JPH02220775A - Assembling device for two-wheeled car body - Google Patents

Abstract

PURPOSE:To automatize welding of a reinforcing member by providing an assembling robot for setting the reinforcing member to a prescribed position of a car body held by a jig, and a welding robot for tacking the reinforcing member set to the prescribed position of the car body on a tacking station. CONSTITUTION:A car body whose regular welding is ended is moved to a tacking station 26 and a reinforcing member Wh is set to a prescribed part of the car body by a fitting robot 30. Subsequently, the reinforcing member which is set to the car body by a welding robot 31 is brought to tack welding, and also, the car body to which the reinforcing member is tacked is moved to a second regular welding station 32, and regular welding of each reinforcing member is executed by a welding robot 132. Also, by changing each gripping tool 40 for gripping various reinforcing members to the assembling robot 30, various reinforcing members can be set to the prescribed part of the car body, and it is unnecessary to place plural sets of assembling robots to which various gripping tools are attached, respectively. In such a way, the reinforcing member can be welded automatically to the car body and the productivity for assembling the car body is improved.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a two-wheeled vehicle body assembly apparatus.

(Prior art) Conventionally, a temporary welding station and a main welding station are installed side by side, and at the return station, vehicle body components, that is, a center member such as a head vibrator and a cross member, and a side frame are temporarily fixed. A two-wheeled vehicle body assembly apparatus is known in which the vehicle body is transported to a welding station and a welding robot provided at the station performs final welding of the vehicle body, which has already been temporarily attached.

In this case, after the main welding, the car body is removed from the main welding station, and the reinforcing members are manually welded to the car body.
I am working on completing the car body.

(Problems to be Solved by the Invention) Welding reinforcing members manually as described above has poor productivity, and it is desired to automate the process.

SUMMARY OF THE INVENTION In view of such a need, it is an object of the present invention to provide a device that can automatically weld a reinforcing member to a vehicle body that has already been fully welded.

(Means for Solving the Problem) In order to achieve the above object, the invention of claim 1 provides a two-wheeled vehicle body by temporarily welding vehicle body constituent members after temporarily attaching them, and further welding a reinforcing member to the vehicle body which has already been welded. A tack welding station is provided between a first main welding station for main welding vehicle body structural members and a second main welding station for main welding reinforcing members. A movable moving table is provided in between, and a jig is provided on the moving table to attach gripping members for gripping appropriate parts of the main welded vehicle body, and the temporary fixing station is provided with a jig to attach the vehicle body held by the jig. An assembly robot that sets the reinforcing member at a predetermined position on the vehicle body, and a welding robot that temporarily attaches the reinforcing member set at a predetermined position on the vehicle body to the vehicle body are provided.

In this case, as in the second aspect of the invention, a stock stand on which various gripping tools for gripping reinforcing members are placed is provided on the side of the placement part of the assembly robot, and the assembly robot is provided with a stock stand on which various gripping tools for gripping the reinforcing member are placed. Preferably, the tool is removable.

(for production) The operation of the present invention will be explained based on the assembly apparatus according to claim 2.

The mobile platform is moved to the first main welding station to have the jig receive the main welded body, then moved to the temporary attachment station, where the reinforcing members are attached to predetermined locations on the vehicle body by the assembly robot. and temporarily attach the reinforcing member to the vehicle body using a welding robot.

Next, the wrist of the assembly robot is moved onto the stock stand, the used gripping tool is automatically replaced with the gripping tool that will be used next, and the gripping tool grips the next reinforcing member and attaches it to the vehicle body. Set it in a predetermined location and temporarily attach it using the welding robot. After the above operations are repeated to temporarily attach a predetermined number of reinforcing members to the vehicle body, the movable table is moved to a second main welding station, and the various reinforcing members temporarily attached are finally welded at the second main welding station.

(Example) As shown in FIG. 16, the drawing shows a center member consisting of a head vibe Wa and various cross members vb, a main upper frame We, a rear upper frame Wd, a down tube We, a rear stay Wf, a bracket Wg, etc. An embodiment is shown in which a two-wheeled vehicle body W is assembled by welding left and right side frames consisting of side frame members, and the assembly line is equipped with set stations ( 1), a joining station (2), a first actual welding station (31), a tacking station (■), and a second actual welding station (32) are arranged, and the rails are on a track (4) laid along the assembly line. (4a) Place the trolley (5) on (4a), and place the trolley (5) on the
5) to the fixed rack (4) between the rails (4a) (4a).
A pinion (5a) that engages with the pinion (5a)
) is driven by a motor (5c) via a bevel gear (5b).
) and move the trolley (5) from the set station (1) to the coupling station (2) by the motor (5c).
) to the first main welding station (31), and a setting jig (6) on which a plurality of holding members (8a) for positioning and holding various center members are mounted is mounted on the trolley (5). .

Also, on each side of the coupling station (2), as shown in FIG. 3, there are rails (7a) (
A slide table (8) that is moved laterally back and forth by a shift cylinder (8a) is provided along the slide table (7a).
8) A jig holder (9) that can be raised and lowered freely around the shaft (9a) at the lower end is provided on the top, and a side jig ('lal) for holding the side frame is attached to the holder (9), and the side jig (9) is attached to the holder (9). Place tool ○O in a lying position and set it laterally outward (2a)
and the inner welding location (2b), and after setting the side frame members on the side jig (10) at the setting location (2a), the side frame members are connected to each other at the welding location (2b). Welding torches (1
The side frame was assembled by welding using a welding robot (11) C11) equipped with 1a).

Then, set the setting jig (6) at the setting station (1).
After setting the center member, move the trolley (5) to put it into the joining station (2), then raise the side jigs (IG (IO) on both sides and insert it into the setting jig (
6) to the center member held by each side jig (I
The side frames held by G are joined from the side, and in this state each side jig (
The center member and each side frame are tack welded through the frame space of 10, and then the tack welded vehicle body W is transferred to the first jig device (12+) located at the first main welding station (31). A pair of welding torches (13a,) located at the front and rear sides of the station (31)
The main welding of the vehicle body W was carried out using a welding robot (13+) (13+) equipped with a welding robot (13+).

As shown in FIGS. 4 and 5, the first jig device (12+) moves an annular guide rail (14+) centered on a horizontal horizontal axis (hereinafter referred to as Y-axis) around the circumference of the guide rail (14+). A moxibustion number support piece (15a+) is attached to a cylindrical fixed frame (15+) surrounding the
) and the guide rail (14+)
An arc-shaped movable frame (16+) that can freely rotate along the movable frame (16+) is provided, and a pair of first and second holders (17a+) (17bt) projecting outward are attached to both ends of the movable frame (16+),
A plurality of gripping members (18a+) are provided between the holders (17a+) (17b1) for gripping the main upper frame We, the rear upper frame Wd, and the tailgate at the tail end thereof.
) with the jig (18+) installed in the longitudinal direction of the vehicle so that its elongate direction is along the diametrical direction of the guide rail (14+), and the jig (18+) is installed by rotating the movable frame (1G+). The jig (18+) is allowed to revolve around the Y-axis, and both ends of the jig (18+) in the longitudinal direction are pivotally supported by the holders (17at) (17b+). ) is configured to rotate about the axis (hereinafter referred to as the X-axis) in the diametrical direction of the guide rail (14+).

To explain this in more detail, as shown in FIG. each one located
A pair of brackets (16a+) (16a1) is provided protrudingly, and the guide lever f14 is attached to each bracket (1(ia+)).
A plurality of rollers (16b
+), and further engages with a rack (191) provided on the outer surface of the central part of the movable frame (IG+) along the guide rail (14+), as shown in FIG. A drive motor (21+) having a pinion (20+) is mounted, and the pinion (2h) is operated by the drive motor (2h).
Thrust in the rotational direction is applied in a well-balanced manner to the central part of the movable frame (161) through the movable frame (IGl), and the jig (18+) is thus rotated around the Y axis through the movable frame (IGl). A smooth revolution is given.

In addition, the jig (IL) is attached to both the holders (17at) (17b1) at the shaft portions (18b+) (1) on the X axis at both ends thereof.
8b+), and the first holder (
17a1), as shown in FIGS. 4 and 8, the motor for rotation 1) and the motor Ci! 2+) and gear train (23
Equipped with a harmonic drive type reducer (24d) connected via the reducer (24+) and the jig (
The jig (1L) was connected to the shaft portion (18b+) at one end of the jig (18+) via a bevel gear (2), and the jig (1L) was rotated about the X-axis by the operation of the motor C22+).

The setting jig (6) has a jig base (6b
) is supported on the truck (5) so as to be able to rise and fall freely at a pivot (6d) installed horizontally on the lever (6c) at the front end of the truck (5), and is connected to the tip of the lever part (6c). The cylinder (6e) is used to raise and lower the truck (6e).
5) is moved to the first main welding station (31) side, the setting jig (6) is erected, and the jig (18+) is placed opposite to the set jig (6) in the erected state. Let it stand up in advance by revolving around the Y axis,
In this state, the vehicle body W is transferred from the setting jig (6) to the jig (18+), and then the jig (181) is given revolution around the Y axis and rotation around the X axis, and the posture of the vehicle body W is The four welding robots (131) are dually and variably controlled.
The actual welding was performed by

Further, a second jig device (122) and a welding robot (132) equipped with four welding torches (13a2) are arranged at the second main welding station (32), and the temporary welding station (32) The vehicle body W on which the various reinforcing members wh were temporarily welded was transferred to the second jig device (122), and the welding robots (132) were used to permanently weld the reinforcing members wh.

The second jig device (122) is the first jig device (12+
), and the first jig device (1h)
A second jig device (12
The codes (142) to (242) for the various constituent members in 2) correspond to the codes (Ilh) to (241) attached to the various constituent members of the first jig device (12+). Therefore, detailed explanation thereof will be omitted.

Further, the tack welding station (2) is provided with a movable table (2) which is movable between the first and second main welding stations (31) (32), and the main welded vehicle body W is attached to the movable table (2).
an assembling robot ■ which is provided with a jig ■ having a gripping member ■ attached thereto for gripping an appropriate location, and sets a reinforcing member νh at a predetermined position of the vehicle body W held by the jig ■ in the temporary attachment station ■; A reinforcing member wh set at a predetermined position on the vehicle body W
A stationary welding robot (2) was installed to temporarily attach the welding robot to the vehicle body W.

More specifically, the moving platform (2) is slidably mounted on a rail (2a) attached to a track (2) laid along the assembly line, as shown in FIGS. 9 and 10. A motor ■ is mounted on the moving table ■, and a gear mechanism ■ is attached to the output shaft of this motor.
The pinion gear (31a) connected through the gear meshes with the rack ω attached to the track (3), and the first and second main welding stains (3+) of the movable table are operated by the motor (3).
(32) Allows for movement between.

Further, a rotating frame (2) is erected on the upper surface of the moving table (2) via a bearing (33a), and a rotating frame (2) is erected on the upper side of the rotating frame (ω) via a bearing (37a) about a horizontal support shaft. A rotating support frame 137 is provided, the jig (2) is attached to the support frame (G7) at its base plate (29a), and the output shaft of the rotating motor (2) mounted on the movable table is driven by a harmonic drive type deceleration. A harmonic drive type reducer (Ila
) is connected to the support frame (■), so that the jig (2) is given a rotational movement through the rotation frame (■) and a rotational movement through the support frame (■) by the operation of the respective motors (■). I made it.

In addition, the jig (2) attaches the vehicle body W to each stay (29b) provided on the base plate (29a) to the main upper frame 7e.
and a pair of left and right gripping members (2) gripped by the rear stay (29b) and the rear stay (29b).
A support plate (28a) attached via a support plate (28h) is provided with a guard (28c) in which a receiving portion (28b) is formed, and a movable arm (28e) whose intermediate portion is pivoted via a bracket (2f3d). The support plate (28a)
Attach the air cylinder (281') to the cylinder (
The piston rod of C28f) is connected to the tail end of the movable arm C28e via a link (28g), and the movable arm C28e is brought into the open state shown in phantom lines by actuation of the cylinder (28r). It can be moved to the gripping state shown by the solid line.

Further, bolts (29c) are provided at both ends of the base plate (29a) to fit into the mounting holes (37b) formed in the plate (371') of the support frame (3). Wedge-shaped locking members (37d) that can be freely engaged with the cam surface (29) of the pin (29c) are connected to the piston rod of each cylinder (37e). (37d), each cylinder (37e) is actuated to the extension side from the engaged state of each locking member (37d).
d) is removed from the cam surface (29e) of each pin (29c) so that the jig (2) can be replaced to match the model of the vehicle body W.

Then, the movable table is moved to the first main welding station (31).
), and receives the main welded car body W from the jig device (12d) and moves it to the temporary attachment station ■, where the assembly robot ω and the welding robot ■ of the station ■ attach the car body to the jig ■. The movement of the support frame (■) rotates the jig (2) around the axis in the horizontal direction so as not to interfere with each frame of the assembly robot (3), thereby changing the posture of the jig (3).
The reinforcing member wh on the reinforcing member supply platform placed at the front side of the robot (2) in the direction of the assembly line is grasped by the gripping tool attached to the robot (0a), and the reinforcing member wh is held by the robot (2) as shown in Fig. 13. The reinforcing member vh was set at a predetermined location on the vehicle body W held by the jig (2), and the reinforcing member vh was temporarily welded to the vehicle body W by the welding robot (2).

After the temporary welding of the reinforcing member vh is completed, the movement of the rotating frame ■ turns the jig ■ to direct the vehicle body W forward in the direction of the assembly line, and the movement of the movable table moves the jig ■ to the second main welding station. The vehicle body W is moved to (32) and held by the jig ■
the jig device (12) of the second main welding station (32).
2), and the jig (182) of the jig device (122) is moved to
) is given rotation around the X-axis due to the operation of motor Q22) and revolution around the Y-axis due to the operation of motor (212),
The main welding of the reinforcing member wh is carried out by the four welding robots (132) while the posture of the vehicle body W is variably controlled in two ways.

By the way, the various reinforcing members vh to be welded to the vehicle body W have different shapes and cannot be handled by the gripper (a) attached to one assembly robot ω.

For this reason, in this embodiment, a stock stand on which various gripping tools (7) for gripping the reinforcing member wh are placed is provided on the side of the placement part of the assembly robot ω, and the cough assembly robot ω is mounted on the stock stand. The upper gripping tool m is detachable.

More specifically, the wrist portion (30a) of the assembly robot ω
) is formed with a mounting hole ((1)b) into which the mounting rod (40a) at the tail end of each gripping device is inserted, as shown in FIG.
A piston (30f) integrally formed with a lock pin fI)e) at the tip is inserted into the cylinder (3)c), and the piston (3Or) is pushed into the locking pin by a spring (Ig>). (3) e) was biased in the direction of protruding into the mounting hole (30b).

Each gripper (1) is composed of a gripper body (40b) with a plurality of claws (40e) pivotally attached to the distal end thereof so as to be movable in the radial direction, and a cylinder (40b) formed in the main body (40b). 4
A piston (40'') integrally formed with a rack (40e) at the tip is inserted into the rack (40d), and a pinion gear (40g> attached to the shaft attachment part of each claw piece (40e) is inserted into the rack (40'').
0e), and thus the piston (4Or) is actuated against the spring (40h) by introducing air into the pressure chamber at its tail end, and the rack (40e) and each pinion gear (
These claw pieces (40c) can be opened via the 40g).

The stock stand is attached to the upper side of the column (42a) erected at the temporary attachment station (2), and a plurality of insertion holes (42b) are provided in the stock stand to allow each type (42b)
Various gripping tools m can be inserted and supported with the mounting rod (40a) facing upward.

Then, by the operation of the assembly robot ■, the wrist part (Ia
) to a position facing the gripping tool (a) on the stock stand ω, and introduce air into the pressure chamber at the tip of the piston (30f) to force the lock pin (30e) into the spring (3)g). In this state, lower the wrist part and insert it into the mounting hole (m).
Insert the mounting rod (40a) into b), open the pressure chamber to the atmosphere, and attach the lock pin (3)e) to the spring ((1)g).
), which is fitted into the engagement hole (40i) of the attachment rod (4)a) to attach the gripping device to the assembly robot (2).

Then, by the operation of the assembly robot (2), the gripping tool (1) is extracted from the stock stand (2), moved onto the reinforcing member supply table, gripping the reinforcing member wh with the gripping tool (7), and holding the reinforcing member wh. Set it in a predetermined position on the vehicle body W held by the tool
After the temporary attachment by the welding robot ■ is completed, the wrist part (I) a)
Move the stock stand (0) above the empty insertion hole (42b) and insert the used gripper ■ into the insertion hole (42b),
Air is introduced into the pressure chamber of the cylinder (me), the lock pin (30e) is inserted, the wrist part (1) a) is raised, and the used gripping tool (7) is held in the wrist part ((1) a). Remove from a),
Above the gripping tool (7) to be used next, place the wrist part ((1)a
), lower the wrist part (Ja) and insert the mounting hole ('J
Insert the mounting rod (40a) of the gripping device into Jb),
The pressure chamber is opened to the atmosphere, the lock pin (Ice) is pushed out by the spring f30g, and the mounting rod (40a) is
The various gripping tools (7) on the stock stand Q can be automatically attached to and replaced with the wrist part (Ia) of the assembly robot ω by engaging with the engagement hole (401).

In addition, in the above embodiment, a stationary welding robot (■) was placed at the tacking station (■), but as shown in FIGS. A robot (31') may also be placed.

That is, a prop is erected on the side opposite to where the assembly robot ω is placed on the track (■) of the temporary attachment station (■), the welding robot (31') is attached to the inner surface of the upper end of the prop, and the stock stand ω is installed. It is placed on the opposite side of the reinforcing member supply stand (east) of the assembly robot ω, and a large space is secured around the reinforcing member supply stand (goods), so that the reinforcing member vh can be taken in and out of the said supply stand (Av). I made it easy to do.

(Effects of the Invention) As described above, according to the invention of claim 1, the main welded vehicle body can be moved to the temporary attachment station, and at the station, the reinforcing member can be set at a predetermined location on the vehicle body by the attachment robot. The reinforcing members set on the car body can be temporarily welded by the welding robot, and the car body with the reinforcing members temporarily attached is moved to a second main welding station, where the welding robot performs the main welding of each reinforcing member. - Therefore, the reinforcing members can be automatically welded to the vehicle body, thereby improving the productivity in assembling the motorcycle body. Various reinforcing members can be set at predetermined locations on the vehicle body by replacing each gripping tool, and there is no need to place multiple assembly robots with each straight gripping tool attached at the temporary attachment station, reducing equipment costs. This also has the effect of narrowing the space of the tacking station.

[Brief explanation of the drawing]

Fig. 1 is a side view showing one example of the device of the present invention, Fig. 2 is a plan view thereof, Fig. 3 is a front view of the bonding station during the bonding operation as seen from the line ■-■ in Fig. 1, and Fig. 4 The figure is IV- in Figure 2.
FIG. 5 is an enlarged side view of the main welding station at the time of vehicle body delivery as seen from the IV line, FIG. 5 is a front view of the jig device seen from the left side of FIG. 4, and FIGS. ■−■ line to ■
9 and 1O are enlarged sectional views taken along lines IX-IX and X-X of FIG. 2, respectively. FIG. 11 is a view taken along the line XI-XI of FIG. , FIG. 12 is an enlarged cross-sectional view taken along the line XI-Xll in FIG. 2, FIG. 13 is a perspective view with the jig omitted showing the temporarily attached state of the reinforcing member, and FIG. 14 is a plan view showing another embodiment. , FIG. 15 is a bi-bilinear enlarged sectional view thereof, and FIG. 16 is a perspective view of the two-wheeled vehicle body.

Claims (1)

[Scope of Claims] 1. In an assembly apparatus for assembling a motorcycle body by temporarily welding vehicle body structural members and then welding a reinforcing member to the main welded vehicle body, the first step is to perform main welding of the vehicle body structural members. A temporary welding station is provided between the main welding station and a second main welding station that performs main welding of the reinforcing member, and the temporary welding station is provided with a movable table that is movable between the two main welding stations. an assembly robot that is provided with a jig equipped with a gripping member that grips an appropriate part of the main welded vehicle body, and further sets a reinforcing member at a predetermined position of the vehicle body held by the jig in the temporary attachment station; 1. A two-wheeled vehicle body assembly device, comprising a welding robot that temporarily attaches a reinforcing member set at a predetermined position on the vehicle body to the vehicle body. 2. A stock stand on which various gripping tools for gripping reinforcing members are placed is provided on the side of the placement part of the assembly robot, and the gripping tools on the stock stand can be attached to and removed from the assembly robot. The two-wheeled vehicle body assembly apparatus according to claim 1.