JPH03287326A - Assembling device for automobile car body - Google Patents

Abstract

PURPOSE:To improve the operation efficiency of a working robot by setting the working robot to form a temporary assembly of a side body and an under body, to throw in component parts to the temporary assembly. CONSTITUTION:When a presetting device 8a receives a material handling jig 21 to hold a side body 5, a loading table 13 approaches a shuttle feeder 3, and the side body 5 is positioned to an under body 4 on the shuttle feeder 3. The side body 5 is assembled temporarily to the under body 4 by a working robot 9a, and a temporary assembly 30 is formed. After that, the one side robot 9a throws in a cowl dash 31 as a component part, and the other side robot throws in a package tray as a component part.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to an apparatus for assembling an automobile body.

(Prior art) When assembling an automobile, there is a process for assembling the side body and underbody (floor).As shown in Japanese Patent Publication No. 59-21827, this assembly equipment is capable of assembling the side body and the underbody (floor). Generally, the welding robot receives the welding robot, positions it close to the underbody, and then, while maintaining this position, welds the side body and underbody together using a welding robot.

However, in the above-mentioned assembly equipment, the side body and underbody are welded at the delivery point, so the welding robot must wait until the delivery work is completed, and the welding robot's The operating efficiency is not favorable.

On the other hand, there is a presetting device that holds the sidebody and positions it with respect to the underbody when the sidebody is received, and a presetting device that receives the sidebody being carried in and delivers the sidebody to the presetting device, and An automobile body assembly apparatus has been proposed that includes a working robot that temporarily attaches a side body positioned by a presetting device to the underbody to form a temporarily assembled body.

According to this assembly device, since a temporarily assembled body is formed between the side body and the underbody, the temporarily assembled body itself can be
After assembly, they can be transported one after another, and if a welding robot is installed on the transport side, the welding work by the welding robot and the above temporary assembly work can be done as assembly line work. . Therefore, the welding robot can sequentially weld the temporarily assembled bodies that are transported, and the operating efficiency of the welding robot can be improved.

(Problems to be Solved by the Invention) However, in the above assembly device, although the operating efficiency of the welding robot can be improved, the working robot simply delivers the side body to the presetting device and The work robot only has the ability to temporarily attach it to the underbody, and the work robot spends a considerable amount of time waiting.

The present invention has been made in view of the above-mentioned circumstances, and its objects are to provide a presetting device for holding and positioning a side body with respect to an underbody when a side body is received, and a presetting device for receiving and positioning a side body to be carried in. A working robot for delivering a side body to the presetting device and temporarily attaching the side body positioned by the presetting device to the underbody to form a temporarily assembled body. The objective is to improve the operating efficiency of the

(Means and operations for solving the problem) In order to achieve the above object, the present invention includes a presetting device that holds the side body and positions it with respect to the underbody when the side body is received; a work robot that receives a carried side body, delivers the side body to the presetting device, and temporarily attaches the side body positioned by the presetting device to the underbody to form a temporarily assembled body. The apparatus for assembling an automobile body is configured such that the work robot is set to input components into the temporarily assembled body.

With the above configuration, in addition to the conventional operation, component parts are introduced into the temporarily assembled body, which makes it possible to effectively utilize the hot work opening, reducing the waiting time of the work robot. You will be able to do that. Therefore, the operating efficiency of the working robot can be improved.

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

1 and 2 show an assembly device (line). This assembly device is provided with a first and a second station 1.2, through which a shuttle feeder 3 extends as a conveying means.

At the first station 1, as shown in FIGS. 1 to 3, the underbody 4 is sequentially conveyed by a shuttle feeder 3, while a pair of left and right side bodies 5 are placed on a hanger. The device 6 transports it to a predetermined position above the shuttle feeder 3 in the first station 1. This side body 5 has multiple locations A, B, and C as shown in FIG. 6, for example.
, D, and E, as shown enlarged in FIGS. 7 to 10, claws 7 are provided in advance, and the dimensions are, for example, ff, = 20 mm, 9! in FIG. 2 = 12
x = 12 mm.

In the first station 1, as shown in FIGS. 1 to 3, a presetting device 8a (8b) and a working robot 9a (9b) are provided on both sides of the shuttle feeder 3, respectively. Bunoset device 8a (8
b) has a base IO as shown in FIGS. 3 to 5, and a pair of guide rails 11 and a pair of guide plates 12 are provided on the base 10. The pair of guide rails 11 are provided perpendicularly to the shuttle feeder 3 at a predetermined interval, and the pair of guide plates 12 are arranged outside the pair of guide rails 11 on the shuttle feeder side 3. A mounting table 13 is provided on the pair of guide rails 11. A pair of rails 14 having guide grooves are attached to the lower surface of the mounting table 13 so as to extend in the same direction as the pair of guide rails,
The guide grooves of the pair of rails 14 and the pair of guide rails 11 are fitted, and the mounting table 13 can approach and move away from the shuttle feeder 3 based on the guide mechanisms of both. . Further, the length of the mounting table 13 in the direction in which the shuttle feeder 3 extends (in the left-right direction in FIGS. 4 and 5) is approximately equal to the length between the pair of guide plates 12, and When the mounting table 13 approaches the shuttle feeder 3 side, the side surfaces of the mounting table 13 are guided by a pair of guide plates 12, as shown in FIGS. 4 and 5. Further, a cylinder device 15 is provided on the base 10. The cylinder device 15 is connected to the mounting table 13, and the cylinder device 15 applies a driving force to the mounting table 13 for movement. Furthermore, a pair of columns 16 are erected on the mounting table 13, and a fifth column is provided on the pair of columns 16.
Although shown briefly in the figure, a chuck device 18 for fixing a material handling jig 21, which will be described later, is provided.

The working robot 9a (9b) has an arm 19, which can move freely in all directions. A gripping part 20 (robot hand) is provided at the tip of the arm 19, and the gripping part 20 can grip various material handling jigs. In this assembly process, the material handling jigs include a material handling jig 21 for gripping the side body (see Fig. 5), a material handling jig 41 for gripping the package tray (first
9), cowl dash grip material handling jig 33 (
(see FIGS. 16 and 17) is used.

This working robot 9a (9b) has undergone predetermined teaching. The contents will be explained according to the assembly order at the first station 1. First, as mentioned above, as shown in FIGS. , the work robot 9a (9b) grasps and takes out the material handling jig 21 for gripping the side body from a material handling jig storage area (not shown), and uses the material handling jig 21 to remove the side body 5 from the hanger device 6. Receive. This material handling jig 21 is also available in several types depending on the vehicle model, and each of them has a plurality of types so that the side body 5 can be properly clamped, as shown in FIG. A clamping device 22 is attached. Hanger device 6
When the side body 5 is received from the work robot 9a (
9b), as shown in FIGS. 3 and 5, the side body 5 is attached to the presetting device 8a together with the material handling jig 21.
(8b), and along with this,
The presetting device 8a (8b) uses the chuck device 18 to attach the material handling jig 21 that holds the side body 5 to the support column 1.
It is fixed to 6. In this way, since the entire material handling jig 21 is delivered to the presetting device 8a (8b), it is easier to deliver the material handling jig 21 than when the side body 5 itself is delivered.
There is little influence on the reduction in positioning accuracy, and moreover, the delivery work can be performed smoothly and quickly.

When the presetting device 8a (8b) receives the material handling jig 21 holding the side body 5, the mounting table 13 approaches the shuttle feeder 3, and the side body 5 is moved against the underbody 4 on the shuttle feeder 3. is positioned. This positioning is performed by the preset device 8a described above.
Since it is performed based on the guide function (8b), its accuracy is high.

On the other hand, the work robot 9a (9b) sets the material handling jig 21 that holds the side body 5 to the presetting device 8a (8
When delivered to b), the lynch puffer unit 23 is gripped as shown in FIG. This clinch puffer unit 23 includes a pedestal 24, a support portion 25 protruding from the pedestal 24, a cylinder device 26 held on the pedestal 24, and a link mechanism 28 connected to a piston rod 27 of the cylinder device 26. The bending member 29 is held via the bending member 29. When the work robot 9a (9b) grasps the clinch blowfish unit 23, the work robot 9a (9b) holds the clinch blowfish unit 23 at each location A, B, C, D, E, etc. as shown in FIG.
are moved one after another, and the clincher unit 23 bends the polystyrene 7 as shown in FIGS. 1-13. That is, at each location A, B, C, D, E, etc., first, as shown in FIG.
(9b), when the support part 25 of the pedestal 24 is applied to the plate surface of the claw 7 of the side body 5, the piston rod 27 of the cylinder device 26 extends and applies a pressing force to the bending member 29, and the claw 7 Start bending.

Then, as this progresses and the piston rod 27 further extends, the claws 7, as shown in FIGS. 12 and 13,
The side body 5 is bent to a state where the panel on the side of the underbody 4 is rolled up, and the side body 5 is temporarily attached to the underbody 4 to form a temporarily assembled body 30.

The work robot 9a (9b) moves to each location A, B, C, D,
After forming the temporarily assembled body 30 by bending the multilayer 7 such as
3, and then, as shown in FIG. 14, one of the working robots 9a starts loading the cowl dash 31 as a component, and the other working robot 9b starts loading the package tray 32 as a component. is set to .

The loading of the cowl dash 31 by one of the work robots 9a will be explained based on FIG. 1 and FIGS. After that, the cowl dash 31 is held via a material handling jig 33. Material handling jig 33
As shown in FIGS. 16 and 17, it is a long member, and a plurality of rough guide pins 35 and a plurality of guide pins 36 are provided on the lower surface of the member. The cowl dash 31 and material handling jig 33 are positioned by guide pins 35 and 36. Note that a positioning hole corresponding to the guide pin 36 is formed in advance in the cowl dash 31. Further, the material handling jig 33 is provided with a holding part 37 and opening/closing claws 39 driven by a cylinder device 38 at both ends in the longitudinal direction of the material handling jig 33. , the above-described positioned cowl dash 31 can be held. Reference numeral 40 denotes a gripped part that is gripped by the working robot 9a.

When the work robot 9a grasps such a material handling jig 33 and the cowl dash 31 is held by the material handling jig 33, the first work robot 9a moves as shown in FIGS. 14 and 15 (see FIG. 15). In the middle, the dashed line indicates the trajectory of the material handling jig), only the cowl dash 31 is put into the front part of the temporary assembly 30, and then, while holding the material handling jig 33, it is placed in the material handling jig storage area 34. I'm going back. After that, the first work robot 9a releases the grip on the material handling jig 33, removes the material handling jig 33, and then returns to the original position to receive the next side body 5 from the hanger device 6. Become.

Next, the loading of the package tray 32 by the other work robot 9b will be explained based on FIGS. 1, 5, 14, and 18 to 20. The package tray 32 is gripped by a material handling jig holder 42 and taken out from the package tray holder 43 via the material handling jig 41. Specifically, as shown in FIGS. 19 and 20, the package tray holder 43 has a package tray holding device 44, and the package tray holding device 44 is equipped with a cylinder device 45 (46). A clamper 47 (48) to be driven is provided,
By this clamper 47 (48), the package tray 3
2 is designed to be held in an upright state. Package tray holding device 44 according to this embodiment
, a clamper 47 for a four-door vehicle and a clamper 48 for a two-door vehicle are provided, and the clamper is selected depending on the type of package tray 32.

Incidentally, FIGS. 19 and 20 show a state in which a package tray for a four-door vehicle is held. On the other hand, the material handling jig 41, as shown in FIG.
The configuration uses 9. That is, the material handling jig 41 has a pair of claw mechanisms 5 that can be expanded and contracted on a long substrate 50.
1 corresponding to the hole spacing 49 of the package tray 32, and by inserting the claw mechanism 51 into the hole 49 of the package tray 32 in a contracted state and expanding the claw mechanism 51 after insertion. The package tray 32 erected by the package tray holding device 44 is held between the claw mechanism 51 and the portion of the package tray that is not inserted into the hole 49 (see FIG. 20).
52 indicates a clamping position).

Note that 53 is a cylinder device that drives the claw mechanism 51, and this portion is gripped by the working robot 9b. Also, 54
is a package tray take-out device 54, which sequentially supplies the package trays 32 to the package tray holding device 44.

When the work robot 9b grasps such a material handling jig 41 and the package tray 32 is held by the material handling jig 41, the package tray holding device 44 releases the holding of the package tray 32. , the work robot 9b places only the package tray 32 at the rear of the temporary assembly 30, as shown in FIGS. 14 and 18 (in FIG. After that, the material handling jig 41 is returned to the material handling jig stand 42 while holding the material handling jig 41.

Thereafter, the grip on the material handling jig 41 is released and the material handling jig is removed, and then the material handling jig 41 is returned to its original position in order to receive the next side body 5 from the hanger device 6.

Next, regarding the second station 2, see Figures 1, 2, and 2.
This will be explained based on FIGS. 1 to 24. The temporarily assembled body 30, in which the package tray 32 and cowl dash 31 have been loaded, is transported to a predetermined position of the second station 2 by the shuttle feeder 3.

On both sides of this second station 2,
As shown in FIG. 1, a positioning device 55 and a welding robot 5
6 are arranged respectively.

First, the positioning device 55 will be explained. In the positioning device 55, a slide base 59 is provided on a fixed base 57 via a guide rail 58, and the slide base 59 is arranged as shown in FIGS. 22 and 24. , the shuttle feeder 3 is guided by the guide rail 58.
It is possible to approach and separate from the robot, and the drive thereof is performed by a cylinder device 60.

On this slide base 59, support stands 61 are provided on both sides in the extending direction of the shuttle feeder 3, and bearings 62 are provided on each of the support stands 61, respectively. A rotary shaft 63 is rotatably supported by both bearings 62, and the rotational force of a motor 64 is transmitted to the rotary shaft 63 via a speed reducer 65. As shown in FIGS. 21 and 24, the rotating shaft 63 is provided with a base 66 for mounting a plurality of jigs. For this jig mounting, three jig mounting surfaces 67 are formed on the circumferential surface of the base 66 in this embodiment (see FIG. 24).
For mounting each jig, a jig (path shown in the figure) according to the vehicle type is provided on the surface 67, and each jig is provided with a plurality of clamper devices, etc. (path shown in the figure) used for positioning. Especially stroking. This jig is indexed by the rotary plate 68 provided on the rotary shaft 63 and the piston rod of the cylinder device 69 in the retracted position (the position of the temporary line in FIG. 24), The jig is placed in the forward position,
The temporarily assembled body 30 transported at that position is to be positioned using a plurality of clampers or the like attached to the jig. Since the jig, clamper device, etc. in such a positioning device 55 are already known, further explanation will be omitted.

Next, the welding robot 56 will be explained. Base frames 70 are provided on both sides (left and right sides in FIG. 23) of the positioning device 55, and welding robots 56 are attached to each base frame 70, respectively.

This welding robot 56 is set to operate after the temporary assembly 30 is positioned by the positioning device 55, and by this operation, the welding robot 56 moves the predetermined position of the temporary assembly 30 to the above-mentioned package tray 32, cowl dash 3
The first prize is to be welded.

Further, at this second station 2, a roof 71 is to be attached to the temporarily assembled body 30. 72 is a conveyance device that conveys the roof 71.

In addition, in FIG. 24, 73 is an underbody truck jig.

Therefore, in the above device, the first station 1
Then, the temporarily assembled body 30 of the side body 5 and underbody 4
Therefore, after forming the temporarily assembled body 30 at the first station 1, the temporarily assembled body 3C can be sequentially transported to the second station 2, and the first station l
The temporary assembly work of the temporarily assembled body 30 at the second station 2 and the welding work by the welding robot 56 at the second station 2 can be performed as assembly work, and the welding robot 56 can be
There is no need to wait for positioning work, and the temporarily assembled bodies 30 that are transported can be welded one after another. Therefore, the operating efficiency of the welding robot 56 can be improved.

In addition, since temporary assembly work (carrying in and positioning work) and welding work are performed separately at different stations,
There is no need to consider welding work at station 1 or temporary assembly work at second station 2, and in 1.2 at the first and second stations, only the control of work unique to each station is required. It will get better if you do it. Therefore, the operation control of the assembly device is simplified.

Furthermore, at the first station 1, the working robot 9a (
9b) to load the package tray 32 and cowl dash 31 into the temporary assembly 30, the work robot 9a (9b) can be used more effectively than before, and the work Robot 9a (9b)
This means that the waiting time can be reduced. Therefore, not only the welding robot 56 but also the work robot 9a
The operating efficiency of (9b) can also be improved.

Furthermore, since positioning is performed by the presetting device 8a (8b) that only reciprocates while being guided at the first station l, the positioning is highly accurate, and the temporary assembly 30 is formed in this highly accurate state. That will happen. Therefore, since the temporarily assembled body 30 is assembled with high positioning accuracy, the positioning load on the positioning device 55 during welding at the second station 2 is considerably reduced.

Although the embodiments have been described above, the present invention includes the following.

■Increase the number of second stations to accommodate the increase in vehicle types.

■The components to be inputted by the work robot 9a (9b) are not limited to the package tray and cowl dash, but may be other components.

(Effects of the Invention) As described above, the present invention includes a presetting device that holds the side body and positions it relative to the underbody when the side body is received; An automobile body assembly apparatus comprising: a working robot that transfers to a presetting device and temporarily attaches a side body positioned by the presetting device to the underbody to form a temporarily assembled body,
The operating efficiency of the working robot can be improved.

[Brief explanation of the drawing]

Fig. 1 is a plan view explaining the present invention in detail, Fig. 2 is a front view explaining the invention in detail, Fig. 3 is an explanatory view explaining delivery of the side body at the first station, Fig. 4 7 is a simplified plan view illustrating the presetting device, FIG. 5 is a front view illustrating the material handling jig set in the presetting device, FIG. 6 is an explanatory diagram illustrating the location of the claws on the side body, The figure is an enlarged front view to explain the claw, Figure 8 is an enlarged view of part A in Figure 6, and Figure 9 is an enlarged view of part A in Figure 6.
Fig. 10 is an enlarged view of part C in Fig. 6, Fig. 11 is a front view illustrating the clinch puffer unit, Fig. 12 is an operating state diagram of Fig. 11, Fig. 13 is an explanatory diagram explaining the bending of the nail, and FIG.
FIG. 15 is a plan view illustrating the loading of the cowl dash and package tray by a work robot; FIG. 15 is an explanatory diagram illustrating loading the cowl dash; FIG. 17 is a front view of FIG. 16, FIG. 18 is an explanatory diagram illustrating loading of the package tray, FIG. 19 is a front view illustrating the package tray holding device, FIG. 20 is a left side view of FIG. 19, FIG. 21 is a perspective view illustrating the second station. Figure 22 shows the second feeder on one side based on the shuttle feeder.
23 is a front view of FIG. 22, and FIG. 24 is a right side view of FIG. 22. 4... Underbody 5... Side bodies 8a, 8b... Preset device 9 a, 9 b 0 1 2 - Working robot - Temporary assembly - Cowl dash - Package tray Fig. 2 Fig. 3 Fig. 4 Figure 5 Figure 14 Figure 80 b

Claims (1)

[Claims] (1) A presetting device that holds the side body and positions it with respect to the underbody when the side body is received, and a presetting device that receives the side body being carried in and delivers the side body to the presetting device; a working robot that temporarily attaches a side body positioned by a side body to the underbody to form a temporarily assembled body, the working robot configured for the temporarily assembled body. An automobile body assembly device, characterized in that the device is configured to input articles.