JPH01101277A - Welding machine for automobile body - Google Patents

Abstract

PURPOSE:To improve the precision in assembly of an automobile body by collectively supplying individual parts of the automobile body on the setting table of a welding station, positioning them thereon, and welding the part with an automatic welding machine to make up an automobile body. CONSTITUTION:Body parts FlP, FrP, SP, and so on are collectively supplied on a setting table 36 of a welding station ST2 by a plurality of part supply devices Sfl, Ss, Sb, Sf1 and Sr which supply parts collectively in order. A plurality of positioners are allocated in the station ST2, and the supplied parts are positioned with those positioners and made up into a body assembly. The body assembly Bo is then positioned, and weld members are welded to the body assembly Bo by a plurality of automatic welding machine Ro collectively positioned in the welding station ST2. Thus the assembly is completed.

Description

Detailed Description of the Invention A0 Object of the Invention (1) Industrial Application Field The present invention relates to a vehicle body by positioning and setting body components such as a floor panel, left and right side panels, and a front panel in predetermined positions, which constitute an automobile body. The present invention relates to an automobile body welding device for constructing an assembly and welding it to construct a white body.

(2) Conventional technology Conventionally, in the above-mentioned automobile body welding equipment, after the floor panel and left and right side panels are preset at a set station on a reciprocally movable dolly, the dolly is run to a welding station, where the positioning and welding equipment The above-mentioned panel parts are welded together by the above-mentioned method, and the other panel parts are placed on the trolley, their positioning,
Welding is performed at multiple locations.

(3) Problems to be Solved by the Invention However, in the conventional method, the floor panel, left and right side panels, etc. are preset at preset positions, so the cart swings while they are being moved to the welding position. In addition, there are problems such as poor positioning of panel parts due to vibration, etc., and expensive positioning set jigs.Furthermore, since panel parts must be loaded, positioned, welded, etc. in multiple places, equipment There is a tendency for the overall size to increase, and there is a problem in that not only the overall size of the equipment becomes larger, but also the equipment cost increases significantly.

The present invention has been made in view of the above circumstances, and is designed to enable all processes of supplying, positioning, setting, and welding body components such as floor panels, left and right side panels, and front panels to be performed at a welding station. It is an object of the present invention to provide an automobile body welding device that can solve the above-mentioned problems.

B0 Structure of the Invention (1) Means for Solving the Problems According to the present invention, in order to achieve the above-mentioned object, the floor panel, front panel, left and right side panels, etc. that constitute the automobile body are placed on the set table of the welding station. a plurality of component supply devices that sequentially and intensively supply body component parts; provided centrally on the welding stage engine to position and set the plurality of body component parts at predetermined assembly positions to form a body assembly; and a plurality of automatic welding machines that are centrally arranged at the welding station and weld the parts of the body assembly to be welded to form the automobile body.

(2) Operation - According to the above configuration, the body components such as the floor panel, left and right side panels, and front panel are sequentially and intensively fed onto the set table of the welding station, and these body parts are placed in the regular state. The parts are precisely positioned and set at the assembly position, and then welded by an automatic welding machine such as an automatic robot centrally located at a welding station to create a white body.

(3) Examples An embodiment of the present invention will be described below with reference to the drawings.

In this embodiment, "front, rear" and "left, right" are referred to with reference to the transport direction of the automobile body (white body) Bw to be formed.

The present embodiment is a case in which the present invention is applied to a truck-type automobile, and FIG. 1 shows body components constituting an automobile body before painting, that is, a white body Bw, namely, a floor panel FffiP, a front panel FrP, and a back panel. BP, left and right side panels SP, SP, and roof panel RP are shown disassembled. These body components are positioned and set in one place, that is, a positioning welding station ST2, which will be described later, and then welded by an automatic welding machine, that is, an automatic welding robot RO, to form a white body Bw.

In Figures 2 and 3, the base l installed on the installation surface is provided with a conveyance path 2 along the front-rear direction (X direction), and a transaver 3, which will be described later, moves back and forth along this conveyance path 2. During this time, the white body Bw is completed. On the base 1, a floor panel setting station ST, a welding station ST, and a payout station ST are arranged in tandem along the conveyance path 2. A transserver 3 is disposed on the conveyance path 2 along the conveyance direction (X direction), passing through the stations ST, , ST, and ST. This transaver 3 is movable back and forth along the conveyance path 2 and can be raised and lowered, and as described later, by moving back and forth, it conveys the floor panel FIlP to the welding station ST2, and also unloads the completed white body Bw to the payout station. The front panel FrP is transported to ST3, and the front panel FrP is supplied to the welding station S T t using the return trip.

The transer bar 3 is moved back and forth (X
These devices 4.5 are controlled to reciprocate in the direction (direction) and are controlled to move up and down (in the Z direction) by a lifting device 5, and these devices 4.5 will be explained below in order.

As shown in FIG. 16, the transer bar 3 is housed in a housing frame 6 having a concave cross section, and transfer rollers 7.7 rotatably provided on both sides of the housing frame 6 are transferred to both side walls of the housing frame 6. freely engaged. A rack 8 extending in the front-rear direction is fixed to the lower surface of the transer bar 3, and this rack 8
It passes through a long hole 61 in the lower wall of the housing frame 6 and projects downward,
It is meshed with a drive pinion 10 of a drive motor 9 fixed to the lower surface of the housing frame 6. Therefore, by drive control of the drive motor 9, the transer bar 3 can be forcibly moved back and forth along the housing frame 6 via the drive pinion 10 and the rack 8. The drive motor 9, drive pinion 10, and rack 8 constitute a device 4 for moving the transverse bar 3 back and forth.

A plurality of elevating devices 5 are provided between the base 1 and the housing frame 6 of the transer bar 3 for raising and lowering the housing frame 6 in parallel with the transer bar 3.

Each lifting device 5 is arranged at each station ST+, ST2 and ST, respectively, and FIG. 4 clearly shows the lifting device 5 provided at the floor panel setting station STl, which device 5 - A pair of cross links l connecting both sides of the housing frame 6 and the base 1 1. ．． 11 and these crosslinks 11 1
The rear end of the cross link 11.11 is rotatably supported by the base 1 and the housing frame 6, and the front end thereof is rotatably supported by the base 1 and the housing frame 6. It is slidably engaged with elongated holes 15° and 16 provided in the table 1 and the housing frame 6. The lifting cylinder 12 is connected to the front end of the cross link 11. Therefore, by synchronously operating the lifting cylinders 12 of the plurality of lifting devices 5, the transer bar 3 can be moved up and down in parallel with the storage frame 6 via the cross links 11, 11, .

As shown in FIG. 2, the floor panel setting station ST1 and the welding station ST! An overhead conveyor Co is provided above along the conveyance direction (X direction) of the conveyance path 2.
A conveyance hanger 17 is suspended from . This transport hanger 1
7 is the floor panel FIP as clearly shown in Figure 4.5.
And hang the left and right side panels SP, SP, and move the floor panel IIP to the floor panel set station ST,
At the same time, the pair of side panels SP, SP are transported to above the welding station S T z.

As clearly shown in FIGS. 4 and 5, the conveyance hanger 17 has a base frame 1 suspended from the overhead conveyor Go+, and left and right swing levers 19 attached to both ends of the base frame 18.
The base frame 1 is provided with left and right opening/closing frames 20 and 20 in the form of a gate, which are hung via the base frame 19 so as to be openable and closable.
8 and the telescopic cylinder 21.21 connected between the left and right swing levers 19.19, the left and right opening/closing frames 20.20 can be forcibly opened and closed in the left and right directions.

Hook-shaped left and right side panel receivers 22.22 are integrally provided on the outer front portions of the left and right opening/closing frames 20.20, and are integrally provided with hook-shaped left and right side panel receivers 22.22 projecting outward, and furthermore, on the inside front and rear ends of these opening/closing frames 420.20, front and rear panels are provided. Rear floor panel receiver 23, 23, 24.2
4 is integrally provided inwardly protruding, and left and right side panels sp and sp are removably suspended from the left and right side panel receivers 22 and 22, respectively, as shown in FIGS. 4 and 5. In addition, a floor panel FfP is supported on the front and rear floor panel supports 23, 24 in a substantially horizontal manner in a removable manner.

Next, referring to FIG. 2.3 and FIGS. 4 and 5, the configuration of the floor panel setting station ST+ will be explained. The lifting device 5 whose end portions enter from the front and lifts and lowers them
One of the following is provided. A pair of pillars 26.26 are erected on the left and right sides of the base 1, and a drop lifter 27 as a supply device for the floor panel FIP is provided on these pillars 26.26 so as to be movable up and down. drop lifter 27
is a support arm 2 that can be raised and lowered along each column 26, 26.
8.28 and these support arms 28.28
extends substantially horizontally in a cantilevered manner in the front-rear direction (X direction). As shown in FIG. 4, a rotating shaft 29 substantially parallel to each support arm 2 is rotatably supported via bearings 30, 30. As shown in FIG. An opening/closing cylinder 31 is connected to the rear end of the rotating shaft 29 via an arm 34, and the rotating shaft 29 can be rotated within a predetermined angle range by the operation of this opening/closing cylinder 31.
The base ends of front and rear floor panel support arms 32 and 33 bent into an L-shape are integrally fixed to the front and rear of the rotation shaft 29,
These front and rear floor panel support arms 32, 33 are parallel to each other, and rotate around the rotation wheels 29, 29 by the operation of the opening/closing cylinder 31, 31.
You can receive the floor panel FfP from. By operating the drop lifter 27, the floor panel FfP can be lowered from the solid line position in FIGS. 4 and 5 to the chain line position.゛As shown in Fig. 4.5, there are a pair of front positioning pins P, , P at the rear of the transverse bar 3.

and rear positioning pins P, , P2 are provided to protrude upward, and these front and rear positioning pins P3 . P, and Pt, Pt, the floor panel Fj lowered by the drop lifter 27! Positioning pin hole drilled in P,,h,,h,,h! is inserted, the floor panel, F
j! P is temporarily positioned and set on the transserver 3.

The transaver 3 on which the floor panel FfP is set is raised by the lifting device 5, and then moved forward and backward by the moving device 4.
, and supplies the floor panel F12P to the welding station ST. And the transer bar 3 is a floor panel FI! , P constitutes a supply device 5fffi.

Next, the configuration of the welding station ST will be explained with reference to FIGS. 2 and 3 as well as FIGS. 6 to 9. In this station ST, the body components constituting the white body Bw, that is, the floor panel FI! , P, front panel FrP, back panel Bp, left and right side panels SP
, SP, and roof panel RP are all centrally supplied, positioned and set at predetermined positions, and welded together by an automatic welding machine, that is, an automatic welding robot Ro, to complete the white body Bw.

The base 1 corresponding to the welding station ST is formed wide (see Fig. 3). On the base 1, the transaver 3 runs longitudinally, and when it moves forward, its front half also moves backward. Sometimes the latter part is located. The transserver 3
A plurality of the elevating devices 5 .

Left and right set tables 36, 36 are fixed on the base 1 on the outside of the transverse bar 3.

Front and rear positioning pins P3. Pl, Pa, and P4 are provided to protrude upward, and these pins P3. P3 and P,,P4,
Front and rear pin holes hs, h3 and h of floor panel F2P
4. h4 (Fig. 1) is inserted. That is, the floor panel FIP, which has been carried to a fixed position in the welding station ST by the transaver 3, is lowered by the lowering of the transaver 3, and is inserted into the pin hole of the floor panel IIP.

+) 13 and ,h, are connected to the positioning pins P, ,P, and P4. Inserted into P4 and floor panel Fj! P is positioned and set on the setting table 36.36 (second
．． (See Figure 6.7). A pair of left and right lower positioning jigs Jd, Jd and a pair of upper positioning jigs Ju, Ju are provided on both left and right sides of the set table 36, 36 of the welding station ST, spaced apart upwardly and downwardly, respectively.

Next, the structure of the lower positioning jig Jd will be explained mainly with reference to FIG. .37, a support block 40 is pivotally supported via substantially horizontal support shafts 39 so as to be swingable in the left-right direction. A swing cylinder 41 is connected between the support block 40 and the bracket 37, and the expansion and contraction of this cylinder 41 allows the support blocks 40 and 40 to be forced to swing up and down as shown in FIG. 7('S). Also, the support block 40.
40, forward and backward cylinders 42, 42 are supported through the movement cylinders 42, 42, and angle arms 43 are provided at the tips of these cylinders 42, 42.
, 43 are integrally connected, and the angle arm 43.43 can be moved forward and backward as shown by the arrow (r) in FIG. 7 by the telescopic operation of the forward and backward cylinders 42,42. As clearly shown in FIG. 6, a support shaft 44 extending substantially horizontally in the front and back direction is integrally connected between the front and rear angle arms 43, 43, and this support shaft 44 has a first... Second and third clamp arms 46, 47 and 48 are axially spaced apart and fixed together in a comb shape. 1st. The second and third clamp arms 46, 47, and 48 all extend upwardly and have a conventional first clamp arm 46, 47, and 48 extending upwardly. 2nd and 3rd clamp jig cI! ,.

, C2□ and CII are supported. Swing cylinder 4
1 and the retractable cylinder 42 are contracted, the first to third clamp arms 46, 47, and 48 are held in the retracted position as shown in FIG.
1 and the advancing/retracting cylinder 42 are extended, the first to third clamp arms 46, 47, and 48 are held in the forward position as shown in FIG. 7, and the first clamp jig C
l1I is front panel FrP and floor panel Fj2P
between, the second clamp jig CEt connects the floor panel FIP and the side panel SP, and the third clamp jig Cl,
The body component parts can be clamped by clamping between the side panel S'F and the back panel 82.

As shown in FIG. 3, the welding stage ST includes a set table 36 on which the floor panel FAP is positioned and placed.
．． 36, two front and rear pillars each 50.50
and 51.51 are erected, and the left and right front and rear columns 50
．． A pair of upper positioning jigs Ju, Ju are provided between 51 and 50.51, respectively. Next, the structure of the upper positioning jig Ju will be described. On the lower positioning jig Jd, a support shaft 52 is horizontally and rotatably suspended between the front and rear columns 50 and 51. Swinging arms 53.53 are fixed to both the front and rear ends of the support shaft 52, and these swinging arms 53.53 and the front and rear struts 50.
Swing cylinders 54 and 54 are connected between the cylinders 51 and 51, respectively. The support shaft 52 has a fourth. 5th degree sixth and seventh clamp arms 55,
56, 57, and 5 days are fixed in a comb shape, and they all extend downward. The fourth to seventh clamp arms 55 to 5B can be opened and closed in the left and right directions by the extension and contraction of the swing cylinders 54 and 54, as shown in FIG. As shown in FIG. 7, it is retracted to the storage position, and its retracting operation causes it to advance to the working position as shown in FIG. fourth and seventh clamp arms 55 and 58 located at the front and rear ends;
A swing actuator 59, 60 is attached to the base end of each, and the operation of the swing actuator 59, 60 enables them to swing around a vertical axis. 4th. Fifth. 6th and 7th clamp arm 5
5.56. At the tips of 57 and 58, known fourth to seventh clamp jigs C1g, 'CAs, C11 are installed, respectively.
b and Cl'r are provided, and the fourth clamp jig C1
, can clamp between the front panel FrP and the roof panel RP by rotating around the support shaft 52 and rotating around the vertical axis. The sixth clamp jig C can clamp between the side panel SP and the roof panel RP.
ff1. The side panel S is rotated around the support shaft 52.
P and the back panel 82 can be clamped, and the seventh clamp jig Cl? can clamp between the back panel Bp and the roof panel RP by rotating around the support shaft 52 and turning around the vertical axis.

On the left and right front and rear columns 50.51 and 50.51, a pair of left and right side panels SP, which have been carried onto the welding station run S T z by the front and rear overhead conveyors Co, are placed at predetermined positioning positions. Side panel supply devices Ss and Ss each consisting of drop lifters 61 and 61 are provided.

Next, this side panel supply device Ss will be explained with reference to FIG. 2.3 and FIG.
62 are firmly fixed, and a pair of elevating bodies 63, 63 are fitted to these guides 62, 62 so as to be movable up and down. A pair of elevating bodies 63 and 63 are elevating mechanisms 64 and 64, respectively, which will be described later.
can be moved up and down along the guides 62, 62. Each of the elevating mechanisms 64 has a drive shaft 66 that is rotatably suspended horizontally on the front and rear columns 50 and 51 and is driven by a drive motor 65.
A drive sprocket 67.67 is fixed to both ends of the frame, a driven sprocket 68.68 is rotatably supported at the bottom of the front and rear struts 50.51, and the sprocket is suspended between the two sprockets 67.68 and 67.68. It consists of an endless chain 69°69 that is rotated. The elevating body 63.63 is tied to the middle of the endless chain 69.69. Therefore, by controlling the rotation of the drive motor 65, the pair of elevating bodies 63, 63 can be synchronously moved up and down. The front and rear elevating bodies 63 and 63 are each provided with advance/retreat cylinders 70.70, and heads 71.71 are supported at the tips of telescopic rods of these advance/retreat cylinders 70.70. A claw holding shaft 72 extending substantially horizontally in the front-rear direction is rotatably mounted horizontally, and the claw holding shaft 72 is rotatable by a turning actuator 73 (FIG. 7) provided on one head 71. Claw holding shaft 72
A pair of engaging pawls 74 are fixed to the intermediate portion of the engaging pawls 74, which are forcibly rotated together with the pawl holding shaft 72 by the operation of the turning actuator 73. A guide rod 75 is supported on the elevating body 63 so as to be movable back and forth, and the tip of the guide rod 75 is tied to the head 71. Therefore, when the advancing/retracting cylinder 70 is extended or retracted, the head 71 moves toward the guide rod 75.
It can be moved forward and backward by being prevented from rotating.

The welding station ST is carried out by the transport hanger 17.

The side panel SP transported to the floor panel Fβ
To feed onto the side edge of the side panel P, as shown in FIG. 8, with both the upper and lower positioning jigs Ju and Jd retracted to the retracted position, the elevating body 63.63 of the side panel supply device Ss is moved. near the upper limit position (solid line position in Figures 7 and 8)
rise to.

The forward/backward cylinder 70 is extended (arrow a in FIG. 8).

) to move the engagement claw 74 forward, and then the rotation actuator 73 operates to raise and rotate the engagement claw 74 (arrow a2 in Fig. 8).
When the elevating body 63 is raised to the upper limit position (dashed line in FIG. 8) while raising the engaging claw 74 (dashed line in FIG. 8), the engaging claw 74 rises as shown by arrow a3 in FIG. . As a result, the engaging claw 74 is connected to the side panel receiver 2 of the transport hanger 17.
2 to 8, as shown by the chain line (a), the side panel SP
Receive. Next, when the elevating body 63 is lowered and the advancing/retracting cylinder 70 is controlled to extend, the side panel SP is moved to the eighth position.
It descends following the arrows a4+aS r a6 in the figure and reaches the position indicated by the chain line (b) in FIG. If the advancing/retracting cylinder 70 is further extended at this point, the engaging pawl 74 moves forward, and the side panel SP is positioned and set at the normal welding position as shown by the solid line (c) in FIG. 8.

When the side panel SP is positioned and set at the regular welding position 1 as described above, the upper and lower positioning jigs Ju and Jd are advanced and the first to seventh positions provided thereon are moved forward.
Clamp jig C11, -Cx.

The above-mentioned clamping operation is performed.

After completing the positioning set of the left and right side panels SP, SP, the elevating body 63.63 is raised, and the side panel supply devices Ss, Ss stand by to receive the next left and right side panels SP, SP from the transport hanger 17. .

In front of the welding station ST2, there is a front panel supply device Sf for supplying the front panel FrP thereto.
is provided. This device Sf consists of a first supply device Sf and a second supply device Sfz, and the front panel FrP supplied to the front of the welding station ST by the first supply device Sr is connected to the second supply device Sf. f z and delivered to the regular positioning location of the welding station ST.

Next, the structure of the front panel supply device Sf will be explained.

First, the first supply device S f l will be explained with reference to FIG. 2.3 and FIG. 10.11.
A conveyance frame 77 is erected in front of the 0.50, and a lateral conveyance path 78 consisting of a crossbeam is horizontally mounted on this conveyance frame 77, and two conveyance rails 79. 79 and a rack 80 are installed substantially orthogonally to the conveyance path 2 along the lateral direction (Y direction). A front panel carrier 81 is supported on the transport rails 79, 79 so as to be able to move back and forth, and a drive motor 82 is provided on the carrier 81, and a drive pinion 83 of the motor 82 is meshed with the rack 80. A support arm 84 is supported by the front panel carrier 81 so as to be able to swing downward and back and forth, and a clamp support frame 85 provided on the support arm 84 has a pair of clamps for clamping the periphery of the front window hole of the front panel FrP. A jig 86.86 is supported in a swing-adjustable manner. As shown by the solid line in FIG. 3, the front panel carrier 81 waits at the input end (upper end in FIG. 3) of the horizontal conveyance path 7B, clamps the front panel FrP, and then travels toward the output end in the direction of the arrow in FIG. 3. , the front panel FrP is transported to the front of the set table 36 and is made to stand by there as shown by the chain line in FIG.

Next, the second supply device Sf2 will be explained.
As clearly shown in Figure 0.11, the front part of the transaver 3 is for receiving the floor panel FfP carried by the first supply device Sf. Pivot support 87,8 for ups and downs? receiving arm 8
8, a lifting cylinder 89 connected between this arm 88 and the transer bar 3 to raise and lower the receiving arm 88, 88, a clamp jig 90, 90 provided at the tip of the receiving arm 88, and a receiving arm. It consists of positioning jigs 91 and 91 provided on both sides of the lower part of 88. The clamp jig 8
Reference numerals 6 and 86 are provided with a fixed clamp piece and a movable clamp piece that is opened and closed by a telescopic cylinder and a cylinder with respect to the fixed clamp piece, and a front window hole 92 of the front panel FrP.
Clamp the bottom edge of. Further, the positioning jig 91.91 is for positioning the front panel FrP in a regular position by using a pair of headlight holes 93.93 bored in the front panel FrP. .93, and a cylinder 95.95 for operating the positioning piece 94.94. Therefore, the second supply device Sfz on the front panel is connected to the transserver.
In the return stroke (post-stroke) of step 3, the front panel FrP is received from the first supply device SrI and placed on the set table 36.
．． 36 and the front edges of the left and right side panels SP, SP.

Next, welding station ST, set table 36.3
To explain the configuration of the back panel supply device sb for supplying the back panel BP onto the back panel 6, the back panel supply device sb has a plurality of automatic welding robots 1-Ro...・The back panel Bp is supplied onto the left and right side panels SP, SP on the set table 36.36 by using the base, and the welding is performed as shown in Fig. 3 and Fig. 12.13. At station ST, left and right robot stands 97.98 are arranged on both sides of the transport path 2, and each robot stand 97.98 is equipped with two automatic welding robots.
Ro and Ro are movably mounted. Right robot stand 9
There are two IL mounting stands 99. A welding gun head 102, which is detachably attached to the tip of the robot arm 101 of the automatic welding robot RO, is placed on one mounting table 99, and the A clamp head 103 for clamping the back panel Bp is placed on the stand 99. Both the welding gun head 102 and the clamp head 103 have a conventionally known structure, and they are connected to the robot arm 101 of the automatic welding robot Ro by hand or other automatic machine (not shown).
It can be detachably attached to the tip.

Further, behind the right robot platform 98, a back panel carrier 104 is disposed in the lateral direction (Y direction) so as to be orthogonal to the longitudinal direction thereof, and a trolley 106 is placed on a rail 105 laid on the carrier 104. 0 bogie 1 supported so that it can run freely
A back panel holding stand 107 is provided on the back panel holding stand 107, and the back panel Bp is held upright on this back panel holding stand 107 in a direction opposite to the assembled state to the white body Bw.

The back panel BP transported by a transport device (not shown) is held on a trolley 106.・The four automatic welding robots (4 automatic welding robots) whose trolleys 106 are run in the direction of arrow A and held at the inner end of the transport platform 104 as shown in FIG.
o... are all conventionally known, so one of them will be briefly explained with reference to FIGS. 7 and 12.
0 has a pair of guide rails 121.12 along the X direction.
1 is laid, and a robot stand 122 is movably provided on these guide rails 121, 121. A pinion 124 fixed to the driving shaft of a motor 123 provided on the robot stand 122 is meshed with a rack 125 fixed to the base 120, and the automatic welding robot RO can reciprocate in the X direction by driving the motor 123. On the robot stand 122,
A swinging frame 126 is supported by a horizontal pivot 127 so as to be able to swing up and down, and an undulation cylinder 128 supported by a robot stand 122 is connected to the swinging frame 126.
Due to the operation of this undulating cylinder 128, the swinging frame 12
6 is swung up and down as shown by solid lines and chain lines in FIG.

A slide stand 129 is mounted on the swing frame 126 so as to be slidable in the Y direction, and a robot arm 101 is supported on the slide stand 129 so as to be able to rise and fall freely around a pivot 130. An elevating cylinder 131 is connected to the elevating cylinder 131, and the robot arm 101 is oscillated up and down by the expansion and contraction operation of the elevating cylinder 131. A Rad 102 is supported at the tip of the robot arm 101 and is connected to the welding gun.
A fixed welding rod 102 and a movable welding rod 102□ form a pair.
and has.

The four left and right automatic welding robots Ro, Ro...X
, the set table 36.3 by movement in the Y and Z directions.
The spot welding locations of the body assembly Bo positioned on the body assembly Bo as described above are sequentially and automatically spot welded.

Next, the process of positioning and setting the back panel Bp on the trolley 106 at a predetermined position of the floor panel VIP on the set table 36.36 using the automatic welding robot Ro will be explained with reference to FIG. The following operations are performed by controlling the movement of the automatic welding robot Ro on the robot stand 122 and turning the robot arm 101. First, the welding gun head 102 at the tip of the robot arm 101 is moved as shown by the dotted line d1 in FIG.
is moved as shown by the dotted line d2 in Figure 12 and i! H unit 10
After attaching the clamp head 103 on the robot arm 101 to the tip of the robot arm 101, the clamp head 103 is moved as shown by the dotted line d3 in FIG. 12 to clamp the back panel Bp on the cart 106. The robot arm 101 that has clamped Bp moves as shown by the dotted line d4 in FIG. 12 and positions and sets the back panel Bp to the rear edges of the left and right side panels sp and sp on the floor panel FfP. Thus, the back panel Bp is rotated 180@ around the vertical axis while moving along the dotted line d4.

Next, welding station ST, set table 36.3
1.2 and 6.7 regarding the configuration of the roof panel supply device Sr for supplying the roof panel RP onto the roof panel 6.
To explain with reference to the figure, on the set table 36.36 of the welding station ST, the welding station ST
The tip of a substantially horizontal conveyance rail 133 curves in from diagonally in front of the conveyance rail 133, and a transfer table 134 is supported on this conveyance rail 133 through a plurality of rolling rollers 135 so as to be freely movable. There is. An example of the transport rail 133 is provided with a rack 136, and a transport table 134 is provided on this rack 136.
A pinion 13 connected to a drive motor 137 supported by
B are engaged, and the transfer table 134 can be forcibly reciprocated along the transfer rail 133 under drive control of the drive motor 137. An elevating cylinder 139 is supported in the vertical direction on one side of the transport rail 133, and a substantially horizontal roof panel support plate 140 is supported at the lower end of the rod of the elevating cylinder 139. A plurality of suction cups 141 are hung downward on the lower surface of the roof panel support plate 140, and these suction cups 141
The roof panel RP is suction-supported by... The roof panel support plate 140 that has adsorbed the roof panel RP is conveyed along the conveyor rail 133 to a predetermined position on the set table 36.36 under drive control of the drive motor 137, and if the lifting cylinder 139 is controlled to descend there, the roof panel RP is positioned and set on the left and right side panels SP, SP as shown in FIG. 6.7.

The white body Bw, which has been spot-welded at the welding station ST, is transported to the payout station STx by the transverse bar 3.

Next, we will discuss the configuration of this payout station STs in the second section.
To explain with reference to the figure, this payout stage gin ST
The front half of the transer bar 3 enters into the transer bar 3 as it moves back and forth, and between the front part of the transer bar 3 and the base 1, there are a plurality of elevating devices! 5... is arranged. Further, a body pedestal 143 is installed on the base l, and a pair of positioning pins Ps, Ps, P6. Pa is provided to protrude upward. The white body Bw, which has been welded at the welding station ST, is placed on the body pedestal 143 by the forward and downward movements of the transaver 3, and is placed on the floor panel F1.
The pin holes hz, hi and h4゜h4 of P are fitted into the positioning pins Ps, Ps, Pi, Pi,
Its positioning is performed. Also payout station ST
, includes the front panel set station ST,
A drop lifter 144 having the same structure as the drop lifter 27 provided in is provided. In other words, this drop lifter 1
44 is a support 145 erected on the base 1 and this support 1
A support that moves up and down along 45! A146. The support arm 146 is provided with a body support mechanism for lifting the white body Bw on the body pedestal 143, but this has the same structure as the drop lifter 27 of the front panel set station ST, so a detailed description thereof will not be given. omitted.

At the top of the delivery station ST, an input end of a delivery conveyor Cot consisting of an overhead conveyor for transporting the white body Bw is located, and a transport hanger 147 is suspended from the conveyor Co. The white body Bw lifted by 144 is delivered to the conveyance hanger 147 and conveyed to another painting station (not shown) by the delivery conveyor Co2.

Next, mainly referring to FIG. 2.3 and FIGS. 14 to 18, the floor panel Fjl! P, left and right side panels SP, S
P, front panel F r P, and roof panel RP are intensively supplied to welding station ST, and each of them is set in a predetermined position and welded to them, until the truck-shaped white body Bo with a cargo bed is completed. This section explains the work process.

(2) The floor panel F2P and left and right side panels SP, SP are suspended from the conveyance hanger 17 of the overhead conveyor Co, and are conveyed to the floor panel setting station ST, an upper floor panel loading position.

(2) At the floor panel setting station ST, only the floor panel FfP is transferred from the transport hanger 17 to the drop lifter 27, and is placed on the transverse bar 3 by lowering the drop lifter 27.

In this case, the transserver 3 is in the backward and lowered position, and the positioning pins P, , P, and Pa, P on the transaver 3 are
8. Bottle hole in floor panel FffiP at t... h,
, hg and ho are inserted, and the floor panel FfP is temporarily positioned (see Fig. 2.3).

■ Drop lifter 27 with floor panel F1P lowered
is raised again and waits to receive the next floor panel F2P.

■ On the other hand, Transaver-3 with floor panel FI2P mounted on it
are raised in parallel by the lifting device 5 (arrow (1) in Fig. 14) and moved forward via the pinion 10 and rack 8 by the drive of the drive motor 9 (arrow (1) in Fig. 14).
2))j,, Floor panel F on the rear of transverse bar 3
The ffiP is advanced to the welding station ST (see FIG. 17).

■ When the floor panel FIP reaches the welding station ST2, the transaver 3 is lowered by the lowering operation of the lifting device 5 (arrow (3) in Fig. 17) L, the floor panel F
j! P is placed on the setting table 36, 36 and positioned and set (see FIG. 18). In this case, the positioning pin P3 on the set table 36.36. P2 and P
a, P- are floor panels FI! , P pin hole hx,'
hs and h< , ,h, (Fig. 1).

In addition, the transaver 3 transports the white body Bw, which has already been welded in the previous process, to the payout station ST by its forward and descending operations, and transfers the white body Bw, which has already been welded in the previous process, to the payout station ST, and transfers it to the body cradle 14 there.
3. Set on top.

■ Next, the four automatic welding robots R shown in Figures 3 and 12
Among o..., one automatic welding robot I-R is located on the right side of the rear part of the set table 36.36.

As mentioned above, the holding base 1 of the back panel supply device sb
The back panel BP is received from 07 and set at a predetermined position on the floor panel FIP (see FIG. 12).

■ When the setting of the back panel BP is completed, the above automatic welding robot Ro replaces the clamp head 103 with the welding gun head 102, and the remaining automatic welding robots R
Wait at a predetermined position in the same way as o... (see Figure 12)
.

■ Next, the side panel supply device iss installed between the front and rear columns 50 and 51 picks up the left and right side panels SP, SP from the transport hanger 17 as described above, and feeds them to the floor panel Fj! Lower it onto P and set it in the specified position.

In this case, use the left and right upper and lower positioning jigs Ju, J so as not to interfere with the lowering of the left and right side panels SP, SP.
d is waiting in the reverse position - (see Figure 8)
.

■ When the left and right side panels SP and SP complete their descent,
Lower positioning jig J on both sides of set table 36', 36
d is pivoted inward or into the working position, and the first
Position and clamp the left and right side panels SP, SP on the floor panel FIP using the ~3rd clamp jig (1, ~C2) (see Figures 7-8).

[Phase] After positioning the left and right side panels SP, SP, the transaver 3 raises the front panel second supply device 5rIl provided at its tip, temporarily stops in the middle of its return stroke, and moves to the welding station S T z. Payout stay 93
7373, after receiving the front panel FrP that has already been carried and is waiting by the front panel first supply device Sf, the front panel FrP is further retreated and placed on the front edges of the floor panel FIP and the left and right side panels SP, SP. Position and set (see Figure 18).

(2) Finally, the roof panel RP is carried onto the assembled body by the roof panel supply device Sr, lowered, and placed on the left and right side panels SP, SP.

■ Once the front panel F r P, back panel Bp and roof panel RP are set in the predetermined positions as described above, operate the upper positioning jig Ju to the working position,
The fourth to seventh clamp jigs Ctl a to C1 provided thereon
, clamp them by.

(See Figure 6.7).

■ After the steps from ■ to @, set the floor panel FIP, front panel FrP, and left and right side panels s on the table.
When p, sp and roof panel RP are positioned and set to form the body assembly Bo, four automatic welding robots Ro are operated and their robot arms 10
1... passes through the gaps between the upper and lower positioning jigs Ju, Jd, and the comb-shaped clamp arms 55-58 and 46-48 of those jigs Ju, Jd to the predetermined position of the assembly Bo. The white body Bw is completed by spot welding the welding parts. In this case, the positioning jig is divided into an upper positioning jig Ju and a lower positioning jig Jd, and a gap free of obstacles is formed between them, so that the robot arm 101 of the automatic welding robot Ro...
・Easy to pass through and spot welding.

■ When the welding work is finished, the automatic welding robot RO...
and return the upper and lower positioning jigs Ju, Jd to their standby positions. Next, the transverse bar 3 is raised to lift the white body Bw from the set table 36°36. At this time, the positioning pins P+ and Pl on the transerver 3
and Pz, Pz to the pin hole h+ of the floor panel FIlP
, hl and h! +hffi... (FIG. 1) to transfer the white body Bw from the set table 36, 36 to the transer bar 3.

■ Next, move Transserver 3 forward and white body B
w to advance to payout station ST.

■ When the white body Bw comes to the dispensing station controller ST2, lower the transverse bar 3 and place the white body Bw on the body pedestal 143. In this case, body pedestal 1
Positioning pin Ps on 43.

P, and P6. P6 is the pin hole h of the floor panel F2P
3. h, and h4. Inserted into ha.

■ The white body Bw on the body pedestal 143 is lifted by the drop lifter 144 and transferred to the delivery conveyor Co.
, and is transported to another station controller (not shown).

[Phase] Transaba who paid out White Body Bw = 3
is moved backward to receive the white body Bw after the next process of welding is completed, but at this time, the welding station ST and payout stay 95737. In between is the front panel No. 1.
The front panel FrP from the supply device Sf has already been set, and the transverse bar 3 temporarily stops reversing.
When the front panel second supply device Sf at the tip thereof is raised, the device S f z receives the front panel FrP.

■ Welding station ST at the same time as the above-mentioned O discharging process
, then place the floor panel FI on the set table 36.
P and the left and right side panels SP, SP have already been positioned and set, and the transerver 3, which received the front panel FrP at the @, places the front panel FrP on the setting table 36, 36 of the welding station STt during its return process. At the same time as the delivery (corresponding to the above-mentioned [phase]), at the front panel setting station ST, the floor panel FflP for the next process is lowered from the drop lifter 27 and set on the transverse bar 3.

Thus, the steps (1) to (1) above are carried out continuously.

Then, while the above-mentioned steps from ■ to ■ are performed, the transserver 3
repeats the operating cycle shown in FIGS. 19(1), (2) and (3). That is, as shown in FIG. 19 (1), when the transserver 3 is in the retracted and lowered position, the floor panel FfP is set on it at the floor panel setting station ST, and the setting of each panel is completed at the welding station ST2, and the welding is started. will be held.

After welding is completed, the transverse bar 3 rises and advances to the first position.
As shown in Figure 9 (2), the white body Bw is delivered to the delivery station ST, and the welding station S
T, floor panel Fj! Transport P.

Next, the transserver 3 descends to set the floor panel FfP on the setting table 36, 36 as shown in FIG. 19(3), and then retreats to return to the state shown in FIG. 19(1). Then, in the backward stroke, it stops for a moment and receives the front panel FrP at the second front panel supply device Sf.
This is the floor panel FIP and the left and right side panels SP.
, sp.

In the above white body assembly work process, the assembly order of each body panel is not limited to the above order,
The order of assembly can be changed freely as long as it does not interfere with the assembly.

Further, in the above embodiment, a case has been described in which a white body having a truck bed is formed, but it goes without saying that the present invention can also be applied to automobiles such as passenger cars.

Effects of the C0 Invention As described above, according to the present invention, a floor panel constituting an automobile body can be placed on a set table of a welding station.
Body components such as side panels and front panels are supplied centrally, where they are accurately positioned and set, the body assembly is assembled, and the parts to be welded are welded by an automatic welding machine centrally located at a welding station. Since the automobile body is constructed in this way, it is possible to improve the positioning accuracy of the body components relative to each other, and it is also possible to downsize the entire device and significantly reduce equipment costs.

[Brief explanation of the drawing]

The drawings show an embodiment of the welding device of the present invention, and FIG. 1 is an exploded perspective view of body parts constituting a white body;
Fig. 2 is an overall side view of the welding device of the present invention, Fig. 3 is an overall plan view thereof, Fig. 4 is a side view of the floor panel setting station, and Fig. 5 is a floor panel set along line V-V in Fig. 4. 6 is a side view of the welding station, FIG. 7 is a front view of the welding station taken along the line ■-■ in FIG. 6, FIG. 8 is a front view of the side panel supply device, and FIG. 9 is a side view of the welding station. 10 is a side view of the front panel supply device, and FIG. 11 is taken along the line Xl-Xl in FIG. 10. FIG. 12 is a front view of the front panel supply device, FIG. 12 is a plan view of the back panel supply device, FIG. 13 is a side view of the back panel supply device taken along the line of arrow X in FIG. 12, and FIG. 14 is a welding station for floor panels. Transserver showing the state just before being transported to
A side view of the transfer device, Fig. 15 is a plan view taken along line XV in Fig. 14, Fig. 16 is an enlarged cross-sectional view of the transserver taken along line FIG. 18 is a side view of the transaver transfer device showing the state in which the front panel is transferred to the welding station; FIG. 19 is a side view of the transaver device showing the state in which the front panel is transferred to the welding position by the transaver; FIGS. and (3) is a side view of the transserver transfer device showing the operating cycle of the transserver. Bo...Body assembly, Co+...Overhead conveyor, F/! P...floor panel, FrP...front panel, Ju, Jd...upper and lower positioning jig as a positioning device, Ro...automatic welding robot as an automatic welding machine, sb...back panel feeding device,
Sf...Front panel supply device, Sr,, Sft.
...First. Second supply device, 5fj2...Floor panel supply device, Sr...Roof panel supply device as a parts supply device, Ss...Side panel supply device, ST. ...Welding station, SP...Side panel, 3
...Transaver-117...Transportation hanger, 36...
・Set table, 63... Elevating body, 74... When engaging claw Applicant: Ken Ochiai, Patent Attorney, Honda Motor Co., Ltd.

Claims (1)

[Claims] [1] On the set table (36) of the welding station (ST_2), the floor panel (FlP), front panel (FrP), left and right side panels (SP, ) and other body components sequentially and intensively (Sfl, Ss,
Sb, Sf, Sr); the welding station (ST_
2), the plurality of body components are positioned and set at predetermined assembly positions to assemble the body assembly (BO).
), which are centrally arranged at the welding station (ST_2) and weld the welded parts of the body assembly (Bo) to form the automobile body (Bw); An automobile body welding device comprising a plurality of automatic welding machines (Ro). [2] In the automobile body welding apparatus according to claim [1], the supply device (Sfl) for supplying the floor panel (FlP) to the welding station (ST_2) is configured to (ST_2
An automobile body welding device consisting of a transer bar (3) that runs longitudinally across the road and extends forward and backward, is movable back and forth, and is movable up and down. [3] In the automobile body welding apparatus according to claim [1], the left and right side panels (SP
, SP) to the welding station (ST_2), the supply device (Ss) is connected to the set table (36).
The drop lifter (61) is provided to surround the welding station (61).
ST_2) Overhead conveyor running above (Co_1)
An automobile body welding device is provided with an elevating body (63) having an engaging claw (74) for receiving left and right side panels from a conveying hanger (17). [4] In the automobile body welding apparatus according to claim [1], the front panel (FrP)
A supply device (S) for supplying the welding station to the welding station
f) is a front panel first supply device (Sf_
1) and the transer bar (3) running longitudinally through the welding station (ST_2), which is movably provided to the front panel first supply device (Sf_1) to the front panel (
An automobile body welding device comprising a front panel second supply device (Sf_2) that receives FrP) and supplies it to a welding station (ST_2).