JPH04129629A - Front seat charging device - Google Patents

Abstract

PURPOSE:To prevent the occurrence of interference between a slide member and an opening part by transferring a front seat, grasped by a robot, to the interior of a car body after it is detected by a slide member confirming mechanism whether or not the slide member of a front seat is properly contained at the interior of a rail member. CONSTITUTION:A slide member confirming mechanism 6 to detect the protruding state of a slide member 17 from a rail member 16 installed to the under surface of a front seat S is disposed in the moving route of the front seat S grasped by a seat charging robot 4. A backup conveyance mechanism 7 to convey the front seat S to a position where a worker can take it out is located closely to a car body conveying mechanism 1. Based on an output signal from the slide member confirming mechanism 6, charging of the front seat S to the interior of a car body V or transfer of the front seat to the backup conveying mechanism 7 with the aid of a seat charging robot 4 is commanded by a control mechanism 9. When the front seat S is transferred to the backup conveying mechanism 7, an alarm is transmitted to a worker from an alarming mechanism 8.

Description

Detailed Description of the Invention A1 Object of the Invention (1) Industrial Field of Application The present invention is directed to a vehicle body on a vehicle body transport mechanism by gripping a front seat of a vehicle carried in by a seat transport mechanism with a seat loading robot. The present invention relates to a front seat loading device for loading into the interior.

(2) Conventional technology Conventionally, in a device for inserting automobile front seats into the interior of a car body, in order to stabilize the front seats being conveyed by a belt conveyor, a slider is placed on a pair of left and right rail members provided on the underside of the front seats. A sliding member that is movably engaged is pulled out and placed on a belt conveyor. However, when the front seat is gripped by a seat insertion robot and inserted into the vehicle body,
Since the sliding member protruding to the outside interferes with the door opening of the vehicle body and obstructs the loading operation, it is especially important to store the sliding member inside the rail member using a sliding member storage device prior to loading the front seat. Kaisho 63-16
This is known from Japanese Patent No. 2383.

(3) Problems to be Solved by the Invention By the way, for example, when the front sheet is placed on a support member provided on a pallet and transported, the slide member is stored inside the rail member and the front sheet is can be stabilized. However, even if the slide member is transported with the slide member stored as described above, the slide member may protrude outside for some reason. When a seat is gripped by a seat insertion robot and inserted into the vehicle body, there is a risk that the sliding member may interfere with the door opening.

The present invention has been made in view of the above-mentioned circumstances, and does not require the use of the slide member storage device that increases equipment costs.
It is an object of the present invention to provide a front seat loading device that can prevent interference between a sliding member of a front seat and a door opening of a vehicle body.

B9 Structure of the Invention (1) Means for Solving the Problems To achieve the above-mentioned object, the present invention provides a seat loading robot that grips the front seat of an automobile carried in by a sheet conveying mechanism, and then inserts the front seat of the automobile onto the vehicle body conveying mechanism. A front seat loading device that is inserted into the interior of a vehicle body, the device is disposed in the movement path of the front seat gripped by the seat loading robot, and detects the state of protrusion of a slide member from a rail member provided on the lower surface of the front seat. a slide member confirmation mechanism, a backup conveyance mechanism that is provided close to the vehicle body conveyance mechanism and conveys the front seat to a position where an operator can take it out, and the sheet loading based on the output signal of the slide member confirmation mechanism. Is there a system that commands the robot to insert the front seat into the vehicle body or transfer it to the backup transport mechanism? The present invention is characterized in that it is equipped with a II1 mechanism and a warning mechanism that issues a warning to the operator when the front sheet is transferred to the backup conveyance mechanism.

(2) Effect According to the above-described feature of the present invention, when the front sheet carried in by the sheet conveyance mechanism is gripped and moved by the sheet inputting robot, the slide member confirmation mechanism disposed on the movement path allows It is detected whether the slide member of the front seat is housed inside the rail member or protrudes to the outside. When the slide member is correctly housed inside the rail member, the seat input port bot inputs the front seat into the vehicle body on the vehicle body conveyance mechanism according to a command from the control mechanism. On the other hand, when the slide member confirmation mechanism detects that the slide member is in a protruding state, the sheet loading robot transfers the front sheet onto the backup conveyance mechanism according to a command from the control mechanism. When the back amplifier transport mechanism transports the front seat to a position where the operator can take it out, a warning mechanism is activated to issue a warning to the operator. Thereby, the operator can manually insert the front seat into the vehicle body after storing the protruding slide member of the front seat on the backup conveyance mechanism.

(3) Examples Hereinafter, the present invention will be explained in detail based on the drawings.

Figures 1 to 5 show one embodiment of the present invention.
The figure is an overall perspective view of the front sheet loading device, Figure 2 is a cross-sectional view along the line ■-■ in Figure 1 showing the pallet stopping mechanism, and Figure 3 is a view taken in the direction of the arrow ■ in Figure 1 showing the sheet gripping mechanism. , FIG. 4 is a view taken in the direction of the {circle around (2)} arrow in FIG. 3, and FIG. 5 is a sectional view taken along the line V-V in FIG. 1 showing the backup conveyance mechanism.

As shown in Figure 1, this front seat insertion device is
A vehicle body transport mechanism 1 for transporting a car body ■, a sheet transport mechanism 2 for transporting a front sheet S placed on a pallet P, a pallet stopping mechanism 3 provided in the center of the sheet transport mechanism 2, and a sheet loading robot. 4, a slide member confirmation mechanism 6 provided in an example part of the sheet conveyance mechanism 2, a backup conveyance mechanism 7 provided in an example part of the vehicle body conveyance mechanism 1, and a sheet gripping mechanism 5 provided in an example part of the sheet conveyance mechanism 2; and a control mechanism 9 for controlling the operations of the sheet loading robot 4 and the backup conveyance mechanism 7.

The vehicle body transport mechanism 1 includes a self-propelled truck 12 that runs along two rails 11 laid on the floor, and the vehicle body 12 is placed on the top of the truck 12 and transported to the front seat loading position. The sheet conveyance mechanism 2 is disposed above and parallel to the vehicle body conveyance mechanism 1, and drives a large number of rollers 14 provided along both left and right sides of the frame body 13 with a chino wound around a sprocket to convey the front sheet. Pallet P with S placed on it
transport.

As is clear from FIG. 3 and FIG. 4, the pallet P consists of a rectangular plate with two
Two support members 15 on the left and right sides are provided to support the front seats S. The support member 15 is formed into a trapezoidal shape in side view, and a slide member 17 that slides on a rail member 16 fixed to the lower surface of the front seat S is fitted into a groove 15a recessed in the upper surface along the longitudinal direction. The front sheet S is stably supported on a pallet P.

As shown in FIG. 2, the pallet stopping mechanism 3 includes a stopper arm 20 supported via a pivot 19 on a bracket 18 provided on the bottom surface of the frame 13 of the sheet conveyance mechanism 2, and is fixed to the tip of the stopper arm 20. stopper member 21
The front edge of the pallet P is locked and stopped at a predetermined position. The output rod 23 of the cylinder 22 supported on the pivot shaft 19 has two links 2, one end of which is pivoted to a bracket provided on the frame body 13 and the other end of the stopper arm 20.
4.25 other end is pivoted. Therefore, cylinder 2
2, the stopper member 21 protrudes to the position shown in FIG. 2, and conversely, when the cylinder 22 is contracted, the stopper member 21 retracts downward.

As is clear from FIGS. 1, 3, and 4, the sheet inputting robot 4 is a well-known multi-jointed robot, and a sheet gripping mechanism 5 is provided at the tip 26 of its arm. The sheet gripping mechanism 5 includes a rectangular base plate 27 fixed to an arm tip 26, and a slide plate 30 slides on a pair of slide rails 28 provided on both sides of the base plate 27 via a guide member 29. freely supported. By coupling the output rod 32 of the cylinder 31 provided on the base plate 27 to the bracket 33 provided on the upper end of the slide plate 30, the slide plate 30 is driven in the vertical direction.

A beam 35 is horizontally fixed to a bracket 34 extending forward and downward from the slide plate 30, and an arcuately curved plate 36 supporting the front end of the seat portion of the front seat S is welded to the beam 35.

A touch sensor 37 is provided on the plate 36 and detects when the plate 36 comes into contact with the front end of the seat portion of the front seat S.

A frame body 40 formed by connecting a pair of left and right side plates 38 with a plurality of beams 39 is attached to the slide plate 30 via a plurality of brackets 41, and a rotating shaft 42 supported on the upper part of the frame body 40 has a rotating shaft 42 at both ends. , a pair of rotating arms 44 having pressing members 43 at their tips are fixed. A pulley 47 provided on an output shaft 46 extending from a motor 45 supported on the slide plate 30 into the frame 40 and a pulley 48 provided on the rotating shaft 44 are connected by a belt 49.
By driving the rotary arm 44, the rotary arm 44 rotates between a standby position 1 (a) extending forward and downward and a gripping position (b) in which it abuts the back surface of the front seat S.

The slide member flII recognition mechanism 6 includes photoelectric switches 51 and 52 attached to both ends of a U-shaped frame 50 provided on the frame 13 of the vehicle body transport mechanism 1, and the slide member 17 of the front seat S is in a protruding state. In some cases, the slide member 17 blocks light between the switches 51 and 52.

As shown in FIGS. 1 and 5, the backup conveyance mechanism 7 is composed of a belt conveyor provided on the floor. That is, a drive shaft 54 and a driven shaft 55 supported at both front and rear ends of a base 53 whose upper surface is open are provided with a drive pulley 56 and a driven pulley 57, respectively, and both pulleys 56 and 57 are provided with an endless belt forming a conveying surface. 58 is wrapped around. and,
The endless belt 58 is driven by connecting a sprocket 59 provided on the drive shaft 54 and a sprocket 61 provided on the motor 60 with a chino 62. Endless belt 58
A guide plate 63 is provided on the lower surface of the forward path to support the load of the front sheet S, which is an object to be conveyed, and a plurality of rollers 64 for tension adjustment are pressed against the lower surface of the return path.

Signals from the slide member confirmation mechanism 6 and the vehicle body transport mechanism 1 are input to the control mechanism 9, and based on these signals, the teaching program selection means 66 selects the teaching program stored in the teaching program storage means 65. do.

Based on the selected teaching program, the signal generating means 67 operates the sheet loading robot 4 and the backup conveyance mechanism 7.

The control circuit of the backup transport mechanism 7 includes a flip-flop circuit 68, whose set input terminal is connected to the control mechanism 9, and whose reset input terminal is connected to a sensor provided near the transport end of the backup transport mechanism 7. 69 is connected.

The output terminal of the flip-flop circuit 68 is connected to the amplifier 7.
0 to the motor 60 of the backup transport mechanism 7.

Warning mechanism 8 provided on the base 53 of the backup transport mechanism 7
is equipped with a warning buzzer 71 and a warning lamp 72, which are connected to an AND circuit 73 whose re-input terminal is connected to the sensor 69.
are connected to the output terminals of the amplifiers 74 and 75 through amplifiers 74 and 75, respectively.

Next, the operation of the embodiment of the present invention having the above-described configuration will be explained.

When the pallet P on which the front sheet S is placed is carried into the sheet loading position by the sheet conveying mechanism 2, it comes into contact with the stopper member 21 of the pallet stopping mechanism 3 and stops. Next, when the sheet loading robot 4 operates and the sheet gripping mechanism 5 approaches the front seat S on the seat plate P from the front, the plate 36 comes into contact with the front end of the seat of the front seat S and the touch sensor 37 is activated. , the motor 45 is driven and the rotary arm 44 rotates rearward. As a result, the pressing member 43 provided at the tip of the rotary arm 44 comes into contact with the back of the backrest of the front seat S, and grips the front seat S in cooperation with the plate 36. Subsequently, the sheet loading robot 4 temporarily lifts the gripped front sheet S upward from the pallet P and moves it laterally. At that time, the slide member 17 of the front seat S is
6, the slide member 17 is inserted into the photoelectric switch 51.5 of the slide member confirmation mechanism 6.
2 will not be blocked from light. In this case, the control mechanism 9 selects a predetermined teaching program prestored in the teaching program storage means 65 according to the vehicle type signal inputted from the vehicle body transport mechanism 1, and selects a predetermined teaching program stored in advance in the teaching program storage means 65 using the teaching program selection means 66, The loading robot 4 is operated to load the gripped front seat S into a predetermined position inside the vehicle body 1 on the trolley 12.

On the other hand, for some reason, the slide member 17 is attached to the rail member 1.
6, the slide member 17 is in the state of protruding backward from the slide member confirmation mechanism 6, the photoelectric switch 5L
52 is operated with light shielded.

When the signals from the photoelectric switches 51 and 52 are input to the control mechanism 9, the teaching program storage means 66 selects a predetermined teaching program from among the teaching programs stored in the teaching program storage means 65, and the signal generation means 67
The gripped front sheet S is transferred onto the backup conveyance mechanism 7 by driving the sheet inputting robot 4 via the front sheet feeding robot 4 .

At the same time that the front sheet S is transferred onto the backup conveyance mechanism 7, a signal from the control means 9 is input to the set input terminal of the flip-flop circuit 68, and the motor 6
0 is activated, and the backup conveyance mechanism 7 conveys the front sheet S to a position where it can be taken out by an operator. When the front sheet S reaches the terminal end of the backup amplifier conveyance mechanism 7 and the sensor 69 is activated, the signal is input to the reset input terminal of the flip-flop circuit 68 to stop the backup conveyance mechanism 7 and the warning mechanism 8 The warning buzzer 71 and warning lamp 72 are activated to issue a warning to the worker. As a result, the worker stores the protruding slide member 17 of the front seat S into the rail member 16, and then picks up the front seat S and throws it into the vehicle body.

C0 Effects of the Invention As described above, according to the present invention, the sliding member confirmation mechanism provided in the movement path of the front seat by the seat loading robot determines whether the sliding member of the front seat is correctly stored inside the rail member. Detect the
Based on the detection results, the seat loading robot transfers the front seat to the inside of the vehicle body or to a backup transport mechanism, which improves the reliability of the front seat loading process without using the conventional sliding member storage device. This makes it possible to improve the performance and also reduce equipment costs.

[Brief explanation of the drawing]

Figures 1 to 5 show one embodiment of the present invention.
The figure is an overall perspective view of the front sheet loading device, Figure 2 is a cross-sectional view along the line ■-■ in Figure 1 showing the pallet stopping mechanism, and Figure 3 is a view taken in the direction of the arrow ■ in Figure 1 showing the sheet gripping mechanism. , FIG. 4 is a view taken in the direction of arrow {circle around (2)} in FIG. 3, and FIG. 5 is a cross-sectional view taken along the line V-V in FIG. 1 showing the backup conveyance mechanism. 1... Vehicle body conveyance mechanism, 2... Sheet conveyance mechanism, 4.
... Sheet loading robot, 6... Slide member confirmation mechanism, 7... Back amplifier transport mechanism, 8... Warning mechanism, 9... Control mechanism, 16... Rail member, 17...
・Sliding part S...Front seat, ■...Vehicle body

Claims (1)

[Claims] A front seat (S) of a car carried in by a sheet transport mechanism (2) is gripped by a seat loading robot (4) and placed inside the car body (V) on a car body transport mechanism (1). A front seat loading device, which is disposed in a movement path of the front seat (S) gripped by the sheet loading robot (4), and is configured to load the front seat (S).
S) A slide member confirmation mechanism (6) that detects the protrusion state of the slide member (17) from the rail member (16) provided on the lower surface, and a slide member confirmation mechanism (6) that is provided close to the vehicle body transport mechanism (1) and that is installed in the front seat ( The front sheet (S) is loaded by the sheet loading robot (4) based on the output signals of the backup transport mechanism (7) that transports the front sheet (S) to a position where the worker can take it out, and the slide member confirmation mechanism (6). A control mechanism (9) that commands loading into the vehicle body (V) or transfer to the backup transport mechanism (7), and a control mechanism (9) that commands the loading into the vehicle body (V) or transfer to the backup transport mechanism (7), and when the front seat (S) is transferred to the backup transport mechanism (7), A front seat insertion device comprising a warning mechanism (8) for issuing a warning to a person.