, a movable base that can be moved back and forth in the laterally inner welding position and the outer standby position is provided, and on each movable base, a rotating frame that is rotatable around the rotational axis in the front-rear direction is supported. A set jig that holds the side panel is detachably attached to the rotating frame, the movable table is moved to the standby position, and the set jig is directed upward or directed laterally outward. The side panel can be freely set on the set jig in the state reversed by the rotation of the rotary frame, the movable base is moved to the welding position, and the set jig is set to the inward posture facing inward in the lateral direction. Reverse by rotating In this state, the side panel and the other vehicle body components can be joined together, and a plurality of welding robots that weld and join the side panel and the other vehicle body components to the rotating frame are mounted to be movable in the front-rear direction. In addition, the cable support frame that supports the cables connected to these welding robots has a direction in which the rotation moment due to the weight of the cable support frame acting on the rotation frame in the inward posture cancels the rotation moment due to the weight of the set jig. It is attached to the rotating frame so as to act on.
[0008]
According to the present invention, it becomes possible to set the side panel to the setting jig from the upper side or the lateral direction outside by setting the setting jig in the upward posture or the outward posture. No moving space is required. For this reason, a welding robot can be arranged below the side of the assembly station, and the welding robot can assist the welding of the side panel to the floor to shorten the cycle time.
[0009]
In addition, the welding robot mounted on the rotating frame revolves around its axis of rotation when the rotating frame rotates, but the cables for the welding robot are supported by the cable support frame attached to the rotating frame. The cables are not entangled. Furthermore, the cable support frame also functions as a balancer of the rotating frame, and the rotating frame can be smoothly rotated.
[0010]
By the way, as a welding robot mounted on the rotating frame, an upper welding robot for welding a side panel to an upper body component such as a roof and a lower welding robot for welding a side panel to a floor are required. . In this case, it is conceivable that the rotary frame is provided with two vertical bars in the front-rear direction, and an upper welding robot is mounted on the upper bar and a lower welding robot is mounted on the lower bar. The welding robot mounting position moves away from the rotation axis of the rotating frame, and the rotational inertial force of the welding robot increases due to the rotation of the rotating frame. When the rotation of the rotating frame stops, excessive force is applied to the engaging portion of the welding robot with respect to the rotating frame. Works. On the other hand, a rod-shaped member extending along the rotation axis of the rotary frame is provided on the rotary frame, and the plurality of welding robots are divided into two sets, and the rod-shaped member facing upward and downward in the inward posture is provided. If one set of welding robots, which are upper welding robots, and the other set of welding robots, which are lower welding robots, are mounted on the top and bottom surfaces in the upside down direction, the mounting position of each welding robot is the axis of rotation. As much as possible, the rotational inertia force of each welding robot due to the rotation of the rotating frame is reduced, and the force acting on the engaging portion of each welding robot with respect to the rotating frame when the rotation of the rotating frame is stopped is also reduced. Therefore, there is no problem that the positioning accuracy of the welding robot deteriorates due to the deformation of the engaging portion, which is advantageous.
[0011]
In this case, in order to prevent the cables for one set of welding robots and the cables for the other set of welding robots from being entangled with each other, the cable support frame is placed laterally with respect to the rod-shaped member in the inward posture. An upper frame portion that supports cables for one set of welding robots mounted on the upper surface side of the rod-shaped member, which is located outwardly in the direction and extends in the front-rear direction, and the rod-shaped member It is configured to include a lower frame portion that supports cables for the other set of welding robots mounted on the lower surface side of the rod-shaped member, which is located laterally outward and extends in the front-rear direction. It is desirable to do.
[0012]
Further, each set of welding robots, wherein the coordinate axis along the front-rear direction of the stationary coordinate system with respect to the rotating frame is the X axis, the coordinate axis along the horizontal direction and the coordinate axis along the vertical direction in the inward posture are the Y axis and the Z axis, respectively. The robot main body is movably supported by guide rails that are long in the X-axis direction provided on the upper and lower surfaces of the rod-shaped member, and the robot main body is spaced apart from the guide rail in the Z-axis direction in the X-axis direction. An articulated body that is supported so as to be rotatable about a rotation axis, and a coordinate axis of a stationary coordinate system with respect to the articulated body that is parallel to the Y axis at the rotational neutral position of the articulated body is defined as a U-axis. A welding robot can be welded by comprising a robot arm that is movably supported in the U-axis direction and a welding gun mounted on the inner end of the robot arm in the U-axis direction via a wrist. Gun movement range The possible smaller and lighter than equal to the orthogonal coordinate robot. Then, the robot arm of each set of welding robots is moved to the U-axis direction outward stroke end, and the U-axis direction outer end of the robot arm is separated from the guide rail in the Z-axis direction by the rotation of the joint body. The upper and lower sides of the cable support frame are positioned so as to be located outside the swinging direction of the robot arm with respect to the position of the U-axis direction outer end of the robot arm when the robot arm is swung to the swinging end in such a direction. Arrange each frame,
A two-dimensionally bendable cable-carrying member carrying cables drawn from the respective frame parts is arranged between the X-axis and the swing end between each frame part and the robot body of each set of welding robots. If it arrange | positions so that it may curve on the plane located in the rocking | fluctuation direction outer side of the robot arm which exists in the said rocking | fluctuation end in parallel with the U-axis in the cable, the routing space of the cables pulled out from each frame part Can be reduced as much as possible without obstructing the movement of the robot body and the robot arm.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
1 and 2 show a vehicle body assembly line in which a floor loading station 1, a roof loading station 2, an assembly station 3, and an idle station 4 are arranged in order toward the front.
[0014]
The floor loading station 1 is provided with a pedestal 5 for the floor W1. The floor W1 delivered from an upstream floor processing line (not shown) is positioned and supported by a plurality of workpiece receivers 5a standing on the pedestal 5. I am trying to get it. Assembly station 3 In addition, as shown in FIG. 3, there is provided a stage 6 on which a plurality of workpiece receivers 6 a for positioning and supporting the floor W <b> 1 are provided, and the floor W <b> 1 placed on the stage 5 of the floor loading station 1 is the first one. 1 transfer device 7 ₁ To open the roof loading station from the floor loading station 1 to the assembly station 3 2 Is passed through and is placed on the stage 6 of the assembly station 3.
[0015]
Further, a traveling frame 8 that can reciprocate between the roof insertion station 2 and the assembly station 3 is provided above the line, and the traveling frame 8 is provided with a holding tool for the roof W2, the rear roof rail W3, and the dashboard upper W4. 9 ₁ , 9 ₂ , 9 _Three Are suspended in a vertically movable manner, and three members, a roof W2, a rear roof rail W3, and a dashboard upper W4, which are loaded from the side of the roof loading station 2 by a transfer machine (not shown), are attached to each holding tool 9. ₁ , 9 ₂ , 9 _Three The three members W2, W3, and W4 are carried into the assembly station by the forward movement of the traveling frame 8 to the assembly station 3.
[0016]
Then, in the assembly station 3, the left and right side panels W5 and W5 are welded to the floor W1 on the mounting table 6, and both ends of the rear roof rail W3 and the dashboard upper W4 are welded to both side panels W5 and W5. Further, the roof W2 is inserted and set between the upper edge portions of the side panels W5 and W5 from above, the roof W2 and the side panel W5 are welded and joined, and the vehicle body W thus assembled is connected to the second transfer device 7. ₂ As a result, the idle station 4 passes through an assembly station 3 to a downstream vehicle body beating line (not shown).
[0017]
On the left and right sides of the assembly station 3, respectively, a laterally inward welding position shown in the left half of FIG. 3 and a laterally outward standby position shown in the right half of FIG. A pair of front and rear support columns 10a and 10a is provided on the movable table 10 so as to be rotatable about a rotational axis 11a in the front-rear direction between the support columns 10a and 10a. The rotary frame 11 is pivotally supported. Then, the setting jig 12 for the side panel W5 is attached to the rotating frame 11, and the setting jig 12 faces inward in the lateral direction (the left half of FIG. 3) and upwards in the upward direction (see FIG. 3). 3 (right half posture) and rotating frame 11 It can be reversed by rotating. The set jig 12 is configured by attaching a plurality of workpiece receivers 12a and clampers 12b for positioning and holding the side panel W5 to a framed jig frame. In FIG. 1, the setting jig is omitted.
[0018]
The rotary frame 11 includes a rod-like member 11b extending along the rotation axis 11a, and flange members 11c and 11c at both front and rear ends of the rod-like member 11b, and each column 10a is positioned on the rotation axis 11a. The motor 11d and the coaxial type reduction gear 11e are attached, and each flange member 11c is connected to the output end of the reduction gear 11e so that the rotary frame 11 is rotated. Then, both front and rear ends of the set jig 12 are detachably connected to the flange members 11c, 11c so that the set jig 12 can be exchanged according to the model when changing the model of the vehicle body.
[0019]
A plurality of welding guns G are attached to the upper and lower surfaces of the rod-like member 11b that faces upward and downward when the rotary frame 11 is rotated to the phase in which the setting jig 12 assumes the inward posture, respectively. The welding robot 13 is mounted upside down so as to be movable in the front-rear direction. In this embodiment, the rod-shaped member 11b includes two square pipes 11b. ₁ , 11b ₁ The front and rear connecting pieces 11b ₂ However, the rod-shaped member may be composed of a single pipe or a solid rod.
[0020]
A cable support frame 14 that supports cables to be connected to the welding robot 13 is further attached to the rotary frame 11. The cable support frame 14 is located laterally outward and upward with respect to the rod-like member 11b and extends in the front-rear direction in a state where the rotary frame 11 is rotated to a phase where the setting jig 12 is in an inward posture. A duct-shaped upper frame portion 14a for inserting and supporting cables for the welding robot 13 mounted on the upper surface side of the rod-shaped member 11b, and laterally outward and downward with respect to the rod-shaped member 11b in the front-rear direction. A duct-shaped lower frame portion 14b that inserts and supports cables for the welding robot 13 mounted on the lower surface side of the rod-shaped member 11b, and front and rear ends of both upper and lower frame portions 14a and 14b. A pair of duct-like vertical frame portions 14c, 14c and a duct-like projecting portion 14d projecting from the upper end portion of each vertical frame portion 14c to the outer side in the front-rear direction of each column 10a are provided. 11 each It is connected to Nji member 11c. And the cable holding member 15 is arrange | positioned in the front and back both outer sides of the movement space of the movable stand 10, the one end is connected with the overhang | projection part 14d, and the upper surface side of the rod-shaped member 11b among the cables pulled out from the cable holding member 15 Cables for the welding robot 13 to be mounted on are inserted into the upper frame portion 14a through the overhanging portion 14d, and cables for the welding robot 13 to be mounted on the lower surface side of the rod-like member 11b are inserted through the overhanging portion 14d and the vertical frame portion 14c. It is inserted into the lower frame portion 14b. Cable carrying members 13a are arranged between the upper and lower frame portions 14a and 14b and the welding robots 13, and the cables drawn from the frame portions 14a and 14b are carried by the cable carrying member 13a to perform welding. The robot 13 is connected.
[0021]
Also, a plurality of welding robots 18, 17 provided with longitudinal fixed frames 16, 17 on the upper and lower sides of the left and right sides of the assembly station 2, respectively. 19 is movably mounted in the front-rear direction. In the figure, reference numerals 18a and 19a denote cable carrying members for carrying cables for the welding robots 18 and 19, respectively. In FIG. 1, the cable holding members 15, 13a, 18a, and 19a are omitted.
[0022]
When assembling the automobile body W, first, the movable base 10 is moved to the standby position, and the setting jig 12 is turned upside down by the rotation of the rotating frame 11, and in this state, the side panel W5 is moved by the transfer machine (not shown). While being set on the setting jig 12 from above, the floor W1, the roof W2, the rear roof rail W3, and the dashboard upper W4 are carried into the assembly station 3. Next, the set jig 12 is inverted to the inward posture and the movable base 10 is moved to the welding position, and the side panel is moved to the floor W1 and the rear roof rail W3 and the dashboard upper W4 respectively lowered to the predetermined assembly positions. W5 is joined from the side, and in this state, the side panel W5 is welded to the floor W1 by the welding robot 13 for lower welding mounted on the lower surface side of the rod-shaped member 11b of the rotating frame 11, and the upper surface side of the rod-shaped member 11b. The ends of the rear roof rail W3 and the dashboard upper W4 are welded to the side panel W5 by the welding robot 13 for upper welding mounted on the roof, and the roof W2 is inserted and set between the left and right side panels W5 and W5 from above. The side panel W5 is welded to the roof W2 by the welding robot 13 for upper welding.
[0023]
Each welding robot 13 welds a plurality of hit points, and the cycle time becomes longer in a model having a large number of hit points. In this case, the welding robots 18 and 19 mounted on the upper and lower fixed frames 16 and 17 assist the welding of the side panel W5 to the floor W1 and the roof W2 to shorten the cycle time.
[0024]
When the assembly of the automobile body W is completed as described above, the holding of the side panel W5 by the setting jig 12 is released, the movable table 10 is moved to the standby position, and the setting jig 12 is reversed to the upward posture. Then, the next side panel W5 is set on the setting jig 12, the vehicle body W is discharged from the assembly station 3, the next floor W1, the roof W2, the rear roof rail W3, and the dashboard upper to the assembly station 3. Carry in W4. Then, the vehicle body W is continuously assembled by repeating the above operations.
[0025]
It is also possible to set the side panel W5 to the setting jig 12 from the outside in the lateral direction by reversing the setting jig 12 to the outward posture facing outward in the lateral direction. Without assembling, it is also possible to assemble the side panel W5 by setting the constituent members of the side panel W5 on the setting jig 12 in the required positional relationship and welding these constituent members by the welding robot 13 mounted on the rotating frame 11. It is.
[0026]
By the way, the welding robot 13 mounted on the rotating frame 11 revolves around the rotation axis 11 a by the rotation of the rotating frame 11, but the cables for the welding robot 13 are supported by the cable support frame 14 attached to the rotating frame 11. Therefore, the cables are not entangled even when the welding robot 13 revolves. Further, in a state where the rotary frame 11 is rotated to a phase where the setting jig 12 is in the inward posture, the center of gravity of the cable support frame 14 is located laterally outward with respect to the rotation axis 11a. 11 Further, the rotational moment due to the weight of the cable support frame 14 acts in a direction to cancel the rotational moment due to the weight of the setting jig 12. That is, the cable support frame 14 functions as a balancer of the rotating frame 11, and the rotating frame 11 can be smoothly rotated.
[0027]
Further, when the rotational inertia force of the welding robot 13 generated by the rotation of the rotating frame 11 is increased, the welding robot 13 is stopped when the rotation of the rotating frame 11 is stopped when the setting jig 12 is in the upward posture or the inward posture. Rotating frame 11 There is a possibility that a large force acts on the engaging portion with respect to, and the engaging portion is deformed. However, in this embodiment, two sets of upper and lower welding robots 13 for upper welding and lower welding are mounted upside down on the upper and lower surfaces of the rod-like member 11b extending along the rotation axis 11a of the rotating frame 11. Therefore, the mounting position of each welding robot 13 is as close as possible to the rotation axis 11a, and the rotational inertia force of each welding robot 13 due to the rotation of the rotating frame 11 is reduced. Accordingly, the force acting on the engaging portion of each welding robot 13 with respect to the rotating frame 11 when the rotation of the rotating frame 11 is reduced is reduced, and the positioning accuracy of each welding robot 13 is not deteriorated due to the deformation of the engaging portion.
[0028]
Referring to FIG. 4, the welding robot 13 has a coordinate axis along the front-rear direction of the stationary coordinate system with respect to the rotating frame 11 as an X axis, and a coordinate axis along the horizontal direction and a vertical direction when the set jig 12 is in the inward posture. The coordinate axes along the Y-axis and the Z-axis are respectively supported by a pair of guide rails 130, 130 which are long in the X-axis direction and are arranged in parallel on the upper and lower surfaces of the rod-shaped member 11b with a space in the Y-axis direction. The robot body 131, the joint body 132 supported by the robot body 131 so as to be rotatable about the rotation axis in the X-axis direction at a position separated from the guide rail 130 in the Z-axis direction, and the rotation neutrality of the joint body 132 A robot arm 133 long in the U-axis direction and supported by the joint body 132 movably in the U-axis direction with the coordinate axis of the stationary coordinate system with respect to the joint body 132 as the U-axis, which is parallel to the Y-axis at the position. And it is configured to the one formed by mounting a welding gun G via the wrist 134 in the U-axis direction inner end of the robot arm 133. According to this, the welding gun G can be moved in a wide range by the swing of the robot arm 133 due to the rotation of the joint body 132 and the movement of the robot arm 133 in the U-axis direction. Can be made smaller and lighter than the Cartesian coordinate robot with the same movable range. The upper and lower frame portions 14a and 14b of the cable support frame 14 move the robot arm 133 of each welding robot 13 for upper welding and lower welding to the stroke end outward in the U-axis direction, and the joint body 132 Of the robot arm 133 in a state in which the robot arm 133 is swung to a swing end in such a direction that the U-axis direction outer end of the robot arm 133 is separated from the guide rail 130 in the Z-axis direction. The robot arm 133 is disposed so as to be located on the outer side in the swing direction with respect to the position of the one end. Then, a cable receiver 135 protruding outward in the swing direction of the robot arm 133 is attached to the robot body 131 of each welding robot 13 so as to be two-dimensionally bendable carrying cables drawn out from the frame portions 14a and 14b. The cable carrying member 13a is arranged between the frame portions 14a and 14b and the cable receiver 135 of each welding robot 13 in parallel with the X axis and the U axis at the rocking end, and at the rocking end. It arrange | positions so that it may curve on the plane located in the rocking | fluctuation direction outer side of the arm 133. FIG. According to this, it is possible to reduce the routing space for the cables drawn out from the frame portions 14a and 14b as much as possible without hindering the movement of the robot main body 131 and the robot arm 133.
[0029]
Further, as shown in FIGS. 5 and 6, the robot main body 131 of each welding robot 13 includes a base 131a that is slidably engaged with the guide rails 130 and 130, and an X-axis direction one end of the base 131a. It is formed in an L shape having a rising portion 131b rising in the Z-axis direction, and having a concave portion 131c that is recessed between the guide rails 130, 130 at the central portion in the Y-axis direction of the base portion 131a. Then, the drive motor 132a for the joint body 132 is housed in the base portion 131a so as to enter the concave portion 131c in a posture parallel to the X-axis direction, and on the side surface of the rising portion 131b facing the other in the X-axis direction, The joint body 132 is cantilevered via a coaxial drive type reduction gear 132b such as a harmonic drive type positioned on the rotation axis 132, and the drive motor 132a and the reduction gear 132b are wound around a timing belt 132c serving as a transmission means. It is connected. Further, the joint body 132 is formed in a flat plate shape in the X-axis direction, and the robot arm 133 is attached to the side surface facing the other side of the joint body 132 in the X-axis direction so that it can slide in the U-axis direction. To support. According to this, the speed reducer 132b, the joint body 132, and the robot arm 133 are sequentially arranged from the rising portion 131b of the robot main body 131 toward the other side in the X axis direction. Since the base 131a of the robot main body 131 is bent with respect to the portion 131b, the speed reducer 132a, the joint 132, and the robot arm 133 are moved in the X-axis direction with respect to the drive motor 132a for the joint 132 stored in the base 131a. It becomes possible to arrange them in an overlapping manner. In addition, the robot arm support portion of the joint body 132 does not have to be extended in the Z-axis direction of the robot body 131, and the drive motor 132a for the joint body 132 enters the recess 131c of the base 131a of the robot body 131. Thus, the height of the base portion 131a in the Z-axis direction can be reduced. Thus, the welding robot 13 can be miniaturized as much as possible by shortening the X-axis direction dimension and the Z-axis direction dimension of the welding robot 13.
[0030]
A drive motor 131d for the robot body 131 is attached to the outer side of the robot body 131 in the Y-axis direction, and a pinion 131f connected to the motor 131d via a coaxial reduction gear 131e is fixed to the rod-shaped member 11b. The robot body 131 is moved in the X-axis direction, and the joint body 132 is formed with a protruding portion outward in the U-axis direction. One of the protruding portions in the X-axis direction is formed. A drive motor 133b for the robot arm 133 is attached in a posture parallel to the X-axis direction so as to overlap the reducer 132b and the rising portion 131b in the X-axis direction on the side facing, and the coaxial reduction gear 133c is attached to the motor 133b. The pinion 133d connected via the robot is engaged with the rack 133e fixed to the robot arm 133, and the robot arm 33 and so as to move in the U-axis direction.
[0031]
The wrist 134 of each welding robot 13 is a first wrist part 134 that is rotatable about the U axis. ₁ And a second wrist portion 134 that is rotatable around the V-axis orthogonal to the U-axis. ₂ And a third wrist portion 134 that is rotatable around the W axis perpendicular to the V axis. _Three And a third wrist portion 134. _Three A welding gun G is attached to the. Then, on the outer end of the robot arm 133 in the U-axis direction, the first wrist part 134 is placed. ₁ Drive motor 134 ₁ a and the second wrist part 134 ₂ Drive motor 134 ₂ a and a drive motor 134 ₁ a is a coaxial reducer 134 ₁ b and gear 134 ₁ hollow rotating shaft 134 connected through c ₁ d is inserted into the hollow portion of the robot arm 133, and the rotating shaft 134 is inserted. ₁ The first wrist part 134 at the tip of d ₁ And the drive motor 134 ₂ Rotating shaft 134 directly connected to a ₂ b is the rotation axis 134 ₁ This rotating shaft 134 is inserted through the hollow portion of d. ₂ The first wrist 134 at the tip of b ₁ Inner bevel gear 134 ₂ c and coaxial reducer 134 ₂ d through the second wrist 134 ₂ Are connected. The second wrist 134 ₂ The third wrist 134 _Three Drive motor 134 _Three a is attached to the motor 134. _Three a is a coaxial reducer 134 _Three the third wrist 134 via b _Three Are connected.
[0032]
Of the cables carried on the cable carrying member 13a, the cables for the drive motor 131d for the robot body 131 and the drive motor 132a for the joint body 132 are branched by the cable receiver 135 and connected to the motors 131d and 132a. The remaining cables C are arranged with a slack between the cable receiver 135 and the cable branch plate 136 attached to the joint body 132. Among these cables, the cables for the drive motor 133b for the robot arm 133 are provided. Is branched by a cable distribution plate 136 and connected to the motor 133b, and the remaining cables are arranged between the cable distribution plate 136 and the U-axis direction outer end of the robot arm 133 and the Z-axis and Z-axis. The cable is supported on a cable holding member 137 that can be bent on a plane parallel to the axis. The out of cables carried by member 137 1 and second wrists 134 ₁ , 134 ₂ Drive motor 134 ₁ a, 134 ₂ The cables for a are branched at the continuous end of the cable carrying member 137 on the robot arm 133 side, and these motors 134 are branched. ₁ a, 134 ₂ a and the remaining third wrist 134 _Three Drive motor 134 _Three The cables CM for a and the cables CG for the welding gun G are arranged along the robot arm 133 in a state of being accommodated in the respective concave grooves 133f and 133g formed on the outer surface of the robot arm 133. Is pulled out from the robot arm 133 in the vicinity of the inner end in the U-axis direction of the robot arm 133 to drive the motor 134. _Three a and the welding gun G are connected. A switching valve GV for connecting a pressure cylinder air pipe of the welding gun G of the cables CG for the welding gun G is attached to the outer end of the robot arm 133 in the U-axis direction. The length of the air pipe between the control valve GV and the switching valve GV is shortened so that the welding gun G can be controlled to open and close with good responsiveness.
[0033]
The base 131a of the robot body 131 is formed with a through hole 131h through which the cover 130a for the guide rail 130 is inserted. The cover 130a is sandwiched from one end in the X-axis direction of the base 131a from both sides in the Z-axis direction. A pair of sandwiching rollers 131i and 131i are attached, and a support roller 130j that supports the cover 130a from the inside in the Z-axis direction is attached to the other end in the X-axis direction of the base 131a so that the cover 130a does not contact the inner surface of the through hole 131h. ing. The cover 130a is divided into a plurality of parts in accordance with the respective X-axis direction movement ranges of the plurality of welding robots 13 mounted on the guide rail 130. The adjacent covers 130a are connected to each other by a connecting piece 130b. The welding robot 13 can be detached from the guide rail 130 together with the cover 130a.
[0034]
As shown in FIGS. 7 and 8, the welding robot 18 mounted on the upper fixed frame 16 has a lateral direction of the fixed frame 16 with the front-rear direction as the X-axis direction, the vertical direction as the Y-axis direction, and the horizontal direction as the Z-axis direction. A robot body 181 that is movably supported by a pair of guide rails 180, 180 that are longitudinally arranged in the X-axis direction and arranged side by side on the side surface in the Y-axis direction, and the robot body 181 has a first in the X-axis direction. A first robot arm 182 that is swingably supported about the rotation axis, and a second robot arm 183 that is swingably supported about the second rotation axis in the X-axis direction at the tip of the first robot arm 182; The welding gun G is attached to the tip of the second robot arm 183 via the wrist 184.
[0035]
Here, the robot body 181 includes a board portion 181a that is slidably engaged with the guide rails 180 and 180, and a case portion 181b that is erected in the Z-axis direction on one half of the X-axis direction of the board portion 181a. It is formed to have. The first robot arm 182 is cantilevered on the side surface of the case portion 181b facing the other in the X-axis direction via the coaxial reduction gear 182a positioned on the first rotation axis, and the periphery of the case portion 181b is uniform. A drive motor 182b for the first robot arm 182 is attached to the side portion in a posture orthogonal to the X-axis direction, and a bevel gear mechanism 182c for connecting the drive motor 182b to the speed reducer 182a is installed in the case portion 181b as shown in FIG. Stored. Further, the second robot arm 183 is cantilevered on a side surface facing one side in the X-axis direction of the front end portion of the first robot arm 182 via a coaxial reduction gear 183a positioned on the second rotation axis, 1 A drive motor 183b for the second robot arm 183 is attached to a side surface of the middle part of the robot arm 182 facing in the X-axis direction in a posture parallel to the X-axis direction, and the motor 183b and the speed reducer 183a are wound around and transmitted. It is connected via a timing belt 183c as means. According to this, both the first robot arm 182 and its drive mechanism and the second robot arm 183 and its drive mechanism can be accommodated within the X-axis direction width of the robot body 181, and the robot body 181 can be moved in the X-axis direction. By eliminating the overhanging portion, the dimension of the welding robot 18 in the X-axis direction can be shortened as much as possible.
[0036]
A drive motor 181c for the robot body 181 is attached to the outer side of the robot body 181 in the Y-axis direction, and a pinion 181e connected to the motor 181c via a coaxial reduction gear 181d is fixed to the fixed frame 16. The robot body 181 is moved in the X-axis direction by meshing with the rack 181f. Similarly to the wrist 134 of the welding robot 13, the wrist 184 is rotatable around the U axis that is the longitudinal direction of the second robot arm 183. ₁ And a second wrist portion 184 that is rotatable around the V-axis orthogonal to the U-axis. ₂ And a third wrist portion 184 that is rotatable around the W axis perpendicular to the V axis. _Three And a third wrist portion 184. _Three A welding gun G is attached to the. The first wrist 184 is placed on the tail end of the second robot arm 183. ₁ Drive motor 184 ₁ a and second wrist 184 ₂ Drive motor 184 ₂ and a drive motor 184 ₁ a is a coaxial speed reducer 184 ₁ b and gear 184 ₁ a hollow rotating shaft 184 connected through c. ₁ d is inserted into the hollow portion of the second robot arm 183, and the rotating shaft 184 is inserted. ₁ The first wrist 184 at the tip of d ₁ And the drive motor 184 ₂ Rotating shaft 184 directly connected to a ₂ b is the rotation axis 184 ₁ This hollow shaft 184 is inserted through the hollow portion of d. ₂ the first wrist 184 at the tip of b ₁ Inner bevel gear 184 ₂ c and coaxial reducer 184 ₂ d through the second wrist 184 ₂ And the second wrist 184 ₂ The third wrist 184 _Three Drive motor 184 _Three a is attached to this motor 184 _Three a is a coaxial speed reducer 184 _Three the third wrist 184 via b _Three Are connected.
[0037]
The cable carrying member 18a for the welding robot 18 is connected to a cable receiver 185 attached to the robot main body 181, and among the cables carried on the carrying member 18a, for the robot main body 181 and the first robot arm 182. The cables for the drive motors 181c and 182b are branched by the cable receiver 185 and connected to the drive motors 181c and 182b, and the remaining cables are arranged along the circumferential surface around the first rotation axis of the case portion 181b of the robot body 181. And arranged over one side surface of the first robot arm 182 in the swing direction, where the cables for the drive motor 183b for the second robot arm 183 are branched and connected to the motor 183b. The remaining cables are connected to the side surface on one side of the first robot arm 182 in the swing direction, and then to the arm. Pass over after disposed along a and the peripheral surface of the second rotation axis line of the front end portion of the arm 182 to the tail end of the second robot arm 183, the first wrist 184 where ₁ And second wrist 184 ₂ Drive motor 184 ₁ a, 184 ₂ The motors 184 are branched by branching cables for a. ₁ a, 184 ₂ connected to a and the remaining third wrist 184 _Three Drive motor 184 _Three The cables CM for a and the cables CG for the welding gun G are arranged along the second robot arm 183 in a state of being accommodated in the respective concave grooves 183d and 183e formed on the outer surface of the second robot arm 183. These cables are pulled out from the arm 183 near the tip of the second robot arm 183 to drive the drive motor 184. _Three a and the welding gun G are connected. The cables CG for the welding gun G are held from the peripheral surface of the case portion 181b of the robot body 181 to the peripheral surface of the distal end portion of the first robot arm 182 via the cable clamper 186 on the outside of these surfaces. Each drive motor 183b, 184 ₁ a, 184 ₂ a, 184 _Three The cables a for CM are accommodated in concave grooves 181g and 182d formed in the peripheral surface of the case portion 181b, the side surface of the second robot arm 182 and the peripheral surface of the tip portion.
[0038]
According to this, the cables can be arranged efficiently along the robot body 181 and the first robot arm 182 so as to be within the width in the X-axis direction, and the robot body 181 and the first robot arm 182 are arranged. And the cable between the first robot arm 182 and the second robot arm 183, cables are connected from the peripheral surface of the case 181 b of the robot body 181 and the peripheral surface of the tip of the first robot arm 182. Since the first robot arm 182 and the second robot arm 183 are extended in the swinging direction, the extended portion is bent in a U-shape toward the first robot arm 182 and the second robot arm 183 to loosen the extended portion. As a result, the first robot arm 182 and the second robot arm 183 are moved following the swinging motion. And portions regularly motion, cables in spanning portions over can be prevented stick viewed from the first robot arm 182 and second robotic arm 183.
[0039]
A switching valve GV for connecting a pressure cylinder air pipe of the welding gun G among the cables CG for the welding gun G is attached to the tail end of the third robot arm 183, and the robot body 181 is also connected. A through-hole portion 181h through which the cover 180a for the guide rail 180 is inserted is formed in the substrate portion 181a, and a pair of sandwiching rollers 181i that sandwich the cover 180a from both sides in the Z-axis direction at one end in the X-axis direction of the substrate portion 181a, A support roller 180j that supports the cover 180a from the inner side in the X-axis direction is attached to the other end in the X-axis direction of the substrate portion 181a. This is the same as the welding robot 13 described above.
[0040]
The welding robot 19 mounted on the lower fixed frame 17 has the same structure as the welding robot 13 and will not be described in detail.
[0041]
As shown in FIG. 10, the movable table 10 is composed of a pair of movable bodies 100, 100 that are provided with the respective pillars 10 a standing up and down. Each movable body 100 is slidably engaged with a pair of guide rails 102 and 102 on each laterally fixed frame 101 arranged in a pair in the front-rear direction on the side of the assembly station 3. On the fixed frame 101, a screw 105 that is forwardly and reversely rotated by a motor 103 via a timing belt 104 that is a transmission means is installed, and a nut 106 that is screwed into the screw 105 is attached to the movable body 100. The movable body 100 is linearly moved in the horizontal direction by each motor 103.
[0042]
Then, as a synchronization device for moving the pair of front and rear movable bodies 100, 100 in the lateral direction in synchronization with each other, a hollow synchronization shaft 107 is installed between the movable bodies 100, 100. Pinions 107a and 107a meshing with fixed racks 108 attached to the front and rear fixed frames 101 and 101 are connected to both ends, and a synchronous shaft 107 is connected to both movable bodies 100 and 100 via self-aligning bearings 107b and 107b, respectively. It is pivotally supported. According to this, when the synchronization of both the movable bodies 100, 100 is lost, the rotation angle of the pinions 107a, 107a at both ends of the synchronization shaft 107 is different, and the synchronization shaft 107 is twisted. The synchronization failure of the bodies 100, 100 is corrected. By the way, when the synchronization of both the movable bodies 100, 100 is lost, the synchronization shaft 107 tends to tilt in the moving direction of the movable bodies 100, 100, and the synchronous shaft 107 is pivotally supported on both the movable bodies 100, 100 via ordinary bearings. In this case, a bending moment acts on the synchronous shaft 107, and if the synchronous shaft 107 is hollow, the bending rigidity is insufficient and the synchronous shaft 107 is deformed. However, in this embodiment, since the inclination of the synchronous shaft 107 is allowed by the self-aligning bearings 107b and 107b, no bending moment acts on the synchronous shaft 107, and only the torsional moment acts on the synchronous shaft 107. . Therefore, even if the synchronization shaft 107 is hollow, the synchronization shaft 107 is not deformed, and the weight of the synchronization device can be reduced, and the driving load of the movable base 10 can be reduced.
[0043]
The first transfer device 7 ₁ As shown in FIGS. 11 to 13, the lift frame 71 is movably disposed on a base 70 provided in the roof loading station 2, and is supported on the lift frame 71 so as to be movable in the front-rear direction, which is the longitudinal direction of the line. A movable frame 72 and a transfer jig 73 supported on the movable frame 72 so as to be movable in the front-rear direction. A plurality of work receivers 73a are provided on the conveying jig 73 so as to position and support the floor W1. Then, longitudinal guide rails 73b and 73b are attached to the upper edges of the left and right sides of the movable frame 72, and the guide rails 73b and 73b are attached via a number of rollers 73c attached to the left and right sides of the lower part of the conveying jig 73. A motor 73f, which is supported by 73b so as to be able to roll and is connected to a movable frame 72 and a pinion 73e meshing with a fixed rack 73d, is attached to the conveying jig 73, and the conveying jig 73 is moved back and forth with respect to the movable frame 72. I am doing so.
[0044]
In addition, longitudinal guide rails 72a and 72a are attached to the lower edges of the left and right sides of the movable frame 72, and the guide rails 72a are supported by brackets 71a that are erected at a plurality of front and rear sides of the left and right sides of the lifting frame 71. A roller 72b is attached, and a motor 72e is connected to the elevating frame 71 and a pinion 72d that meshes with a rack 72c fixed to the movable frame 72, and the movable frame 72 is moved back and forth with respect to the elevating frame 71. Then, the movable frame 72 and the conveying jig 73 are moved to the rear, which is the upstream side of the line with respect to the elevating frame 71 and the movable frame 72, respectively, so that the conveying jig 73 is overhanged rearward from the elevating frame 71. While returning to the loading station 1 and moving the movable frame 72 and the conveying jig 73 forward to the downstream side of the line with respect to the elevating frame 71 and the movable frame 72, the conveying jig 73 is moved from the elevating frame 71. The assembly station 3 is moved forward by overhanging. When transporting the floor W1 from the floor loading station 1 to the assembly station 3, the transport jig 73 is moved back to the floor loading station 1 to raise the elevating frame 71 so that the floor W1 is moved from the stand 5 of the station 1 to the floor W1. Next, the transport jig 73 is moved forward to the assembly station 3 to lower the elevating frame 71, thereby setting the floor W <b> 1 on the stage 6 of the station 3.
[0045]
A plurality of front and rear leg pieces 71b are vertically provided on the elevating frame 71. A plurality of front and rear guide frames 70a are erected on the base 70, and are vertically attached to the leg piece parts 71b. The guide rail 71c is slidably engaged with a linear guide 71d attached to each guide frame 70a, and the lift frame 71 is supported so as to be lifted and lowered. Further, a rotating shaft 71e extending in the front-rear direction is provided on the base 70, and pinions 71g meshing with the racks 71f fixed to the leg pieces 71b are attached to a plurality of front and rear portions of the rotating shaft 71e, and the rotating shaft 71e. A single drive motor 71h is connected to the rear end of the rotary shaft 71e on the upstream side of the line, and the motor 71h is made up of forward and reverse rotations of the rotary shaft 71e by a plurality of front and rear rack and pinion mechanisms 71f and 71g. The lifting frame 71 is raised and lowered via the conversion mechanism. On the base 70, a plurality of front and rear balance cylinders 71i connected to the elevating frame 71, and an upper portion and a lower portion of the leg piece portion 71b at the lowered position (the illustrated position) and the raised position of the elevating frame 71, respectively. There are provided a plurality of front and rear lock cylinders 71l for fitting lock pins 71k into the respective lock holes 71j to lock the elevating frame 71 in the respective positions.
[0046]
By the way, when raising the lifting frame 71 with the conveying jig 73 moved back to the floor loading station 1, the conveying jig 73 overhangs rearward from the lifting frame 71. A large load acts on a portion on the rear end side of the rotating shaft 71e via the end-side motion conversion mechanism. Therefore, when the drive motor 71h is connected to the front end of the rotating shaft 71e, the rotating shaft 71e is twisted and the rise of the rear end side portion of the lifting frame 71 is delayed, and the lifting frame 71 tilts downward toward the rear. Further, the guide frame 70a is twisted, that is, the guide rail 71c and the linear guide 71d are twisted, and the elevating frame 71 cannot be raised smoothly. However, in this embodiment, since the drive motor 71h is connected to the rear end of the rotating shaft 71e, the twisting of the rotating shaft 71e, that is, the inclination of the lifting frame 71 is suppressed, and the lifting frame 71 is twisted with respect to the guide frame 70a. It rises smoothly without producing. Thus, the drive source for the lifting frame 71 can be constituted by the single drive motor 71h, and the cost can be reduced.
[0047]
Second transfer device 7 ₂ The first transfer device 7 ₁ The first transfer device 7 has the same structure as the first transfer device 7. ₁ The same members as those described above are denoted by the same reference numerals as those described above, and description thereof is omitted.
[0048]
【The invention's effect】
As is clear from the above description, according to the present invention, the side panel of the assembly station can be set by rotating the rotary frame so that the side panel can be set on the set jig by reversing the set jig upward or outward. Therefore, it is not necessary to secure a space for moving the side panel supply device, and as a result, it becomes possible to shorten the cycle time by arranging a welding robot that assists welding of the side panel to the floor below the side of the assembly station. In addition, even if the welding robot mounted on the rotating frame revolves around its axis of rotation due to the rotation of the rotating frame, the cables for the welding robot are entangled because they are supported by the cable support frame attached to the rotating frame. However, the cable support frame functions as a balancer of the rotation frame, and the rotation frame can be smoothly rotated.
[Brief description of the drawings]
FIG. 1 is a perspective view of a vehicle body assembly line equipped with the device of the present invention.
[Figure 2] Side view of the body assembly line
3 is a front view of the assembly station as seen from line III-III in FIG.
4 is an enlarged cross-sectional view taken along line IV-IV in FIG.
FIG. 5 is a cross-sectional view taken along the line VV in FIG.
6 is a cross-sectional view taken along line VI-VI in FIG.
7 is an enlarged cross-sectional view taken along line VII-VII in FIG.
8 is a cross-sectional view taken along line VIII-VIII in FIG.
9 is a cross-sectional view taken along line IX-IX in FIG.
10 is an enlarged cross-sectional view taken along line XX in FIG.
11 is an enlarged side view of the first transfer device as viewed from the side opposite to FIG.
FIG. 12 is a plan view of the first transfer device.
13 is a front view of the first transfer device viewed from the left in FIG.
[Explanation of symbols]
W Car body W1 Floor
W2 Roof W5 Side panel
3 Assembly station 10 Movable stand
11 Rotating frame 11a Rotation axis
11b Bar-shaped member 12 Set jig
13 Welding robot 13a Cable carrier
130 Guide rail 131 Robot body
132 joint body 133 robot arm
134 Wrist 14 Cable support frame
14a Upper frame part 14b Lower frame part

Claims

In an apparatus for assembling an automobile body by welding the left and right side panels to other body components such as a floor and a roof,
Provided on both the left and right sides of the assembly station for loading the other vehicle body components are movable bases that can be moved back and forth in the laterally inner welding position and the outer standby position,
On each movable stand, a rotating frame that can rotate around the rotation axis in the front-rear direction is supported,
A set jig that holds the side panel is detachably attached to the rotating frame, the movable table is moved to the standby position, and the set jig is directed upward or directed laterally outward. The side panel can be freely set on the set jig in the state reversed by the rotation of the rotary frame, the movable base is moved to the welding position, and the set jig is set to the inward posture facing inward in the lateral direction. The side panel and the other vehicle body components can be joined in a state reversed by rotation of the
Furthermore, a plurality of welding robots for welding and joining the side panel and the other vehicle body constituent members are mounted on the rotary frame so as to be movable in the front-rear direction, and a cable support frame for supporting cables connected to these welding robots. The rotating frame is attached to the rotating frame so that the rotating moment due to the weight of the cable support frame acting in the inward posture acts on the rotating frame in a direction to cancel the rotating moment due to the weight of the setting jig.
An automobile body assembly apparatus characterized by the above.

The rotating frame is provided with a rod-shaped member extending along the rotation axis of the rotating frame, the plurality of welding robots are divided into two sets, and an upper surface and a lower surface of the rod-shaped member facing upward and downward in the inward posture 2. The vehicle body assembly apparatus according to claim 1, wherein one set of welding robots and the other set of welding robots are mounted upside down.

One set of welds mounted on the upper surface side of the rod-shaped member that extends in the front-rear direction and laterally outward with respect to the rod-shaped member in the inward posture. An upper frame portion for supporting cables for the robot, and the other set mounted on the lower surface side of the rod-shaped member that extends laterally outward and in the front-rear direction with respect to the rod-shaped member. The automobile body assembling apparatus according to claim 2, further comprising a lower frame portion that supports cables for a welding robot.

The coordinate axis along the front-rear direction of the stationary coordinate system with respect to the rotating frame is the X axis, the coordinate axis along the horizontal direction and the coordinate axis along the vertical direction in the inward posture are the Y axis and the Z axis, respectively.
The welding robots of each set are separated from the guide rails in the Z-axis direction from the guide rails, and the robot main body is supported on the upper and lower surfaces of the rod-like member so as to be movable by guide rails that are long in the X-axis direction. A joint body that is supported so as to be rotatable about a rotation axis in the X-axis direction at a position, and a joint axis that is parallel to the Y-axis at the rotational neutral position of the joint body, with the coordinate axis of the stationary coordinate system relative to the joint body as a U-axis. A robot arm which is supported by the body so as to be movable in the U-axis direction, and a welding gun is mounted on the inner end of the U-axis direction of the robot arm via a wrist.
The robot arm of each set of welding robots is moved to the outer stroke end in the U-axis direction, and the U-axis direction outer end of the robot arm is separated from the guide rail in the Z-axis direction by the rotation of the joint body. The upper and lower frames of the cable support frame are positioned outside the swing direction of the robot arm with respect to the position of the U-axis direction outer end of the robot arm in a state where the robot arm is swung to the swing end in any direction. Place the part,
A two-dimensionally bendable cable-carrying member carrying cables drawn from the respective frame parts is arranged between the X-axis and the swing end between each frame part and the robot body of each set of welding robots. Arranged so as to be curved on a plane parallel to the U-axis and located outside the swinging direction of the robot arm existing at the swinging end.
The apparatus for assembling an automobile body according to claim 3.