JP4154096B2 - Article assembly method and article assembly apparatus - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to an article for assembling the first article to the second article by moving the first article clamped by the article clamping means toward the second article along the movement path stored in advance by the article assembling robot. The present invention relates to an assembling method and an article assembling apparatus used directly for carrying out the method.
[0002]
[Prior art]
  In order to assemble the door of the automobile into the door mounting opening of the vehicle body, the position of the door side hinge and the position of the vehicle body side hinge are detected by the door measuring means and the vehicle body measuring means, respectively. Japanese Patent No. 2735858 discloses that the door side hinge is correctly engaged with the vehicle body side hinge by correcting the movement path of the robot carrying the door based on the detection result of the measuring means.
[0003]
[Problems to be solved by the invention]
  By the way, in the above-mentioned conventional one, since the position of the door side hinge and the position of the vehicle body side hinge are detected by the door measuring means and the vehicle body measuring means, respectively, two measuring means are required and the equipment cost increases. In addition, there is a problem that it is difficult to correct the movement path of the robot correctly because the errors of the two measuring means are accumulated. In addition, the structure of the measuring means is such that the abutting portion that moves by the cylinder is brought into contact with the hinge, and the position of the hinge is detected based on the position of the abutting portion at that time. It is necessary to change the shape of the contact portion, and there is a problem of lack of versatility.
[0004]
  The present invention has been made in view of the above circumstances, and an object of the present invention is to enable easy and reliable alignment work when a first article is assembled to a second article by an article assembling robot. .
[0005]
[Means for Solving the Problems]
  In order to achieve the above object, the claims1According to the invention described above, the first article clamped by the article clamping means is moved along the movement path stored in advance by the article assembly robot, and the first hinge provided on the first article is moved to the second article. In the article assembling method in which the hinge pin is inserted into the pin hole of the first hinge and the pin hole of the second hinge after being engaged with the second hinge provided on the first hinge, the position of the center of the first hinge by the non-contact detection means A step of detecting coordinates, a step of calculating a first position difference between the detected position coordinate of the center of the first hinge and a position coordinate stored in advance, and a position coordinate of the center of the second hinge by the non-contact detection means , A step of calculating a second deviation between the position coordinates of the center of the detected second hinge and a pre-stored position coordinate, and an article assembly robot based on the first deviation and the second deviation. Transfer of the first item And the step of correcting the routeThe non-contact detection means calculates the position coordinates of the center of the pin hole from the position coordinates of a plurality of points on the edge of the pair of pin holes of the first hinge, and each center of the pair of pin holes Calculating the position coordinates of the center of the first hinge as an intermediate point of the position, and calculating the position coordinates of the center of the pin hole from the position coordinates of a plurality of points on the edges of the pair of pin holes of the second hinge, An article assembling method is proposed in which a position coordinate of the center of the second hinge is calculated as an intermediate point between the centers of the pair of pin holes.
[0006]
  And claims2According to the invention described above, the first article clamped by the article clamping means is moved along the movement path stored in advance by the article assembly robot, and the first hinge provided on the first article is moved to the second article. In the article assembling method in which the hinge pin is inserted into the pin hole of the first hinge and the pin hole of the second hinge after being engaged with the second hinge provided on the first hinge, the position of the center of the first hinge by the non-contact detection means A step of detecting coordinates, a step of calculating a first position difference between the detected position coordinate of the center of the first hinge and a position coordinate stored in advance, and a position coordinate of the center of the second hinge by the non-contact detection means , A step of calculating a second deviation between the position coordinates of the center of the detected second hinge and a pre-stored position coordinate, and an article assembly robot based on the first deviation and the second deviation. Transfer of the first item And the step of correcting the routeThe non-contact detection means calculates a slope of a straight line or a surface along a hinge plate on which the pin hole is formed based on position coordinates of a plurality of points on the edge of the pin hole, and the calculated slope is a reference An article assembling method is proposed in which an abnormality determination is performed when a value is exceeded.
[0007]
  And claims3According to the invention described above, the first article clamped by the article clamping means is moved along the movement path stored in advance by the article assembly robot, and the first hinge provided on the first article is moved to the second article. In the article assembling method in which the hinge pin is inserted into the pin hole of the first hinge and the pin hole of the second hinge after being engaged with the second hinge provided on the first hinge, the position of the center of the first hinge by the non-contact detection means A step of detecting coordinates, a step of calculating a first position difference between the detected position coordinate of the center of the first hinge and a position coordinate stored in advance, and a position coordinate of the center of the second hinge by the non-contact detection means , A step of calculating a second deviation between the position coordinates of the center of the detected second hinge and a pre-stored position coordinate, and an article assembly robot based on the first deviation and the second deviation. Transfer of the first item And the step of correcting the routeThe non-contact detection means calculates the position coordinates of the center of the pin hole from the position coordinates of a plurality of points on the edge of the pin hole, and calculates the center of the two pin holes of the pair of hinge plates. An article assembling method is proposed, in which an inclination of a straight line passing through is calculated, and abnormality determination is performed when the calculated inclination exceeds a reference value.
[0008]
  And claims4According to the invention described above, the first article clamped by the article clamping means is moved along the movement path stored in advance by the article assembly robot, and the first hinge provided on the first article is moved to the second article. In the article assembling method in which the hinge pin is inserted into the pin hole of the first hinge and the pin hole of the second hinge after being engaged with the second hinge provided on the first hinge, the position of the center of the first hinge by the non-contact detection means A step of detecting coordinates, a step of calculating a first position difference between the detected position coordinate of the center of the first hinge and a position coordinate stored in advance, and a position coordinate of the center of the second hinge by the non-contact detection means , A step of calculating a second deviation between the position coordinates of the center of the detected second hinge and a pre-stored position coordinate, and an article assembly robot based on the first deviation and the second deviation. Transfer of the first item And the step of correcting the routeThe non-contact detection means calculates the position coordinates of the center of the one end side hinge from the position coordinates of a plurality of points on the edge of the pin hole of the one end side hinge located on the one end side of the first and second articles. And calculating the position coordinate of the center of the other end side hinge from the position coordinates of a plurality of points on the edge of the pin hole of the other end side hinge located on the other end side of the first and second articles, and one end side An article assembling method is proposed in which the inclination of a straight line passing through the center of the hinge and the center of the other-end hinge is calculated, and abnormality determination is performed when the calculated inclination exceeds a reference value.
[0009]
  the aboveClaims 1-4According to the configuration, the first article clamped by the article clamping means of the article assembly robot is moved toward the second article, and the first hinge provided on the first article is moved to the second hinge provided on the second article. When engaging, a common non-contact detection means detects the position coordinates of the center of the first hinge and the position coordinates of the center of the second hinge, and calculates a deviation between the position coordinates and the position coordinates stored in advance. Since the movement path of the first article by the article assembly robot is corrected based on this deviation, even if there is some deformation or attachment error in the first hinge or the second hinge, the deformation or attachment error is corrected. Compensation allows the first hinge to be smoothly engaged with the second hinge, and the first article can be assembled in a short time while preventing damage to the hinge. In addition, since the position coordinates of the center of the first hinge and the second hinge are calculated by a common non-contact detection means, not only can the equipment cost be reduced, but also the accumulation of errors in the position coordinates can be prevented. The first hinge can be more smoothly engaged with the second hinge, and the non-contact type detection means can be used to eliminate the influence of the shape of the hinge and improve versatility.
[0010]
  In particular, according to the configuration of the first aspect, the position coordinates of the center of the pin hole are calculated from the position coordinates of the plurality of points on the edges of the pair of pin holes of the first hinge, and the center of each center of the pair of pin holes is calculated. Since the position coordinates of the center of the first hinge are calculated as points, the position coordinates that accurately represent the center of the first hinge can be obtained. Further, the position coordinates of the center of the pin hole are calculated from the position coordinates of the plurality of points on the edge of the pair of pin holes of the second hinge, and the center of the second hinge is used as an intermediate point between the centers of the pair of pin holes. Since the position coordinates are calculated, the position coordinates that accurately represent the center of the second hinge can be obtained.
[0011]
  In particular, according to the configuration of the second aspect, since the abnormality determination is performed when the straight line or the surface along the hinge plate in which the pin hole is formed has a large inclination, it is possible to promptly cope with an abnormal situation such as deformation of the hinge plate. it can.
[0012]
  In particular, according to the configuration of the third aspect, the abnormality determination is performed when the inclination of the straight line passing through the centers of the two pin holes of the hinge plates forming the hinge pair is large. Can respond quickly.
[0013]
  In particular, according to the configuration of the fourth aspect, the abnormality determination is performed when the inclination of the straight line passing through the center of the one end side hinge and the center of the other end side hinge is large. Can respond.
[0014]
  And claims5According to the invention described in claim1~4An article assembling apparatus directly used for carrying out the article assembling method described in any one of the above, comprising a hinge pin insertion means for inserting a hinge pin into the pin hole of the first hinge and the pin hole of the second hinge An article assembling apparatus is proposed in which the insertion robot is provided with the non-contact detection means.
[0015]
  According to the above configuration, since the hinge pin insertion robot includes both the hinge pin insertion means and the non-contact type detection means, the equipment cost can be reduced by using the hinge pin insertion robot for multiple purposes.
[0016]
  And claims6According to the invention described in claim5In addition to the above configuration, the hinge pin has a flange-shaped head portion that is connected to the shaft portion via a serration portion, and the hinge pin insertion means is fitted to the serration portion so that the head portion is An article assembling apparatus comprising a clamp member having a U-shaped notch to be clamped and a clamp cylinder for driving the clamp member forward and backward is proposed.
[0017]
  According to the above configuration, since the flange-shaped head portion of the hinge pin is clamped by the clamp member having the U-shaped notch provided in the hinge pin insertion means, the insertion of the hinge pin to prevent an abnormal insertion when the hinge pin is inserted is prevented. can do.
[0018]
  And claims7According to the invention described in the above, the first article clamped by the article clamping means is moved toward the second article along the movement path stored in advance by the article assembly robot, and the first and second articles are moved. In an article assembling method in which a pair of hinges provided on one side are positioned on a pair of attachment parts provided on the other of the first and second articles, and then the pair of hinges are bolted to the attachment part. Detecting the position coordinates of the center point of each center of the pair of hinges, detecting the position coordinates of the center point of each center of the pair of attachment parts by the non-contact detection means, Moving the first article by the article assembly robot so that the position coordinates of the center point of each center coincide with the position coordinates of the center point of each center of the pair of attachment parts. An article assembly method is proposed.
[0019]
  According to the above configuration, the first article clamped by the article clamping means of the article assembly robot is moved toward the second article, and the pair of hinges provided on one of the first and second articles is the first and second hinges. When positioning and bolting to a pair of attachment parts provided on the other of the two articles, the position coordinates of the center of each center of the pair of hinges of one article and the other article's Since the position coordinates of the middle point of each center of the pair of attachment portions are detected and the first article is moved by the article assembly robot so that these two position coordinates coincide with each other, the hinge has some deformation or attachment error. Even if it exists, it is possible to compensate for these deformations and mounting errors and to perform the assembly work of the first article and the second article in a short time. In addition, since the two position coordinates are detected by a common non-contact detection means, not only can the equipment cost be reduced, but also the first article can be removed from the second article by preventing the error of the position coordinates from being accumulated. In addition, the use of the non-contact type detection means can eliminate the influence of the shape of the hinge and enhance versatility.
[0020]
  The article clamping means of the present invention corresponds to the door clamp means 12 or the hood hood clamp means 12 'of the embodiment, and the article assembly robot of the present invention is the door assembly robot R of the embodiment.₁Or bonnet hood assembly robot R₁The first article of the present invention corresponds to the door D or the hood hood F of the embodiment, the second article of the present invention corresponds to the vehicle body B of the embodiment, and the first hinge of the present invention is the embodiment. Door side hinge 24_U, 24_LThe second hinge of the present invention corresponds to the vehicle body side hinge 23 of the embodiment._U, 23_LThe one end side hinge of the present invention corresponds to the upper vehicle body side hinge 23 of the embodiment._UAnd upper door side hinge 24_UThe other end side hinge of the present invention corresponds to the lower vehicle body side hinge 23 of the embodiment._LAnd lower door side hinge 24_LCorresponding to
[0021]
DETAILED DESCRIPTION OF THE INVENTION
  Hereinafter, embodiments of the present invention will be described based on examples of the present invention shown in the accompanying drawings. 1 to 13 show a first embodiment of the present invention. FIG. 1 is a plan view of an automobile door assembly station, FIG. 2 is a perspective view of the automobile door assembly station, and FIG. 4 is a view taken along line 4-4 in FIG. 3, FIG. 5 is a view taken in the direction of arrow 5 in FIG. 2, FIG. 6 is a view taken in the direction of arrow 6 in FIG. 5, and FIG. 7 is a sectional view taken along the line 7-7, FIG. 8 is an enlarged view in the direction of arrow 8 in FIG. 2, FIG. 9 is an enlarged view in the direction of arrow 9 in FIG. FIG. 12 is a diagram for explaining the operation of inserting a hinge pin, and FIG. 13 is a diagram for explaining a state in which the hinge is poorly mounted.
[0022]
  As shown in FIGS. 1 and 2, left and right doors D, D to be assembled to the vehicle body B are placed on pallets PA, PA on the left and right sides of the door assembly station S provided in the assembly line Lm for conveying the vehicle body B of the automobile. Left and right door transport lines Ls and Ls are provided for transporting by mounting. On the left side of the door assembly station S, a door assembly robot R that clamps the door D on the pallet PA and assembles it into the door mounting opening O on the left side of the vehicle body B.₁And a hinge pin insertion robot R for detecting the position of the vehicle body side hinge and the position of the door side hinge and inserting the hinge pin into the vehicle body side hinge and the door side hinge.₂And are arranged. Also, on the right side of the door assembly station S, a door assembly robot R that clamps the door D on the pallet PA and assembles it into the door mounting opening O on the right side of the vehicle body B.₁And a hinge pin insertion robot R for detecting the position of the vehicle body side hinge and the position of the door side hinge and inserting the hinge pin into the vehicle body side hinge and the door side hinge.₂And are arranged. Left side door assembly robot R₁And hinge pin insertion robot R₂, As well as the right door assembly robot R₁And hinge pin insertion robot R₂Are arranged symmetrically with respect to the assembly line Lm and have substantially the same structure. Therefore, the left door assembly robot R will be representatively described below.₁And hinge pin insertion robot R₂The structure and function will be described.
[0023]
  As shown in FIGS. 2 to 4, the door assembly robot R₁Consists of an articulated robot, and a door clamp means 12 is provided at the tip of the robot arm 10 via a floating mechanism 11 so that it can float. The receiving members 15 and 15 that support the lower edge of the door D and the cylinders 16 and 16 are moved forward and backward by the receiving members 15 and 15 at the lower ends of the pair of columns 14 and 14 that hang down from the substrate 13 of the door clamp means 12. Clamp members 17 and 17 for clamping the lower edge of the supported door D are provided. Cylinders 19 and 19 are provided at the upper ends of a pair of support columns 18 and 18 that stand up from the substrate 13, and suction cups 20 and 20 that can adsorb the door glass G are provided at the tips of the output rods of the cylinders 19 and 19. . Further, a clamp pin 22 that is advanced and retracted by a cylinder 21 provided at one end of the substrate 13 can be engaged with a notch N that opens at the rear edge of the door D. Thus, the door clamp means 12 supports two places on the lower edge of the door D, two places on the door glass G, and one place on the rear edge of the door D.
[0024]
  The floating mechanism 11 supports the vicinity of the center of gravity including the door clamp unit 12 and the door D. The floating mechanism 11 locks the door clamp unit 12 with respect to the robot arm 10 and the door clamp with respect to the robot arm 10. It is possible to switch between a floating state in which the means 12 can move freely.
[0025]
  A pair of upper and lower vehicle body side hinges 23 is provided at the front edge of the door mounting opening O of the vehicle body B._U, 23_LThe door assembly robot R₁Is a pair of upper and lower door hinges 24 provided at the front edge of the clamped door D_U, 24_LThe vehicle body side hinge 23_U, 23_LThe door D is assembled to the door mounting opening O by being engaged with each other.
[0026]
  As shown in FIGS. 2 and 5 to 7, the hinge pin insertion robot R₂Consists of an articulated robot, and a hinge pin insertion means 32 is provided at the tip of the robot arm 31. The hinge pin insertion means 32 includes a rectangular parallelepiped housing 33, and an insertion cylinder 34 is provided therein._UAre arranged in the vertical direction. Insertion cylinder 34_UOutput rod 35 extending upward from_UThe insertion arm 36 provided at the upper end of the_UProtrudes to the outside of the housing 33, and a recess 37 is formed on the top surface of the tip._UIs formed. Hinge pin P is shaft P₁And this shaft P₁Serration part P connected to₂And this serration part P₂Flange-shaped head P connected to_ThreeThe shaft part P₁Head P with face up_ThreeIs the recess 37._UIs supported by fitting. Insertion arm 36_UClamping cylinder 38 supported on the upper surface of_UU-shaped notch 39 at the tip of the output rod_UClamp member 40 provided with_UIs provided. Clamping cylinder 38_UWith clamp member 40_UAdvance the notch 39_USerration part P of hinge pin P₂When engaged with the recess 37_UAnd clamp member 40_UThe head P of the hinge pin P in between_ThreeIs clamped.
[0027]
  The member 34_U~ 40_UThe upper body side hinge 23_UAnd upper door side hinge 24_UFor inserting the hinge pin P into the lower body side hinge 23_LAnd lower door side hinge 24_LMember 34 for inserting a hinge pin P into_L~ 40_LHowever, the member 34_U~ 40_UWith respect to each other substantially symmetrically.
[0028]
  As shown in FIGS. 6 and 10, the hinge pin insertion robot R₂A stay 41 extends from the housing 33 of the hinge pin insertion means 32, and the stay 41 is provided with a non-contact detection means 42 using a laser. The non-contact type detection means 42 includes a pair of upper and lower laser heads 43 that transmit and receive a laser._U, 43_LAnd laser head 43_U, 43_LLaser or laser head 43 sent from_U, 43_LA pair of upper and lower mirrors 44 that reflect the laser beam received by_U44_LWith. Mirror 44 of non-contact type detection means 42_U44_LThe vehicle body side hinge 23_U, 23_LBetween the pair of upper and lower hinge plates 47, 48 (see FIG. 9) or the door side hinge 24_U, 24_LCan be inserted between a pair of upper and lower hinge plates 45 and 46 (see FIG. 8).
[0029]
  Thus, the common hinge pin insertion robot R₂Since both the hinge pin insertion means 32 and the non-contact type detection means 42 are supported, the equipment cost is greatly reduced compared to the case where the hinge pin insertion means 32 and the non-contact type detection means 42 are supported by separate robots. be able to.
[0030]
  Next, the operation of the embodiment of the present invention having the above configuration will be described.
[0031]
  As shown in FIG. 3 and FIG. 4, as shown in FIGS. 3 and 4, the door assembly robot R is provided until the vehicle body B to which the doors D and D are to be assembled is conveyed on the assembly line Lm and stopped at the door assembly station S.₁Receives and clamps the door D on the pallet PA conveyed by the door conveyance line Ls, and as shown in FIGS. 6 and 7, the hinge pin insertion robot R₂The two hinge pins P and P are clamped by the hinge pin insertion means 32.
[0032]
  Subsequently, as shown in FIG. 10, the hinge pin insertion robot R₂To move the non-contact detection means 42 to the upper door side hinge 24._UAre inserted between the two hinge plates 45 and 46, and the pin hole 45₁, 46₁The position of is detected. That is, the hinge pin insertion robot R in advance₂The upper door side hinge 24_UBased on the position of the upper door side hinge_UThe laser head 43 is inserted between the two hinge plates 45 and 46 and moved along a predetermined path._U, 43_LWhen the laser is sent from the mirror 44,_L44_RThe laser beam reflected by the laser beam is deflected in the vertical direction and applied to the two hinge plates 45 and 46.
[0033]
  At this time, the pin hole 45 is formed in the laser irradiation path.₁, 46₁If the laser beam does not exist, the laser beam reflected by the hinge plates 45 and 46 is again reflected by the mirror 44._L44_RReflected by the laser head 43_U, 43_LAnd the pin hole 45 in the laser irradiation path.₁, 46₁Is present, the laser reflected light from the hinge plates 45, 46 is reflected by the laser head 43._U, 43_LSince the light is not received by the pin hole 45 according to the change in the received light intensity.₁, 46₁The edge direction can be detected (see FIG. 11). Further, since the distance to the edge can be detected based on the time from light transmission to light reception, the three-dimensional coordinates of the edge can be finally detected.
[0034]
  As shown in FIG. 8, the upper laser head 43_UBy the upper door side hinge 24_UPin hole 45 of upper hinge plate 45₁Coordinates of three points on the edge of₁, A₂, A_ThreeAnd their coordinates a₁, A₂, A_ThreeBased on the pin hole 45₁The coordinate A of the center of is calculated. At the same time, the lower laser head 43_LBy the upper door side hinge 24_UPin hole 46 of lower hinge plate 46₁Coordinates b of three points on the edge of₁, B₂, B_ThreeAnd their coordinates b₁, B₂, B_ThreeBased on pin hole 46₁The coordinate B of the center of is calculated. Next, the upper and lower pin holes 45₁, 46₁Coordinate X of the middle point between the coordinates A and B_UAnd the coordinate X of the intermediate point_UThe upper door side hinge 24_UIt is a representative value indicating the center of.
[0035]
  Then, lower door side hinge 24_LCoordinates X representing the center of_LCalculation of the upper door side hinge 24 described above._UExecute in the same way as
[0036]
  Next, hinge pin insertion robot R₂To move the non-contact detection means 42 to the upper vehicle body side hinge 23._UAre inserted between the two hinge plates 47 and 48, and the pin holes 47₁, 48₁The position of is detected. That is, as shown in FIG.₂Upper body side hinge 23_UBased on the position of the upper-body-body-side hinge 23._UThe upper laser head 43 is inserted between the two hinge plates 47 and 48 and moved along a predetermined path._UBy the upper body side hinge 23_UPin hole 47 of upper hinge plate 47₁Coordinates of three points on the edge of₁, C₂, C_ThreeAnd their coordinates c₁, C₂, C_ThreeBased on the pin hole 47₁The coordinate C of the center of is calculated. At the same time, the lower laser head 43_LBy the upper body side hinge 23_UPin hole 48 of lower hinge plate 48₁Coordinates of three points on the edge of₁, D₂, D_ThreeAnd their coordinates d₁, D₂, D_ThreeBased on pin hole 48₁The coordinate D of the center of is calculated. Subsequently, the upper and lower pin holes 47₁, 48₁Coordinate Y of the midpoint between the centers C and D_UAnd the coordinate Y of the intermediate point_UThe upper car body side hinge 23_UIt is a representative value indicating the center of.
[0037]
  Subsequently, the lower body side hinge 23_LCoordinate Y as the representative value of the center of_LIs calculated using the upper vehicle body hinge 23 described above._UExecute in the same way as
[0038]
  As described above, the upper and lower door-side hinges 24_U, 24_LCoordinates X of the center of_U, X_LIs calculated, its actual center coordinate X_U, X_LThe upper and lower door hinges 24 stored in advance_U, 24_LCorrect center coordinate X_U0, X_L0The first deviation ED_U, ED_LIs calculated (see FIG. 8). Similarly, the upper and lower vehicle body side hinges 23_U, 23_LActual center coordinate Y_U, Y_LAnd upper and lower body hinges 23 stored in advance._U, 23_LThe correct center coordinate Y_U0, Y_L0The second deviation EB, which is a deviation from_U, EB_LIs calculated (see FIG. 9).
[0039]
  As described above, the vehicle body side hinge 23_U, 23_LPosition and door side hinge 24_U, 24_LAre detected by the common non-contact detection means 42, so that the vehicle body side hinge 23_U, 23_LPosition and door side hinge 24_U, 24_LThe equipment cost can be reduced compared with the case where the two non-contact detection means are separately detected, and the detection error of the two non-contact detection means does not accumulate. Accuracy can be increased. Further, by using the non-contact detection means 42, detection can be performed without being influenced by the shape of the hinge, and versatility is improved.
[0040]
  Also, the door side hinge 24_U, 24_LThen, the pin holes 45 of the upper and lower hinge plates 45, 46₁, 46₁Coordinate X of the midpoint of the straight line connecting the centers of_U, X_LThe door side hinge 24_U, 24_LA representative value indicating the center of the vehicle body hinge 23_U, 23_LThen, the pin holes 47 of the upper and lower hinge plates 47, 48 are used.₁, 48₁The coordinate Y of the midpoint of the straight line connecting the centers of_U, Y_LThe car body side hinge 23_U, 23_LThe door side hinge 24 is a representative value indicating the center of the door._U, 24_LAnd the vehicle body side hinge 23_U, 23_LThe center of the can be accurately displayed.
[0041]
  In addition, as shown in FIG._U(Lower body side hinge 23_L) Upper pin hole 47₁Coordinates of three points on the edge of₁, C₂, C_ThreeBased on the pin hole 47₁A straight line L along the hinge plate 47 formed with₁Of the straight line L₁And a straight line L as a reference stored in advance_TenWhen the angle difference from the upper limit exceeds the reference value, the deformation of the hinge plate 47 and the upper body side hinge 23_UIt is determined that an abnormality such as a tilt of the door has occurred, an alarm is issued, and the assembly operation of the door D is stopped. Upper body side hinge 23_U(Lower body side hinge 23_L) Pin hole 48 of lower hinge plate 48₁And upper and lower door side hinges 24_U, 24_LPin holes 45 of the upper and lower hinge plates 45, 46₁, 46₁The same abnormality determination is executed with respect to. The straight line L along the hinge plates 45, 46, 47, 48₁Instead of calculating the inclination of the surface, the inclination of the surface along the hinge plates 45, 46, 47, 48 may be calculated.
[0042]
  Further, as shown in FIG. 13 (a), the upper vehicle body side hinge 23 is provided._U(Lower body side hinge 23_LPin holes 47 of the two hinge plates 47, 48)₁, 48₁A straight line L passing through the centers C and D₂Of the straight line L₂And a straight line L as a reference stored in advance₂₀When the angle difference from the upper limit exceeds the reference value, the upper body side hinge 23_U(Lower body side hinge 23_LIt is determined that an abnormality such as a tilt of) has occurred, an alarm is issued, and the assembly work of the door D is stopped. Upper and lower door side hinges 24_U, 24_LThe same abnormality determination is executed with respect to.
[0043]
  Further, as shown in FIG. 13B, the upper vehicle body side hinge 23 is provided._UCenter coordinate Y_UAnd lower body side hinge 23_LCenter coordinate Y_LStraight line L_ThreeOf the straight line L_ThreeAnd a straight line L as a reference stored in advance₃₀When the angle difference from the upper limit exceeds the reference value, the upper body side hinge 23_UAnd lower body side hinge 23_LIt is determined that an abnormality has occurred in the mounting position, and an alarm is issued and the assembly operation of the door D is stopped. Upper and lower door side hinges 24_U, 24_LThe same abnormality determination is executed with respect to.
[0044]
  Thus, the vehicle body side hinge 23_U, 23_LAnd door side hinge 24_U, 24_LIf the mounting state of the door is normal and there is no problem in the assembly of the door D, the door assembly robot R stored in advance is stored.₁The movement trajectory of the deviation ED_U, ED_LEB_U, EB_LThe door side hinge 24 is corrected based on_U, 24_LThe car body side hinge 23_U, 23_LCan be engaged smoothly. As a result, the door-side hinge 24_U, 24_LBody side hinge 23_U, 23_LCan be reliably prevented from being damaged by collision.
[0045]
  More specifically, the door assembly robot R₁Is the door-side hinge 24 stored in advance._U, 24_LCorrect coordinates X of the center of_Y0, X_L0And the vehicle body side hinge 23_U, 23_LThe correct coordinate Y of the center of_U0, Y_L0Based on the door side hinge 24_U, 24_LThe car body side hinge 23_U, 23_LTeaching is performed so as to engage with the door side hinge 24._U, 24_LActual center coordinate X_U, X_LAnd the vehicle body side hinge 23_U, 23_LActual coordinate Y_U, Y_LIf there is an error in the door side hinge 24 just by performing the movement according to the teaching,_U, 24_LThe car body side hinge 23_U, 23_LCannot be engaged smoothly. Therefore, the door assembly robot R₁In the process of moving the door-side hinge 24 stored in advance._U, 24_LAnd the vehicle body side hinge 23_U, 23_LCorrect coordinates X of the center of_Y0, X_L0Y_U0, Y_L0(Refer to FIGS. 8 and 9) and the actually detected door side hinge 24_U, 24_LAnd the vehicle body side hinge 23_U, 23_LCoordinates X of the center of_U, X_LY_U, Y_LDeviation ED with_U, ED_LEB_U, EB_LThe door-side hinge 24_U, 24_LThe car body side hinge 23_U, 23_LCan be engaged smoothly.
[0046]
  Next, hinge pin insertion robot R₂And the upper door side hinges 24 engaged with each other are operated._UAnd upper body side hinge 23_UAnd the lower door side hinges 24 engaged with each other._LAnd lower body side hinge 23_LBetween them, the hinge pin insertion means 32 is inserted. A pair of insertion cylinders 34_U, 34_LThe output rod 35_U, 35_LAre extended together to move the two hinge pins P and P upward and downward, respectively. As a result, as shown in FIG. 12, the shaft portion P of the upper hinge pin P₁The upper door side hinges 24 engaged with each other_UAnd upper body side hinge 23_UPin hole 48₁, 46₁, 45₁, 47₁And the shaft portion P of the lower hinge pin P₁Lower door side hinges 24 engaged with each other_LAnd lower body side hinge 23_LPin hole 47₁, 45₁, 46₁, 48₁Inserted into.
[0047]
  At this time, the door assembly robot R₁The floating mechanism 11 is unlocked, and the door D and the door clamp means 12 are switched to the floating state with respect to the robot arm 10. As a result, the door-side hinge 24_U, 24_LAnd the vehicle body side hinge 23_U, 23_LEven if there is a slight misalignment between them, the door D is moved by the reaction force received from the hinge pins P, P to compensate for the misalignment, and the insertion work of the hinge pins P, P becomes smoother.
[0048]
  Moreover, the head P of each hinge pin P_ThreeInsert arm 36_U, 36_LRecess 37_U, 37_LAnd a clamping cylinder 38_U, 38_LThe clamp member 40 advanced by_U, 40_LU-shaped cutout 39_U, 39_LSince the shaft portion P is engaged and held,₁It is possible to reliably perform the insertion work by preventing the inclination of the.
[0049]
  Shaft part P of hinge pin P₁Pin hole 45₁, 46₁, 47₁, 48₁Through the clamp cylinder 38_U, 38_LWith clamp member 40_U, 40_LBy retracting the U-shaped notch 39_U, 39_LSerration part P of hinge pin P₂Can be disengaged from. In this state, the insertion cylinder 34_U, 34_LIs further extended, the upper hinge pin P is moved to its head P._ThreeIs the upper body side hinge 23_UThe hinge pin P is inserted to a position where it contacts the lower surface of the hinge plate 48, and the lower hinge pin P_ThreeIs the lower body side hinge 23_LThe hinge plate 47 is inserted to a position where it abuts on the upper surface of the hinge plate 47. Thereafter, the insertion cylinder 34_U, 34_LThe contraction drive and the insertion arm 36_U, 36_LIs removed from the upper and lower hinge pins P, P, whereby the hinge pin insertion means 32 can be retracted from between the door mounting opening O and the door D.
[0050]
  Next, door assembly robot R₁The door clamp means 12 releases the clamp by the clamp members 17 and 17 and the clamp pin 22 and swings the door D to a position where the door mounting opening O is closed with the door D being clamped only by the suction cups 20 and 20. Move. Then, the door assembly robot R is released by releasing the clamp of the door D by the suction cups 20, 20.₁Can be retracted from the door D.
[0051]
  14 to 19 show a second embodiment of the present invention. FIG. 14 is a perspective view of a hood and a mounting portion of a vehicle body, FIG. 15 is an enlarged view of a portion 15 in FIG. 14, and FIG. FIG. 17 is a cross-sectional view taken along line -16, FIG. 17 is an operation explanatory diagram for calculating the position coordinates of the center point of each center of the pair of bolt holes, and FIGS. 18 and 19 are flowcharts illustrating the operation.
[0052]
  The second embodiment is a bonnet hood assembly robot R.₁The hood hood F clamped to the hood hood clamp means 12 ′ provided at ′ is assembled to the opening O of the engine room of the vehicle body B via a pair of left and right hinges 51, 51. Each hinge 51 includes a hood hood side hinge 53 that is fixed in advance to the hood hood F by two bolts 52, 52, and a vehicle body side hinge 55 that is pivotally supported by the hood hood side hinge 53 with a pin 54 in advance. Composed. Two first bolt holes 56 formed in the mounting portion 60 of the vehicle body side hinge 55._F, 56_RTwo second bolt holes 57 formed in the mounting portion 61 of the vehicle body B._F, 57_RTo the first bolt hole 56_F, 56_RAnd the second bolt hole 57_F, 57_RTwo bolts 58 that pass through_F, 58_RWeld nut 59 previously welded to the lower surface of the vehicle body B_F, 59_RThe hood hood F is attached to the vehicle body B by fastening to the vehicle body B. Bolt fastening robot R₂'Is the same non-contact detection means 42 (not shown) as in the first embodiment, and the bolt 58_F, 58_RAnd a bolt fastening means (not shown) comprising a nut runner for fastening the bolt.
[0053]
  18 and 19, first, in step S1, the two first bolt holes 56 of the vehicle body side hinge 55 are provided._F, 56_RAnd the two second bolt holes 57 of the mounting portion 61 of the vehicle body B._F, 57_RAfter rough sensing the state of the hood, the hood for assembling the hood R in step S2₁'And move the hood hood assembly robot R in step S3₁The hood hood F is clamped to the hood hood clamp means 12 '. In subsequent step S4, the hinge pin insertion robot R₂And the two first bolt holes 56 formed in the attachment portion 60 of the vehicle body side hinge 55 in step S5._F, 56_RFurther, in step S6, based on the sensing result, the representative coordinates X ′ of the attachment portions 60, 60 of the left and right vehicle body side hinges 55, 55 are calculated.
[0054]
  That is, as shown in FIG. 17, the laser head 43 on the upper side of the non-contact detection means 42 is used._U(Refer to FIG. 16) The first bolt hole 56 on the front side of the mounting portion 60 of the vehicle body side hinge 55_FCoordinates of three points on the edge of₁, E₂, E_ThreeDetect their coordinates e₁, E₂, E_ThreeBased on the first bolt hole 56 on the front side_FThe coordinate E of the center of is calculated. Further, the upper laser head 43_UThus, the first bolt 56 on the rear side of the mounting portion 60 of the vehicle body side hinge 55 is_RCoordinates of three points on the edge of₁, F₂, F_ThreeAnd their coordinates f₁, F₂, F_ThreeThe first bolt hole 56 on the rear side based on_RThe coordinate F of the center of is calculated. Next, the front and rear first bolt holes 56_F, 56_RThe coordinate X of the intermediate point between the coordinates E and F of the center is calculated. The coordinates X ′ (see FIG. 14) at the midpoint between the coordinates X and X of the left and right vehicle body side hinges 55 and 55 are set as the representative coordinates of the left and right vehicle body side hinges 55 and 55.
[0055]
  In subsequent step S7, whether or not the mounting angle of the mounting portion 60 of the vehicle body side hinge 55 is normal, that is, the pair of first bolt holes 56._F, 56_RWhether the first bolt holes 56 on the front side are correctly aligned in the front-rear direction._FThe center coordinate E and the first bolt hole 56 on the rear side_RThe determination is made based on the coordinates F of the center of. As a result of the determination, the pair of first bolt holes 56_F, 56_RIf they are not correctly aligned in the front-rear direction, it is determined in step S8 that the mounting angle of the mounting portion 60 of the vehicle body side hinge 55 is abnormal, and the operation is interrupted. If the determination result is normal, in step S9, the representative coordinates X 'of the mounting portions 60, 60 of the left and right vehicle body side hinges 55, 55 calculated in step S6 are stored in the storage means.
[0056]
  In subsequent step S10, the hinge pin insertion robot R₂In step S11, the second bolt hole 57 of the mounting portion 61 of the vehicle body B is moved._F, 57_RAnd weld nut 59_F, 59_RSensing. As shown in FIG. 16, the second bolt hole 57 of the mounting portion 61 of the vehicle body B._F, 57_RWeld nut 59 on the back_F, 59_RAre welded to the second bolt hole 57._F, 57_RInner diameter D₁Than weld nut 59_F, 59_RInner diameter D₂Is smaller. It should be noted that the second bolt hole 57 is caused by welding error or the like._F, 57_RThe center of the weld nut 59_F, 59_RDoes not necessarily coincide with the center of.
[0057]
  In the subsequent step S12, the representative coordinates Y ′ of the left and right attachment portions 61, 61 of the vehicle body B are calculated. That is, the lower laser head 43_LThe second bolt hole 57 on the front side of the mounting part 61 of the vehicle body B is obtained (see FIG. 16)._FCoordinates of three points on the edge of₁, G₂, G_ThreeAnd their coordinates g₁, G₂, G_ThreeBased on the second bolt hole 57 on the front side_FThe coordinate G of the center of is calculated. Further, the lower laser head 43_LThe second bolt 57 on the rear side of the mounting portion 61 of the vehicle body B_RCoordinates of three points on the edge of₁, H₂, H and their coordinates h₁, H₂, H_ThreeBased on the second bolt 57 on the rear side_RThe coordinate H of the center of is calculated. Next, the front and rear second bolt holes 57_F, 57_RThe coordinate Y of the intermediate point between the coordinates G and H of the center is calculated. And the coordinate Y '(refer FIG. 14) of the intermediate point of the said coordinates Y of the left-and-right attaching parts 61 and 61 (refer FIG. 14) is made into the representative coordinate of the left-and-right attaching parts 61 and 61. FIG.
[0058]
  In subsequent step S13, whether or not the angle of the mounting portion 61 of the vehicle body B is normal, that is, the pair of second bolt holes 57._F, 57_RIs correctly aligned in the front-rear direction, whether the second bolt hole 57 on the front side_FCenter coordinate G and the rear second bolt hole 57_RThe determination is made based on the coordinates H of the center. As a result of the determination, the pair of second bolt holes 57_F, 57_RIf they are not correctly aligned in the front-rear direction, it is determined in step S14 that the angle of the mounting portion 61 of the vehicle body B is abnormal, and the operation is interrupted.
[0059]
  In the following step S15, two weld nuts 59_F, 59_RCalculate the coordinates of each center. These two weld nuts 59_F, 59_RThe coordinates of the center of each of the two second bolt holes 57 are_F, 57_RIt can be calculated in the same manner as the coordinates G and H of the center of. In step S16, the second bolt hole 57 on the front side_FAnd front weld nut 59_FThe misalignment of the second bolt hole 57 on the rear side is less than a predetermined value._RAnd rear weld nut 59_RIt is determined whether or not the misalignment is below a predetermined value. If the misalignment exceeds the predetermined value, it is determined in step S17 that it is abnormal and the operation is interrupted. Thus, in step S18, the representative coordinates Y 'of the left and right mounting portions 61, 61 calculated in step S12 are stored in the storage means.
[0060]
  Thus, since both the position of the mounting portion 60 of the vehicle body side hinge 55 and the position of the mounting portion 61 of the vehicle body B are detected by the common non-contact detection means 42, the position of the mounting portion 60 of the vehicle body side hinge 55 and Compared to the case where the position of the mounting portion 61 of the vehicle body B is separately detected by the two non-contact type detecting means, the equipment cost can be reduced, and the detection errors of the two non-contact type detecting means are accumulated. Therefore, the detection accuracy can be increased. Further, by using the non-contact detection means 42, detection can be performed without being influenced by the shape of the hinge, and versatility is improved.
[0061]
  Further, the coordinates of the intermediate point between the left and right vehicle body side hinges 55, 55 are set as the representative coordinate X ', and the coordinate of the intermediate point between the left and right mounting portions 61, 61 is set as the representative coordinate Y'. And the positions of the left and right attachment portions 61, 61 can be accurately displayed.
[0062]
  In the subsequent step S19, the representative coordinates X 'of the mounting portions 60, 60 of the left and right vehicle body side hinges 55, 55 are compared with the representative coordinates Y' of the left and right mounting portions 61, 61.
[0063]
  In the following step S20, the representative coordinates X ′ and Y ′ are converted into the hood hood assembly robot R.₁′, And the bonnet hood assembly robot R stored in advance in step S21.₁'Is corrected based on the representative coordinates X', Y ', so that the mounting portion 60 of the vehicle body side hinge 55 can be smoothly positioned on the mounting portion 61 of the vehicle body B. Thus, it is possible to reliably prevent the vehicle body side hinge 55 from colliding with the vehicle body B and being damaged.
[0064]
  To explain this in further detail, the hood hood assembly robot R₁'Is based on the correct representative coordinate X' of the intermediate point of the vehicle body side hinges 55, 55 stored in advance and the correct coordinate Y 'of the intermediate point of the attachment portions 61, 61 of the vehicle body B. Teaching is performed so as to engage the mounting portions 60, 60 with the mounting portions 61, 61 of the vehicle body B, but the correct representative coordinates X ', Y' and the actually calculated representative coordinates X ', Y If there is an error between 'and', the attachment portions 60, 60 of the vehicle body side hinges 55, 55 cannot be engaged with the attachment portions 61, 61 of the vehicle body B only by performing the movement as taught. Therefore, the bonnet hood assembly robot R₁In the process of moving ′, the bonnet hood assembling robot R so that the actually calculated representative coordinate X ′ coincides with the actually calculated representative coordinate Y ′.₁It is possible to smoothly engage the attachment portions 60, 60 of the vehicle body side hinges 55, 55 with the attachment portions 61, 61 of the vehicle body B by correcting the movement locus of '.
[0065]
  The above bonnet hood assembly robot R₁′, When the attachment portions 60, 60 of the vehicle body side hinges 55, 55 are engaged with the attachment portions 61, 61 of the vehicle body B, a straight line connecting the centers of the left and right vehicle body side hinges 55, 55 (straight line X− in FIG. If the straight line connecting the centers of the left and right mounting portions 61 and 61 (see the straight line YY in FIG. 14) is not parallel, hood hood assembly so that these two straight lines are parallel Robot R₁Correction by ′ is performed.
[0066]
  In the subsequent step S22, the bolt insertion robot R₂′ And the bolt holes 56 before and after the vehicle body side hinge 55 positioned relative to each other in step S23._F, 56_RAnd bolt holes 57 before and after the vehicle body B_F, 57_RBolt insertion robot R₂'With two bolts 58_F, 58_RAfter the alignment, the bolt 58 is selected in step S24._F, 58_RWeld nut 59_F, 59_RTo complete the assembly of the hood hood F to the opening O of the engine room of the vehicle body B. Finally, in step S25, the bonnet hood assembly robot R₁'And bolt insertion robot R₂'Is returned to the original position, and one cycle of work is completed.
[0067]
  As mentioned above, although the Example of this invention was explained in full detail, this invention can perform a various design change in the range which does not deviate from the summary.
[0068]
  For example, in the embodiment, the case where the door D and the vehicle body B are assembled via a hinge and the case where the bonnet hood F and the vehicle body B are assembled via a hinge are illustrated, but the present invention is applicable to any other article. can do. In the second embodiment, instead of connecting the hinges 51 and 51 provided on the hood hood F in advance to the vehicle body B, it is also possible to connect the hinges 51 and 51 provided on the vehicle body B in advance to the hood hood F. is there.
[0069]
【The invention's effect】
  Claim as above1-4According to the invention described in the above, the first article clamped by the article clamping means of the article assembly robot is moved toward the second article, and the first hinge provided on the first article is provided on the second article. When engaging with the second hinge, the position coordinates of the center of the first hinge and the position coordinates of the center of the second hinge are detected by the common non-contact detection means, and the position coordinates and the position coordinates stored in advance are And the movement path of the first article by the article assembling robot is corrected based on this deviation, so that even if there is some deformation or attachment error in the first hinge or the second hinge, these deformations The first hinge can be smoothly engaged with the second hinge by compensating for the mounting error and the first article can be assembled in a short time while preventing damage to the hinge. In addition, since the position coordinates of the center of the first hinge and the second hinge are calculated by a common non-contact detection means, not only can the equipment cost be reduced, but also the accumulation of errors in the position coordinates can be prevented. The first hinge can be more smoothly engaged with the second hinge, and the non-contact type detection means can be used to eliminate the influence of the shape of the hinge and improve versatility.
[0070]
  In particularClaim1According to the invention described in the above, the position coordinates of the center of the pin hole are calculated from the position coordinates of the plurality of points on the edges of the pair of pin holes of the first hinge, and the intermediate points of the centers of the pair of pin holes are calculated. Since the position coordinates of the center of the first hinge are calculated, the position coordinates that accurately represent the center of the first hinge can be obtained. Further, the position coordinates of the center of the pin hole are calculated from the position coordinates of the plurality of points on the edge of the pair of pin holes of the second hinge, and the center of the second hinge is used as an intermediate point between the centers of the pair of pin holes. Since the position coordinates are calculated, the position coordinates that accurately represent the center of the second hinge can be obtained.
[0071]
  In particularClaim2According to the invention described in the above, the abnormality determination is performed when the inclination of the straight line or the surface along the hinge plate in which the pin hole is formed is large, so that it is possible to quickly cope with an abnormal situation such as deformation of the hinge plate. .
[0072]
  In particularClaim3According to the invention described in the above, the abnormality determination is performed when the inclination of the straight line passing through the centers of the two pin holes of the hinge plates constituting the hinge pair is large. We can respond promptly.
[0073]
  In particularClaim4The center of the one end side hinge andThe other end sideSince the abnormality determination is performed when the inclination of the straight line passing through the center of the hinge is large, it is possible to promptly cope with an abnormal situation such as a defective hinge mounting position.
[0074]
  And claims5Since the hinge pin insertion robot includes both the hinge pin insertion means and the non-contact detection means, the hinge pin insertion robot can be used for multiple purposes and the equipment cost can be reduced.
[0075]
  And claims6According to the invention described in the above, since the flange-shaped head portion of the hinge pin is clamped by the clamp member having the U-shaped notch provided in the hinge pin insertion means, the hinge pin falls down when the hinge pin is inserted, and an insertion abnormality occurs. Can be prevented.
[0076]
  And claims7The first article clamped by the article clamping means of the article assembly robot is moved toward the second article, and the pair of hinges provided on one of the first and second articles is moved to the first. 1. When positioning and bolting to a pair of attachment parts provided on the other of the second article, the position coordinates of the center point of each center of the pair of hinges of one article and the other by means of a common non-contact detection means The position coordinates of the center point of each center of the pair of attachment parts of the article is detected, and the first article is moved by the article assembly robot so that these two position coordinates coincide with each other. Even if there is an attachment error, it is possible to perform the assembly work of the first article and the second article in a short time by compensating for the deformation and the attachment error. In addition, since the two position coordinates are detected by a common non-contact detection means, not only can the equipment cost be reduced, but also the first article can be removed from the second article by preventing the error of the position coordinates from being accumulated. In addition, the use of the non-contact type detection means can eliminate the influence of the shape of the hinge and enhance versatility.
[Brief description of the drawings]
FIG. 1 is a plan view of an automobile door assembly station.
FIG. 2 is a perspective view of an automobile door assembly station.
3 is a view in the direction of arrows 3 in FIG.
4 is a view taken along line 4-4 in FIG. 3;
5 is a view taken in the direction of arrow 5 in FIG.
6 is a view in the direction of arrow 6 in FIG.
7 is a sectional view taken along line 7-7 in FIG.
FIG. 8 is an enlarged view of eight directions in FIG.
9 is an enlarged view of 9 directions in FIG.
FIG. 10 is a diagram for explaining the operation of hinge position detection.
FIG. 11 is a diagram for explaining the operation of hinge position detection.
FIG. 12 is an explanatory diagram of the operation of inserting a hinge pin.
FIG. 13 is an explanatory diagram of a hinge mounting failure state.
FIG. 14 is a perspective view of a bonnet hood and a mounting portion of a vehicle body.
15 is an enlarged view of part 15 in FIG. 14;
16 is a cross-sectional view taken along line 16-16 in FIG.
FIG. 17 is an operation explanatory diagram for calculating a position coordinate of an intermediate point of each center of a pair of bolt holes
FIG. 18 is a first partial diagram of a flowchart for explaining the operation.
FIG. 19 is a second part of a flowchart explaining the operation.
[Explanation of symbols]
12 Door clamp means (article clamp means)
12 'Bonnet hood clamp means (article clamp means)
23_U      Upper body side hinge (second hinge, one end hinge)
23_L      Lower body side hinge (second hinge, other end hinge)
24_U      Upper door hinge (first hinge, one end hinge)
24_L      Lower door hinge (first hinge, other end hinge)
32 Hinge pin insertion means
38_U, 38_L        Clamping cylinder
39_U, 39_L        Notch
40_U, 40_L        Clamp member
42 Non-contact detection means
45₁, 46₁        Pin hole
47₁, 48₁        Pin hole
51 Hinge
61 Mounting part
B Body (second article)
D Door (first article)
ED_U, ED_L        First deviation
EB_U, EB_L        Second deviation
F Bonnet food (first item)
L₁        Straight line along the hinge plate
L₂        A straight line passing through the center of the pin hole of the pair of hinge plates
L_Three        A straight line passing through the center of the one-end hinge and the center of the other-end hinge
P Hinge pin
P₁        Shaft
P₂        Serration part
P_Three        head
R₁        Door assembly robot (article assembly robot)
R₁′ Bonnet hood assembly robot (article assembly robot)
R₂        Hinge pin insertion robot
X_U, X_L            Position coordinates of the center of the door side hinge (position coordinates of the center of the first hinge)
X_U0, X_L0            Pre-stored position coordinates
X 'Position coordinates of the middle point of each center of a pair of hinges
Y_U, Y_L            Position coordinates of the center of the body side hinge (position coordinates of the center of the second hinge)
Y_U0, Y_L0            Pre-stored position coordinates
Y 'Position coordinates of the center point of each center of a pair of mounting parts

Claims (7)

The first article (D) clamped on the article clamping means (12) is moved along the movement path stored in advance by the article assembling robot (R ₁ ), and the first hinge provided on the first article (D) (24 _U , 24 _L ) is engaged with the second hinge (23 _U , 23 _L ) provided on the second article (B), and then the pin hole (45 ₁ ) of the first hinge (24 _U , 24 _L ). , 46 ₁ ) and the second hinge (23 _U , 23 _L ) in the article assembly method of inserting the hinge pin (P) into the pin hole (47 ₁ , 48 ₁ ),
Detecting the position coordinates (X _U , X _L ) of the center of the first hinge (24 _U , 24 _L ) with the non-contact detection means (42);
Detected first hinge (24 _U, 24 _L) position coordinates (X _U, X _L) of the center of and the pre-stored position coordinates (X _U0, X _L0) first deviation between (ED _U, ED _L) Calculating
Detecting the position coordinates (Y _U , Y _L ) of the center of the second hinge (23 _U , 23 _L ) with the non-contact detection means (42);
Coordinates of the center of the detected second hinge _{(23 U, 23 L) (} Y U, Y L) and the pre-stored position coordinate (Y _U0, Y _L0) second deviation between (EB _U, EB _L) Calculating
The first deviation (ED _U, ED _L) and a step of correcting and second deviation (EB _U, EB _L) movement path of the first article according to the robot with the article group (R ₁₎ based on (D) ,
The non-contact type detecting means (42), said pin holes (45 ₁ from the position coordinates of a plurality of points on the edge of a pair of pin holes (45 _1, 46 ₁₎ of the first hinge (24 _U, 24 _L), 46 ₁ ), the position coordinates (A, B) of the center are calculated, and the center of the first hinge (24 _U , 24 _L ) is used as an intermediate point between the centers of the pair of pin holes (45 ₁ , 46 ₁ ). The position coordinates (X _U , X _L ) of
And the position coordinates (C of the center of the pin holes (47 ₁ , 48 ₁ ) from the position coordinates of a plurality of points on the edges of the pair of pin holes (47 ₁ , 48 ₁ ) of the second hinge (23 _U , 23 _L ). , D), and the position coordinates (Y _U , Y _L ) of the center of the second hinge (23 _U , 23 _L ) as an intermediate point between the centers of the pair of pin holes (47 ₁ , 48 ₁ ). A method for assembling the article, characterized in that The first article (D) clamped on the article clamping means (12) is moved along the movement path stored in advance by the article assembling robot (R ₁ ), and the first hinge provided on the first article (D) (24 _U , 24 _L ) is engaged with the second hinge (23 _U , 23 _L ) provided on the second article (B), and then the pin hole (45 ₁ ) of the first hinge (24 _U , 24 _L ). , 46 ₁ ) and the second hinge (23 _U , 23 _L ) in the article assembly method of inserting the hinge pin (P) into the pin hole (47 ₁ , 48 ₁ ),
Detecting the position coordinates (X _U , X _L ) of the center of the first hinge (24 _U , 24 _L ) with the non-contact detection means (42);
Detected first hinge (24 _U, 24 _L) position coordinates (X _U, X _L) of the center of and the pre-stored position coordinates (X _U0, X _L0) first deviation between (ED _U, ED _L) Calculating
Detecting the position coordinates (Y _U , Y _L ) of the center of the second hinge (23 _U , 23 _L ) with the non-contact detection means (42);
Coordinates of the center of the detected second hinge _{(23 U, 23 L) (} Y U, Y L) and the pre-stored position coordinate (Y _U0, Y _L0) second deviation between (EB _U, EB _L) Calculating
The first deviation (ED _U, ED _L) and a step of correcting and second deviation (EB _U, EB _L) movement path of the first article according to the robot with the article group (R ₁₎ based on (D) ,
The non-contact type detecting means (42), pin holes (45 _1, 46 _1, 47 _1, 48 ₁₎ the pin holes (45 _1, based on the position coordinates of the plurality of points on the edge of, 46 _1, 47 ₁ , 48 ₁ ), the inclination of the straight line (L ₁ ) or the surface along the hinge plate (45, 46, 47 , 48 ) on which it is formed is calculated, and when the calculated inclination exceeds the reference value, abnormality determination is performed. An article assembling method characterized by the above. The first article (D) clamped on the article clamping means (12) is moved along the movement path stored in advance by the article assembling robot (R ₁ ), and the first hinge provided on the first article (D) (24 _U , 24 _L ) is engaged with the second hinge (23 _U , 23 _L ) provided on the second article (B), and then the pin hole (45 ₁ ) of the first hinge (24 _U , 24 _L ). , 46 ₁ ) and the second hinge (23 _U , 23 _L ) in the article assembly method of inserting the hinge pin (P) into the pin hole (47 ₁ , 48 ₁ ),
Detecting the position coordinates (X _U , X _L ) of the center of the first hinge (24 _U , 24 _L ) with the non-contact detection means (42);
Detected first hinge (24 _U, 24 _L) position coordinates (X _U, X _L) of the center of and the pre-stored position coordinates (X _U0, X _L0) first deviation between (ED _U, ED _L) Calculating
Detecting the position coordinates (Y _U , Y _L ) of the center of the second hinge (23 _U , 23 _L ) with the non-contact detection means (42);
Coordinates of the center of the detected second hinge _{(23 U, 23 L) (} Y U, Y L) and the pre-stored position coordinate (Y _U0, Y _L0) second deviation between (EB _U, EB _L) Calculating
The first deviation (ED _U, ED _L) and a step of correcting and second deviation (EB _U, EB _L) movement path of the first article according to the robot with the article group (R ₁₎ based on (D) ,
The non-contact type detecting means (42), pin holes (45 _1, 46 _1, 47 _1, 48 ₁₎ the pin holes (45 ₁ from the position coordinates of a plurality of points on the edge of, 46 _1, 47 _1, 48 ₁ ) The center position coordinates (A, B, C, D) of 1) are calculated, and the two pin holes (45 ₁ , 46 ₁ , 47 ₁ ) of the hinge plates (45 , 46 , 47, 48 ) forming a pair are calculated. , 48 ₁ ), an inclination of a straight line (L ₂ ) passing through the center is calculated, and abnormality determination is performed when the calculated inclination exceeds a reference value . The first article (D) clamped on the article clamping means (12) is moved along the movement path stored in advance by the article assembling robot (R ₁ ), and the first hinge provided on the first article (D) (24 _U , 24 _L ) is engaged with the second hinge (23 _U , 23 _L ) provided on the second article (B), and then the pin hole (45 ₁ ) of the first hinge (24 _U , 24 _L ). , 46 ₁ ) and the second hinge (23 _U , 23 _L ) in the article assembly method of inserting the hinge pin (P) into the pin hole (47 ₁ , 48 ₁ ),
Detecting the position coordinates (X _U , X _L ) of the center of the first hinge (24 _U , 24 _L ) with the non-contact detection means (42);
Detected first hinge (24 _U, 24 _L) position coordinates (X _U, X _L) of the center of and the pre-stored position coordinates (X _U0, X _L0) first deviation between (ED _U, ED _L) Calculating
Detecting the position coordinates (Y _U , Y _L ) of the center of the second hinge (23 _U , 23 _L ) with the non-contact detection means (42);
Coordinates of the center of the detected second hinge _{(23 U, 23 L) (} Y U, Y L) and the pre-stored position coordinate (Y _U0, Y _L0) second deviation between (EB _U, EB _L) Calculating
The first deviation (ED _U, ED _L) and a step of correcting and second deviation (EB _U, EB _L) movement path of the first article according to the robot with the article group (R ₁₎ based on (D) ,
The non-contact detection means (42) includes pin holes (45 ₁ , 46 ₁ , 47 ₁ ) of one end side hinges (24 _U , 23 _U ) located on one end side of the first and second articles (D, B). , 48 ₁ ), the position coordinates (X _U , Y _U ) of the center of the one-end hinge (24 _U , 23 _U ) are calculated from the position coordinates of a plurality of points on the edge of the edge , and the first and second articles (D , B), the other end from the position coordinates of a plurality of points on the edge of the pin hole (45 ₁ , 46 ₁ , 47 ₁ , 48 ₁ ) of the other end side hinge (24 _L , 23 _L ). coordinates of the center of the side hinge _{(24 L, 23 L) (} X L, Y L) to calculate the center and the other end hinged on one end side hinge _{(24 U, 23 U) (} 24 L, 23 L) straight line passing through the center of calculating the slope of the (L _3), with the article sets, characterized in that the abnormality determination when the calculated inclination exceeds the reference value Law. An article assembling apparatus used directly for carrying out the article assembling method according to any one of claims 1 to 4 ,
Hinge pins (P) for inserting the hinge pins (P) into the pin holes (45 ₁ , 46 ₁ ) of the first hinge (24 _U , 24 _L ) and the pin holes (47 ₁ , 48 ₁ ) of the second hinge (23 _U , 23 _L ) An article assembling apparatus characterized in that the non-contact detection means (42) is provided in a hinge pin insertion robot (R ₂ ) provided with an insertion means (32). The hinge pin (P) has a flange-shaped head (P ₃ ) connected to the shaft (P ₁ ) via a serration (P ₂ ),
The hinge pin insertion means (32) is a clamp member (39 _U , 39 _L ) formed with a U-shaped notch (39 _U , 39 _L ) that fits into the serration portion (P ₂ ) and clamps the head (P ₃ ). 40 _U, and 40 _L), characterized in that a clamping cylinder (38 _U, 38 _L) for forward and backward driving the clamping member (40 _U, 40 _L), article set according to claim 5 Attached equipment. The first article (F) clamped by the article clamping means (12 ′) is moved toward the second article (B) along the movement path stored in advance by the article assembling robot (R ₁ ′). 1. After positioning the pair of hinges (51) provided on one of the second articles (F, B) to the pair of attachment parts (61) provided on the other of the first and second articles (F, B), In the article assembling method in which the pair of hinges (51) are bolted to the attachment portion (61),
Detecting a position coordinate (X ′) of an intermediate point of each center of the pair of hinges (51) by a non-contact detection means (42);
Detecting a position coordinate (Y ′) of an intermediate point of each center of the pair of attachment portions (61) by the non-contact detection means (42);
Assembling the article so that the position coordinates (X ′) of the center point of each center of the pair of hinges (51) coincide with the position coordinates (Y ′) of the center point of each center of the pair of attachment parts (61). Moving the first article (F) with the robot (R ₁ ′),
An article assembling method characterized by comprising:

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