JPH0215021Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field This invention relates to an assembly device for automatically assembling a door to a vehicle body while continuously conveying the vehicle body at a predetermined speed in an automobile assembly process.

Conventional technology Conventionally, metal lines for assembling metal parts have been of a continuous type that continuously conveys vehicle bodies at a predetermined speed, as shown in Japanese Patent Application Laid-open No. 54-11578. Separate from the conveyor, a tact line is provided for intermittently transporting car bodies one pitch at a time, and the required car bodies are flown through this tact line, and the doors are assembled while the car bodies are stationary.

To explain this based on FIGS. 1 and 2, 1 is a trolley on which the vehicle body B is positioned and placed;
Reference numeral 2 denotes a drive mechanism for intermittently running the trolley 1 in a straight line. When the trolley 1 is stopped at a predetermined position and positioned, the manipulator 3 installed on the line side advances, and the arm portion 4 of the manipulator 3 is moved forward in advance. Assemble the door D, which is held in place, to the vehicle body opening. After the assembly is completed, the manipulator 3 moves backward and the truck 1 moves one pitch, and thereafter the same operation as described above is repeated.

Problems that the invention aims to solve However, according to the above method, the tact line is installed separately from the continuous type metal line conveyor, so it occupies a large space, and it is difficult to insert the car body and door into the tact line. Equipment for this purpose must be installed separately, which is disadvantageous in terms of capital investment.

Purpose of the invention In view of the above points, this invention provides a device that can automatically assemble a door to a car body being transported on a continuous type metal line without installing a separate tact line. The purpose is to

Structure of the Invention For this purpose, the door assembly apparatus of the present invention includes a vehicle body conveyor that positions a vehicle body on a traveling body and continuously conveys the vehicle body at a predetermined speed;
a movable base that is provided on the side of the vehicle body conveyor and that is able to follow the movement of the traveling body and travel in synchronization with the traveling body in the vehicle body conveyance direction by engaging with a part of the traveling body; A door assembly robot is mounted on the tower and equipped with a door holding mechanism at the tip of the arm to position and support the door, and a door assembly robot is installed on the movable base and is equipped with a door holding mechanism that positions and supports the door. A positioning mechanism that positions the vehicle body relative to the movable base; and a screw tightening mechanism that screws and fixes the door provided on the movable base and positioned by a door assembly robot to the door opening on the vehicle body side to the vehicle body. The structure is as follows.

Function According to this structure, the door is assembled to the vehicle body while the door assembly robot moves in synchronization with the movement of the traveling body of the vehicle body conveyor.

Embodiments Hereinafter, more specific embodiments of this invention will be described based on the drawings.

FIGS. 3 and 4 are diagrams showing an embodiment of this invention. In the figure, 5 is a floor-type car body conveyor (hereinafter simply referred to as conveyor) that constitutes a metal line (continuous line).
A car body B is positioned on the slat 31 which is the running body of the conveyor 5, and this slat 3
1 conveys the vehicle body B on the slats 31 while continuously traveling at a predetermined speed. Here, the above conveyor 5
Instead of the slat type, a trolley type can also be used.

6 is a door assembly robot (hereinafter simply referred to as a robot) installed on the line side of the conveyor 5.
The robot 6 moves on the guide rail 8 in the vehicle body transport direction by the action of an air cylinder 7 which is an actuator. A door holding mechanism 10 for positioning and holding a predetermined door D is attached to the tip of the arm 9 of the robot 6, and a door receiving member 33 for positioning the door D is attached to a plate 32 of the door holding mechanism 10. In addition, a vacuum cup 34 for adsorbing the door D is attached.

In addition, there is a movable base 11 on which the robot 6 is mounted.
An auxiliary base 35 is integrally extended toward the conveyor 5 side, and this auxiliary base 35 includes a movable stopper 12 (FIG. 6) for following the conveyor 5, as will be described later, as well as a movable stopper 12 (FIG. 6) for supporting the vehicle body B. A lifter mechanism 13 for slightly lifting up the conveyor 5 from the slats 31, and an X-direction positioning mechanism 14 for positioning the vehicle body B in the width direction (X direction).
, a Y-direction positioning mechanism 15 that similarly controls the positioning of the vehicle body B in the longitudinal direction (Y direction), a nut runner 16 as a screw tightening mechanism that controls the bolt tightening of the door hinge, and a vehicle body detection system that confirms and detects the presence or absence of the vehicle body B. A switch 22 is attached. The auxiliary base 35 on which the above-mentioned mechanisms are mounted is guided by a guide rail 17 attached to the frame 36 of the conveyor 5 as shown in FIG.

Here, the X-direction positioning mechanism 14 and the Y-direction positioning mechanism 15 press the vehicle body B, which has been pushed up by the lifter mechanism 13, by a predetermined amount from the longitudinal direction and the vehicle width direction using cylinder-driven bushers to center the vehicle body B. By doing so, it has a function of positioning the vehicle body B with respect to the auxiliary base 35.

As shown in FIG. 6, the movable stopper 12 is rotatably supported by a bracket 37 extending from an auxiliary base 35 via a hinge pin 18, and is biased to rotate by a coil spring 19 so as to stop the end block. 20, but can rotate counterclockwise against the coil spring 19.

On the other hand, fixed stoppers 21 are attached to the slats 31 of the conveyor 5, corresponding to the mounting positions of the respective vehicle bodies.
In addition to (FIG. 6), a work receiving member 23 for positioning and supporting the vehicle body B is provided.

In addition, in FIGS. 3 and 4, the robot 6, etc. is arranged only on one side (left door side), and the other side (right door side) is omitted from illustration, but the same configuration is also applied to the other side (right door side). Needless to say, the line structure is symmetrical as a whole, with robots and the like arranged there.

Next, the operation of the device having the above configuration will be explained.

First, assuming that the slats 31 of the conveyor 5 are running continuously at a predetermined speed, the robot 6 is waiting at the position shown by the solid line in FIG.

Then, move the vehicle body B to a position where the door can be assembled.
When the vehicle body detection switch 22 detects that the robot 6 has been conveyed by the conveyor 5, the door assembly possible condition is established, the air cylinder 7 is activated, and the robot 6 starts traveling along the guide rail 8. The traveling speed of this robot 6 is set faster than the conveyance speed of the conveyor 5, and therefore the speed of the robot 6 is set higher than the transport speed of the conveyor 5, so that the speed of the robot 6 is set higher than the conveyance speed of the conveyor 5.
Robots 6 runs behind it.

Then, as the robot 6 has traveled a predetermined distance, the movable stopper 12 on the auxiliary base 35 side comes into contact with the fixed stopper 21 on the conveyor 5 side, as shown in FIG. By constantly pressing the slat 31, the slat 31 follows the movement of the slat 31 and travels synchronously. By constantly pushing the slats 31 in this way, the load on the drive section of the conveyor 5 is reduced and at the same time, the occurrence of surging phenomenon is prevented.

When the slats 31 of the conveyor 5 and the robot 6 are in a synchronous running state in this way, the lifter mechanism 13 operates to slightly lift up the vehicle body B from the workpiece receiving member 23, and at the same time, the X-direction positioning mechanism 14 and the Y-direction positioning mechanism 15 operate, respectively, to move the movable base 1 on the robot 6 side.
The vehicle body B is positioned in the three-dimensional direction with reference to 1. It goes without saying that these operations are performed while the conveyor 5 and robot 6 are running synchronously.

When the positioning of the vehicle body B is completed, the arm 9 of the robot 6 is extended and the door holding mechanism 1 is
0 is set in the door opening of the vehicle body B, and the bolt of the door hinge (not shown) is tightened using the nut runner 16. The assembly of the door D is thus completed.

When the door assembly work is completed, the arm 9 retreats, while the lifter mechanism 13 and each positioning mechanism 1
After waiting for the robots 4 and 15 to return to their initial states, the air cylinder 7 operates in reverse, causing the robot 6 to complete its follow-up operation for the conveyor 5 and return to its original position at high speed. During the backward return process of the robot 6, the movable stopper 12 comes into contact with the fixed stopper 21 located at the next vehicle mounting position, but as shown in FIG. Since it can be rotated, it can easily avoid the fixed stopper 21 and will not cause any trouble.

Effects of the invention As explained in detail above, according to this invention, it is possible to assemble the door on a so-called continuous line that transports car bodies continuously at a predetermined speed. Since there is no need to provide an incidental loading device, etc., there is a significant advantage in terms of space, and there is also the effect of significantly reducing equipment investment.

[Brief explanation of drawings]

Fig. 1 is a plan view schematically showing a conventional door assembly device, Fig. 2 is a front view of Fig. 1, Fig. 3 is a plan view showing an embodiment of the present invention, and Fig. 4 is Fig. 3. of-
5 is an enlarged cross-sectional view taken along the - line in FIG. 3, and FIG. 6 is a plan view of FIG. 5. 5... Vehicle body conveyor, 6... Door assembly robot, 10... Door holding mechanism, 11... Movable base, 12... Movable stopper, 13... Lifter mechanism, 14... X direction positioning mechanism, 15... ...Y
Direction positioning mechanism, 16... Nut runner as screw tightening mechanism, 21... Fixed stopper, 3
1... Slat as a running body, B... Vehicle body, D
……door.

Claims (1)

[Scope of Claim for Utility Model Registration] A vehicle body conveyor that positions a vehicle body on a traveling body and continuously conveys the vehicle body at a predetermined speed, and a part of the traveling body that is provided on the side of the vehicle body conveyor. a movable base that can follow the movement of the traveling body and travel in synchronization with the traveling body in the vehicle transport direction by engaging with the movable base; and a door holding mechanism that is mounted on the movable base and positions and supports the door at the tip of the arm. a positioning mechanism that is provided on the movable base and positions the vehicle body relative to the movable base that is running in synchronization with the traveling body prior to door assembly work by the door assembly robot; and the movable base. A door assembly device for an automobile, comprising: a screw tightening mechanism for tightening and fixing a door positioned by a door assembly robot to a vehicle body with respect to a door opening on the vehicle body side.