JPH01218985A - Radiator assembler - Google Patents

Abstract

PURPOSE:To automate the assembly process of a radiator by arranging so that the assembly may be conductable smoothly, even in a case in which a little gap exists between the radiator assembler and the radiator furnishing portion of a vehicle. CONSTITUTION:A radiator assembler is made up of the 1st floating mechanism 4 provided at a joint portion of a frame 3 and an arm 2 connected with a robot, an inclination mechanism 5 which inclines a radiator W which is held and a radiator holding portion 6 which pinches the upper end and the lower end of the radiator W and conducts a striking contact and hold. In addition, it is made up of the 1st positioning portion 7 which does the positioning of the horizontal position of the whole of the radiator assembler 1 together with the 1st floating mechanism 4, the 2nd floating mechanism 8, the 2nd positioning portion 9 which conducts tightening to a front bulkhead by means of a bolt and a die turn plate tightening mechanism 11. After the positioning of the whole of the radiator assembler against the through hole of a radiator furnishing bracket has been conducted, the radiator is assembled to the radiator furnishing bracket.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a radiator assembling device that automatically assembles a radiator to a vehicle.

(Prior Art) Conventionally, the work of assembling a radiator to a vehicle involves manually attaching a plurality of cushion rubbers to a plurality of brackets attached to the lower part of the front bulkhead, and attaching a plurality of pins attached to the lower end of the radiator to the cushion rubbers. This was done by attaching a tightening bracket with a cushion rubber to the multiple pins at the top of the radiator, and tightening the tightening bracket to the top of the front bulkhead with bolts.

(Problems to be Solved by the Invention) In the conventional manual radiator assembly work, since the radiator is a heavy item, it requires heavy physical labor and requires a long time to assemble, which is not an efficient work.

In addition, with the automation of assembly work in recent years, in order to automate this radiator assembly work, for example, when the radiator is installed on the vehicle, it is necessary to assemble it with a part of it close to the lower end of the upper panel of the front bulkhead. Therefore, if the radiator is simply moved vertically or longitudinally within the engine room during transport, there will be problems such as the radiator interfering with the front bulkhead, and if the vehicle is positioned on a transport vehicle, it may fall within the allowable range. This has been difficult to realize due to the problem that it is impossible to maintain a constant mounting position of the radiator relative to the vehicle due to positional deviations occurring.

SUMMARY OF THE INVENTION An object of the present invention is to provide a radiator assembling device that can mount and tighten a radiator to a radiator mounting location of a vehicle, provided the vehicle is positioned within an allowable range.

(Means for Solving the Problems) In order to solve the above problems, the present invention includes a first floating mechanism at the joint portion of the arm and the machine frame, and a first positioning mechanism for positioning the entire mounting based on the through hole of the radiator mounting bracket. A second floating mechanism for floating the tightening nut runner group and the bracket gripping portion, and a second positioning portion for positioning the nut runner group and the bracket gripping portion with reference to the reference hole of the front bulkhead were provided.

(Function) The radiator is positioned in the horizontal direction by inserting the positioning pin of the first positioning part into the through hole of the radiator mounting bracket with the entire radiator assembly device holding the radiator floating horizontally with respect to the arm. Furthermore, with the nut runner, bracket gripping arm, and positioning pin of the second positioning part floating in the horizontal direction, first insert the positioning pin of the second positioning part into the reference hole of the front bulkhead, thereby removing the nut runner and bracket gripping arm. After positioning, attach a bracket with a cushion rubber attached to the bin at the top of the radiator, and tighten the bolts with a nut runner to ensure smooth installation of the radiator to the vehicle.

(Example) Embodiments of the present invention will be described below based on the accompanying drawings.

First, with reference to FIG. 8, the overall structure of the radiator assembly process to which the radiator assembly apparatus according to the present embodiment is applied will be described.

FIG. 8 is a plan view showing a work station in the radiator assembly process. At this work station, first, a vehicle C, which is positioned and supported on a transport vehicle B flowing on an assembly line A, is stopped at a fixed position A1 in the flow direction of the assembly line A. On the other hand, a robot R running on a running table T extending perpendicularly to the assembly line A has an arm 2 connected to one axis of a wrist (not shown), and a radiator assembly device 1 is attached to this arm 2. The radiator W is positioned and seated on the radiator supply stand with its rear facing up, and the brackets El and E2 are placed in their fixed positions with bolts v and v inserted, and these radiator W and the bracket El , E2 are held by the radiator assembling device 1, the radiator assembling device 1 is inserted into the engine room F by the robot R, the radiator W is positioned on the front bulkhead G, and the bolts are tightened.

Here, the configuration of the radiator assembly device 1 will be explained in detail with reference to FIGS. 1 to 7.

The radiator assembly device 1 includes a first floating mechanism 4 provided at a joint between an arm 2 connected to a robot R and a machine frame 3, a tilting mechanism 5 for tilting a gripped radiator W, and upper and lower ends of the radiator W. a radiator gripping section 6 that abuts and grips the first floating mechanism 4;
A plurality of bolts V are used to tighten the first positioning part 7 that positions the entire radiator assembly device 1 horizontally, the second floating mechanism 8 provided at both ends of the upper part of the machine frame 3, and the front bulkhead G. It is composed of a second positioning section 9 and a tie-down plate tightening mechanism 11.

The machine frame 3 includes a square bar 3a extending horizontally, one end welded to the side surface of the square bar 3a, and a square bar 3b extending vertically and downwardly.
3c and two square bars 3d extending horizontally between the square bars 3b and 3c and having both ends welded to the sides of the square bars 3a and 3c, respectively.
3e and square timber 3b.

It consists of a U-shaped frame 3f made of square steel material which is horizontally welded to the lower end of the frame 3c and protrudes forward.

The first floating mechanism 4 includes a floating table 40, 41 attached to the lower part of the arm 2 with its surface horizontal as shown in FIGS. 2 and 5, and a machine stand 42 attached to the rear central part of the machine frame 3. , 43). This machine 42,4
3, a plurality of spherical roller mounting parts 42a and 43a and a plurality of cylinders 45 and 46 are mounted on piston rods 45a and 46a, respectively, and a plurality of spherical rollers 44 are mounted vertically in abutting state with a floating table 40 and 41 in between. The upward direction forms cylinder mounting portions 42b and 43b for mounting.

Then, original position return members 47.47 having hollow cylindrical through holes 47a, 47a with tapered lower portions extending vertically through the through holes provided in each of the floating tables 40.41 are fitted. Each of the cylinder mounting parts 42b and 43b has a generally cylindrical shape, and the upper part has a tapered shape having the same inclination angle as the through hole 47a, and the tip thereof has a small circle similar to that of the tapered part 45b. Cylindrical part 45 of diameter
The piston rods 45a, 45a having a diameter c and whose cylindrical portion 45c has a smaller diameter than the through hole 47a are connected to the cylinder mounting portion 42b.

The through holes 42e of the guide members 42d and 43d are fitted into the vertical through holes 42c and 43c of the guide members 43b.

A cylinder 45.45, which is fitted into the cylinder 43e, is fixed to the guide members 42d and 43d. However, 43C143d, 43
e is not shown.

Further, the cylinder mounting parts 42b and 43b are provided with through holes 42f and 43f in the vertical direction, respectively, and these through holes 42f,
Guide member 4 forming through holes 42g and 43g in 43f
2h and 43h, and a cylinder 46° 46 consisting of piston rods 46a and 46a, which are fitted into the through holes 42g and 43g, is fixed to the guide members 42h and 43h.

At the tips of the piston rods 46a, 46a, there are brake members 40a, 41a provided on the lower surface of the floating table 40.41 when the piston rods 46a, 46a move forward.
A pressing member 46b presses into contact with the pressing member 46b.

46b. However, 42f, 42g, and 42h are not shown.

Further, plates 40b and 41b are provided perpendicularly to the upper surface of the floating table 40.41 and connected to the arm 2.
A plurality of dampers 48 are attached to the machine bases 42 and 43 in the front and rear and left and right directions of the machine bases 42 and 43. These dampers 48
are springs 48 that urge the pins 48a in the projecting direction;
The tip of the pin 48a is a spring 48.
A plate 40 that is constantly connected to the arm 2 by the elastic force of b.
b, 41b and the end faces of the machine bases 42, 43.

The tilt mechanism 5 includes a tilt machine frame 50 assembled into a rectangular shape using square steel, and a cylinder 51 that tilts the tilt machine frame 50.

The tilt machine frame 50 has brackets 50a and 50 provided at the same height in front of the square members 3b and 3c extending downward, respectively.
A bush 50e is centered around the support shafts 50c and 50d of b.
It is formed to be rotatable via 50f.

Furthermore, the cylinder 51 is made of a 50g square piece provided on the tilting machine frame 50.
, 50h, and is provided on the machine frame 3 with a piston rod 51a that is rotatable around the support 50k of the bracket 50j, which extends horizontally during the period of 50h and is attached to the top surface of the square beam 50i located near the approximate center of the tilting machine frame 50. It is composed of a cylinder portion 51d rotatably attached around a support 51c of a bracket 51b attached to the rear surface of the square member 3e.

The radiator grip section 6 includes an upper grip arm 60 that abuts and grips the upper end of the radiator W, a cylinder 61 that moves the upper grip arm 60 up and down, a lower grip arm 62 that abuts and grips the lower end of the radiator W, and a lower grip arm 62 that abuts and grips the lower end of the radiator W. Grasping arm 62
a cylinder 63 for raising and lowering the radiator W, and a pin Wl at the lower end of the radiator W.

Cushion rubber W3 attached to Wl. It consists of a cushion rubber gripping arm 64°64 that fits into the groove of W3.

The upper gripping arm 60 is located at the top of the tilt machine frame 50,
A plurality of gripping members 60b are slidable on a plurality of rails 60a, 60a provided in the vertical direction on the front surface of a horizontally extending 50° C. beam.

60b, 60b.

The cylinder 61 has a piston rod 6 on the front side of a square piece of 50°C.
The piston rod 61a is connected to the upper gripping arm 60.

The lower gripping arm 62 includes a plurality of rails 6 provided vertically on plates 50n and 50o attached to both ends of the front surface of a horizontally extending square timber 50m located at the lower part of the tilting machine frame 50.
2a, 62a, and includes a plurality of gripping members 62b, 62b.

The cylinder 63 has a piston rod 6 attached to the lower surface of the square timber 50i.
3a facing downward, and the piston rod 63a is connected to the lower gripping arm 62.

The cushion rubber gripping arm 64.64 is attached to the plate 50.
n, 50o, with recesses 64a, 64 at the tips.
a is formed.

The first positioning part 7 is a plate 7 attached to the upper end of the frame 3f welded to the lower end of the square members 3b and 3c of the machine frame 3.
0a, 70b, rail members 71a, 71b provided vertically on the upper surfaces of the plates 70a, 70b, and the rail member 71a.

Lifting members 72a, 72b that are slidable by fitting into rails 71c, 71d of 71b;
2b and cylinders 73a and 73b that position the entire radiator assembly device 1.

The elevating members 72a and 72b are rails 71c.

Hook portions 72c and 72d that fit into the radiator mounting bracket Ha, the tip of which is tapered, and the cylindrical portion is a radiator mounting bracket Ha;
It is provided with positioning pins 72e and 72f that have approximately the same diameter as the through holes He and Hd of Hb and are directed upward.

Further, the cylinders 73a and 73b have a piston rod 73e.
, 73f is directed upward and the cylinder part is plate 70a,
70b.

One second floating mechanism 8 is provided on each side symmetrically, but since they have a similar structure, the mechanism on the left side of the device will be described.

This second floating mechanism 8 includes a plate-shaped floating table 80, a machine stand 81 whose lower surface is horizontal and is attached to the front end of the square bar 3a of the machine frame 3, and is attached to the lower surface of this machine stand 81. In the center thereof, a spherical roller mounting part 83 is formed in which a plurality of spherical rollers 82 are mounted vertically in abutting state with the floating table 80 in between, and a cylinder mounting part is formed in which a plurality of cylinders 84 and 85 are mounted in a downward direction with piston rods. It consists of a machine stand 87.

The cylinder 84, the cylinder 85, and the original position return member (not shown) have the same structure as the cylinder 45, the cylinder 46, and the original position return member 47 of the first floating mechanism 4, respectively. Furthermore, a plurality of dampers 88 attached to the machine base 81 and the machine base 87 in the front-back and left-right directions are also connected to the first floating mechanism 4.
It is formed with the same structure as the damper 48 of.

Although one second positioning section 9 is provided on each side symmetrically, the mechanism on the left side of the device will be explained because it has a similar structure.

This second positioning section 9 has a floating table 80
The case 9 is attached in the direction in which the square timber 3a extends on the lower surface of the case 9.
0, a cylinder 91 similarly attached to the upper surface of the floating table 80, a plate 92 forming a horizontal surface shape on the side of the device, and a plurality of rails 92a provided on this plate 92.

92b and can slide freely, and the cylinder 91
A slide diaphragm 93 that rotates 90 degrees by the operation of , a cylinder 94 that moves the slide diaphragm 93 up and down, a positioning arm 95 provided on the rail fitting surface of the slide diaphragm 93, and a positioning arm 95. A cylinder 97 is attached vertically downward to a bracket 96 that is attached to the opposite side of the attached slide swing plate 93 in the direction in which the square beam 3a extends, and is connected to a piston rod 97a of this cylinder 97. An elevating plate 9 is provided with slide columns 98a on its upper surface that fit into a plurality of hollow guide members 98 provided vertically on the lower surface of the bracket 96.
9, an L-shaped pressing member 10 (L) attached to the side of this lifting plate 99, and a pin 101 with a tapered tip that fits into the through hole of this pressing member 100 facing downward. A pin 101 is compressed between a bracket gripping member 103 that forms a guide post 102 that is fitted with a hollow guide member 101a, and a lower surface of an elevating plate 99 and a bracket gripping member 103 surrounding the hollow guide member 101a. Spring 10 biasing in the protruding direction
4 and the bolt tightening nut runners 106, 108 attached to the two brackets 105, 107 attached to the surface of the slide Isonami 93 (IIIJ).
It consists of

Inside the case 90 is a cylinder 9 with a gear 90a at its tip.
0b is rotatably inserted via bearings 90c, 90c.

The cylinder 91 is attached to the upper surface of the floating table 80 with a piston rod 91a penetrating downward, and a rack 91b having a gear 90a as a pinion is provided at the tip of the piston rod 91a so as to give rotation of 90 degrees to the cylinder 90b. It is formed.

The positioning arm 95 has a tapered tip at its distal end, and a tapered pin 95a having approximately the same diameter as the reference hole Gl of the front bulkhead G is biased in the projecting direction by a spring 95b, and is directed downward.

The tie-down plate tightening mechanism 11 is for permanently tightening the tightening bolts U, U of the tie-down plates Pi, P2, which are temporarily tightened to the front lower part of the inner wall of the engine room of the vehicle. This tie-down plate tightening mechanism 11 is a plate lla provided at both ends of the front lower part of the frame 3f.
, llb, and a plurality of rails lie provided on the lower surface of the plates lla and flb in the longitudinal direction of the frame 3f.
, llc, lid, lid and these rails llc,
llc, lid, and a slider l1g that fits into the lid and has a nut runner mounting portion 11e111f formed on its upper surface.
, 11h, piston rods 11i, llj are connected to the sliders 11g, Ilh, and cylinders llk, 11J2 are fixed to plates Ila, llb in the longitudinal direction of the frame 3f, and nut runner mounting m1le, I
lf and frame 3f are provided with nut runners tin and lln for tightening bolts provided in the longitudinal direction of the frame 3f. The nut runner l1m, the socket portion 11o of the fin, and the lip are formed so as to be freely floating in the front, back, and horizontal directions.

The operation of the radiator assembly device configured as above will be explained below.

As shown in FIG. 8, the radiator W is positioned and seated on the radiator supply stand with its rear facing up, and the brackets El and E2 are placed in their fixed positions with the bolts V and ■ inserted. The radiator assembly device 1 is lowered onto the radiator W by the robot R with its front portion facing down. At this time, the second positioning part 9 is in a state where the slide surfboard 93 is in a raised state and the piston rod 91 is in a raised state.
The plate 92 rotates 90 degrees due to the forward movement of a, and the nut runner 10 for tightening the port is placed in the position indicated by the two-dot chain line shown in FIG.
8 is moving.

Then, by the operation of the robot R, the radiator assembly device 1 is gripped by the gripping members 60b, 60b, 60b of the upper gripping arm 60 and the lower gripping arm 62, respectively.

62b, 62b are lowered until they reach the position of the grip part of the radiator W. At this point, the bracket gripping member 1
03 bottle 101 is the bracket El.

Cushion rubber E3 attached to E2. Radiator mounting through hole E5 of E4. The radiator assembly device 1 is tightly inserted into the bracket El.

You will be in a state where you are holding E2.

Next, as the piston rod 61a of the cylinder 61 moves forward and the piston rod 63a of the cylinder 63 retreats, the upper gripping arm 60 and the lower gripping arm 62
moves to hold the gripping member 60b.

60b, 60b, 62b, 62b sandwich the radiator W. Further, the socket portions 106a, 108a of the nut runners 106, 108 protrude, and after fitting the tightening bolts V, V into the socket portions 106a, 108a, the nut runner 1
06 and 108 retract the socket portions 106a and 108a.

After that, the robot R inserts the radiator assembly neck 1 into the engine room F according to the teaching sequence, and connects the socket parts 11o and lip of the nut runners l1m and ln of the tie-down plate tightening mechanism 11 to the tie-down plate Pi. .

After aligning P2 with the center position of the temporarily tightened bolts U and the upper bolt U, tighten the bolt U with the nut runner l.
Fully tighten with 1m fin.

At this time, the center position of the bolt U and the socket portions 11o, li
Even if the center position of p is slightly shifted, the socket part 11o,
Since the tip can freely float in the plane direction of the tie-down plates Pi, P2 and in the front-rear direction, the bolt U can be fitted into the socket part 11o, lip.

Furthermore, the lower tie-down plate tightening bolts U are fully tightened by the same operation.

Next, the piston rod 51a of the cylinder 51 moves back, thereby tilting the radiator W as shown in FIGS. 2 and 3, thereby shortening the distance in the height direction and bringing it close to the rear of the front bulkhead G. At this point, the upper end of the radiator W is prevented from interfering with the upper lower surface of the front bulkhead G, and the entire radiator assembly device 1 is moved according to the teaching operation sequence to set the positioning pins 72e and 72f as shown in FIG. It is located below the through holes He and Hd of the radiator mounting bracket 1-Ha and Hb.

By this point, the nut runner 108 in the second positioning portion 9 has moved to the position indicated by the two-dot chain line M in FIG. 2 due to the retreat of the piston rod 91a of the cylinder 91.

and the piston rod 45a of the cylinder 45.45,
45a retreats to place the first floating mechanism 4 in a floating state. In addition, at this time, the pressing members 46b, 46b
is in a state where it is detached from the floating table 40.41.

Next, the piston rods 73e of the cylinders 73a and 73b,
As 73f moves forward, the positioning pins 72e and 72f rise, and the radiator mounting bracket Ha is attached to the front bulkhead G.

It is inserted into the through holes Hc and Hd of Hb. In this state, the piston rods 46a, 46a of the cylinders 46.46
the pressing member 46b.

46b is pressed against the brake members 40a and 41a to stop the floating of the first floating mechanism 4 and position the entire radiator assembly device 1 with respect to the through holes Hc and Hd of the radiator mounting brackets Ha and Hb. still,
At this time, the through hole Hc.

Even if there is a slight deviation between the center position of Hd and the center positions of the positioning pins 72e and 72f, the positioning pin 72e
, 72f are guided and inserted into the pins 72e and 72f, and the machine frame 3 is moved 8 times, making it possible to position the entire apparatus 1.

Then, after the positioning pins 72e and 72f are removed from the through holes Hc and Hd due to the retreat of the piston rods 73e and 73f, the piston rod 51a of the cylinder 51 moves forward and returns the radiator W from the inclined state to the vertical state. Cushion rubber W3 attached to pins Wl and W2 at the lower end of W. W3 can be automatically fitted into the radiator mounting brackets Ha and Hb having pan-shaped tips.

Next, the piston rods of the cylinders 84, 84 are retracted, thereby placing the second floating mechanism 8 in a floating state. Incidentally, at this time, the piston rod of the cylinder 85.85 is in a retracted state, and the pressing member is in a state separated from the floating table 80.

Then, the slide swing plate 93 is lowered by the cylinder 94, and the positioning pin 95a is inserted into the reference hole G1 provided on the upper surface of the front bulkhead G. and cylinder 8
The second floating mechanism 8 is moved forward by moving the piston rod 5 forward to press the suppression member against the floating table 80.
, and the second positioning portion 9 is positioned with respect to the reference hole G1. At this time, even if there is a slight deviation between the center position of the reference hole G and the center position of the positioning pin 95a, the pin 95a is guided and inserted by the tapered part of the positioning pin 95a, and the second positioning part 9 moves to move the position of the positioning pin 95a into the reference hole. It becomes possible to position the second positioning portion 9 with respect to G1. Incidentally, up to this point, the piston rod 97a connected to the bracket gripping member 103 that grips the brackets Ei and E2 has retreated.

Next, the piston rod 97a of the cylinder 97 moves forward, and the pin fitting hole E of the cushion rubber E3 attached to the bracket E1 as shown in FIGS.
5 is fitted into the bin W4 provided at the upper end of the radiator W, and the suppressing member 100 presses the upper surface of the cushion rubber E3, thereby fixing the bracket E1 in the mounting position on the upper surface of the front bulkhead G. And Natsutranna 106
．． 108 advances to the socket portion 106a.

The nut runners 106 and 108 move back after the bolts 108a protrude and rotate to tighten the bolts V and (2), respectively.

After the above operations, the piston rod 61a is moved backward, the piston rod 63a is moved forward, and the gripping members 60b, 60b,
60b, 62b, and 62b are removed from the radiator W. After the slide mechanism 93 is raised by the cylinder 94 and the positioning pin 95a is removed from the reference hole G1, the first
The floating mechanism 4 and the second floating mechanism 8 are returned to the floating state, the radiator assembly device 1 is returned to the original position by the robot R, and each floating is stopped to complete one cycle of work.

(Effects of the Invention) As explained above, according to the present invention, after positioning the entire device with respect to the through hole of the radiator mounting bracket, the nut runner and the bracket are moved to the upper surface of the front bulkhead with the radiator mounted on the radiator mounting bracket. By tightening the bracket after positioning it with respect to the reference hole, even if there is a slight misalignment between the radiator mounting part of the vehicle and the radiator assembly device, the assembly can be performed smoothly. It becomes possible to automate the radiator assembly process.

[Brief explanation of the drawing]

Fig. 1 is a front view of the radiator assembly device of the present invention, Fig. 2 is a side view which is also a partially sectional view, Fig. 3 is a partially enlarged view of Fig. 2, and Fig. 4 is a radiator of the present invention. A plan view of the assembly device, FIG. 5 is a view taken along the I-■ arrow in FIG. 4, and FIG. 6 is the same view.
II-I+ arrow view, Figure 7 is the same < III-I1
1 and 8 are plan views showing work stations in the radiator assembly process. In the drawings, 1 is a radiator assembly device, 2 is an arm, and 3 is a radiator assembly device.
is the machine frame, 4 is the first floating mechanism, 5 is the tilting mechanism,
6 is a radiator gripping part, 7 is a first positioning part, 8 is a second
9 is a floating mechanism, 9 is a second positioning part, 11 is a tie-down plate tightening mechanism, R is a robot, W is a radiator, G is a front bulkhead, El and E2 are brackets.

Claims (1)

[Claims] A radiator assembly device for attaching a radiator to a vehicle includes a first floating mechanism provided at a joint between an arm connected to a robot and a machine frame to float the entire machine frame, and a positioning pin that allows the radiator mounting bracket to penetrate. a first positioning part for positioning the entire radiator assembly device with reference to the hole; a second floating mechanism provided at both ends of the upper part of the machine frame for floating the nut runner and the bracket gripping part; and a positioning pin. A radiator assembling device characterized in that a second positioning section is provided for positioning the nut runner and the bracket gripping section with reference to the reference hole of the front bulkhead.