JP6905408B2 - Follow-up type automatic positioning mounting device - Google Patents

Description

The present invention relates to a follow-up type automatic positioning mounting device for assembling a work to a moving object such as a vehicle body using a transport rail, and a method of assembling the work using the follow-up type automatic positioning mounting device.

The structure shown in FIG. 8 is known as an under module mounting device 100 for mounting an under module on a conventional vehicle body. FIG. 8 is an overall view for explaining the conventional under module mounting device 100.

As shown in FIG. 8, the under module mounting device 100 mainly integrates an overhead conveyor 102 that suspends and continuously conveys the vehicle body 101 in the air, and an under module 103, a rear module 104, and a propeller shaft 105. It includes a floor conveyor 107 that transports and lifts the module 106.

The floor transfer device 107 includes a front floor transfer device 108 corresponding to the mounting position of the front module 103 and a rear floor transfer device 109 corresponding to the mounting position of the rear module 104. The front floor transfer device 108 includes a lifter 110 arranged at a mounting position of the front module 103, a plurality of carriages 111, and a floor conveyor 112 that conveys the plurality of carriages 111 along a loop-shaped transfer line. ing.

The lifter 110 is fixed to the floor surface 115 at the mounting position of the front module 103. The lifter 110 has an elevating table 113, and the mounting table 114 of the bogie 111 is aligned on the elevating table 113 of the lifter 110, so that the mounting table 114 is raised to the assembling position of the vehicle body 101. The rear floor transfer device 109 has the same structure as the front floor transfer device 108 except that the transfer direction of the floor conveyor 112 is opposite to that of the front floor transfer device 108 (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2006-23022

In the conventional under module mounting device 100, the overhead conveyor 102 suspends a plurality of vehicle bodies 101 in most of the area thereof, and continuously conveys the vehicle body 101 at a low speed. On the other hand, at the mounting position where the under module 106 is mounted on the vehicle body 101, the vehicle body 101 is provided with a stop time for temporarily stopping, so that the time for the under module 106 to be mounted on the vehicle body 101 is secured. There is.

In this mounting method of the under module 106, the stop time for mounting the under module 106 on the vehicle body 101 is required, and in order to secure the stop time, the transport speed is high or medium before and after the mounting position. It is necessary to change to the speed, and there is a problem that the speed control of the entire assembly line becomes complicated.

If the mounting work is delayed, it is necessary to further extend the stop time, and in that case, the entire assembly line may be stopped. Further, in the under module mounting device 100, in consideration of the extension of the stop time, the adjustment stop time is further secured before and after the stop position, and there is a problem that the speed control of the entire assembly line becomes more complicated.

Further, in the under module mounting device 100, the lifter 110 is fixed to the floor surface 115 at the mounting position of the front module 103. Then, the vehicle body 101 is transported in the air via the body hanger 116 of the overhead conveyor 102, but the mounting position of the vehicle body 101 may be displaced due to the shaking of the body hanger 116 during transportation or the like. In this case, the vehicle body 101 stops above the lifter 110, and the under module 106 rises at the lifter 110 with respect to the stopped vehicle body 101 and is mounted on the vehicle body 101. Is required. As a result, extra alignment work is required by the operator, and if the mounting work is delayed due to the work, the entire assembly line may be stopped.

The present invention has been made in view of the above circumstances, and follows the conveyed object conveyed by using the conveying rail while aligning the object, and also follows the moving object by assembling the work. It provides a mold automatic positioning mounting device and a method of assembling a work using the device.

In the follow-up type automatic positioning mounting device of the present invention, the follow-up type automatic positioning mounting device for assembling a work to a transported object suspended from a transport rail is detachably attached to the conveyed object. At the same time, a light emitting mechanism having a light emitting portion that emits light toward the lower side of the transport rail, and a self-propelled work that mounts the work and assembles the work to the transported object by following the conveyed object. The self-propelled work transport mechanism includes a transport mechanism, and the self-propelled work transport mechanism is provided on a mounting table on which the work is placed, a light receiving unit provided on the above-mentioned table and receiving light emitted from the light emitting unit, and the light receiving unit. The position detection unit that detects the positional relationship between the light emitting mechanism and the light receiving unit using the light received by the unit, and the self-propelled work transfer mechanism based on the position detection result of the position detection unit A control unit that follows the position detection result, and a lift unit that raises the above-described stand toward the transported object in a state where the work is placed and assembles the work to the transported object. It is characterized by having.

Further, in the follow-up type automatic positioning mounting device of the present invention, the light receiving portion is provided with a connecting projection portion facing upward from the above-described stand, and the light emitting mechanism is connected to the lower side of the transport rail. A hole is provided, and the lift portion raises the above-mentioned stand toward the conveyed object in a state where the work is placed, and the connecting protrusion is inserted into the connecting hole. And.

Further, in the follow-up type automatic positioning mounting device of the present invention, at least three or more of the light emitting portions are arranged on the same circle centered on the connecting hole in the light emitting mechanism, and the light receiving portion is provided with the light receiving portion. A plurality of light receiving regions are arranged around the connecting protrusion, and the position detecting unit detects the positional relationship from the light receiving region that has received the three or more lights from the light emitting unit. It is a feature.

Further, in the follow-up type automatic positioning mounting device of the present invention, the conveyed object is a vehicle body, a pair of light emitting mechanisms are attached in the vehicle width direction of the vehicle body, and the pair of light emitting mechanisms are described. It is characterized in that it is attached to a hole provided in a panel of a vehicle body.

Further, in the follow-up type automatic positioning mounting device of the present invention, the light emitting mechanism is movably attached to the main body portion in which at least a part thereof is inserted into the hole and the main body portion, and is attached to the panel. A movable locking portion that is locked against the panel is provided, and in a state where the main body portion is locked with respect to the panel, a part of the movable locking portion is inside the connecting hole. It is characterized by being located.

The follow-up type automatic positioning mounting device of the present invention includes a light emitting mechanism attached to a transported object transported by a transport rail and a self-propelled work transport mechanism guided by the light emitting mechanism. Has a light receiving unit that receives light emitted from the light emitting mechanism and a position detecting unit that detects the position of the own vehicle from the light receiving result of the light receiving unit. With this structure, the self-propelled work transfer mechanism can follow the moving conveyed object and assemble the work to the conveyed object while traveling without temporarily stopping the conveyed object. Then, it is possible to prevent the moving speed of the transported object moving on the transport rail from being complicatedly controlled.

Further, in the follow-up type automatic positioning mounting device of the present invention, a connecting protrusion is formed in the light receiving portion, a connecting hole is formed in the light emitting mechanism, and the connecting protrusion is connected when assembling the work to the conveyed object. It is inserted into the hole and both members are connected. With this structure, after the alignment between the light emitting mechanism and the light receiving portion using light, the alignment can be performed mechanically using the connecting protrusions and the connecting holes, and the conveyed object can be assembled to the work with high position accuracy. Can be done.

Further, in the follow-up type automatic positioning mounting device of the present invention, at least three or more light emitting portions are formed on the same circle around the connecting hole in the light emitting mechanism, and a plurality of light emitting portions are formed around the connecting protrusion in the light receiving portion. A light receiving region is formed. With this structure, the alignment between the connecting hole and the connecting protrusion is performed with high positional accuracy.

Further, in the follow-up type automatic positioning mounting device of the present invention, a light emitting mechanism can be attached to a hole in a panel of a vehicle body as a transported object. With this structure, the work transported by the self-propelled work transfer mechanism can be assembled to the vehicle body with high position accuracy.

Further, in the follow-up type automatic positioning mounting device of the present invention, a movable locking portion that is detachably locked to the panel of the vehicle body is attached to the main body of the light emitting mechanism, and the movable locking portion of the movable locking portion is attached. Some are located in the connecting holes. With this structure, the movable locking portion rotates when it comes into contact with the connecting protrusion, so that the light emitting mechanism is detachably attached to the vehicle body in conjunction with the operation of the connecting protrusion.

Further, in the follow-up type automatic positioning mounting device of the present invention, the movable locking portion is rotated by inserting the connecting protrusion into the connecting hole, and the light emitting mechanism is locked with respect to the vehicle body. The condition is resolved. With this structure, the light emitting mechanism is automatically collected from the vehicle body after the work is assembled to the vehicle body.

In the work assembling method using the follow-up type automatic positioning mounting device of the present invention, the self-propelled work transfer mechanism receives the light emitted from the light emitting mechanism and aligns the light emitting mechanism with the light receiving portion. , Follow the transported object. Then, after the alignment is completed, the work placed on the mounting table is raised toward the transported object, and the work is assembled to a desired region of the transported object. According to this method of assembling the work, the work is assembled while the transported object moving on the transport rail is running without being temporarily stopped, so that the moving speed of the transported object is prevented from being complicatedly controlled.

Further, in the work assembling method using the follow-up type automatic positioning mounting device of the present invention, the light emitting mechanism can be detachably attached to and detached from the vehicle body by using the movable locking portion attached to the main body of the light emitting mechanism. Can be installed.

Further, in the work assembling method using the follow-up type automatic positioning mounting device of the present invention, after the alignment between the connecting hole and the connecting protrusion is completed, the mounting table is raised and the connecting protrusion is inserted into the connecting hole. Will be done. Then, in conjunction with the operation of the connecting protrusion, the movable locking portion rotates, and the state in which the light emitting mechanism is locked with respect to the vehicle body is eliminated.

Further, in the work assembling method using the follow-up type automatic positioning mounting device of the present invention, the movable locking portion is rotated by inserting the connecting protrusion into the connecting hole, and the movable locking portion is formed. Maintain the state of being stored in the slit of the main body. According to this work assembling method, the light emitting mechanism can be automatically recovered from the vehicle body when the mounting table is lowered after the work assembling work is completed.

It is an overall schematic diagram explaining the whole structure of the follow-up type automatic positioning mounting apparatus of one Embodiment of this invention. It is a block diagram which shows the outline of the follow-up type automatic positioning mounting apparatus of one Embodiment of this invention. It is (A) perspective view and (B) plan view explaining the light receiving part of the follow-up type automatic positioning mounting apparatus of one Embodiment of this invention. It is (A) sectional view and (B) bottom view which explains the light emitting device of the follow-up type automatic positioning mounting apparatus of one Embodiment of this invention. It is (A) top view and (B) side view explaining the work assembling method using the follow-up type automatic positioning mounting apparatus of another embodiment of this invention. It is (A) sectional view, (B) sectional view, (C) sectional view, (D) sectional view explaining the method of assembling the work using the follow-up type automatic positioning mounting apparatus of another embodiment of this invention. .. It is a flowchart explaining the assembly method of the work using the follow-up type automatic positioning mounting apparatus of another embodiment of this invention. It is an overall view explaining the conventional under module mounting apparatus.

Hereinafter, the follow-up type automatic positioning mounting device 10 according to the embodiment of the present invention will be described in detail with reference to the drawings. In the description of the present embodiment, in principle, the same code number is used for the same member, and the repeated description is omitted.

FIG. 1 is an overall schematic view illustrating the overall configuration of the follow-up type automatic positioning mounting device 10 of the present embodiment. FIG. 2 is a block diagram illustrating an outline of the follow-up type automatic positioning mounting device 10 of the present embodiment. FIG. 3A is a perspective view illustrating a light receiving portion 24 of the self-propelled work transfer mechanism 11 of the present embodiment. FIG. 3B is a plan view illustrating a method of recognizing the position of the light receiving portion 24 of the self-propelled work transfer mechanism 11 of the present embodiment. FIG. 4A is a cross-sectional view illustrating the light emitting mechanism 12 of the present embodiment. FIG. 4B is a bottom view illustrating the light emitting mechanism 12 of the present embodiment.

As shown in FIG. 1, the follow-up type automatic positioning mounting device 10 is mainly a separate body of the self-propelled work transfer mechanism 11 and the self-propelled work transfer mechanism 11, and includes the self-propelled work transfer mechanism 11. It includes a light emitting mechanism 12 for guiding. The light emitting mechanism 12 is detachably attached to a transported object that is suspended and moved by a transport rail 15, for example, a vehicle body 13. Then, the self-propelled work transfer mechanism 11 receives the light emitted from the light emitting mechanism 12, for example, the laser light, and follows the light emitting mechanism 12 by autopilot while detecting the positional relationship with the light emitting mechanism 12. And run.

The vehicle body 13 is conveyed, for example, in a state of being suspended by an overhead conveyor 14. The overhead conveyor 14 mainly includes a transport rail 15, a power rail 17 for suspending the conveyor chain 16, a hanger 18 on which the vehicle body 13 is mounted, and a free rail 19 for suspending the hanger 18. is doing.

In the assembly process of the vehicle body 13, a plurality of vehicle bodies 13 are suspended from the round transport rails 15 via hangers 18, and the vehicle bodies 13 are continuously transported at a set transport speed. NS. The suspension unit 20 is mounted on the front side of the vehicle body 13, and the suspension unit 20 is transported in a state of being mounted on the self-propelled work transfer mechanism 11.

Although the details will be described later, the self-propelled work transfer mechanism 11 follows the moving vehicle body 13 via the transfer rail 15 while aligning the positions. Then, after the above alignment is completed, the self-propelled work transfer mechanism 11 raises the suspension unit 20 with respect to the vehicle body 13 and incorporates the suspension unit 20 so that the suspension unit 20 is mounted without stopping the vehicle body 13. Can do the work.

The suspension unit 20 is a unit in which an engine mechanism, a brake mechanism, a steering mechanism, and the like are integrally assembled, and is an example of a work mounted on the self-propelled work transfer mechanism 11. Then, for example, an individually prepared engine mechanism, a brake mechanism, a steering mechanism, and the like may be mounted on the self-propelled work transfer mechanism 11. Further, the work mounted on the self-propelled work transfer mechanism 11 is not limited to the suspension unit 20, and may be any one depending on the conveyed object.

As shown in FIG. 2, the self-propelled work transfer mechanism 11 mainly includes a control unit 21, a storage unit 22, a mounting table 23, a light receiving unit 24 provided on the upper surface of the mounting table 23, and a light emitting mechanism 12. It is provided with a position detection unit 25 for detecting the positional relationship between the light receiving unit 24 and the light receiving unit 24, a drive mechanism 26 for traveling the self-propelled work transfer mechanism 11, and a lift unit 27 for raising and lowering the mounting table 23.

The control unit 21 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and performs various calculations for controlling the self-propelled work transfer mechanism 11. It is an electronic control unit (ECU) to be executed.

Although the details will be described later, the control unit 21 performs various calculations and the like based on the position detection result from the position detection unit 25, controls the drive mechanism 26, and adjusts the positional relationship between the light emitting mechanism 12 and the light receiving unit 24. However, the self-propelled work transfer mechanism 11 is made to follow the vehicle body 13.

The storage unit 22 is composed of, for example, a non-volatile memory such as an EEPROM (Electrically Erasable Program Read-only Memory), and stores various data necessary for controlling the self-propelled work transfer mechanism 11.

The mounting table 23 is a plate-shaped body formed on the uppermost portion of the self-propelled work transport mechanism 11, and is a mounting area for mounting a work such as a suspension unit 20. Then, the mounting base 23 can be raised and lowered in the vertical direction by the lift portion 27, and the suspension unit 20 can be incorporated into a desired region of the vehicle body 13.

The suspension unit 20 is assembled to the vehicle body 13 by a worker or an assembly robot in a state of being incorporated into the vehicle body 13 by raising the mounting table 23, and the suspension unit 20 is mounted on the vehicle body 13. Will be done.

At least two light receiving portions 24 are arranged on the upper surface of the mounting table 23, and the two light receiving portions 24 are arranged in the lateral width direction of the self-propelled work transfer mechanism 11, for example, as shown in FIG. 5 (A). Arranged. Here, as shown in FIG. 3A, the light receiving portion 24 has, for example, a plurality of light receiving regions 24A in a grid pattern in which one square is 6 mm square, and the light receiving portion 24 is located upward at the center of the light receiving portion 24. A connecting protrusion 24B that protrudes is formed. Then, the light receiving region 24A of the light receiving unit 24 is formed by using, for example, cadmium sulfide, and the resistance value of the light receiving region 24A changes by receiving light. The width direction of the self-propelled work transfer mechanism 11 corresponds to the vehicle width direction of the vehicle body 13.

A pair of light emitting mechanisms 12 are attached to the holes 13B (see FIG. 4A) of the panel 13A (see FIG. 4A) of the vehicle body 13, for example, gauge holes (not shown) in the vehicle width direction. Be done. Then, the suspension unit 20 is assembled after being aligned with the vehicle body 13 with high positional accuracy by aligning the pair of light emitting mechanisms 12 with the light receiving portions 24 at two locations. Therefore, the work efficiency of the mounting work is improved without stopping the assembly line.

The position detection unit 25 detects the light receiving region 24A that has received the light emitted from the light emitting mechanism 12, and from the position detection result, the positional relationship between the light emitting mechanism 12 and the light receiving unit 24, specifically, the light emitting mechanism 12. The positional relationship between the connecting hole 34 (see FIG. 4A) and the connecting protrusion 24B (see FIG. 3A) of the light receiving portion 24 is determined. Here, as shown in FIG. 4B, the bottom surface 31A of the light emitting mechanism 12 has three light emitting portions 32 on a concentric circle centered on the center 34A of the connecting hole 34. Then, with the light emitting mechanism 12 attached to the vehicle body 13, the bottom surface 31A is substantially parallel to the floor surface GL (see FIG. 1), and the light emitted from the light emitting unit 32 is in the direction perpendicular to the bottom surface 31A. Proceed to. The light emitted from the light emitting mechanism 12 is, for example, laser light, and has excellent straightness.

Specifically, as shown in FIG. 3B, the storage unit 22 is a region in which the light receiving region 24A indicated by the sand-like hatching of the light receiving unit 24 is located concentrically around the connecting protrusion 24B. If there is, the position data is stored. Then, for example, the three light receiving regions 24A shown in (a1), (a2), and (a3) are regions that receive the light emitted nth time by the light emitting unit 32 of the light emitting mechanism 12. In this state, the light receiving region 24A of (a1) deviates outward from the concentric light receiving region 24A of the sandy hatch with respect to the traveling direction of the self-propelled work transfer mechanism 11, and the light receiving region (a3) 24A deviates inward from the light receiving region 24A of the concentric circles of the sandy hatch.

In this case, the position detection unit 25 determines that the light receiving unit 24 is displaced forward on the right side with respect to the light emitting mechanism 12 with respect to the traveling direction of the self-propelled work transfer mechanism 11. Then, the control unit 21 controls the drive mechanism 26 to reduce the speed of the self-propelled work transfer mechanism 11 and steer the self-propelled work transfer mechanism 11 to the left side.

Next, the three light receiving regions 24A shown in (b1), (b2), and (b3) are regions that receive the light emitted n + 1th time by the light emitting unit 32 of the light emitting mechanism 12 after the steering operation. .. By the autopilot, the three light receiving regions 24A shown in (b1), (b2), and (b3) are all located within the concentric light receiving regions 24A of the sandy hatch.

In this case, the position detection unit 25 determines that the light receiving unit 24 has completed the alignment with respect to the light emitting mechanism 12. Then, the control unit 21 controls the drive mechanism 26, causes the self-propelled work transfer mechanism 11 to travel so as to maintain the state in which the alignment is completed, raises the mounting base 23, and raises the suspension unit 20 to the vehicle. The work of incorporating into the body 13 is started.

In the position detection unit 25, for example, the position data of the light receiving region 24A of the sand-like hatch is stored in the storage unit 22, and the position data of the light receiving region 24A received by the light receiving unit 24 with respect to the position data is stored. The position is detected in comparison with. Further, the position detection method in the position detection unit 25 is not limited to this case. For example, the center position may be calculated from the position data of the three light receiving regions 24A received by the light receiving unit 24, and the calculated position data may be compared with the position data of the center of the connecting protrusion 24B.

The drive mechanism 26 includes a motor (not shown) that is a power source for running the self-propelled work transfer mechanism 11, a tire 26A (see FIG. 1) that is rotated by the motor, and a self-propelled work transfer mechanism 11. It has a steering unit (not shown) that steers the traveling direction. The drive mechanism 26 is controlled by the control unit 21 and adjusts the traveling direction and traveling speed of the self-propelled work transfer mechanism 11 based on the position detection result from the position detection unit 25.

The lift portion 27 is, for example, a hydraulic lifting mechanism and is connected to the mounting base 23. The lift unit 27 is controlled by the control unit 21, and the self-propelled work transfer mechanism 11 runs after the alignment between the light emitting mechanism 12 and the light receiving unit 24 is completed based on the position detection result from the position detection unit 25. In this state, the mounting table 23 is raised in the vertical direction. On the other hand, after the control unit 21 determines that the mounting work on the vehicle body 13 of the suspension unit 20 has been completed, the mounting table 23 is lowered in the vertical direction while the self-propelled work transfer mechanism 11 is running. Return to the original position.

As shown in FIG. 4A, the light emitting mechanism 12 mainly includes a main body portion 31, a light emitting portion 32 arranged on the bottom surface 31A of the main body portion 31, and a movable locking portion attached to the main body portion 31. 33 and a connecting hole 34 that opens from the bottom surface 31A of the main body 31 are provided.

The light emitting mechanism 12 is detachably attached to the hole 13B of the panel 13A of the vehicle body 13, and the main body 31 thereof has a cylindrical shape. As shown in FIG. 4B, three light emitting portions 32 are arranged around the connecting hole 34 on the bottom surface 31A side of the main body portion 31, so that the main body portion 31 has a larger cylindrical shape. The expansion portion 31B is formed. Further, a pair of movable locking portions 33 rotatably supported by the main body portion 31 are attached to the central portion of the main body portion 31.

The movable locking portion 33 is arranged in a slit (not shown) of the main body portion 31 penetrating to the connecting hole 34, and the pair of movable locking portions 33 opens in a V shape to be movable. The lower end side of the locking portion 33 is locked to the panel 13A of the vehicle body 13, and the light emitting mechanism 12 is attached to the vehicle body 13. As will be described in detail later, the upper end side of the movable locking portion 33 is located in the connecting hole 34, but is pushed by the connecting protrusion 24B inserted in the connecting hole 34 to form a pair of movable locking portions. The locking portions 33 rotate so as to be arranged in parallel, the locked state is eliminated, and the state in which the light emitting mechanism 12 is locked to the vehicle body 13 is also eliminated.

A connecting hole 34 extending in the longitudinal direction is formed in the central portion of the main body portion 31, and the connecting hole 34 is opened on the bottom surface 31A side, so that the connecting protrusion 24B of the light receiving portion 24 (FIG. 3A). The suspension unit 20 can be incorporated into the vehicle body 13 with high position accuracy by connecting with (see). As shown in the drawing, when the connecting hole 34 on the bottom surface 31A side is wide open and an inclined surface is formed inward, the above-mentioned alignment between the connecting hole 34 and the connecting protrusion 24B is slightly deviated. However, the positional relationship can be corrected mechanically.

As shown in FIG. 4B, three light emitting parts 32 are arranged on the bottom surface 31A of the main body 31, and the three light emitting parts 32 are arranged concentrically around the center 34A of the connecting hole 34. For example, they are arranged at intervals of 120 degrees. By using, for example, a semiconductor laser as the light emitting unit 32, the laser light emitted from the light emitting unit 32 has excellent straightness, and the positional accuracy between the light emitting mechanism 12 and the light receiving unit 24 can be improved. With the light emitting mechanism 12 attached to the vehicle body 13, the bottom surface 31A is substantially parallel to the floor surface GL (see FIG. 1), and the light emitted from the light emitting unit 32 is in the direction perpendicular to the bottom surface 31A. Proceed to.

As shown in FIG. 4A, a magnet 35 is arranged at the tip of the connecting protrusion 24B, and a magnet 36 is also arranged at the back surface of the connecting hole 34 to lower the mounting table 23. When the light emitting mechanism 12 is magnetized on the connecting protrusion 24B, the light emitting mechanism 12 can be reliably recovered.

Next, a method of assembling the work using the follow-up type automatic positioning mounting device 10 according to another embodiment of the present invention will be described in detail with reference to the drawings. In the description of the present embodiment, in principle, the same code number is used for the same member, and the repeated description is omitted. Further, in the present embodiment, since the follow-up type automatic positioning mounting device 10 described above is used with reference to FIGS. 1 to 4, the same is used in the description of the following-type automatic positioning mounting device 10 and related members. As a general rule, the same code number is used for the members, and repeated explanations are omitted.

FIG. 5A is a top view illustrating a situation in which a work is conveyed by using the follow-up type automatic positioning mounting device 10 of the present embodiment. FIG. 5B is a side view illustrating a situation in which a work is incorporated into a transported object by using the follow-up type automatic positioning mounting device 10 of the present embodiment. 6 (A) to 6 (D) are cross-sectional views illustrating a situation in which the light emitting mechanism 12 of the follow-up type automatic positioning mounting device 10 of the present embodiment is attached to the vehicle body 13 and collected. In the description of the present embodiment, FIGS. 1 to 4 will be used as appropriate.

As shown in FIG. 1, in the assembly process of the vehicle body 13, the hangars 18 on which the vehicle body 13 that has completed the previous process is placed are sequentially moved into the transport rail 15, and the plurality of hangers 18 are moved. For example, it continuously moves at regular intervals at a low speed of 5200 mm / min. Then, by assembling the suspension unit 20 to the moving vehicle body 13, the hangar 18 continues to move at the low speed state, and complicated speed control in the transport rail 15 can be omitted. The operator attaches a pair of light emitting mechanisms 12 to the gauge holes of the vehicle body 13 that have moved into the transport rail 15 in the assembly process.

As shown in FIG. 5 (A), the self-propelled work transfer mechanism 11 is a trolley that runs by autopilot with the work mounted on the upper surface of the mounting table 23. The work transfer mechanism 11 travels with the suspension unit 20 assembled to the vehicle body 13 mounted.

A pair of light receiving portions 24 are arranged on both sides of the rear end side of the mounting table 23, and the suspension unit 20 is mounted so as not to cover the upper surface of the pair of light receiving portions 24, and the light receiving portions 24 are connected. It is placed in a state of being positioned with respect to the protrusion 24B.

The self-propelled work transfer mechanism 11 travels below the transfer rail 15 by autopilot based on the track of the transfer rail 15 stored in the storage unit 22 after the suspension unit 20 is mounted on the upper surface of the mounting table 23. .. Then, the control unit 21 controls the drive mechanism 26, so that the self-propelled work transfer mechanism 11 runs side by side below the desired vehicle body 13 and becomes a pair of light emitting mechanisms 12 attached to the vehicle body 13. On the other hand, the alignment is completed while detecting the position.

As shown in FIG. 5 (B), as described above using FIG. 3 (B), after the alignment of the pair of light emitting mechanisms 12 and the pair of light receiving units 24 is completed, the control unit 21 lifts the lift unit 27. Under control, the hydraulic lift portion 27 is raised, and the mounting base 23 on which the suspension unit 20 is mounted is raised in the vertical direction. Then, the connecting protrusion 24B of the light receiving portion 24 is inserted into the connecting hole 34 of the light emitting mechanism 12, so that the self-propelled work transfer mechanism 11 and the light emitting mechanism 12 are connected with high positional accuracy, and the suspension unit 20 is connected. It is incorporated into the desired position of the vehicle body 13.

FIG. 6A shows a state in which the light emitting mechanism 12 is locked in the hole 13B of the panel 13A of the vehicle body 13 to guide the self-propelled work transfer mechanism 11. As described above with reference to FIG. 4 (A), the main body 31 is inserted into the hole 13B of the panel 13A, and the pair of movable locking portions 33 are opened in a V shape to cause movable locking. The light emitting mechanism 12 is attached to the vehicle body 13 by locking the lower end side of the portion 33 to the panel 13A of the vehicle body 13.

In FIGS. 6B and 6C, the alignment of the pair of light emitting mechanisms 12 and the pair of light receiving parts 24 is completed, the mounting table 23 is raised, and the connecting protrusion 24B of the light receiving part 24 emits light. It shows a state of being inserted into the connecting hole 34 of the mechanism 12. Refer to FIG. 5B as appropriate. As shown in FIG. 6B, since the pair of movable locking portions 33 rotate in the directions indicated by the arrows 41, the panel 13A rotates the pair of movable locking portions 33 when they first come into contact with the connecting protrusion 24B. Is regulated, and as shown by the arrow 42, the main body portion 31 rises together with the connecting protrusion portion 24B.

As shown in FIG. 6C, when the main body portion 31 rises together with the connecting protrusion portion 24B, the pair of movable locking portions 33 gradually rotate in the direction indicated by the arrow 41, and the pair of movable locking portions 33 rotate. The formula locking portion 33 rotates until it is in a parallel state. On the other hand, when the main body expansion portion 31B abuts on the panel 13A, the main body portion 31 ends the ascent indicated by the arrow 42 and also ends the ascent of the mounting table 23.

After that, the lift unit 27 stops the ascending operation and maintains that state, so that the suspension unit 20 is incorporated into the vehicle body 13. After that, the suspension unit 20 is assembled to the vehicle body 13 by a worker or an assembly robot, and the suspension unit 20 is mounted on the vehicle body 13.

As shown in the drawing, during the assembly operation, the state in which the pair of movable locking portions 33 are locked to the panel 13A has already been released, and the pair of light emitting mechanisms 12 are supported by the pair of connecting protrusions 24B, respectively. It is in a state of being done. At this time, the light emitting mechanism 12 and the connecting protrusion 24B are in a state of being magnetized via magnets 35 and 36.

FIG. 6D shows a state in which the mounting work of the suspension unit 20 on the vehicle body 13 is completed and the mounting table 23 is lowered. As shown in FIG. 6D, the pair of movable locking portions 33 are restricted in rotation by the state in which the connecting protrusion 24B is inserted, so that the pair of movable locking portions 33 is inside the slit (not shown) of the main body portion 31. It remains stored in. Then, the lift portion 27 starts the descending operation, and the mounting table 23 descends in the direction indicated by the arrow 43, so that the light emitting mechanism 12 also descends in a state of being magnetically attached to the connecting projection portion 24B.

As described above, in order to maintain the state in which the pair of movable locking portions 33 are housed in the slit (not shown) of the main body portion 31, the main body portion 31 also passes through the hole 13B of the panel 13A and emits light. The mechanism 12 is recovered from the vehicle body 13. That is, the light emitting mechanism 12 is automatically collected in a series of operations for raising and lowering the mounting table 23, omitting the collection work by the worker, and the light emitting mechanism 12 is repeatedly used with the minimum necessary number. Will be done.

FIG. 7 is a flowchart showing an example of a work flow relating to a method of assembling a work using the follow-up type automatic positioning mounting device 10 of the present embodiment. In the description of FIG. 7, FIGS. 1 to 6 will be referred to as appropriate.

As shown in FIG. 7, in step S1, the self-propelled work transfer mechanism 11 mounts the suspension unit 20 to be incorporated into the vehicle body 13 on the vehicle body 13 after the previous suspension unit 20 has been mounted on the vehicle body 13. Return to the start area (not shown) near the transport rail 15 in the state of being placed on the carrier rail 15. At this time, the light emitting mechanism 12 recovered from the vehicle body 13 in the previous mounting work is magnetically attached to the connecting protrusion 24B of the self-propelled work transfer mechanism 11.

In step S2, the operator collects the pair of light emitting mechanisms 12 magnetized on the connecting protrusion 24B of the self-propelled work transfer mechanism 11. Then, in step S3, the operator attaches the collected pair of light emitting mechanisms 12 to the vehicle body 13, for example, the gauge hole. At this time, the operator, for example, presses the set completion button provided on the light emitting mechanism 12, so that the light emitting unit 32 of the light emitting mechanism 12 repeatedly irradiates the laser beam at regular intervals.

In step S4, the self-propelled work transfer mechanism 11 starts the automatic follow-up operation toward the lower side of the transfer rail 15. Then, in step S5, in the self-propelled work transfer mechanism 11, the control unit 21 controls the drive mechanism 26 and causes the self-propelled work transfer mechanism 11 to travel downward of the transfer rail 15. After that, when the light receiving unit 24 of the self-propelled work transfer mechanism 11 receives the light emitted from the light emitting mechanism 12, the position detection unit 25 detects that the self-propelled work transfer mechanism 11 performs a position detection operation. Start.

In step S6, in the self-propelled work transfer mechanism 11, the control unit 21 controls the storage unit 22 and the position detection unit 25, and repeatedly performs the alignment work of the pair of light emitting mechanisms 12 and the pair of light receiving units 24. At NO in step S6, as described above using FIG. 3B, the self-propelled work transfer mechanism 11 is automatically operated based on the position detection result by the position detection unit 25 until the above alignment is completed. Repeat the alignment work.

When the positioning work of the pair of light emitting mechanisms 12 and the pair of light receiving units 24 is completed based on the position detection result of the position detection unit 25 in YES in step S6, in step S7, the self-propelled work transfer mechanism 11 The control unit 21 controls the lift unit 27, raises the lift unit 27, raises the mounting base 23 in the vertical direction, and incorporates the suspension unit 20 into the vehicle body 13.

In the present embodiment, the control unit 21 controls the storage unit 22 and the position detection unit 25 in order to perform the above-mentioned assembly work in a state where the vehicle body 13 is moving and the self-propelled work transfer mechanism 11 is running. The self-propelled work transfer mechanism 11 is automatically operated so as to maintain the state in which the alignment is completed.

In step S8, the mounting table 23 rises in the vertical direction, and the connecting protrusion 24B of the light receiving portion 24 is inserted into the connecting hole 34 of the light emitting mechanism 12. Then, as described above with reference to FIGS. 6 (A) to 6 (C), the light emitting mechanism 12 is locked to the vehicle body 13 by inserting the connecting protrusion 24B into the connecting hole 34. The state is released. At this time, the control unit 21 stops the ascent of the lift unit 27 and ends the position detection work in the position detection unit 25. In the light emitting mechanism 12, the light emitting unit 32 may end the work of repeatedly irradiating the laser beam at regular intervals by detecting the release of the locked state.

In step S9, the control unit 21 controls the lift unit 27, the lift unit 27 stops the ascending operation and maintains that state, so that the suspension unit 20 is incorporated into the vehicle body 13. Become. After that, the suspension unit 20 is assembled to the vehicle body 13 by a worker or an assembly robot, and the suspension unit 20 is mounted on the vehicle body 13.

After finishing the mounting work of the suspension unit 20 on the vehicle body 13 in step S10, the control unit 21 controls the lift unit 27 to lower the mounting base 23 in the vertical direction and return it to the original position. At this time, as described above with reference to FIG. 6D, the light emitting mechanism 12 also descends in a state of being magnetized on the connecting protrusion 24B, and the light emitting mechanism 12 is automatically recovered from the vehicle body 13.

In step S11, in the self-propelled work transfer mechanism 11, the control unit 21 controls the storage unit 22 and the drive mechanism 26, and the self-propelled work transfer mechanism 11 deviates from the runway below the transfer rail 15 by autopilot. Move to the work mounting area (not shown). At this time, the light emitting mechanism 12 recovered from the vehicle body 13 is magnetically attached to the connecting protrusion 24B of the light receiving portion 24 of the self-propelled work transfer mechanism 11. The work mounting area is provided, for example, in the vicinity of the transport rail 15 between the goal point and the start point of the transport rail 15 in the assembly process.

In step S12, the operator mounts the suspension unit 20 on the upper surface of the mounting table 23 of the self-propelled work transfer mechanism 11. At this time, the operator mounts the suspension unit 20 on the connecting projection 24B of the pair of light receiving portions 24 provided on the mounting table 23 while positioning the suspension unit 20.

In step S13, in the self-propelled work transfer mechanism 11, the control unit 21 controls the storage unit 22 and the drive mechanism 26, and the self-propelled work transfer mechanism 11 is removed from the work mounting area and is near the transfer rail 15 by autopilot. Move to the start area of.

As described above, the steps S1 to S13 complete the work of mounting the suspension unit 20 on the vehicle body 13 once. Then, the self-propelled work transfer mechanism 11 for which the mounting work has been completed returns to the start area of step S1 and repeats the work from step S1 to mount the suspension unit 20 on the vehicle body 13 again. Do the work.

In this embodiment, a pair of light receiving portions 24 are arranged in the left-right direction of the mounting table 23 of the self-propelled work transfer mechanism 11, and a pair of light emitting mechanisms 12 are attached in the vehicle width direction of the vehicle body 13, and a pair of light emitting mechanisms 12 are attached. The case where the self-propelled work transfer mechanism 11 is automatically steered based on the alignment result after the alignment is performed by the light emitting mechanism 12 and the pair of light receiving portions 24 has been described, but the present invention is not limited to this case. For example, another light receiving portion 24 is arranged on the central tip side of the mounting table 23, and the light emitting mechanism 12 is aligned with the vehicle body 13 in the vehicle width direction and the front-rear direction by the three light receiving portions 24. On the other hand, the self-propelled work transfer mechanism 11 may be made to follow, and the suspension unit 20 may be mounted on the vehicle body 13. In addition, various modifications can be made without departing from the gist of the present invention.

10 Follow-up type automatic positioning mounting device 11 Self-propelled work transfer mechanism 12 Light emitting mechanism 13 Vehicle body 20 Suspension unit 21 Control unit 22 Storage unit 23 Mounting stand 24 Light receiving unit 24A Light receiving area 24B Connecting protrusion 25 Position detection unit 26 Drive mechanism 27 Lift part 31 Main body part 32 Light emitting part 33 Movable locking part 34 Connecting hole

Claims (5)

In a follow-up type automatic positioning mounting device that assembles a workpiece to a transported object that moves while suspended from a transport rail.
A light emitting mechanism that is detachably attached to the conveyed object and has a light emitting portion that emits light toward the lower side of the conveyed rail.
It is provided with a self-propelled work transfer mechanism for mounting the work, following the conveyed object, and assembling the work to the conveyed object.
The self-propelled work transfer mechanism
A mounting table on which the work is placed and
A light receiving unit provided on the above-mentioned stand and receiving light emitted from the light emitting unit, and a light receiving unit.
A position detection unit that detects the positional relationship between the light emitting mechanism and the light receiving unit using the light received by the light receiving unit, and
A control unit that causes the self-propelled work transfer mechanism to follow the conveyed object based on the position detection result of the position detection unit.
Based on the position detection result, the follow-up portion is characterized by having a lift portion for raising the above-described stand toward the conveyed object in a state where the work is placed and assembling the work to the conveyed object. Mold automatic positioning mounting device. The light receiving portion is provided with a connecting projection portion facing upward from the above-mentioned stand.
The light emitting mechanism is provided with a connecting hole facing downward of the transport rail.
Claim 1 is characterized in that the lift portion raises the above-mentioned stand toward the conveyed object in a state where the work is placed, and the connecting protrusion portion is inserted into the connecting hole. Follow-up type automatic positioning mounting device described in. In the light emitting mechanism, at least three or more said light emitting portions are arranged on the same circle centered on the connecting hole.
The light receiving portion is provided with a plurality of light receiving regions around the connecting protrusion.
It said position detecting unit-tracking positioning mounting apparatus according to claim 2, characterized in that for detecting the positional relationship from the light receiving region receives three or more of the light from the light emitting portion. The transported object is a vehicle body.
2. Or claim 3, wherein the pair of light emitting mechanisms are attached in a pair in the vehicle width direction of the vehicle body, and the pair of light emitting mechanisms are attached to holes provided in a panel of the vehicle body. Follow-up type automatic positioning mounting device described in. The light emitting mechanism
The main body, at least part of which is inserted into the hole,
It has a movable locking portion that is movably attached to the main body and is locked to the panel.
The follow-up type according to claim 4, wherein a part of the movable locking portion is located in the connecting hole in a state where the main body portion is locked to the panel. Automatic positioning mounting device.

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