JPH03256626A - Method and device for assembling tail gate for vehicle - Google Patents

Abstract

PURPOSE:To perform the automatic assembly of a tail gate at the rear part opening of a car body with a high positional accuracy, by detecting the displacement of an assembling jig from the rear part opening of a car body in a setting posture and providing the stage which performs the positional correction of the assembling jig. CONSTITUTION:In the case of assembling a tail gate (e) to a car body (a), the tail gate (e) is held with its positioning to an assembling jig 19 and also the hinge bracket e2 pivotally fitted to the gate (e) is locked with its correction in a constant posture. Thereafter, a clamp member 33 is unclamped, the assembling jig 19 is then moved and the gate (e) is rough-set in the state of its half- opening for the rear opening of the car body while inserting the hinge bolt e3 erected on the bracket e2 into the fitting hole a2 larger than the bolt diameter formed on the car body (a). Thereafter, the gate (e) is closed with the tilting of the jig 19 to the specific setting posture by releasing the lock of the bracket e2, the displacement of the jig 19 from the rear opening of the car body is detected in this setting posture, the positional correction of the jig 19 is performed and the bolt e3 is tightened.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a method and apparatus for automatically assembling a tailgate to a rear opening of a vehicle body.

(Prior art) Conventionally, tailgate assembly has been done manually, but in order to improve productivity, the tailgate is assembled using an assembly robot equipped with an assembly jig that holds the tailgate. It is desired to automate the attachment work.

(11 Problems to be Solved by the Invention) The tailgate has a hinge bracket pivotally attached to the inner surface of its upper side, and a hinge bolt embedded in the bracket is formed at the rim of the upper edge of the rear opening of the vehicle body. The hinge bracket is fastened to the vehicle body by inserting it into the mounting hole from above and tightening the nut from inside the vehicle body, but since the hinge bracket swings on its own, its posture is not fixed, so the tailgate is automatically assembled. In this case, the problem is how to insert the hinge bolt into the mounting hole of the vehicle body.

By the way, Japanese Patent Laid-Open No. 60-240574 discloses a device in which a door is held in an assembly jig attached to a robot and is automatically assembled into a door opening of a vehicle body from the side in a closed position. Immediately before the door is inserted into the door opening, the deviation detection means attached to the assembly jig detects the deviation of the assembly jig with respect to the door opening and corrects the position in the vehicle height direction and vehicle length direction. After that, the assembly jig is moved straight in the vehicle width direction to insert and set the door into the door opening.

This technology is applied to the assembly of a tailgate, and the tailgate is held in an assembly jig and automatically assembled from the rear in a closed position to the rear opening of the vehicle body, and the tailgate is automatically assembled from the rear in a closed position just before the tailgate is inserted into the rear opening. It is also possible to detect the deviation of the assembly jig with respect to the rear opening and correct the position of the assembly jig before inserting and setting the tailgate into the rear opening.
The hinge bolt described above is inserted from above into the mounting hole formed at the rim of the upper edge of the rear opening, so if the assembly jig is moved straight forward after position correction, the hinge bolt will interfere with the rim. To prevent this, after correcting the position, it is necessary to give the assembly jig complicated movements such as vertical movement and tilting to insert the hinge bolt into the mounting hole, ensuring the accuracy of the position of the tailgate relative to the vehicle body. It becomes difficult to do.

In view of the above points, the present invention provides a method for automatically assembling a tailgate to a rear opening of a vehicle body with a high degree of positional accuracy without causing mistakes in inserting hinge bolts into mounting holes in the vehicle body. That is its purpose.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a method for assembling a tailgate to a rear opening of a vehicle body using an assembly robot equipped with an assembly jig for holding the tailgate. The process involves positioning and holding the tailgate on the assembly jig, correcting and locking the hinge bracket pivotally attached to the tailgate in a fixed position, and moving the assembly jig to install the hinge bolt on the hinge bracket. The process involves roughly setting the tailgate in the rear opening of the car body in a half-open state while inserting it into a mounting hole that is larger than the bolt diameter formed in the car body, and unlocking the hinge bracket and setting the assembly jig in the specified setting position. A process of closing the tailgate by tilting the tailgate to , a process of correcting the position of the assembly jig by detecting the deviation of the assembly jig with respect to the rear opening of the vehicle body in the set position, and tightening the nut on the hinge bolt. The process consists of the step of fastening the hinge bracket to the vehicle body.

(Function) Since the hinge bracket is corrected to a certain posture and locked in this posture, the hinge bolt is positioned relative to the assembly jig, and the mounting hole in the vehicle body is larger than the bolt diameter.
By moving the assembly jig to the rough set position, the hinge bolt is securely inserted into the mounting hole.

The assembly jig is provided with a hinge positioning means that corrects and locks the hinge bracket in a certain posture, and when inserting the hinge bolt into the mounting hole, the means moves the upper side of the tailgate, which is the pivot point of the hinge bracket. The hinge bracket is locked by being located between the inner surface and the upper edge of the rear opening of the vehicle body where the mounting hole is formed, but since the tailgate is held in a half-open state, this means There is no such thing as being caught between the upper side and the middle part.

Note that the inner surface of the upper side of the tailgate bulges downward at the rear of the pivot point of the hinge bracket, and this bulge gets in the way, making it difficult to directly grasp the hinge bracket to correct your posture. However, the hinge bolt that protrudes below the hinge bracket can be gripped without being hindered by the bulge. Therefore, we have developed a clamp member that corrects the hinge bracket to a constant posture by clamping the hinge bolt from both sides of the hinge bracket's swing direction, that is, from the front and back, and a clamp member that engages with the hinge bracket from a direction perpendicular to the swing direction, that is, from the lateral direction, to maintain the hinge bracket in a constant position. A hinge positioning means is constituted by a locking member that locks in the posture, and the clamping member corrects the posture of the hinge bracket via the hinge bolt, and after engaging the locking member with the hinge bracket, the clamping member is released, and in this state, It is desirable to rough set the tailgate.

After rough setting, the hinge bracket is unlocked so that the tailgate can be tilted relative to the hinge bracket, the tailgate is closed by tilting the assembly jig to the set position, and then the tilting position prepared for the assembly jig is closed. The displacement of the assembly jig with respect to the rear opening of the vehicle body is detected by the position detection means, the position of the assembly jig is corrected, and in this state, the hinge bracket is fastened to the vehicle body by tightening the nut on the hinge bolt. According to this, the tailgate is accurately assembled to the rear opening in the corrected required positional relationship.

When closing the tailgate, the assembly jig is moved along an opening/closing trajectory centered on the hinge fulcrum of the tailgate using a combined movement of longitudinal, vertical, and tilting motions. It is difficult to accurately match the movement trajectory of the attachment jig, so the hinge bracket may move and the hinge bolt may come out of the mounting hole.To prevent this, after roughly setting the tailgate. It is recommended to temporarily tighten the nuts on the hinge bolts.

Incidentally, the assembly robot may be placed on the side of the assembly station, and the assembly jig may be attached to an arm extending laterally from the robot, but this reduces the support rigidity of the assembly jig. In addition, positioning accuracy deteriorates, and it is necessary to secure a space for arranging the robot on the side of the assembly station, resulting in poor space efficiency.

In contrast, a ceiling frame is erected on the assembly stage,
If an assembly robot is mounted on the ceiling frame, the assembly jig can be suspended from the robot without using a horizontal arm, increasing the support rigidity of the assembly jig and improving positioning accuracy. This also improves space efficiency. Furthermore, by suspending a tightening robot that tightens nuts on hinge bolts from the side of the ceiling frame, space efficiency can be further improved.

(Example) With reference to FIG.
2) shows an assembly station installed in the middle of the conveyance path (1), and the assembly robots for the front fender b are placed on each base (3) installed on both the left and right sides of the station (2) in order from the front. <4) and front door C7 assembly device (51)
and rear door c2 assembly device 1F (52), a ceiling frame (6) is installed on the station (2), and a bonnet d assembly robot (D) is installed on the ceiling frame (6).
and a tailgate e assembly robot (8), and a drop lifter machine frame (9) extending upward from the ceiling frame (6) is erected at the station (2), and the machine frame (
9) Front fender b and door CI+ on both left and right sides of
The first drop lifter I'0 (IQ) for c2, the second drop lifter a'D for the bonnet d on the front side, and the third drop lifter a for the tailgate e on the rear side are provided so as to be able to be raised and lowered, respectively. The front fender b and the door CI+ C2, which are suspended by hangers (13a) of a pair of first hanger conveyors G3 (only one side is shown in the drawing) passing on both left and right sides above the mounting station (2), are The front fender assembly robot (4) and door assembly devices (51) (52
), and the bonnet d and tailgate e, which are suspended on a hanger (not shown) of the second hanger conveyor a@, which passes through the upper central part of the assembly station (2), are transferred to the second and third sections, respectively. It is delivered to the bonnet and tailgate assembly robots (T) (8) via the drop lifter (+1)■, and these robots, etc., assemble the front fender b1, door Cl1C2, bonnet d1 and tailgate e into a single assembly station. In (2), it was assembled to the car body a.

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

Related to the assembly of the tailgate e, which is the object of the present invention, are the tailgate assembly robot soto (8) and the third drop lifter 0, which will be described in detail below.

The tailgate assembly robot (8) moves the vehicle width direction to
As shown in Figures 2 to 4, the vehicle length direction is the Y axis, and the vehicle height direction is the Z axis. A first slide frame aS is moved in the Y-axis direction by a motor (15b) via a rack and pinion mechanism (15c) along a guide rail (15a) on each beam (6a), and the first slide frame aS+ a second slide frame aG that is moved along the rail (16a) in the X-axis direction by a motor (16b) via a ball screw mechanism (16c), and linear guides (17a) on both front sides of the second slide frame ae. The support column (1
A 6-axis robot consisting of a lifting column (17+) into which a balance cylinder (17d) with a piston rod connected to its upper end is inserted, and a 3-axis wrist G& attached to the lower end of the lifting column 0. The wrist ■ has the same basic structure as the one previously proposed by the applicant in Utility Application No. 83-150711, and is rotated by a motor (18a+) around the θ axis parallel to the Z axis with respect to the lifting column ■. A rotating frame (18a) rotates via a ball screw mechanism (18a2), and a motor (18b+) rotates a ball around the rotating frame (18a) around the V-axis in the Y-axis direction perpendicular to the θ-axis. mechanism (
The cross yoke (18b) is rotated via the cross yoke (18b2), and the motor (18C+) rotates the cross yoke (18b) around the W axis in the X axis direction perpendicular to the Y axis via the ball screw mechanism (18C2). Head frame (18c) rotated by
and a tailgate e on the head frame (18c).
Installed the assembly jig a9 that holds the.

As shown in FIGS. 5 and 6, the third drop lifter a is attached to a pair of left and right columns (9a) on the rear side of the machine frame (9).
Guide rail G attached to (9a)! A pair of left and right lifting frames ■■ that are raised and lowered along Oa), a pair of left and right support frames ■σ suspended from the lifting frames ■■ via horizontal bars (21a) at the upper ends, respectively; The shaft portions 22a on both sides of the lower end between the support frame Qvσ
) and a reversing jig ■ which has a U-shape in front view and is pivotably supported by a cylinder 122b), and the reversing jig ■ is equipped with a cylinder ■a to receive the outer edge of the lower side of the tailgate e. ) A pair of left and right workpiece receivers Q3Q3 that are raised and lowered in the lateral direction via toggle links (23b) and a pair of left and right clampers 12 that clamp the outer edges of the side portions of the tailgate e were installed. As shown in FIGS. 6 and 7, each clamper Q@ has a sliding plate (24d) that is moved in the X-axis direction via a cam groove (24e) by a pin (24b) interlocked with a cylinder (24a). ), a catch seat (24e) for receiving the outer edge of the side portion of the tailgate e;
The clamp claw (24
f), and by advancing the sliding plate (24d) from the outward retreat position in the X-axis direction to the inward clamping position and closing the clamp claw (24f), the side of the tailgate e can be closed. The outer edge of the side part is clamped between the catch seat (24e), and the cam groove (24e) is designed to accommodate model changes.
) is formed with a plurality of steps so that the clamping position can be freely switched to multiple steps.

The tailgate e is held in an upright state by a hanger (not shown) of the second hanger conveyor 0@, and is moved to the assembly station (2).
) is transported to a predetermined workpiece loading position above the
The third drop lifter (121 reversing jig ■) is raised in a standing position using the lifting frame ■■ to a position opposite to the hanger at the workpiece loading position, and the tailgate e is kept in the standing position by the operation of the workpiece receiver ■ and clamper Q. The reversing jig ■ is received by the reversing jig ■, and then the reversing jig ■ is moved to the ceiling frame (
6) is lowered to the work transfer position below the ceiling frame (6) through the space between the beams (8a) (8a) on both sides, and then the inversion jig ■ is inverted to the lying position shown by the imaginary line in Fig. 6. to change the posture of the tailgate e to a horizontal position, and in this state, attach the assembly jig a9 suspended from the assembly robot (8) on the ceiling frame (6).
was moved in a horizontal position directly above the reversing jig (2) so that the assembly jig (q9) could receive the tailgate (e).

As shown in FIGS. 8 and 9, the assembly jig a9 engages with the inner edges of the upper and lower sides of the tailgate e on the side of the rear window e1 as shown in FIG. three rough guides () positioned at , a pair of left and right first clampers ■ that are swung by a cylinder (27a) to engage with the inner edge of the lower side of the tailgate e and clamp the lower side between the first workpiece receiver ■; A pair of left and right second work receivers (2) are swung by cylinders (28a) to engage with the inner surface of the upper side of the gate e, and engage with the outer surface of the inner edge of the upper side of the tailgate e. A pair of left and right second workpieces are swung by the cylinder ■a) to clamp the inner edge of the upper side between the second workpiece receiver and the second workpiece receiver.
A pair of left and right third clampers are swung by a cylinder (I)a) as shown in Figure 12 to engage the outer edge of the side portion of the tailgate e and position the tailgate e in the X-axis direction. It is equipped with a clamper ■ and a plurality of suction cups ■ that suck the outer surface of the lower edge of the tailgate e, and when receiving the tailgate e from the reversing jig ■, first the first and second workpiece receivers Activate ■ to support the tailgate e on both the workpiece receivers ■■ at the inner edge of the upper side and the inner edge of the lower side, and then detach the reversing jig ■ from the workpiece receiver ■ and the clamper Q from the tailgate e. After standing up in the state and raising it in preparation for the next workpiece transfer, the third clamper ω is operated to position the tailgate e in the X-axis direction, and then the first clamper ■, the second clamper ■, Position and hold the tailgate e on the assembly jig G9 by sequentially operating the suction cups (■).

The assembly jig a9 is further provided with a pair of left and right hinge positioning means (2) for correcting and locking the left and right pair of hinge brackets e2 pivotally mounted on the inner surface of the upper side of the tailgate e into a fixed posture. This will be explained in detail with reference to FIGS. 13 to 15. Each hinge positioning means (2) is
A pair of hinge bolts e installed in the hinge bracket e2
3+e3 is clamped from both sides of the swinging direction of the hinge bracket e2, that is, from the front and back, to correct the hinge bracket e2 to a constant posture. It consists of a locking member (■) that locks the hinge bracket e2 in a fixed position, and the clamping member (■) is provided to press the hinge bolt e3 from the front against the bracket (ηa) fixed to the assembly jig. The guide rail (35b) is attached to the first clamp piece (1) and the cylinder (35a) to the assembly jig a9.
) and a second clamp piece (2nd) provided to press the hinge bolt e3 from the rear on a sliding plate (33d) mounted so as to be moved back and forth along the
332) is connected to the parallel link (33b) by the cylinder 03a).
), and the center of the arc movement of the first clamp Katasaki 1) and the sliding plate ■ are the stoppers ($C).
The second clamp piece when in the forward position regulated by ■
2) so that the centers of the arcuate movements approximately coincide with the pivots of the hinge bracket e2, and both clamp pieces (331)
(332) by the circular arc movement toward the clamp side shown by the imaginary line in FIG. 13, the hinge bracket e2, which is in the tilted posture shown by B and C in the same figure, is attached to the hinge bolt e3 of each clamp piece (■1) ( 332) to correct the posture to a certain position shown by A in the same figure. In addition, in the case where the hinge bracket e2 is directly clamped by the clamp member (), if the bracket e2 is in the tilted position B in contact with the bulge on the inner surface of the upper side of the tailgate e, the bracket e2 cannot be clamped. It becomes impossible to correct the posture, but
When the hinge bolt e3 is clamped, this problem does not occur and is advantageous. 030 in the figure) is each clamp piece (3
31) The stopper piece (332) is fixed to the pivot of the parallel link (33a), (33d) is the stopper piece (33c)
This shows the stopper seat that receives the load.

The locking member is attached to the bracket (3) on the bottom of the sliding plate (3).
5d) is composed of a plate supported so as to be able to swing laterally by a cylinder (, xb) about an axis 04a). By swinging counterclockwise with the clamp member, the engaging portion (34e) at the tip of the locking member (3) is laterally engaged with the hinge bracket e2, which has been corrected to a constant posture by the clamp member, and the hinge bracket The e2 is now locked in a fixed position.

When assembling the tailgate e to the vehicle body a, after positioning and holding the tailgate e in a horizontal position on the assembly jig 11 mark as described above, move the sliding plate ■ of the hinge positioning means ■ to the forward position. Then, attach the clamp member ■ and the lock member (to)
and the hinge bracket e with the locking member ■.
Unclamp the rear clamp member ■ that has locked 2 in a fixed position, and then move the assembly jig 09) to the assembly station (2
) The position is corrected in the X-axis direction and the Y-axis direction according to the positional deviation of the vehicle body a detected by a position sensor (not shown), and then the assembly jig 09 is lowered in a horizontal position and the hinge bolt e3 is The tailgate e is roughly set into the rear opening horizontally in a half-open state while being inserted from above into the mounting hole a2 formed in the thin part a of the upper edge of the rear opening of the vehicle body a. Note that the mounting hole a2 is formed larger than the bolt diameter so that the hinge bolt e can be inserted without requiring accurate alignment.

After rough setting, attach the locking member ■ to the hinge bracket) e2
Then, the sliding plate ω is moved back to bring the hinge positioning means (2) into the state shown by the solid line in FIG. The tailgate e is tilted to a predetermined set posture along the opening/closing locus of the tailgate e around the pivot axis of the hinge bracket e2 by a combined motion of the tilting around the W axis and the movement in the Y and Z axes directions. close.

Then, in this closed state, the deviation of the assembly jig (2) with respect to the rear opening of the vehicle body (a) is detected and the position of the assembly jig (a9) is corrected. A first deviation detecting means (2) around the X-axis and a pair of second right and left deviation detecting means (2) for two axes were attached to the. The first deviation detection means ω is mounted on a bracket (Ib) fixed to one side of the assembly jig a9, and a sixteenth
As shown in the figure and Fig. 17, a pair of guide bars (:13
a) (33a) allows the slider (33a) to slide freely in the X-axis direction.
36b), and an engaging piece ($d) having a claw portion (T3c) that can be engaged with the side edge of the rear opening, that is, the inner surface of the rear edge of the side panel a3, is assembled to the slider ($b). Jig (19
1 in a direction that approximately coincides with the Y-axis direction in the set posture of 1.
A potentiometer (33e) is slidably supported via a pair of guide bars (33e) ($e), and the displacement of the slider (36b) in the X-axis direction is controlled by a potentiometer (33e) attached to a bracket (19b).
The slider □□□b) is connected to the spring ($h) by the bushing cylinder □g).
) to the inward retreat position in the X-axis direction, and the engagement piece (36d) can be moved against the guide bar (33e) (33
The tongue piece (a) attached to e) can be freely pushed to the rearward retreat position in the Y-axis direction against the spring ($k) by a bushing cylinder ($j) facing the tongue piece (a) l), and when detecting deviation. First, the pressure of the engagement piece (, 13d) on the bushing cylinder (, T3j) is released to bring the engagement piece αd) into contact with the rear edge of the side panel a3, and then the bushing cylinder (, T3j) of the slider (313b) is released. 36g) is released and the engagement piece (33d
) on the inner surface of the rear edge of side panel a3.
The engaging piece (3) d) is brought into contact from the inside in the axial direction.
The amount of displacement in the X-axis direction is detected by a linear encoder ($f) via a slider (36b), and the deviation in the X-axis direction with respect to the rear opening of the assembly jig a9 is detected.

The second deviation detection means (2) is attached to the bracket (?9c) at the lower end of the side of the assembly jig a9 along a pair of guide bars (37a) (C37a) as shown in FIGS. 18 to 20. A first slider 37d) that is moved upward by a cylinder G7b) to a predetermined detection position regulated by a stopper 07c) is provided with a guide bar C37 on the first slider 07d).
a) A second slider (37e) supported slidably in the X-axis direction along C37a) is placed via a spring 07f), and the lower end of the rear edge of the side panel a3 is placed on the second slider 07e). The third slider 07h) to which the engaging piece 07g) that can be engaged with the stepped portion A4 of the tail lamp installed is slidably in the X-axis direction by a pair of guide bars G71) (371) and the bushing cylinder. A linear encoder 07k) is supported so as to be freely pushed to an inward retreat position in the X-axis direction against a spring (not shown) by a linear encoder 07j), and is attached to the first slider 07d) to measure the displacement of the second slider 07e) in the X-axis direction. When detecting the deviation, the first slider 07d is moved by the cylinder 07b).
) is moved upward to the detection position, and in this state, the pressure on the third slider 07h) by the bushing cylinder 07j) is released, and the engagement piece 07g) is engaged with the stepped portion a4 from below and from the inside in the X-axis direction, At this time, the amount of relative displacement of the second slider 07e) with respect to the first slider 07d) in the X-axis direction is detected by the potentiometer 07k), and the displacement in the X-axis direction with respect to the rear opening of the assembly jig a9, as well as the left and right Second deviation detection means c
g) The tilt deviation in the X-axis direction in the X-axis direction is detected from the output difference.

According to the deviation of the assembly jig a9 detected as described above with respect to the rear opening, the position of the assembly jig ([!!l) is corrected in the X-axis direction and Tilt correction is performed,
As a result, the tailgate e, which is positioned and held by the assembly jig a$, is accurately positioned and set in the rear opening.

As shown in Fig. 1, a tightening robot (■) is suspended from the lower surface of the beam (6a) of the ceiling frame (6), and a nut runner (38a) mounted on the robot soto (38a) is passed through the door opening of the vehicle body (a). Place the hinge bracket e2 so that it faces directly below the mounting hole a2, and after correcting the position of the assembly jig mark a, operate the nut runner (38a) and tighten the nut from below onto the hinge bolt e3 inserted into the mounting hole a2. Fasten it to the thin part a1, and then connect the first and second workpiece receivers QI3■ and the first
Unclamp the second clamper ■ and the suction cup α.
The attachment jig 09 is released from the tailgate e, and one assembly operation of the tailgate e is completed.

The lower end of the hinge bolt e3 is formed into a tapered shape, and the socket at the tip of the nut runner (38a) can be freely floated, so that even if the hinge bolt e3 is eccentric with respect to the axis of the nut runner (3Ba), the hinge bolt The nut can be tightened onto the bolt e3 while the socket is floating using the tapered portion at the lower end of the bolt e3 as a guide.

Furthermore, after the above-mentioned rough setting of the tailgate e, a nut may be temporarily tightened on the hinge bolt e3. According to this, when the assembly jig a9 is tilted to the set position and the position of the hinge bolt e3 is corrected, the nut is temporarily tightened. It is possible to reliably prevent it from coming off from the mounting hole a2.

(Effects of the Invention) As is clear from the above description, according to the invention of claim 1, the hinge bolt can be reliably inserted into the mounting hole of the vehicle body, and the tailgate can be closed after inserting the hinge bolt into the mounting hole. Since the position is corrected by adjusting the position, the hinge bracket can be fastened to the vehicle body by tightening the nut on the hinge bolt with the position corrected, and the tailgate can be accurately assembled to the rear opening of the vehicle body in the required positional relationship. According to the invention described in item 2, it is possible to prevent the hinge bolt from coming off from the mounting hole during the closing operation after the tailgate is roughly set and the subsequent position correction, and this has the effect of increasing the reliability of the assembly work.

Further, according to the invention of claim 3, an assembly device suitable for carrying out the invention of claim 1 can be obtained, and further, according to the invention of claim 4, the tailgate assembly work including tightening of nuts can be performed. The present invention has the effect of not only achieving full automation but also increasing the supporting rigidity of the assembly jig, improving its positioning accuracy, and improving space efficiency.

Furthermore, according to the invention of claim 5, the posture of the hinge bracket can be reliably corrected and locked, and the degree of opening at which the hinge bolt is incorrectly inserted into the mounting hole can be reduced as much as possible.

[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 front view of the tailgate assembly robot seen from the rear in the Y-axis direction, FIG. 3 is a plan view thereof, and FIG. Figure 2 is a side view taken along the mV-IV line, Figure 5 is a front view of the tailgate drop lifter seen from the front in the Y-axis direction, Figure 6 is a side view of the tailgate drop lifter as seen from the X-axis direction, and Figure 7 is the drop lifter. ■-■ in Figure 6 showing the clamper included in the lifter reversing jig
8 is a bottom view of the tailgate assembly jig, 9 is a side view of the tailgate assembly jig, 10 is a side view as seen from the X-axis direction.
Figures and Figure 11 are X-X line and XI-XI line of Figure 8, respectively.
12 is a cross-sectional view taken along the line XI--XI in FIG. 9; FIG. 13 is an enlarged side view of the hinge positioning means in an unclamped state as seen from the ■-store line in FIG. 8; and FIG. The figure is a bottom view, Figure 15 is a cross-sectional view taken along the double life line in Figure 13, and the first
6 is an enlarged cross-sectional view taken along the line M-m in FIG. 8 showing the first deviation detection means; FIG. 17 is an enlarged cross-sectional view taken along the line M-m in FIG. 16;
FIG. 18 is an enlarged side view of the second deviation detection means seen from the line X--X in FIG. 8, and FIGS.
They are a left side view and a top view of the figure. a...Car Body a2...Mounting hole e...Tailgate e2...Hinge bracket e3...Hinge bolt (2)...Assembly station (6)...Ceiling frame (8) ... Tailgate assembly robot a9 ... Assembly jig ■ ... Hinge positioning means ■ ... Clamp member ■ ... Locking member Gecg) ... Deflection detection means ■ ... Tightening Robot-17 (

Claims (1)

[Claims] 1. A method for assembling a tailgate to a rear opening of a vehicle body using an assembling robot equipped with an assembling jig for holding the tailgate, the method comprising positioning and holding the tailgate on the assembling jig. At the same time, there is a process of correcting and locking the hinge bracket pivotally attached to the tailgate in a fixed position, and moving the assembly jig to insert the hinge bolt installed in the hinge bracket into a mounting hole larger than the bolt diameter formed in the vehicle body. a step of roughly setting the tailgate in a half-open state in the rear opening of the vehicle body while inserting it; a step of unlocking the hinge bracket and closing the tailgate by tilting the assembly jig to a predetermined setting posture; It consists of a process of detecting the deviation of the assembly jig with respect to the rear opening of the vehicle body in the set position and correcting the position of the assembly jig, and a process of tightening the nut on the hinge bolt and fastening the hinge bracket to the vehicle body. How to assemble a vehicle tailgate. 2. The method for assembling a vehicle tailgate according to claim 1, further comprising temporarily tightening nuts on the hinge bolts after the step of roughly setting the tailgate into the rear opening of the vehicle body. 3. An assembly robot equipped with an assembly jig for positioning and holding the tailgate, and a hinge positioning means for correcting and locking a hinge bracket pivotally connected to the tailgate in a fixed posture on the assembly jig; 1. An assembly device for a vehicle tailgate, comprising: deviation detection means for detecting deviation of an assembly jig with respect to a rear opening of a vehicle body. 4. The assembly robot is mounted on the ceiling frame of an assembly station where the vehicle body is fixed, and a tightening robot that tightens nuts on hinge bolts installed in hinge brackets is suspended from the side of the ceiling frame. The vehicle tailgate assembly device according to claim 3, characterized in that: 5. The hinge positioning means includes a clamp member that clamps the hinge bolt installed in the hinge bracket from both sides in the swing direction of the hinge bracket to correct the hinge bracket to a constant posture, and a clamp member that clamps the hinge bolt installed in the hinge bracket from both sides in the swing direction of the hinge bracket, and Claim 3, further comprising a locking member that engages with the hinge bracket to lock the hinge bracket in a fixed position.
An assembly device for a vehicle tailgate described in .