JPH03239684A - Method and device for installing car hood and front fender - Google Patents

Abstract

PURPOSE:To eliminate wasteful operation for installing a car hood and make unnecessary the use of any proprietary fastening robot and opening/closing of the hood by performing the procedure so that a front fender is fastened simultaneously with fastening of a hinge bracket of hood to the car body in the condition that the hood is open. CONSTITUTION:Installation of a front fender (b) is made upon opening a car hood (d). That is, the front end fastening position d1b of a hinge bracket d1 of the hood (d) is fastened to the car body (a) by No.3 nut runner 303 loaded on an installing jig 21 of a front fender installing robot 4 simultaneously with fastening of the front fender (b) to the car body (a) by the use of No.2 nut runner 301, 302 loaded on the same installing jig 21. Then the clamping of the front fender (b) by the installing jig 21 is disengaged and another installing jig 37 for hood is retreated externally in the X-axis direction, and then the jig 37 is moved reversely to shut the hood (d), and finally an opener hook 45 is separated from the front edge of the hood (d), and the jig 37 is lifted. Thus the assembling work of the hood (d) and front fender (b) is completed.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a method and apparatus for assembling a bonnet and a front fender to an automobile body.

(Prior Art) In a conventional automobile manufacturing line, a bonnet and a front fender are assembled to an automobile body at separate assembly stations.

Furthermore, according to Japanese Patent Application Laid-Open No. 62-99272, an assembly robot equipped with an assembly jig for holding the bonnet is placed on the side of the bonnet assembly station, and the robot opens the bonnet to the vehicle body. A bonnet assembly device that can be set automatically is known, but when the bonnet is held with an assembly jig, the assembly jig is located on the outer surface of the bonnet, and the hinge bracket on the inside of the bonnet is It is impossible to mount the nut runner on the assembly jig to fasten the nut runner to the vehicle body because it will interfere with the bonnet. The hinge bracket is fastened to the car body either manually or by a separately installed tightening robot. After the hinge bracket is fastened, the bonnet is closed by the assembly robot and the car body is transported to the next station, where the front fender is assembled. It is carried out.

Front fender assembly is generally done manually, but an assembly robot equipped with an assembly jig that holds the front fender is placed on the side of the front fender assembly station, and the robot can assemble the front fender by hand. Attempts have also been made to automatically assemble the front fender to the vehicle body.

(Problem to be Solved by the Invention) By the way, the front fender is fastened to the vehicle body at its upper edge flange, but this flange is located in a position where it is covered by the bonnet. It is necessary to assemble the fender, and the bonnet, which has been closed after assembly at the bonnet assembly station, must be opened again at the front fender assembly station, which is troublesome, and the bonnet is opened automatically. In order to do this, a hood opening/closing robot must be installed at the front fender assembly station, which increases equipment costs.

In view of the above points, the present invention is such that when the hood is opened and the hinge bracket is fastened to the vehicle body, the front fender is also fastened to the vehicle body at the same time, and the bonnet is opened again for assembling the front fender. The purpose of this is to eliminate waste and reduce equipment costs by eliminating the need for a bonnet opening/closing robot or a dedicated bonnet tightening robot.

(Means for Solving the Problems) In order to achieve the above object, an assembly method according to the present invention includes a step of holding the bonnet in an open state with respect to the automobile body;
a step of setting the front fender on the automobile body; a step of fastening the front fender to the automobile body and a bonnet hinge bracket to the automobile body;
It consists of a step of changing the bonnet from an open state to a closed state.

In order to carry out this method, in the assembly apparatus of the present invention, a bonnet assembly robot equipped with an assembly jig for holding the bonnet is disposed on the ceiling frame of an assembly station where the automobile body is fixed, and the assembly A front fender assembly robot equipped with an assembly jig that holds the front fender is placed on the side of the mounting station, and the bonnet assembly robot can freely set the bonnet to the car body in an open state, and assemble the front fender. The assembly jig mounted on the robot was equipped with a front fender nut runner for fastening the front fender to the car body and a bonnet nut runner for fastening the hood hinge bracket to the car body.

(Function) In the device of the present invention, by placing the bonnet assembly robot on the ceiling frame, the front fender assembly robot can be placed on the side of the assembly station, making it possible to assemble the bonnet and front fender at the same time. becomes.

During assembly, the bonnet is held in the assembly jig mounted on the bonnet assembly robot, and the front fender is held in the assembly jig mounted on the front fender assembly robot. Set the front fender on the car body in the open state, then set the front fender on the car body using the front fender assembly robot, and connect the front fender and bonnet hinge brackets using nut runners for the front fender and bonnet mounted on the front fender assembly jig. are fastened to the vehicle body at the same time, and finally the bonnet is closed by the operation of the bonnet assembly robot, completing one cycle of work.

(Example) With reference to FIG.
2) shows an assembly station installed in the middle of the conveyance path (1), and on each base (3) installed on both the left and right sides of the station (2), the assembly robots for the front fender b are installed in order from the front. <4) and front door C1 assembly device (51)
At the same time, a ceiling frame (6) is installed on the station (2), and an assembly robot (7) for the bonnet d is installed on the ceiling frame (6). A robot (8) for assembling the trunk lid e is arranged, and a machine frame (9) for a drop lifter extending upward from the ceiling frame (6) is erected at the station (2), and the machine frame (9) is installed.
9) Front fender b and door c on both left and right sides of
The first drop lifter ao (IG) for c2, the second drop lifter (tD) for the bonnet d on the front side, and the third drop lifter a' for the trunk lid e on the rear side.
A pair of first hanger conveyors 03 passing on both left and right sides above the assembly station (2)
(Only one side is shown in the drawing) The front fender b and the doors C1+C2, which are suspended by the hanger (13a), are assembled by the front fender assembly robot (4) and each door assembly via the first drop lifter aO. The bonnet d and trunk lid e are delivered to the attaching device (5d (52)), and the bonnet d and trunk lid e, which are suspended by the second hanger conveyor (+41 hanger (not shown)) passing through the upper central part of the assembly station (2), are delivered to the mounting device (5d (52)). Second
and a third drop lifter (11 (J?)) to assemble the bonnet and trunk lid assembly robots (7) (8
), and the front fenders b1, doors C1+C2, bonnet d, and rank lid e are assembled to the automobile body a at a single assembly station (2>) using these robots.

The assembly devices (51) (52) for each door include a door setting robot (5a) and a door hinge tightening robot (5a).
(5b).

Related to the present invention are a front fender assembly robot (4) and a bonnet assembly robot (7), and these robots (4) and (7) will be described in detail below.

The front fender assembly robot (4) uses the vehicle width direction, vehicle length direction, and vehicle height direction as the X-axis, Y-axis, and Z-axis, respectively.
As shown in Figures 4 to 4, the first slide table is moved in the Y-axis direction by a motor (15b) via a rack and pinion mechanism (15c) along a guide rail (15a) on a base (3). (151, a second slide stand aO that is moved along the guide rail (16a) on the first slide stand (19) in the X-axis direction by a motor (16b) via a rack and pinion mechanism (16c), 2nd slide stand ae
A swivel base (+7) is provided on the top so that it can be rotated around the Z-axis by a motor (17a), and a rack and pinion mechanism (18c) is mounted by a motor (18b) along a guide rail (18a) on the side of the swivel base (17). ), and a wrist (19) with a three-axis structure attached to the lifting frame I'Ia. As shown in FIGS. 4 and 5, there is a rotating frame (19a) supported rotatably around the axis at an angle θ parallel to the X-axis with respect to the elevator frame I'Iδ, and 01
V in the Z-axis direction perpendicular to the axis, a cross yoke (19b) supported rotatably around the axis, and a W in the Y-axis direction perpendicular to the v1 axis to the cross yoke (19b), rotatable around the axis. The front fender assembly jig 0 was mounted on the head frame (19c) via a jig holder (2).

The rotating frame (19a), cross yoke (19b), and head frame (19C) are each powered by a motor (19a,) (19b+
) (19C1) allows the ball screw mechanism (19az
) (19bz) (19Cz).

As shown in FIGS. 6 and 7, the assembly jig (2) is used to attach the front fender (b) to the upper two parts of its wheel arch.
three support members in the shape of a knob that are roughly positioned and supported at one location on the rear side, and two first seats (■) that receive the upper edge of the front fender b at two locations in the front and back; Two second seats □□□ that receive the rear edge of the front fender b at two places, upper and lower, and four seats at approximately equal intervals for the wheel arch part b1.
four pressing members ■ that press in the radial direction at the location;
Three clamp members ■ which clamp the upper edge of the front fender b in the X-axis direction (vehicle width direction) at three locations in the front and rear as shown in FIG. , a plurality of suction members (■) that suck and hold the front fender b in a predetermined mounting position by cooperating with the catch on the outer surface thereof, and a rear part of the front fender b that overlaps with the lower surface of the front end of the side sill a1 of the vehicle body a. A fork-shaped pressing member ■ that presses the lower end tongue portion b2 so as to overlap the side sill aI, and a flange portion b3 formed on the upper edge of the front fender b are attached to the vehicle body a at three locations in the front and rear.
three first nut runners (3) 1) on the upper side that are fastened to
It includes a nut runner (2) and a third nut runner 003) on the upper side of the rear end that fastens a hinge bracket d1 of a bonnet d, which will be described later, to the vehicle body a. (25a) G! 9a)
(24a) is a cylinder for driving each pressing member (2), and (24a) is a cylinder that moves the lower second seat (2) forward and backward in the Y-axis direction (vehicle length direction).

When transferring the work from the first drop lifter (IG), place the assembly jig 0 at the - of the wrist aΦ.

The support member tilts diagonally upward by rotation around the axis, and the front fender b is supported by the support member, and then the front fender b is pressed by the pressing member ■, and its upper edge and rear edge become the first catch seat ■. Second catch C! Φ, then clamp the upper edge of the front fender b with the clamp member ■, then operate the suction member ■ to position the front fender b in the three axis directions of x, y, and z, and assemble it. Hold it in jig 0.

Next, the assembly jig 0 is returned to the vertical position, and the assembly jig 0 is adjusted in the Y-axis and Z-axis directions in accordance with the displacement of the vehicle body a detected by a position sensor (not shown) provided in the assembly station (2). , and tilting around the θ, axis, and v1 axes.In this state, move the assembly jig 0 forward in the X-axis direction to set the front fender b on the vehicle body a, and then move the Part b2 is pressed against side sill a1 by pressing member ■.
After polymerization on the lower surface of the first and second nut runners (301)
The flange portion b3 on the upper edge of the front fender b and the tip of the tongue portion b2 are fastened to the vehicle body a, and the front fender b is assembled. The assembly station (2> has the first
As shown in the figure, a bolt set robot located in front of the placement part of the front fender assembly robot (4) and a bolt supply device (2) in the vicinity are provided, and the assembly is performed by rotating the swivel table (17). With the jig 0 facing forward, the tightening bolts were set on each of the nut runners (3h) (3) 2) (1) a) from the bolt supply device (2) via the bolt setting robot.

Furthermore, the assembly jig 0 is dedicated for each model, and the assembly jig 0 can be attached to and detached from the jig holder (2). In FIG. 1, the flag is a replacement device for the assembly jig 0.

The bonnet assembly robot (n is shown in FIGS. 9 to 11)
As shown in the figure, the beams (6a) on both sides of the ceiling frame (6) in the X-axis direction
) (6a) of the first slide frame that is moved in the Y-axis direction by the motor (33b) via the rack and pinion mechanism (33c) along the guide rail (a) on each beam (6a). , the ball screw mechanism (34c) is operated by the motor (3ib) along the rail 04a> on the first slide frame ω.
) is moved in the X-axis direction through the second slide frame (to)
The second slide frame (to) is raised and lowered in the Z-axis direction by a motor (35b) via a rack and pinion mechanism (35c) along the linear guides (35a) on both front sides of the second slide frame (to). ) A balance cylinder (35d) with a piston rod connected to the upper end of a pillar (34d)
It is composed of a 6-axis robot consisting of an elevating column (2) that inserts a 3-axis mechanism, and a wrist (ω) with a three-axis structure attached to the lower end of the elevating column (ω). The wrist ω has the same basic structure as the wrist (19) of the front fender assembly robot (4), and is connected to the motor (3) around the axis parallel to the Z axis with respect to the lifting column (■).
6a+) via a ball screw mechanism (33az), and the rotating frame (:T3a).
3) A cross yoke ($b) rotated by a motor (36b+) via a ball screw mechanism (:Tibz) around the v2 axis in the Y-axis direction perpendicular to the axis, and a
3) For b>, the motor (36c+) rotates the ball screw mechanism (33
An assembly jig G7) for holding the bonnet d is mounted on the head frame (313c).

As shown in FIGS. 12 and 13, the assembly jig G7) has a cylinder (
A roller ('
J3b), a pair of left and right second clamp members ■ that are vertically swung by a cylinder (I3a) so as to engage with the lower surface of the rear edge of the bonnet d, and abut against both side edges of the bonnet d. Front and rear 1 are cut out from a pair of left and right clamp pieces (40c) (40c) that are opened and closed in the X-axis direction by a cylinder (40a) via a rack and pinion mechanism (40b).
A pair of third clamp members, a roller-shaped pressing member (goods) moved back and forth in the Y-axis direction by a rodless cylinder (41a) so as to press the center of the rear edge of the bonnet d, and an outer surface of the bonnet d. That is, a plurality of suction members □□□ are moved up and down by a cylinder (Ca) so as to suction the upper surface;
The hinge bracket d on both sides of the rear end of the bonnet d is provided with a pair of left and right hinge clamp members □□□ that are swung vertically by a cylinder (43a) so as to push up the hinge bracket d from below, and an assembly jig □ A pivot (44a) in the X-axis direction is attached to the front end of the
The spring (4
A cylinder (45a) on the arm piece (c) is pivotally attached to the arm piece (2) which can be pivoted against the arm piece (4b), and can be freely engaged and detached from the central part of the front edge of the bonnet d. An opener hook □□□ that can be engaged and detached is installed. The hooks □□□ are provided in pairs on the left and right with their positions shifted in the front-back direction, and the second clamp member □, the rear side suction member □□□, and the hinge clamp member 0 are attached to an assembly jig. ■Cylinder (4) along the rear side guide rail (to) a)
6b), and is attached to a slider □□□ which is provided to be moved forward and backward, so as to be able to cope with model changes between the bonnet d shown by the imaginary line in FIG. 12 and the bonnet d shown by the dashed-dotted line in FIG.

When transferring the workpiece from the second drop lifter (11), the bonnet d is tilted to a horizontal position using a reversing jig (not shown) provided in the lifter (11), and then the bonnet d is moved to the ceiling frame (
6), then move the bonnet assembly robot (7) forward from the rear retreat position to position the assembly jig 0 on the bonnet d, and first clamp the first clamp member ■ and the second clamp member ■ to support both the front and rear edges of the bonnet d, and in this state unclamp the reversing jig to raise the second drop lifter av, and then
is activated to press the bonnet d forward in the Y-axis direction, and the front edge of the bonnet d is pressed against the roller (38
b) to position the bonnet d in the Y-axis direction, then operate the third clamp member repair to position the bonnet d in the X-axis direction, and then move the suction member □□□
is actuated to attract the bonnet d, and the hinge clamp member □□□ is further actuated to clamp the hinge bracket d, and the opener hook is engaged with the front edge of the bonnet d.

Next, by rotating the assembly jig G7) around the -2 axis with the wrist Perform the position correction in the X-axis and Y-axis directions and the tilt correction around the θ2-axis and V2-axis, and in this state lower the assembly jig ■ in the Z-axis direction, and when it gets close enough to the vehicle body a, attach the hinge clamp. After clamping the parts, lower the assembly jig (2) further by a small stroke to set the bonnet (d) on the vehicle body (a).

The hinge bracket d1 of the bonnet d is
When the bonnet is closed, the tightening point d1a at the rear end is the bonnet d.
It is exposed at the rear of the trailing edge, and is connected to the ceiling frame (
As shown in Fig. 1, a tightening robot (incorporated) equipped with a nut runner is suspended from the beam (6a) on each side of 6〉, and the robot tightens the rear end of the hinge bracket d1. Fasten point d1 a to vehicle body a.

Next, unclamp the first to third clamp members ■■ ship and move the front of the pressing member so that only the opener hook is engaged with the bonnet d, and move the assembly jig along the Y axis. The two hooks (E) are moved along the rotation locus of the front edge of the bonnet d by giving a composite motion of the two-axis movement and the rotation around the -2 axis, and the bonnet d is opened to reach this state. Hold.

The assembly of the front fender b described above is performed using the bonnet d.
This is done after opening the front fender assembling robot (4).
Front fender b with nut runner (3)IO2)2)
When fastening to the car body a, fasten the fastening points d and b at the front end of the hinge bracket d1 of the bonnet d to the car body a at the same time using the third nut runner ('JJa) mounted on the assembly jig 0, and then After unclamping the front fender b by the assembly jig 0 and retracting the assembly jig (2) outward in the X-axis direction, move the bonnet assembly jig G7) in the opposite direction to the above. to close the bonnet d, and finally remove the opener hook ■ from the front edge of the bonnet d and attach the assembly jig 0.
, and complete the assembly work of bonnet d and front fender b.

In this embodiment, the bonnet d is set on the vehicle body a with one end closed, and the tightening point dma at the rear end of the hinge bracket d1 is fastened to the vehicle body a. If all the tightening points of the hinge bracket d can be fastened to the car body a, set the bonnet d on the car body a in an open state from the beginning, and install the bonnet d to be mounted on the front fender assembly jig 0. All the tightening points of the hinge bracket d can be fastened with the nut runner.

(Effects of the Invention) As is clear from the above description, according to the invention of claim 1, when the hood is set in an open state on the car body and the hinge bracket is fastened to the car body, the front fender is also attached to the car body at the same time. Since the bonnet is fastened, it is possible to eliminate the waste of opening the bonnet again for assembling the front fender, and the bonnet and the front fender are assembled in the same process, which has the effect of shortening the line length.

Further, according to the invention of claim 2, the assembly of the bonnet and the front fender can be completely automated, and the hinge bracket of the front fender and the bonnet can be fastened to the vehicle body using a nut runner mounted on the assembly jig for the front fender. Therefore, there is no need for a separate tightening robot to fasten the hinge bracket to the vehicle body when the bonnet is open, which, together with the elimination of the need for a hood opening/closing robot, has the effect of reducing equipment costs.

[Brief explanation of drawings]

FIG. 1 is a perspective view of an assembly station equipped with the device of the present invention, FIG. 2 is a side view of the front fender assembly robot seen from the front in the Y-axis direction, FIG. 3 is a plan view thereof, and FIG. 4 is a front fender assembly robot. Figure 2 is a cross-sectional view taken along the line IV-IV in Figure 2, Figure 5 is a perspective view of the wrist part of the front fender assembly robot, and Figure 6 is a front view of the front fender assembly jig seen from inside in the X-axis direction. ,
Figure 7 is a left side view of Figure 6, Figure 8 is a sectional view along the line ■-■ in Figure 6, Figure 9 is a front view of the bonnet assembly robot as seen from the front in the Y-axis direction, and Figure 10. 11 is a cross-sectional view taken along the line XI-XI in FIG. 9. FIG. 12 is a bottom view of the bonnet assembly jig, and FIG. 13 is a cross-sectional view of the assembly jig.
It is a side view seen from a line direction. a... Car body b... Front fender d... Bonnet dl... Hinge bracket (2>... Assembly station (4)... Front fender assembly robot (6)...
・Ceiling frame <7>... Bonnet assembly robot 0... Front fender assembly jig (It 1)
(3) 2)...Front fender nut runner (
303)... Nut runner for bonnet ■... Bonnet assembly jig by 3 people Fig. 4 Fig. 5 550-

Claims (1)

[Claims] 1. A step of holding the hood in an open state with respect to the automobile body, a step of setting the front fender on the automobile body, and a step of fastening the front fender to the automobile body and attaching the hinge bracket of the bonnet to the automobile body. A method for assembling a bonnet and a front fender, comprising a fastening process and a process of changing the bonnet from an open state to a closed state. 2. Placing a bonnet assembly robot equipped with an assembly jig for holding the bonnet on the ceiling frame of an assembly station where the automobile body is fixed, and assembling the front fender on the side of the assembly station. A front fender assembly robot equipped with a jig is installed, and the bonnet assembly robot can freely set the bonnet to the car body in an open state. A bonnet and front fender assembling device characterized by being equipped with a nut runner for a front fender that fastens a hinge bracket of a bonnet to a car body, and a nut runner for a bonnet that fastens a hinge bracket of a bonnet to a car body.